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/*************************************************************************/
/* space_bullet.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/*************************************************************************/
# include "space_bullet.h"
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# include "bullet_physics_server.h"
# include "bullet_types_converter.h"
# include "bullet_utilities.h"
# include "constraint_bullet.h"
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# include "core/config/project_settings.h"
# include "core/string/ustring.h"
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# include "godot_collision_configuration.h"
# include "godot_collision_dispatcher.h"
# include "rigid_body_bullet.h"
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# include "servers/physics_server_3d.h"
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# include "soft_body_bullet.h"
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# include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
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# include <BulletCollision/CollisionDispatch/btCollisionObject.h>
# include <BulletCollision/CollisionDispatch/btGhostObject.h>
# include <BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h>
# include <BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h>
# include <BulletCollision/NarrowPhaseCollision/btPointCollector.h>
# include <BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h>
# include <BulletSoftBody/btSoftRigidDynamicsWorld.h>
# include <btBulletDynamicsCommon.h>
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# include <assert.h>
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/**
@ author AndreaCatania
*/
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BulletPhysicsDirectSpaceState : : BulletPhysicsDirectSpaceState ( SpaceBullet * p_space ) :
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PhysicsDirectSpaceState3D ( ) ,
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space ( p_space ) { }
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int BulletPhysicsDirectSpaceState : : intersect_point ( const Vector3 & p_point , ShapeResult * r_results , int p_result_max , const Set < RID > & p_exclude , uint32_t p_collision_mask , bool p_collide_with_bodies , bool p_collide_with_areas ) {
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if ( p_result_max < = 0 ) {
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return 0 ;
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}
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btVector3 bt_point ;
G_TO_B ( p_point , bt_point ) ;
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btSphereShape sphere_point ( 0.001f ) ;
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btCollisionObject collision_object_point ;
collision_object_point . setCollisionShape ( & sphere_point ) ;
collision_object_point . setWorldTransform ( btTransform ( btQuaternion : : getIdentity ( ) , bt_point ) ) ;
// Setup query
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GodotAllContactResultCallback btResult ( & collision_object_point , r_results , p_result_max , & p_exclude , p_collide_with_bodies , p_collide_with_areas ) ;
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btResult . m_collisionFilterGroup = 0 ;
btResult . m_collisionFilterMask = p_collision_mask ;
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space - > dynamicsWorld - > contactTest ( & collision_object_point , btResult ) ;
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// The results are already populated by GodotAllConvexResultCallback
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return btResult . m_count ;
}
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bool BulletPhysicsDirectSpaceState : : intersect_ray ( const Vector3 & p_from , const Vector3 & p_to , RayResult & r_result , const Set < RID > & p_exclude , uint32_t p_collision_mask , bool p_collide_with_bodies , bool p_collide_with_areas , bool p_pick_ray ) {
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btVector3 btVec_from ;
btVector3 btVec_to ;
G_TO_B ( p_from , btVec_from ) ;
G_TO_B ( p_to , btVec_to ) ;
// setup query
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GodotClosestRayResultCallback btResult ( btVec_from , btVec_to , & p_exclude , p_collide_with_bodies , p_collide_with_areas ) ;
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btResult . m_collisionFilterGroup = 0 ;
btResult . m_collisionFilterMask = p_collision_mask ;
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btResult . m_pickRay = p_pick_ray ;
space - > dynamicsWorld - > rayTest ( btVec_from , btVec_to , btResult ) ;
if ( btResult . hasHit ( ) ) {
B_TO_G ( btResult . m_hitPointWorld , r_result . position ) ;
B_TO_G ( btResult . m_hitNormalWorld . normalize ( ) , r_result . normal ) ;
CollisionObjectBullet * gObj = static_cast < CollisionObjectBullet * > ( btResult . m_collisionObject - > getUserPointer ( ) ) ;
if ( gObj ) {
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r_result . shape = btResult . m_shapeId ;
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r_result . rid = gObj - > get_self ( ) ;
r_result . collider_id = gObj - > get_instance_id ( ) ;
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r_result . collider = r_result . collider_id . is_null ( ) ? nullptr : ObjectDB : : get_instance ( r_result . collider_id ) ;
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} else {
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WARN_PRINT ( " The raycast performed has hit a collision object that is not part of Godot scene, please check it. " ) ;
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}
return true ;
} else {
return false ;
}
}
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int BulletPhysicsDirectSpaceState : : intersect_shape ( const RID & p_shape , const Transform3D & p_xform , real_t p_margin , ShapeResult * r_results , int p_result_max , const Set < RID > & p_exclude , uint32_t p_collision_mask , bool p_collide_with_bodies , bool p_collide_with_areas ) {
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if ( p_result_max < = 0 ) {
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return 0 ;
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}
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ShapeBullet * shape = space - > get_physics_server ( ) - > get_shape_owner ( ) - > get_or_null ( p_shape ) ;
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ERR_FAIL_COND_V ( ! shape , 0 ) ;
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btCollisionShape * btShape = shape - > create_bt_shape ( p_xform . basis . get_scale_abs ( ) , p_margin ) ;
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if ( ! btShape - > isConvex ( ) ) {
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bulletdelete ( btShape ) ;
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ERR_PRINT ( " The shape is not a convex shape, then is not supported: shape type: " + itos ( shape - > get_type ( ) ) ) ;
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return 0 ;
}
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btConvexShape * btConvex = static_cast < btConvexShape * > ( btShape ) ;
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btTransform bt_xform ;
G_TO_B ( p_xform , bt_xform ) ;
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UNSCALE_BT_BASIS ( bt_xform ) ;
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btCollisionObject collision_object ;
collision_object . setCollisionShape ( btConvex ) ;
collision_object . setWorldTransform ( bt_xform ) ;
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GodotAllContactResultCallback btQuery ( & collision_object , r_results , p_result_max , & p_exclude , p_collide_with_bodies , p_collide_with_areas ) ;
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btQuery . m_collisionFilterGroup = 0 ;
btQuery . m_collisionFilterMask = p_collision_mask ;
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btQuery . m_closestDistanceThreshold = 0 ;
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space - > dynamicsWorld - > contactTest ( & collision_object , btQuery ) ;
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bulletdelete ( btConvex ) ;
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return btQuery . m_count ;
}
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bool BulletPhysicsDirectSpaceState : : cast_motion ( const RID & p_shape , const Transform3D & p_xform , const Vector3 & p_motion , real_t p_margin , real_t & r_closest_safe , real_t & r_closest_unsafe , const Set < RID > & p_exclude , uint32_t p_collision_mask , bool p_collide_with_bodies , bool p_collide_with_areas , ShapeRestInfo * r_info ) {
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r_closest_safe = 0.0f ;
r_closest_unsafe = 0.0f ;
btVector3 bt_motion ;
G_TO_B ( p_motion , bt_motion ) ;
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ShapeBullet * shape = space - > get_physics_server ( ) - > get_shape_owner ( ) - > get_or_null ( p_shape ) ;
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ERR_FAIL_COND_V ( ! shape , false ) ;
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btCollisionShape * btShape = shape - > create_bt_shape ( p_xform . basis . get_scale ( ) , p_margin ) ;
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if ( ! btShape - > isConvex ( ) ) {
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bulletdelete ( btShape ) ;
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ERR_PRINT ( " The shape is not a convex shape, then is not supported: shape type: " + itos ( shape - > get_type ( ) ) ) ;
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return false ;
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}
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btConvexShape * bt_convex_shape = static_cast < btConvexShape * > ( btShape ) ;
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btTransform bt_xform_from ;
G_TO_B ( p_xform , bt_xform_from ) ;
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UNSCALE_BT_BASIS ( bt_xform_from ) ;
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btTransform bt_xform_to ( bt_xform_from ) ;
bt_xform_to . getOrigin ( ) + = bt_motion ;
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if ( ( bt_xform_to . getOrigin ( ) - bt_xform_from . getOrigin ( ) ) . fuzzyZero ( ) ) {
