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godot/modules/bullet/btRayShape.h

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Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/*************************************************************************/
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-04 23:50:27 +00:00
/* btRayShape.h */
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-04 23:50:27 +00:00
/* https://godotengine.org */
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/*************************************************************************/
Update copyright statements to 2021 Happy new year to the wonderful Godot community! 2020 has been a tough year for most of us personally, but a good year for Godot development nonetheless with a huge amount of work done towards Godot 4.0 and great improvements backported to the long-lived 3.2 branch. We've had close to 400 contributors to engine code this year, authoring near 7,000 commit! (And that's only for the `master` branch and for the engine code, there's a lot more when counting docs, demos and other first-party repos.) Here's to a great year 2021 for all Godot users 🎆 (cherry picked from commit b5334d14f7a471f94bcbd64d5bae2ad853d0b7f1)
2021-01-01 19:13:46 +00:00
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
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/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-04 23:50:27 +00:00
/// IMPORTANT The class name and filename was created by following Bullet writing rules for an easy (eventually) porting to bullet
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/// This shape is a custom shape that is not present to Bullet physics engine
#ifndef BTRAYSHAPE_H
#define BTRAYSHAPE_H
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-04 23:50:27 +00:00
#include <BulletCollision/CollisionShapes/btConvexInternalShape.h>
/**
@author AndreaCatania
*/
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/// Ray shape around z axis
ATTRIBUTE_ALIGNED16(class)
btRayShape : public btConvexInternalShape {
btScalar m_length;
Improved ray shape (2D and 3D) by addiing the possibility to act as regular shape
2018-02-19 19:59:57 +00:00
bool slipsOnSlope;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/// The default axis is the z
btVector3 m_shapeAxis;
btTransform m_cacheSupportPoint;
btScalar m_cacheScaledLength;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btRayShape(btScalar length);
virtual ~btRayShape();
void setLength(btScalar p_length);
btScalar getLength() const { return m_length; }
KinematicBody performance and quality improvements With this change finally one can use compound collisions (like those created by Gridmaps) without serious performance issues. The previous KinematicBody code for Bullet was practically doing a whole bunch of unnecessary calculations. Gridmaps with fairly large octant sizes (in my case 32) can get up to 10000x speedup with this change (literally!). I expect the FPS demo to get a fair speedup as well. List of fixes and improvements: - Fixed a general bug in move_and_slide that affects both GodotPhysics and Bullet, where ray shapes would be ignored unless the stop_on_slope parameter is disabled. Not sure where that came from, but looking at the 2D physics code it was obvious there's a difference. - Enabled the dynamic AABB tree that Bullet uses to allow broadphase collision tests against individual shapes of compound shapes. This is crucial to get good performance with Gridmaps and in general improves the performance whenever a KinematicBody collides with compound collision shapes. - Added code to the broadphase collision detection code used by the Bullet module for KinematicBodies to also do broadphase on the sub-shapes of compound collision shapes. This is possible thanks to the dynamic AABB tree that was previously disabled and it's the change that provides the biggest performance boost. - Now broadphase test is only done once per KinematicBody in Bullet instead of once per each of its shapes which was completely unnecessary. - Fixed the way how the ray separation results are populated in Bullet which was completely broken previously, overwriting previous results and similar non-sense. - Fixed ray shapes for good now. Previously the margin set in the editor was not respected at all, and the KinematicBody code for ray separation was complete bogus, thus all previous attempts to fix it were mislead. - Fixed an obvious bug also in GodotPhysics where an out-of-bounds index was used in the ray result array. There are a whole set of other problems with the KinematicBody code of Bullet which cost performance and may cause unexpected behavior, but those are not addressed in this change (need to keep it "simple"). Not sure whether this fixes any outstanding Github issues but I wouldn't be surprised.
2019-03-25 21:46:26 +00:00
virtual void setMargin(btScalar margin);
Fix some crashes and using null pointers
2019-10-28 07:07:29 +00:00
void setSlipsOnSlope(bool p_slipsOnSlope);
Improved ray shape (2D and 3D) by addiing the possibility to act as regular shape
2018-02-19 19:59:57 +00:00
bool getSlipsOnSlope() const { return slipsOnSlope; }
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
const btScalar &getScaledLength() const { return m_cacheScaledLength; }
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const;
#endif //#ifndef __SPU__
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const;
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const;
#ifndef __SPU__
virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
virtual const char *getName() const {
return "RayZ";
}
#endif //__SPU__
virtual int getNumPreferredPenetrationDirections() const;
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const;
private:
void reload_cache();
};
#endif // BTRAYSHAPE_H