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r_closest_safe = 1.0f ;
r_closest_unsafe = 1.0f ;
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bulletdelete ( btShape ) ;
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return true ;
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}
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GodotClosestConvexResultCallback btResult ( bt_xform_from . getOrigin ( ) , bt_xform_to . getOrigin ( ) , & p_exclude , p_collide_with_bodies , p_collide_with_areas ) ;
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btResult . m_collisionFilterGroup = 0 ;
btResult . m_collisionFilterMask = p_collision_mask ;
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space - > dynamicsWorld - > convexSweepTest ( bt_convex_shape , bt_xform_from , bt_xform_to , btResult , space - > dynamicsWorld - > getDispatchInfo ( ) . m_allowedCcdPenetration ) ;
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if ( btResult . hasHit ( ) ) {
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const btScalar l = bt_motion . length ( ) ;
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r_closest_unsafe = btResult . m_closestHitFraction ;
r_closest_safe = MAX ( r_closest_unsafe - ( 1 - ( ( l - 0.01 ) / l ) ) , 0 ) ;
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if ( r_info ) {
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if ( btCollisionObject : : CO_RIGID_BODY = = btResult . m_hitCollisionObject - > getInternalType ( ) ) {
B_TO_G ( static_cast < const btRigidBody * > ( btResult . m_hitCollisionObject ) - > getVelocityInLocalPoint ( btResult . m_hitPointWorld ) , r_info - > linear_velocity ) ;
}
CollisionObjectBullet * collision_object = static_cast < CollisionObjectBullet * > ( btResult . m_hitCollisionObject - > getUserPointer ( ) ) ;
B_TO_G ( btResult . m_hitPointWorld , r_info - > point ) ;
B_TO_G ( btResult . m_hitNormalWorld , r_info - > normal ) ;
r_info - > rid = collision_object - > get_self ( ) ;
r_info - > collider_id = collision_object - > get_instance_id ( ) ;
r_info - > shape = btResult . m_shapeId ;
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}
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} else {
r_closest_safe = 1.0f ;
r_closest_unsafe = 1.0f ;
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}
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bulletdelete ( bt_convex_shape ) ;
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return true ; // Mean success
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}
/// Returns the list of contacts pairs in this order: Local contact, other body contact
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bool BulletPhysicsDirectSpaceState : : collide_shape ( RID p_shape , const Transform3D & p_shape_xform , real_t p_margin , Vector3 * r_results , int p_result_max , int & r_result_count , const Set < RID > & p_exclude , uint32_t p_collision_mask , bool p_collide_with_bodies , bool p_collide_with_areas ) {
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if ( p_result_max < = 0 ) {
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return false ;
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}
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ShapeBullet * shape = space - > get_physics_server ( ) - > get_shape_owner ( ) - > get_or_null ( p_shape ) ;
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ERR_FAIL_COND_V ( ! shape , false ) ;
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btCollisionShape * btShape = shape - > create_bt_shape ( p_shape_xform . basis . get_scale_abs ( ) , p_margin ) ;
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if ( ! btShape - > isConvex ( ) ) {
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bulletdelete ( btShape ) ;
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ERR_PRINT ( " The shape is not a convex shape, then is not supported: shape type: " + itos ( shape - > get_type ( ) ) ) ;
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return false ;
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}
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btConvexShape * btConvex = static_cast < btConvexShape * > ( btShape ) ;
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btTransform bt_xform ;
G_TO_B ( p_shape_xform , bt_xform ) ;
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UNSCALE_BT_BASIS ( bt_xform ) ;
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btCollisionObject collision_object ;
collision_object . setCollisionShape ( btConvex ) ;
collision_object . setWorldTransform ( bt_xform ) ;
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GodotContactPairContactResultCallback btQuery ( & collision_object , r_results , p_result_max , & p_exclude , p_collide_with_bodies , p_collide_with_areas ) ;
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btQuery . m_collisionFilterGroup = 0 ;
btQuery . m_collisionFilterMask = p_collision_mask ;
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btQuery . m_closestDistanceThreshold = 0 ;
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space - > dynamicsWorld - > contactTest ( & collision_object , btQuery ) ;
r_result_count = btQuery . m_count ;
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bulletdelete ( btConvex ) ;
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return btQuery . m_count ;
}
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bool BulletPhysicsDirectSpaceState : : rest_info ( RID p_shape , const Transform3D & p_shape_xform , real_t p_margin , ShapeRestInfo * r_info , const Set < RID > & p_exclude , uint32_t p_collision_mask , bool p_collide_with_bodies , bool p_collide_with_areas ) {
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ShapeBullet * shape = space - > get_physics_server ( ) - > get_shape_owner ( ) - > get_or_null ( p_shape ) ;
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ERR_FAIL_COND_V ( ! shape , false ) ;
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btCollisionShape * btShape = shape - > create_bt_shape ( p_shape_xform . basis . get_scale_abs ( ) , p_margin ) ;
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if ( ! btShape - > isConvex ( ) ) {
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bulletdelete ( btShape ) ;
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ERR_PRINT ( " The shape is not a convex shape, then is not supported: shape type: " + itos ( shape - > get_type ( ) ) ) ;
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return false ;
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}
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btConvexShape * btConvex = static_cast < btConvexShape * > ( btShape ) ;
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btTransform bt_xform ;
G_TO_B ( p_shape_xform , bt_xform ) ;
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UNSCALE_BT_BASIS ( bt_xform ) ;
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btCollisionObject collision_object ;
collision_object . setCollisionShape ( btConvex ) ;
collision_object . setWorldTransform ( bt_xform ) ;
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GodotRestInfoContactResultCallback btQuery ( & collision_object , r_info , & p_exclude , p_collide_with_bodies , p_collide_with_areas ) ;
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btQuery . m_collisionFilterGroup = 0 ;
btQuery . m_collisionFilterMask = p_collision_mask ;
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btQuery . m_closestDistanceThreshold = 0 ;
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space - > dynamicsWorld - > contactTest ( & collision_object , btQuery ) ;
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bulletdelete ( btConvex ) ;
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if ( btQuery . m_collided ) {
if ( btCollisionObject : : CO_RIGID_BODY = = btQuery . m_rest_info_collision_object - > getInternalType ( ) ) {
B_TO_G ( static_cast < const btRigidBody * > ( btQuery . m_rest_info_collision_object ) - > getVelocityInLocalPoint ( btQuery . m_rest_info_bt_point ) , r_info - > linear_velocity ) ;
}
B_TO_G ( btQuery . m_rest_info_bt_point , r_info - > point ) ;
}
return btQuery . m_collided ;
}
Vector3 BulletPhysicsDirectSpaceState : : get_closest_point_to_object_volume ( RID p_object , const Vector3 p_point ) const {
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RigidCollisionObjectBullet * rigid_object = space - > get_physics_server ( ) - > get_rigid_collision_object ( p_object ) ;
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ERR_FAIL_COND_V ( ! rigid_object , Vector3 ( ) ) ;
btVector3 out_closest_point ( 0 , 0 , 0 ) ;
btScalar out_distance = 1e20 ;
btVector3 bt_point ;
G_TO_B ( p_point , bt_point ) ;
btSphereShape point_shape ( 0. ) ;
btCollisionShape * shape ;
btConvexShape * convex_shape ;
btTransform child_transform ;
btTransform body_transform ( rigid_object - > get_bt_collision_object ( ) - > getWorldTransform ( ) ) ;
btGjkPairDetector : : ClosestPointInput input ;
input . m_transformA . getBasis ( ) . setIdentity ( ) ;
input . m_transformA . setOrigin ( bt_point ) ;
bool shapes_found = false ;
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for ( int i = rigid_object - > get_shape_count ( ) - 1 ; 0 < = i ; - - i ) {
shape = rigid_object - > get_bt_shape ( i ) ;
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if ( shape - > isConvex ( ) ) {
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child_transform = rigid_object - > get_bt_shape_transform ( i ) ;
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convex_shape = static_cast < btConvexShape * > ( shape ) ;
input . m_transformB = body_transform * child_transform ;
btPointCollector result ;
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btGjkPairDetector gjk_pair_detector ( & point_shape , convex_shape , space - > gjk_simplex_solver , space - > gjk_epa_pen_solver ) ;
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gjk_pair_detector . getClosestPoints ( input , result , nullptr ) ;
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if ( out_distance > result . m_distance ) {
out_distance = result . m_distance ;
out_closest_point = result . m_pointInWorld ;
}
}
shapes_found = true ;
}
if ( shapes_found ) {
Vector3 out ;
B_TO_G ( out_closest_point , out ) ;
return out ;
} else {
// no shapes found, use distance to origin.
return rigid_object - > get_transform ( ) . get_origin ( ) ;
}
}
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SpaceBullet : : SpaceBullet ( ) {
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create_empty_world ( GLOBAL_DEF ( " physics/3d/active_soft_world " , true ) ) ;
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direct_access = memnew ( BulletPhysicsDirectSpaceState ( this ) ) ;
}
SpaceBullet : : ~ SpaceBullet ( ) {
memdelete ( direct_access ) ;
destroy_world ( ) ;
}
void SpaceBullet : : flush_queries ( ) {
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const btCollisionObjectArray & colObjArray = dynamicsWorld - > getCollisionObjectArray ( ) ;
for ( int i = colObjArray . size ( ) - 1 ; 0 < = i ; - - i ) {
static_cast < CollisionObjectBullet * > ( colObjArray [ i ] - > getUserPointer ( ) ) - > dispatch_callbacks ( ) ;
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}
}
void SpaceBullet : : step ( real_t p_delta_time ) {
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delta_time = p_delta_time ;
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dynamicsWorld - > stepSimulation ( p_delta_time , 0 , 0 ) ;
}
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void SpaceBullet : : set_param ( PhysicsServer3D : : AreaParameter p_param , const Variant & p_value ) {
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assert ( dynamicsWorld ) ;
switch ( p_param ) {
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case PhysicsServer3D : : AREA_PARAM_GRAVITY :
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gravityMagnitude = p_value ;
update_gravity ( ) ;
break ;
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case PhysicsServer3D : : AREA_PARAM_GRAVITY_VECTOR :
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gravityDirection = p_value ;
update_gravity ( ) ;
break ;
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case PhysicsServer3D : : AREA_PARAM_LINEAR_DAMP :
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linear_damp = p_value ;
break ;
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case PhysicsServer3D : : AREA_PARAM_ANGULAR_DAMP :
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angular_damp = p_value ;
break ;
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case PhysicsServer3D : : AREA_PARAM_PRIORITY :
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// Priority is always 0, the lower
break ;
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case PhysicsServer3D : : AREA_PARAM_GRAVITY_IS_POINT :
case PhysicsServer3D : : AREA_PARAM_GRAVITY_DISTANCE_SCALE :
case PhysicsServer3D : : AREA_PARAM_GRAVITY_POINT_ATTENUATION :
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break ;
default :
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WARN_PRINT ( " This set parameter ( " + itos ( p_param ) + " ) is ignored, the SpaceBullet doesn't support it. " ) ;
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break ;
}
}
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Variant SpaceBullet : : get_param ( PhysicsServer3D : : AreaParameter p_param ) {
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switch ( p_param ) {
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case PhysicsServer3D : : AREA_PARAM_GRAVITY :
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return gravityMagnitude ;
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case PhysicsServer3D : : AREA_PARAM_GRAVITY_VECTOR :
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return gravityDirection ;
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case PhysicsServer3D : : AREA_PARAM_LINEAR_DAMP :
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return linear_damp ;
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case PhysicsServer3D : : AREA_PARAM_ANGULAR_DAMP :
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return angular_damp ;
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case PhysicsServer3D : : AREA_PARAM_PRIORITY :
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return 0 ; // Priority is always 0, the lower
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case PhysicsServer3D : : AREA_PARAM_GRAVITY_IS_POINT :
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return false ;
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case PhysicsServer3D : : AREA_PARAM_GRAVITY_DISTANCE_SCALE :
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return 0 ;
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case PhysicsServer3D : : AREA_PARAM_GRAVITY_POINT_ATTENUATION :
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return 0 ;
default :
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WARN_PRINT ( " This get parameter ( " + itos ( p_param ) + " ) is ignored, the SpaceBullet doesn't support it. " ) ;
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return Variant ( ) ;
}
}
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void SpaceBullet : : set_param ( PhysicsServer3D : : SpaceParameter p_param , real_t p_value ) {
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switch ( p_param ) {
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case PhysicsServer3D : : SPACE_PARAM_CONTACT_RECYCLE_RADIUS :
case PhysicsServer3D : : SPACE_PARAM_CONTACT_MAX_SEPARATION :
case PhysicsServer3D : : SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION :
case PhysicsServer3D : : SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD :
case PhysicsServer3D : : SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD :
case PhysicsServer3D : : SPACE_PARAM_BODY_TIME_TO_SLEEP :
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default :
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WARN_PRINT ( " This set parameter ( " + itos ( p_param ) + " ) is ignored, the SpaceBullet doesn't support it. " ) ;
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break ;
}
}
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real_t SpaceBullet : : get_param ( PhysicsServer3D : : SpaceParameter p_param ) {
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switch ( p_param ) {
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case PhysicsServer3D : : SPACE_PARAM_CONTACT_RECYCLE_RADIUS :
case PhysicsServer3D : : SPACE_PARAM_CONTACT_MAX_SEPARATION :
case PhysicsServer3D : : SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION :
case PhysicsServer3D : : SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD :
case PhysicsServer3D : : SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD :
case PhysicsServer3D : : SPACE_PARAM_BODY_TIME_TO_SLEEP :
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default :
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WARN_PRINT ( " The SpaceBullet doesn't support this get parameter ( " + itos ( p_param ) + " ), 0 is returned. " ) ;
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return 0.f ;
}
}
void SpaceBullet : : add_area ( AreaBullet * p_area ) {
areas . push_back ( p_area ) ;
dynamicsWorld - > addCollisionObject ( p_area - > get_bt_ghost ( ) , p_area - > get_collision_layer ( ) , p_area - > get_collision_mask ( ) ) ;
}
void SpaceBullet : : remove_area ( AreaBullet * p_area ) {
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areas . erase ( p_area ) ;
dynamicsWorld - > removeCollisionObject ( p_area - > get_bt_ghost ( ) ) ;
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}
void SpaceBullet : : reload_collision_filters ( AreaBullet * p_area ) {
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btGhostObject * ghost_object = p_area - > get_bt_ghost ( ) ;
btBroadphaseProxy * ghost_proxy = ghost_object - > getBroadphaseHandle ( ) ;
ghost_proxy - > m_collisionFilterGroup = p_area - > get_collision_layer ( ) ;
ghost_proxy - > m_collisionFilterMask = p_area - > get_collision_mask ( ) ;
dynamicsWorld - > refreshBroadphaseProxy ( ghost_object ) ;
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}
void SpaceBullet : : add_rigid_body ( RigidBodyBullet * p_body ) {
if ( p_body - > is_static ( ) ) {
dynamicsWorld - > addCollisionObject ( p_body - > get_bt_rigid_body ( ) , p_body - > get_collision_layer ( ) , p_body - > get_collision_mask ( ) ) ;
} else {
dynamicsWorld - > addRigidBody ( p_body - > get_bt_rigid_body ( ) , p_body - > get_collision_layer ( ) , p_body - > get_collision_mask ( ) ) ;
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p_body - > scratch_space_override_modificator ( ) ;
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}
}
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void SpaceBullet : : remove_rigid_body_constraints ( RigidBodyBullet * p_body ) {
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btRigidBody * btBody = p_body - > get_bt_rigid_body ( ) ;
int constraints = btBody - > getNumConstraintRefs ( ) ;
if ( constraints > 0 ) {
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ERR_PRINT ( " A body connected to joints was removed. " ) ;
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for ( int i = 0 ; i < constraints ; i + + ) {
dynamicsWorld - > removeConstraint ( btBody - > getConstraintRef ( i ) ) ;
}
}
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}
void SpaceBullet : : remove_rigid_body ( RigidBodyBullet * p_body ) {
btRigidBody * btBody = p_body - > get_bt_rigid_body ( ) ;
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if ( p_body - > is_static ( ) ) {
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dynamicsWorld - > removeCollisionObject ( btBody ) ;
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} else {
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dynamicsWorld - > removeRigidBody ( btBody ) ;
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}
}
void SpaceBullet : : reload_collision_filters ( RigidBodyBullet * p_body ) {
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btRigidBody * rigid_body = p_body - > get_bt_rigid_body ( ) ;
btBroadphaseProxy * body_proxy = rigid_body - > getBroadphaseProxy ( ) ;
body_proxy - > m_collisionFilterGroup = p_body - > get_collision_layer ( ) ;
body_proxy - > m_collisionFilterMask = p_body - > get_collision_mask ( ) ;
dynamicsWorld - > refreshBroadphaseProxy ( rigid_body ) ;
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}
void SpaceBullet : : add_soft_body ( SoftBodyBullet * p_body ) {
if ( is_using_soft_world ( ) ) {
if ( p_body - > get_bt_soft_body ( ) ) {
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p_body - > get_bt_soft_body ( ) - > m_worldInfo = get_soft_body_world_info ( ) ;
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static_cast < btSoftRigidDynamicsWorld * > ( dynamicsWorld ) - > addSoftBody ( p_body - > get_bt_soft_body ( ) , p_body - > get_collision_layer ( ) , p_body - > get_collision_mask ( ) ) ;
}
} else {
ERR_PRINT ( " This soft body can't be added to non soft world " ) ;
}
}
void SpaceBullet : : remove_soft_body ( SoftBodyBullet * p_body ) {
if ( is_using_soft_world ( ) ) {
if ( p_body - > get_bt_soft_body ( ) ) {
static_cast < btSoftRigidDynamicsWorld * > ( dynamicsWorld ) - > removeSoftBody ( p_body - > get_bt_soft_body ( ) ) ;
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p_body - > get_bt_soft_body ( ) - > m_worldInfo = nullptr ;
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}
}
}
void SpaceBullet : : reload_collision_filters ( SoftBodyBullet * p_body ) {
// This is necessary to change collision filter
remove_soft_body ( p_body ) ;
add_soft_body ( p_body ) ;
}
void SpaceBullet : : add_constraint ( ConstraintBullet * p_constraint , bool disableCollisionsBetweenLinkedBodies ) {
p_constraint - > set_space ( this ) ;
dynamicsWorld - > addConstraint ( p_constraint - > get_bt_constraint ( ) , disableCollisionsBetweenLinkedBodies ) ;
}
void SpaceBullet : : remove_constraint ( ConstraintBullet * p_constraint ) {
dynamicsWorld - > removeConstraint ( p_constraint - > get_bt_constraint ( ) ) ;
}
int SpaceBullet : : get_num_collision_objects ( ) const {
return dynamicsWorld - > getNumCollisionObjects ( ) ;
}
void SpaceBullet : : remove_all_collision_objects ( ) {
for ( int i = dynamicsWorld - > getNumCollisionObjects ( ) - 1 ; 0 < = i ; - - i ) {
btCollisionObject * btObj = dynamicsWorld - > getCollisionObjectArray ( ) [ i ] ;
CollisionObjectBullet * colObj = static_cast < CollisionObjectBullet * > ( btObj - > getUserPointer ( ) ) ;
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colObj - > set_space ( nullptr ) ;
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}
}
void onBulletTickCallback ( btDynamicsWorld * p_dynamicsWorld , btScalar timeStep ) {
const btCollisionObjectArray & colObjArray = p_dynamicsWorld - > getCollisionObjectArray ( ) ;
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// Notify all Collision objects the collision checker is started
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for ( int i = colObjArray . size ( ) - 1 ; 0 < = i ; - - i ) {
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static_cast < CollisionObjectBullet * > ( colObjArray [ i ] - > getUserPointer ( ) ) - > on_collision_checker_start ( ) ;
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}
SpaceBullet * sb = static_cast < SpaceBullet * > ( p_dynamicsWorld - > getWorldUserInfo ( ) ) ;
sb - > check_ghost_overlaps ( ) ;
sb - > check_body_collision ( ) ;
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for ( int i = colObjArray . size ( ) - 1 ; 0 < = i ; - - i ) {
static_cast < CollisionObjectBullet * > ( colObjArray [ i ] - > getUserPointer ( ) ) - > on_collision_checker_end ( ) ;
}
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}
BulletPhysicsDirectSpaceState * SpaceBullet : : get_direct_state ( ) {
return direct_access ;
}
btScalar calculateGodotCombinedRestitution ( const btCollisionObject * body0 , const btCollisionObject * body1 ) {
2018-07-23 14:37:07 +00:00
return CLAMP ( body0 - > getRestitution ( ) + body1 - > getRestitution ( ) , 0 , 1 ) ;
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}
btScalar calculateGodotCombinedFriction ( const btCollisionObject * body0 , const btCollisionObject * body1 ) {
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return ABS ( MIN ( body0 - > getFriction ( ) , body1 - > getFriction ( ) ) ) ;
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}
void SpaceBullet : : create_empty_world ( bool p_create_soft_world ) {
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gjk_epa_pen_solver = bulletnew ( btGjkEpaPenetrationDepthSolver ) ;
gjk_simplex_solver = bulletnew ( btVoronoiSimplexSolver ) ;
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void * world_mem ;
if ( p_create_soft_world ) {
world_mem = malloc ( sizeof ( btSoftRigidDynamicsWorld ) ) ;
} else {
world_mem = malloc ( sizeof ( btDiscreteDynamicsWorld ) ) ;
}
2019-08-11 08:49:53 +00:00
ERR_FAIL_COND_MSG ( ! world_mem , " Out of memory. " ) ;
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if ( p_create_soft_world ) {
2018-09-22 07:42:19 +00:00
collisionConfiguration = bulletnew ( GodotSoftCollisionConfiguration ( static_cast < btDiscreteDynamicsWorld * > ( world_mem ) ) ) ;
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} else {
collisionConfiguration = bulletnew ( GodotCollisionConfiguration ( static_cast < btDiscreteDynamicsWorld * > ( world_mem ) ) ) ;
}
dispatcher = bulletnew ( GodotCollisionDispatcher ( collisionConfiguration ) ) ;
broadphase = bulletnew ( btDbvtBroadphase ) ;
solver = bulletnew ( btSequentialImpulseConstraintSolver ) ;
if ( p_create_soft_world ) {
dynamicsWorld = new ( world_mem ) btSoftRigidDynamicsWorld ( dispatcher , broadphase , solver , collisionConfiguration ) ;
soft_body_world_info = bulletnew ( btSoftBodyWorldInfo ) ;
} else {
dynamicsWorld = new ( world_mem ) btDiscreteDynamicsWorld ( dispatcher , broadphase , solver , collisionConfiguration ) ;
}
ghostPairCallback = bulletnew ( btGhostPairCallback ) ;
godotFilterCallback = bulletnew ( GodotFilterCallback ) ;
gCalculateCombinedRestitutionCallback = & calculateGodotCombinedRestitution ;
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gCalculateCombinedFrictionCallback = & calculateGodotCombinedFriction ;
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gContactAddedCallback = & godotContactAddedCallback ;
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dynamicsWorld - > setWorldUserInfo ( this ) ;
dynamicsWorld - > setInternalTickCallback ( onBulletTickCallback , this , false ) ;
dynamicsWorld - > getBroadphase ( ) - > getOverlappingPairCache ( ) - > setInternalGhostPairCallback ( ghostPairCallback ) ; // Setup ghost check
dynamicsWorld - > getPairCache ( ) - > setOverlapFilterCallback ( godotFilterCallback ) ;
if ( soft_body_world_info ) {
soft_body_world_info - > m_broadphase = broadphase ;
soft_body_world_info - > m_dispatcher = dispatcher ;
soft_body_world_info - > m_sparsesdf . Initialize ( ) ;
}
update_gravity ( ) ;
}
void SpaceBullet : : destroy_world ( ) {
/// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot
2020-04-01 23:20:12 +00:00
dynamicsWorld - > getBroadphase ( ) - > getOverlappingPairCache ( ) - > setInternalGhostPairCallback ( nullptr ) ;
dynamicsWorld - > getPairCache ( ) - > setOverlapFilterCallback ( nullptr ) ;
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bulletdelete ( ghostPairCallback ) ;
bulletdelete ( godotFilterCallback ) ;
// Deallocate world
dynamicsWorld - > ~ btDiscreteDynamicsWorld ( ) ;
free ( dynamicsWorld ) ;
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dynamicsWorld = nullptr ;
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bulletdelete ( solver ) ;
bulletdelete ( broadphase ) ;
bulletdelete ( dispatcher ) ;
bulletdelete ( collisionConfiguration ) ;
bulletdelete ( soft_body_world_info ) ;
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bulletdelete ( gjk_simplex_solver ) ;
bulletdelete ( gjk_epa_pen_solver ) ;
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}
void SpaceBullet : : check_ghost_overlaps ( ) {
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// For each area
for ( int area_idx = 0 ; area_idx < areas . size ( ) ; area_idx + + ) {
AreaBullet * area = areas [ area_idx ] ;
2020-05-14 14:41:43 +00:00
if ( ! area - > is_monitoring ( ) ) {
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continue ;
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}
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btGhostObject * bt_ghost = area - > get_bt_ghost ( ) ;
const btTransform & area_transform = area - > get_transform__bullet ( ) ;
const btVector3 & area_scale ( area - > get_bt_body_scale ( ) ) ;
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// Mark all current overlapping shapes dirty.
area - > mark_all_overlaps_dirty ( ) ;
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// Broadphase
const btAlignedObjectArray < btCollisionObject * > overlapping_pairs = bt_ghost - > getOverlappingPairs ( ) ;
// Narrowphase
for ( int pair_idx = 0 ; pair_idx < overlapping_pairs . size ( ) ; pair_idx + + ) {
btCollisionObject * other_bt_collision_object = overlapping_pairs [ pair_idx ] ;
RigidCollisionObjectBullet * other_object = static_cast < RigidCollisionObjectBullet * > ( other_bt_collision_object - > getUserPointer ( ) ) ;
const btTransform & other_transform = other_object - > get_transform__bullet ( ) ;
const btVector3 & other_scale ( other_object - > get_bt_body_scale ( ) ) ;
2018-10-07 05:14:38 +00:00
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if ( ! area - > is_updated ( ) & & ! other_object - > is_updated ( ) ) {
area - > mark_object_overlaps_inside ( other_object ) ;
continue ;
2019-01-21 07:30:49 +00:00
}
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if ( other_bt_collision_object - > getUserIndex ( ) = = CollisionObjectBullet : : TYPE_AREA ) {
if ( ! static_cast < AreaBullet * > ( other_bt_collision_object - > getUserPointer ( ) ) - > is_monitorable ( ) ) {
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continue ;
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}
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} else if ( other_bt_collision_object - > getUserIndex ( ) ! = CollisionObjectBullet : : TYPE_RIGID_BODY ) {
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continue ;
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}
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// For each area shape
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for ( int our_shape_id = 0 ; our_shape_id < area - > get_shape_count ( ) ; our_shape_id + + ) {
btCollisionShape * area_shape = area - > get_bt_shape ( our_shape_id ) ;
if ( ! area_shape - > isConvex ( ) ) {
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continue ;
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}
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btConvexShape * area_convex_shape = static_cast < btConvexShape * > ( area_shape ) ;
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btTransform area_shape_transform ( area - > get_bt_shape_transform ( our_shape_id ) ) ;
area_shape_transform . getOrigin ( ) * = area_scale ;
btGjkPairDetector : : ClosestPointInput gjk_input ;
gjk_input . m_transformA = area_transform * area_shape_transform ;
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// For each other object shape
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for ( int other_shape_id = 0 ; other_shape_id < other_object - > get_shape_count ( ) ; other_shape_id + + ) {
btCollisionShape * other_shape = other_object - > get_bt_shape ( other_shape_id ) ;
btTransform other_shape_transform ( other_object - > get_bt_shape_transform ( other_shape_id ) ) ;
other_shape_transform . getOrigin ( ) * = other_scale ;
gjk_input . m_transformB = other_transform * other_shape_transform ;
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if ( other_shape - > isConvex ( ) ) {
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btPointCollector result ;
btGjkPairDetector gjk_pair_detector (
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area_convex_shape ,
static_cast < btConvexShape * > ( other_shape ) ,
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gjk_simplex_solver ,
gjk_epa_pen_solver ) ;
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gjk_pair_detector . getClosestPoints ( gjk_input , result , nullptr ) ;
if ( result . m_distance < = 0 ) {
area - > set_overlap ( other_object , other_shape_id , our_shape_id ) ;
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}
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} else { // Other shape is not convex.
btCollisionObjectWrapper obA ( nullptr , area_convex_shape , bt_ghost , gjk_input . m_transformA , - 1 , our_shape_id ) ;
btCollisionObjectWrapper obB ( nullptr , other_shape , other_bt_collision_object , gjk_input . m_transformB , - 1 , other_shape_id ) ;
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btCollisionAlgorithm * algorithm = dispatcher - > findAlgorithm ( & obA , & obB , nullptr , BT_CONTACT_POINT_ALGORITHMS ) ;
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if ( ! algorithm ) {
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continue ;
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}
2018-09-05 11:43:02 +00:00
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GodotDeepPenetrationContactResultCallback contactPointResult ( & obA , & obB ) ;
algorithm - > processCollision ( & obA , & obB , dynamicsWorld - > getDispatchInfo ( ) , & contactPointResult ) ;
algorithm - > ~ btCollisionAlgorithm ( ) ;
dispatcher - > freeCollisionAlgorithm ( algorithm ) ;
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if ( contactPointResult . hasHit ( ) ) {
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area - > set_overlap ( other_object , our_shape_id , other_shape_id ) ;
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}
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}
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} // End for each other object shape
} // End for each area shape
} // End for each overlapping pair
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// All overlapping shapes still marked dirty must have exited.
area - > mark_all_dirty_overlaps_as_exit ( ) ;
} // End for each area
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}
void SpaceBullet : : check_body_collision ( ) {
# ifdef DEBUG_ENABLED
reset_debug_contact_count ( ) ;
# endif
const int numManifolds = dynamicsWorld - > getDispatcher ( ) - > getNumManifolds ( ) ;
for ( int i = 0 ; i < numManifolds ; + + i ) {
btPersistentManifold * contactManifold = dynamicsWorld - > getDispatcher ( ) - > getManifoldByIndexInternal ( i ) ;
// I know this static cast is a bit risky. But I'm checking its type just after it.
// This allow me to avoid a lot of other cast and checks
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RigidBodyBullet * bodyA = static_cast < RigidBodyBullet * > ( contactManifold - > getBody0 ( ) - > getUserPointer ( ) ) ;
RigidBodyBullet * bodyB = static_cast < RigidBodyBullet * > ( contactManifold - > getBody1 ( ) - > getUserPointer ( ) ) ;
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if ( CollisionObjectBullet : : TYPE_RIGID_BODY = = bodyA - > getType ( ) & & CollisionObjectBullet : : TYPE_RIGID_BODY = = bodyB - > getType ( ) ) {
if ( ! bodyA - > can_add_collision ( ) & & ! bodyB - > can_add_collision ( ) ) {
continue ;
}
const int numContacts = contactManifold - > getNumContacts ( ) ;
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/// Since I don't need report all contacts for these objects,
/// So report only the first
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# define REPORT_ALL_CONTACTS 0
# if REPORT_ALL_CONTACTS
for ( int j = 0 ; j < numContacts ; j + + ) {
btManifoldPoint & pt = contactManifold - > getContactPoint ( j ) ;
# else
if ( numContacts ) {
btManifoldPoint & pt = contactManifold - > getContactPoint ( 0 ) ;
# endif
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if (
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pt . getDistance ( ) < 0.0 | |
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bodyA - > was_colliding ( bodyB ) | |
bodyB - > was_colliding ( bodyA ) ) {
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Vector3 collisionWorldPosition ;
Vector3 collisionLocalPosition ;
Vector3 normalOnB ;
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real_t appliedImpulse = pt . m_appliedImpulse ;
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B_TO_G ( pt . m_normalWorldOnB , normalOnB ) ;
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// The pt.m_index only contains the shape index when more than one collision shape is used
// and only if the collision shape is not a concave collision shape.
// A value of -1 in pt.m_partId indicates the pt.m_index is a shape index.
int shape_index_a = 0 ;
if ( bodyA - > get_shape_count ( ) > 1 & & pt . m_partId0 = = - 1 ) {
shape_index_a = pt . m_index0 ;
}
int shape_index_b = 0 ;
if ( bodyB - > get_shape_count ( ) > 1 & & pt . m_partId1 = = - 1 ) {
shape_index_b = pt . m_index1 ;
}
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if ( bodyA - > can_add_collision ( ) ) {
B_TO_G ( pt . getPositionWorldOnB ( ) , collisionWorldPosition ) ;
/// pt.m_localPointB Doesn't report the exact point in local space
B_TO_G ( pt . getPositionWorldOnB ( ) - contactManifold - > getBody1 ( ) - > getWorldTransform ( ) . getOrigin ( ) , collisionLocalPosition ) ;
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bodyA - > add_collision_object ( bodyB , collisionWorldPosition , collisionLocalPosition , normalOnB , appliedImpulse , shape_index_b , shape_index_a ) ;
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}
if ( bodyB - > can_add_collision ( ) ) {
B_TO_G ( pt . getPositionWorldOnA ( ) , collisionWorldPosition ) ;
/// pt.m_localPointA Doesn't report the exact point in local space
B_TO_G ( pt . getPositionWorldOnA ( ) - contactManifold - > getBody0 ( ) - > getWorldTransform ( ) . getOrigin ( ) , collisionLocalPosition ) ;
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bodyB - > add_collision_object ( bodyA , collisionWorldPosition , collisionLocalPosition , normalOnB * - 1 , appliedImpulse * - 1 , shape_index_a , shape_index_b ) ;
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}
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# ifdef DEBUG_ENABLED
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if ( is_debugging_contacts ( ) ) {
add_debug_contact ( collisionWorldPosition ) ;
}
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# endif
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}
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}
}
}
}
void SpaceBullet : : update_gravity ( ) {
btVector3 btGravity ;
G_TO_B ( gravityDirection * gravityMagnitude , btGravity ) ;
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//dynamicsWorld->setGravity(btGravity);
dynamicsWorld - > setGravity ( btVector3 ( 0 , 0 , 0 ) ) ;
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if ( soft_body_world_info ) {
soft_body_world_info - > m_gravity = btGravity ;
}
}
/// IMPORTANT: Please don't turn it ON this is not managed correctly!!
/// I'm leaving this here just for future tests.
/// Debug motion and normal vector drawing
# define debug_test_motion 0
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# define RECOVERING_MOVEMENT_SCALE 0.4
# define RECOVERING_MOVEMENT_CYCLES 4
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# if debug_test_motion
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# include "scene/3d/immediate_geometry.h"
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static ImmediateGeometry3D * motionVec ( nullptr ) ;
static ImmediateGeometry3D * normalLine ( nullptr ) ;
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static Ref < StandardMaterial3D > red_mat ;
static Ref < StandardMaterial3D > blue_mat ;
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# endif
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bool SpaceBullet : : test_body_motion ( RigidBodyBullet * p_body , const Transform3D & p_from , const Vector3 & p_motion , bool p_infinite_inertia , PhysicsServer3D : : MotionResult * r_result , bool p_exclude_raycast_shapes , const Set < RID > & p_exclude ) {
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# if debug_test_motion
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/// Yes I know this is not good, but I've used it as fast debugging hack.
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/// I'm leaving it here just for speedup the other eventual debugs
if ( ! normalLine ) {
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motionVec = memnew ( ImmediateGeometry3D ) ;
normalLine = memnew ( ImmediateGeometry3D ) ;
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SceneTree : : get_singleton ( ) - > get_current_scene ( ) - > add_child ( motionVec ) ;
SceneTree : : get_singleton ( ) - > get_current_scene ( ) - > add_child ( normalLine ) ;
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motionVec - > set_as_top_level ( true ) ;
normalLine - > set_as_top_level ( true ) ;
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red_mat = Ref < StandardMaterial3D > ( memnew ( StandardMaterial3D ) ) ;
red_mat - > set_shading_mode ( StandardMaterial3D : : SHADING_MODE_UNSHADED ) ;
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red_mat - > set_line_width ( 20.0 ) ;
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red_mat - > set_transparency ( StandardMaterial3D : : TRANSPARENCY_ALPHA ) ;
red_mat - > set_flag ( StandardMaterial3D : : FLAG_ALBEDO_FROM_VERTEX_COLOR , true ) ;
red_mat - > set_flag ( StandardMaterial3D : : FLAG_SRGB_VERTEX_COLOR , true ) ;
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red_mat - > set_albedo ( Color ( 1 , 0 , 0 , 1 ) ) ;
motionVec - > set_material_override ( red_mat ) ;
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blue_mat = Ref < StandardMaterial3D > ( memnew ( StandardMaterial3D ) ) ;
blue_mat - > set_shading_mode ( StandardMaterial3D : : SHADING_MODE_UNSHADED ) ;
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blue_mat - > set_line_width ( 20.0 ) ;
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blue_mat - > set_transparency ( StandardMaterial3D : : TRANSPARENCY_ALPHA ) ;
blue_mat - > set_flag ( StandardMaterial3D : : FLAG_ALBEDO_FROM_VERTEX_COLOR , true ) ;
blue_mat - > set_flag ( StandardMaterial3D : : FLAG_SRGB_VERTEX_COLOR , true ) ;
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blue_mat - > set_albedo ( Color ( 0 , 0 , 1 , 1 ) ) ;
normalLine - > set_material_override ( blue_mat ) ;
}
# endif
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btTransform body_transform ;
G_TO_B ( p_from , body_transform ) ;
UNSCALE_BT_BASIS ( body_transform ) ;
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if ( ! p_body - > get_kinematic_utilities ( ) ) {
p_body - > init_kinematic_utilities ( ) ;
}
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btVector3 initial_recover_motion ( 0 , 0 , 0 ) ;
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{ /// Phase one - multi shapes depenetration using margin
for ( int t ( RECOVERING_MOVEMENT_CYCLES ) ; 0 < t ; - - t ) {
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if ( ! recover_from_penetration ( p_body , body_transform , RECOVERING_MOVEMENT_SCALE , p_infinite_inertia , initial_recover_motion , nullptr , p_exclude ) ) {
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break ;
}
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}
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// Add recover movement in order to make it safe
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body_transform . getOrigin ( ) + = initial_recover_motion ;
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}
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btVector3 motion ;
G_TO_B ( p_motion , motion ) ;
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real_t total_length = motion . length ( ) ;
real_t unsafe_fraction = 1.0 ;
real_t safe_fraction = 1.0 ;
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{
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// Phase two - sweep test, from a secure position without margin
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const int shape_count ( p_body - > get_shape_count ( ) ) ;
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# if debug_test_motion
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Vector3 sup_line ;
B_TO_G ( body_safe_position . getOrigin ( ) , sup_line ) ;
motionVec - > clear ( ) ;
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motionVec - > begin ( Mesh : : PRIMITIVE_LINES , nullptr ) ;
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motionVec - > add_vertex ( sup_line ) ;
motionVec - > add_vertex ( sup_line + p_motion * 10 ) ;
motionVec - > end ( ) ;
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# endif
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for ( int shIndex = 0 ; shIndex < shape_count ; + + shIndex ) {
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if ( p_body - > is_shape_disabled ( shIndex ) ) {
continue ;
}
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if ( ! p_body - > get_bt_shape ( shIndex ) - > isConvex ( ) ) {
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// Skip no convex shape
continue ;
}
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if ( p_exclude_raycast_shapes & & p_body - > get_bt_shape ( shIndex ) - > getShapeType ( ) = = CUSTOM_CONVEX_SHAPE_TYPE ) {
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// Skip rayshape in order to implement custom separation process
continue ;
}
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btConvexShape * convex_shape_test ( static_cast < btConvexShape * > ( p_body - > get_bt_shape ( shIndex ) ) ) ;
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btTransform shape_world_from = body_transform * p_body - > get_kinematic_utilities ( ) - > shapes [ shIndex ] . transform ;
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btTransform shape_world_to ( shape_world_from ) ;
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shape_world_to . getOrigin ( ) + = motion ;
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if ( ( shape_world_to . getOrigin ( ) - shape_world_from . getOrigin ( ) ) . fuzzyZero ( ) ) {
motion = btVector3 ( 0 , 0 , 0 ) ;
break ;
}
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GodotKinClosestConvexResultCallback btResult ( shape_world_from . getOrigin ( ) , shape_world_to . getOrigin ( ) , p_body , p_infinite_inertia , & p_exclude ) ;
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btResult . m_collisionFilterGroup = p_body - > get_collision_layer ( ) ;
btResult . m_collisionFilterMask = p_body - > get_collision_mask ( ) ;
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dynamicsWorld - > convexSweepTest ( convex_shape_test , shape_world_from , shape_world_to , btResult , dynamicsWorld - > getDispatchInfo ( ) . m_allowedCcdPenetration ) ;
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if ( btResult . hasHit ( ) ) {
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if ( total_length > CMP_EPSILON ) {
real_t hit_fraction = btResult . m_closestHitFraction * motion . length ( ) / total_length ;
if ( hit_fraction < unsafe_fraction ) {
unsafe_fraction = hit_fraction ;
real_t margin = p_body - > get_kinematic_utilities ( ) - > safe_margin ;
safe_fraction = MAX ( hit_fraction - ( 1 - ( ( total_length - margin ) / total_length ) ) , 0 ) ;
}
}
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/// Since for each sweep test I fix the motion of new shapes in base the recover result,
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/// if another shape will hit something it means that has a deepest penetration respect the previous shape
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motion * = btResult . m_closestHitFraction ;
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}
}
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body_transform . getOrigin ( ) + = motion ;
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}
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bool has_penetration = false ;
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{ /// Phase three - contact test with margin
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btVector3 __rec ( 0 , 0 , 0 ) ;
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RecoverResult r_recover_result ;
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has_penetration = recover_from_penetration ( p_body , body_transform , 1 , p_infinite_inertia , __rec , & r_recover_result , p_exclude ) ;
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// Parse results
if ( r_result ) {
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B_TO_G ( motion + initial_recover_motion + __rec , r_result - > motion ) ;
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if ( has_penetration ) {
const btRigidBody * btRigid = static_cast < const btRigidBody * > ( r_recover_result . other_collision_object ) ;
CollisionObjectBullet * collisionObject = static_cast < CollisionObjectBullet * > ( btRigid - > getUserPointer ( ) ) ;
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B_TO_G ( motion , r_result - > remainder ) ; // is the remaining movements
r_result - > remainder = p_motion - r_result - > remainder ;
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B_TO_G ( r_recover_result . pointWorld , r_result - > collision_point ) ;
B_TO_G ( r_recover_result . normal , r_result - > collision_normal ) ;
B_TO_G ( btRigid - > getVelocityInLocalPoint ( r_recover_result . pointWorld - btRigid - > getWorldTransform ( ) . getOrigin ( ) ) , r_result - > collider_velocity ) ; // It calculates velocity at point and assign it using special function Bullet_to_Godot
r_result - > collider = collisionObject - > get_self ( ) ;
r_result - > collider_id = collisionObject - > get_instance_id ( ) ;
r_result - > collider_shape = r_recover_result . other_compound_shape_index ;
r_result - > collision_local_shape = r_recover_result . local_shape_most_recovered ;
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r_result - > collision_depth = Math : : abs ( r_recover_result . penetration_distance ) ;
r_result - > collision_safe_fraction = safe_fraction ;
r_result - > collision_unsafe_fraction = unsafe_fraction ;
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# if debug_test_motion
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Vector3 sup_line2 ;
B_TO_G ( motion , sup_line2 ) ;
normalLine - > clear ( ) ;
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normalLine - > begin ( Mesh : : PRIMITIVE_LINES , nullptr ) ;
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normalLine - > add_vertex ( r_result - > collision_point ) ;
normalLine - > add_vertex ( r_result - > collision_point + r_result - > collision_normal * 10 ) ;
normalLine - > end ( ) ;
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# endif
} else {
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r_result - > remainder = Vector3 ( ) ;
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}
}
}
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return has_penetration ;
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}
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int SpaceBullet : : test_ray_separation ( RigidBodyBullet * p_body , const Transform3D & p_transform , bool p_infinite_inertia , Vector3 & r_recover_motion , PhysicsServer3D : : SeparationResult * r_results , int p_result_max , real_t p_margin ) {
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btTransform body_transform ;
G_TO_B ( p_transform , body_transform ) ;
UNSCALE_BT_BASIS ( body_transform ) ;
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if ( ! p_body - > get_kinematic_utilities ( ) ) {
p_body - > init_kinematic_utilities ( ) ;
}
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btVector3 recover_motion ( 0 , 0 , 0 ) ;
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int rays_found = 0 ;
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int rays_found_this_round = 0 ;
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for ( int t ( RECOVERING_MOVEMENT_CYCLES ) ; 0 < t ; - - t ) {
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PhysicsServer3D : : SeparationResult * next_results = & r_results [ rays_found ] ;
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rays_found_this_round = recover_from_penetration_ray ( p_body , body_transform , RECOVERING_MOVEMENT_SCALE , p_infinite_inertia , p_result_max - rays_found , recover_motion , next_results ) ;
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rays_found + = rays_found_this_round ;
if ( rays_found_this_round = = 0 ) {
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body_transform . getOrigin ( ) + = recover_motion ;
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break ;
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}
}
B_TO_G ( recover_motion , r_recover_motion ) ;
return rays_found ;
}
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struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
private :
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btDbvtVolume bounds ;
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const btCollisionObject * self_collision_object ;
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uint32_t collision_layer = 0 ;
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struct CompoundLeafCallback : btDbvt : : ICollide {
private :
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RecoverPenetrationBroadPhaseCallback * parent_callback = nullptr ;
btCollisionObject * collision_object = nullptr ;
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public :
CompoundLeafCallback ( RecoverPenetrationBroadPhaseCallback * p_parent_callback , btCollisionObject * p_collision_object ) :
parent_callback ( p_parent_callback ) ,
collision_object ( p_collision_object ) {
}
void Process ( const btDbvtNode * leaf ) {
BroadphaseResult result ;
result . collision_object = collision_object ;
result . compound_child_index = leaf - > dataAsInt ;
parent_callback - > results . push_back ( result ) ;
}
} ;
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public :
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struct BroadphaseResult {
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btCollisionObject * collision_object = nullptr ;
int compound_child_index = 0 ;
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} ;
Vector < BroadphaseResult > results ;
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public :
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RecoverPenetrationBroadPhaseCallback ( const btCollisionObject * p_self_collision_object , uint32_t p_collision_layer , btVector3 p_aabb_min , btVector3 p_aabb_max ) :
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self_collision_object ( p_self_collision_object ) ,
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collision_layer ( p_collision_layer ) {
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bounds = btDbvtVolume : : FromMM ( p_aabb_min , p_aabb_max ) ;
}
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virtual ~ RecoverPenetrationBroadPhaseCallback ( ) { }
virtual bool process ( const btBroadphaseProxy * proxy ) {
btCollisionObject * co = static_cast < btCollisionObject * > ( proxy - > m_clientObject ) ;
if ( co - > getInternalType ( ) < = btCollisionObject : : CO_RIGID_BODY ) {
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if ( self_collision_object ! = proxy - > m_clientObject & & ( proxy - > collision_layer & m_collisionFilterMask ) ) {
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if ( co - > getCollisionShape ( ) - > isCompound ( ) ) {
const btCompoundShape * cs = static_cast < btCompoundShape * > ( co - > getCollisionShape ( ) ) ;
if ( cs - > getNumChildShapes ( ) > 1 ) {
const btDbvt * tree = cs - > getDynamicAabbTree ( ) ;
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ERR_FAIL_COND_V ( tree = = nullptr , true ) ;
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// Transform bounds into compound shape local space
const btTransform other_in_compound_space = co - > getWorldTransform ( ) . inverse ( ) ;
const btMatrix3x3 abs_b = other_in_compound_space . getBasis ( ) . absolute ( ) ;
const btVector3 local_center = other_in_compound_space ( bounds . Center ( ) ) ;
const btVector3 local_extent = bounds . Extents ( ) . dot3 ( abs_b [ 0 ] , abs_b [ 1 ] , abs_b [ 2 ] ) ;
const btVector3 local_aabb_min = local_center - local_extent ;
const btVector3 local_aabb_max = local_center + local_extent ;
const btDbvtVolume local_bounds = btDbvtVolume : : FromMM ( local_aabb_min , local_aabb_max ) ;
// Test collision against compound child shapes using its AABB tree
CompoundLeafCallback compound_leaf_callback ( this , co ) ;
tree - > collideTV ( tree - > m_root , local_bounds , compound_leaf_callback ) ;
} else {
// If there's only a single child shape then there's no need to search any more, we know which child overlaps
BroadphaseResult result ;
result . collision_object = co ;
result . compound_child_index = 0 ;
results . push_back ( result ) ;
}
} else {
BroadphaseResult result ;
result . collision_object = co ;
result . compound_child_index = - 1 ;
results . push_back ( result ) ;
}
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return true ;
}
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}
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return false ;
}
} ;
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bool SpaceBullet : : recover_from_penetration ( RigidBodyBullet * p_body , const btTransform & p_body_position , btScalar p_recover_movement_scale , bool p_infinite_inertia , btVector3 & r_delta_recover_movement , RecoverResult * r_recover_result , const Set < RID > & p_exclude ) {
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// Calculate the cumulative AABB of all shapes of the kinematic body
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btVector3 aabb_min , aabb_max ;
bool shapes_found = false ;
for ( int kinIndex = p_body - > get_kinematic_utilities ( ) - > shapes . size ( ) - 1 ; 0 < = kinIndex ; - - kinIndex ) {
const RigidBodyBullet : : KinematicShape & kin_shape ( p_body - > get_kinematic_utilities ( ) - > shapes [ kinIndex ] ) ;
if ( ! kin_shape . is_active ( ) ) {
continue ;
}
if ( kin_shape . shape - > getShapeType ( ) = = CUSTOM_CONVEX_SHAPE_TYPE ) {
// Skip rayshape in order to implement custom separation process
continue ;
}
btTransform shape_transform = p_body_position * kin_shape . transform ;
shape_transform . getOrigin ( ) + = r_delta_recover_movement ;
btVector3 shape_aabb_min , shape_aabb_max ;
kin_shape . shape - > getAabb ( shape_transform , shape_aabb_min , shape_aabb_max ) ;
if ( ! shapes_found ) {
aabb_min = shape_aabb_min ;
aabb_max = shape_aabb_max ;
shapes_found = true ;
} else {
aabb_min . setX ( ( aabb_min . x ( ) < shape_aabb_min . x ( ) ) ? aabb_min . x ( ) : shape_aabb_min . x ( ) ) ;
aabb_min . setY ( ( aabb_min . y ( ) < shape_aabb_min . y ( ) ) ? aabb_min . y ( ) : shape_aabb_min . y ( ) ) ;
aabb_min . setZ ( ( aabb_min . z ( ) < shape_aabb_min . z ( ) ) ? aabb_min . z ( ) : shape_aabb_min . z ( ) ) ;
aabb_max . setX ( ( aabb_max . x ( ) > shape_aabb_max . x ( ) ) ? aabb_max . x ( ) : shape_aabb_max . x ( ) ) ;
aabb_max . setY ( ( aabb_max . y ( ) > shape_aabb_max . y ( ) ) ? aabb_max . y ( ) : shape_aabb_max . y ( ) ) ;
aabb_max . setZ ( ( aabb_max . z ( ) > shape_aabb_max . z ( ) ) ? aabb_max . z ( ) : shape_aabb_max . z ( ) ) ;
}
}
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// If there are no shapes then there is no penetration either
if ( ! shapes_found ) {
return false ;
}
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// Perform broadphase test
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RecoverPenetrationBroadPhaseCallback recover_broad_result ( p_body - > get_bt_collision_object ( ) , p_body - > get_collision_layer ( ) , aabb_min , aabb_max ) ;
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dynamicsWorld - > getBroadphase ( ) - > aabbTest ( aabb_min , aabb_max , recover_broad_result ) ;
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bool penetration = false ;
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// Perform narrowphase per shape
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for ( int kinIndex = p_body - > get_kinematic_utilities ( ) - > shapes . size ( ) - 1 ; 0 < = kinIndex ; - - kinIndex ) {
const RigidBodyBullet : : KinematicShape & kin_shape ( p_body - > get_kinematic_utilities ( ) - > shapes [ kinIndex ] ) ;
if ( ! kin_shape . is_active ( ) ) {
continue ;
}
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if ( kin_shape . shape - > getShapeType ( ) = = CUSTOM_CONVEX_SHAPE_TYPE ) {
// Skip rayshape in order to implement custom separation process
continue ;
}
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if ( kin_shape . shape - > getShapeType ( ) = = EMPTY_SHAPE_PROXYTYPE ) {
continue ;
}
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btTransform shape_transform = p_body_position * kin_shape . transform ;
shape_transform . getOrigin ( ) + = r_delta_recover_movement ;
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for ( int i = recover_broad_result . results . size ( ) - 1 ; 0 < = i ; - - i ) {
btCollisionObject * otherObject = recover_broad_result . results [ i ] . collision_object ;
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CollisionObjectBullet * gObj = static_cast < CollisionObjectBullet * > ( otherObject - > getUserPointer ( ) ) ;
if ( p_exclude . has ( gObj - > get_self ( ) ) ) {
continue ;
}
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if ( p_infinite_inertia & & ! otherObject - > isStaticOrKinematicObject ( ) ) {
otherObject - > activate ( ) ; // Force activation of hitten rigid, soft body
continue ;
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} else if ( ! p_body - > get_bt_collision_object ( ) - > checkCollideWith ( otherObject ) | | ! otherObject - > checkCollideWith ( p_body - > get_bt_collision_object ( ) ) ) {
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continue ;
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}
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if ( otherObject - > getCollisionShape ( ) - > isCompound ( ) ) {
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const btCompoundShape * cs = static_cast < const btCompoundShape * > ( otherObject - > getCollisionShape ( ) ) ;
int shape_idx = recover_broad_result . results [ i ] . compound_child_index ;
ERR_FAIL_COND_V ( shape_idx < 0 | | shape_idx > = cs - > getNumChildShapes ( ) , false ) ;
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if ( cs - > getChildShape ( shape_idx ) - > isConvex ( ) ) {
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if ( RFP_convex_convex_test ( kin_shape . shape , static_cast < const btConvexShape * > ( cs - > getChildShape ( shape_idx ) ) , otherObject , kinIndex , shape_idx , shape_transform , otherObject - > getWorldTransform ( ) * cs - > getChildTransform ( shape_idx ) , p_recover_movement_scale , r_delta_recover_movement , r_recover_result ) ) {
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penetration = true ;
}
} else {
if ( RFP_convex_world_test ( kin_shape . shape , cs - > getChildShape ( shape_idx ) , p_body - > get_bt_collision_object ( ) , otherObject , kinIndex , shape_idx , shape_transform , otherObject - > getWorldTransform ( ) * cs - > getChildTransform ( shape_idx ) , p_recover_movement_scale , r_delta_recover_movement , r_recover_result ) ) {
penetration = true ;
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}
}
} else if ( otherObject - > getCollisionShape ( ) - > isConvex ( ) ) { /// Execute GJK test against object shape
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if ( RFP_convex_convex_test ( kin_shape . shape , static_cast < const btConvexShape * > ( otherObject - > getCollisionShape ( ) ) , otherObject , kinIndex , 0 , shape_transform , otherObject - > getWorldTransform ( ) , p_recover_movement_scale , r_delta_recover_movement , r_recover_result ) ) {
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penetration = true ;
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}
} else {
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if ( RFP_convex_world_test ( kin_shape . shape , otherObject - > getCollisionShape ( ) , p_body - > get_bt_collision_object ( ) , otherObject , kinIndex , 0 , shape_transform , otherObject - > getWorldTransform ( ) , p_recover_movement_scale , r_delta_recover_movement , r_recover_result ) ) {
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penetration = true ;
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}
}
}
}
return penetration ;
}
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bool SpaceBullet : : RFP_convex_convex_test ( const btConvexShape * p_shapeA , const btConvexShape * p_shapeB , btCollisionObject * p_objectB , int p_shapeId_A , int p_shapeId_B , const btTransform & p_transformA , const btTransform & p_transformB , btScalar p_recover_movement_scale , btVector3 & r_delta_recover_movement , RecoverResult * r_recover_result ) {
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// Initialize GJK input
btGjkPairDetector : : ClosestPointInput gjk_input ;
gjk_input . m_transformA = p_transformA ;
gjk_input . m_transformB = p_transformB ;
// Perform GJK test
btPointCollector result ;
btGjkPairDetector gjk_pair_detector ( p_shapeA , p_shapeB , gjk_simplex_solver , gjk_epa_pen_solver ) ;
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gjk_pair_detector . getClosestPoints ( gjk_input , result , nullptr ) ;
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if ( 0 > result . m_distance ) {
// Has penetration
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r_delta_recover_movement + = result . m_normalOnBInWorld * ( result . m_distance * - 1 * p_recover_movement_scale ) ;
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if ( r_recover_result ) {
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if ( result . m_distance < r_recover_result - > penetration_distance ) {
r_recover_result - > hasPenetration = true ;
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r_recover_result - > local_shape_most_recovered = p_shapeId_A ;
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r_recover_result - > other_collision_object = p_objectB ;
r_recover_result - > other_compound_shape_index = p_shapeId_B ;
r_recover_result - > penetration_distance = result . m_distance ;
r_recover_result - > pointWorld = result . m_pointInWorld ;
r_recover_result - > normal = result . m_normalOnBInWorld ;
}
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}
return true ;
}
return false ;
}
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bool SpaceBullet : : RFP_convex_world_test ( const btConvexShape * p_shapeA , const btCollisionShape * p_shapeB , btCollisionObject * p_objectA , btCollisionObject * p_objectB , int p_shapeId_A , int p_shapeId_B , const btTransform & p_transformA , const btTransform & p_transformB , btScalar p_recover_movement_scale , btVector3 & r_delta_recover_movement , RecoverResult * r_recover_result ) {
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/// Contact test
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btTransform tA ( p_transformA ) ;
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btCollisionObjectWrapper obA ( nullptr , p_shapeA , p_objectA , tA , - 1 , p_shapeId_A ) ;
btCollisionObjectWrapper obB ( nullptr , p_shapeB , p_objectB , p_transformB , - 1 , p_shapeId_B ) ;
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btCollisionAlgorithm * algorithm = dispatcher - > findAlgorithm ( & obA , & obB , nullptr , BT_CONTACT_POINT_ALGORITHMS ) ;
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if ( algorithm ) {
GodotDeepPenetrationContactResultCallback contactPointResult ( & obA , & obB ) ;
//discrete collision detection query
algorithm - > processCollision ( & obA , & obB , dynamicsWorld - > getDispatchInfo ( ) , & contactPointResult ) ;
algorithm - > ~ btCollisionAlgorithm ( ) ;
dispatcher - > freeCollisionAlgorithm ( algorithm ) ;
if ( contactPointResult . hasHit ( ) ) {
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r_delta_recover_movement + = contactPointResult . m_pointNormalWorld * ( contactPointResult . m_penetration_distance * - 1 * p_recover_movement_scale ) ;
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if ( r_recover_result ) {
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if ( contactPointResult . m_penetration_distance < r_recover_result - > penetration_distance ) {
r_recover_result - > hasPenetration = true ;
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r_recover_result - > local_shape_most_recovered = p_shapeId_A ;
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r_recover_result - > other_collision_object = p_objectB ;
r_recover_result - > other_compound_shape_index = p_shapeId_B ;
r_recover_result - > penetration_distance = contactPointResult . m_penetration_distance ;
r_recover_result - > pointWorld = contactPointResult . m_pointWorld ;
r_recover_result - > normal = contactPointResult . m_pointNormalWorld ;
}
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}
return true ;
}
}
return false ;
}
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int SpaceBullet : : add_separation_result ( PhysicsServer3D : : SeparationResult * r_result , const SpaceBullet : : RecoverResult & p_recover_result , int p_shape_id , const btCollisionObject * p_other_object ) const {
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// optimize results (ignore non-colliding)
if ( p_recover_result . penetration_distance < 0.0 ) {
const btRigidBody * btRigid = static_cast < const btRigidBody * > ( p_other_object ) ;
CollisionObjectBullet * collisionObject = static_cast < CollisionObjectBullet * > ( p_other_object - > getUserPointer ( ) ) ;
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r_result - > collision_depth = p_recover_result . penetration_distance ;
B_TO_G ( p_recover_result . pointWorld , r_result - > collision_point ) ;
B_TO_G ( p_recover_result . normal , r_result - > collision_normal ) ;
B_TO_G ( btRigid - > getVelocityInLocalPoint ( p_recover_result . pointWorld - btRigid - > getWorldTransform ( ) . getOrigin ( ) ) , r_result - > collider_velocity ) ;
r_result - > collision_local_shape = p_shape_id ;
r_result - > collider_id = collisionObject - > get_instance_id ( ) ;
r_result - > collider = collisionObject - > get_self ( ) ;
r_result - > collider_shape = p_recover_result . other_compound_shape_index ;
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return 1 ;
} else {
return 0 ;
}
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}
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int SpaceBullet : : recover_from_penetration_ray ( RigidBodyBullet * p_body , const btTransform & p_body_position , btScalar p_recover_movement_scale , bool p_infinite_inertia , int p_result_max , btVector3 & r_delta_recover_movement , PhysicsServer3D : : SeparationResult * r_results ) {
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// Calculate the cumulative AABB of all shapes of the kinematic body
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btVector3 aabb_min , aabb_max ;
bool shapes_found = false ;
for ( int kinIndex = p_body - > get_kinematic_utilities ( ) - > shapes . size ( ) - 1 ; 0 < = kinIndex ; - - kinIndex ) {
const RigidBodyBullet : : KinematicShape & kin_shape ( p_body - > get_kinematic_utilities ( ) - > shapes [ kinIndex ] ) ;
if ( ! kin_shape . is_active ( ) ) {
continue ;
}
if ( kin_shape . shape - > getShapeType ( ) ! = CUSTOM_CONVEX_SHAPE_TYPE ) {
continue ;
}
btTransform shape_transform = p_body_position * kin_shape . transform ;
shape_transform . getOrigin ( ) + = r_delta_recover_movement ;
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btVector3 shape_aabb_min , shape_aabb_max ;
kin_shape . shape - > getAabb ( shape_transform , shape_aabb_min , shape_aabb_max ) ;
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if ( ! shapes_found ) {
aabb_min = shape_aabb_min ;
aabb_max = shape_aabb_max ;
shapes_found = true ;
} else {
aabb_min . setX ( ( aabb_min . x ( ) < shape_aabb_min . x ( ) ) ? aabb_min . x ( ) : shape_aabb_min . x ( ) ) ;
aabb_min . setY ( ( aabb_min . y ( ) < shape_aabb_min . y ( ) ) ? aabb_min . y ( ) : shape_aabb_min . y ( ) ) ;
aabb_min . setZ ( ( aabb_min . z ( ) < shape_aabb_min . z ( ) ) ? aabb_min . z ( ) : shape_aabb_min . z ( ) ) ;
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aabb_max . setX ( ( aabb_max . x ( ) > shape_aabb_max . x ( ) ) ? aabb_max . x ( ) : shape_aabb_max . x ( ) ) ;
aabb_max . setY ( ( aabb_max . y ( ) > shape_aabb_max . y ( ) ) ? aabb_max . y ( ) : shape_aabb_max . y ( ) ) ;
aabb_max . setZ ( ( aabb_max . z ( ) > shape_aabb_max . z ( ) ) ? aabb_max . z ( ) : shape_aabb_max . z ( ) ) ;
}
}
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// If there are no shapes then there is no penetration either
if ( ! shapes_found ) {
return 0 ;
}
// Perform broadphase test
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RecoverPenetrationBroadPhaseCallback recover_broad_result ( p_body - > get_bt_collision_object ( ) , p_body - > get_collision_layer ( ) , aabb_min , aabb_max ) ;
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dynamicsWorld - > getBroadphase ( ) - > aabbTest ( aabb_min , aabb_max , recover_broad_result ) ;
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int ray_count = 0 ;
// Perform narrowphase per shape
for ( int kinIndex = p_body - > get_kinematic_utilities ( ) - > shapes . size ( ) - 1 ; 0 < = kinIndex ; - - kinIndex ) {
if ( ray_count > = p_result_max ) {
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break ;
}
const RigidBodyBullet : : KinematicShape & kin_shape ( p_body - > get_kinematic_utilities ( ) - > shapes [ kinIndex ] ) ;
if ( ! kin_shape . is_active ( ) ) {
continue ;
}
if ( kin_shape . shape - > getShapeType ( ) ! = CUSTOM_CONVEX_SHAPE_TYPE ) {
continue ;
}
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btTransform shape_transform = p_body_position * kin_shape . transform ;
shape_transform . getOrigin ( ) + = r_delta_recover_movement ;
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for ( int i = recover_broad_result . results . size ( ) - 1 ; 0 < = i ; - - i ) {
btCollisionObject * otherObject = recover_broad_result . results [ i ] . collision_object ;
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if ( p_infinite_inertia & & ! otherObject - > isStaticOrKinematicObject ( ) ) {
otherObject - > activate ( ) ; // Force activation of hitten rigid, soft body
continue ;
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} else if ( ! p_body - > get_bt_collision_object ( ) - > checkCollideWith ( otherObject ) | | ! otherObject - > checkCollideWith ( p_body - > get_bt_collision_object ( ) ) ) {
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continue ;
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}
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if ( otherObject - > getCollisionShape ( ) - > isCompound ( ) ) {
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const btCompoundShape * cs = static_cast < const btCompoundShape * > ( otherObject - > getCollisionShape ( ) ) ;
int shape_idx = recover_broad_result . results [ i ] . compound_child_index ;
ERR_FAIL_COND_V ( shape_idx < 0 | | shape_idx > = cs - > getNumChildShapes ( ) , false ) ;
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RecoverResult recover_result ;
if ( RFP_convex_world_test ( kin_shape . shape , cs - > getChildShape ( shape_idx ) , p_body - > get_bt_collision_object ( ) , otherObject , kinIndex , shape_idx , shape_transform , otherObject - > getWorldTransform ( ) * cs - > getChildTransform ( shape_idx ) , p_recover_movement_scale , r_delta_recover_movement , & recover_result ) ) {
ray_count = add_separation_result ( & r_results [ ray_count ] , recover_result , kinIndex , otherObject ) ;
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}
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} else {
RecoverResult recover_result ;
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if ( RFP_convex_world_test ( kin_shape . shape , otherObject - > getCollisionShape ( ) , p_body - > get_bt_collision_object ( ) , otherObject , kinIndex , 0 , shape_transform , otherObject - > getWorldTransform ( ) , p_recover_movement_scale , r_delta_recover_movement , & recover_result ) ) {
ray_count = add_separation_result ( & r_results [ ray_count ] , recover_result , kinIndex , otherObject ) ;
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}
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}
}
}
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return ray_count ;
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}