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godot/modules/bullet/space_bullet.cpp

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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
/*************************************************************************/
/* space_bullet.cpp */
/*************************************************************************/
/* 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.
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/* 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.
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/*************************************************************************/
Update copyright statements to 2018 Happy new year to the wonderful Godot community!
2018-01-01 13:40:08 +00:00
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 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. */
/*************************************************************************/
#include "space_bullet.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
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
#include "bullet_physics_server.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "constraint_bullet.h"
#include "godot_collision_configuration.h"
#include "godot_collision_dispatcher.h"
#include "rigid_body_bullet.h"
#include "servers/physics_server.h"
#include "soft_body_bullet.h"
#include "ustring.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/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>
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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#include <assert.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
/**
@author AndreaCatania
*/
Style: Apply new clang-format 5.0 style to all files
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BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_space) :
PhysicsDirectSpaceState(),
space(p_space) {}
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
Removed type_mask and fixed some variable name
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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) {
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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if (p_result_max <= 0)
return 0;
btVector3 bt_point;
G_TO_B(p_point, bt_point);
btSphereShape sphere_point(0.f);
btCollisionObject collision_object_point;
collision_object_point.setCollisionShape(&sphere_point);
collision_object_point.setWorldTransform(btTransform(btQuaternion::getIdentity(), bt_point));
// Setup query
GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude);
Removed type_mask and fixed some variable name
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btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
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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space->dynamicsWorld->contactTest(&collision_object_point, btResult);
// The results is already populated by GodotAllConvexResultCallback
return btResult.m_count;
}
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
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_pick_ray) {
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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btVector3 btVec_from;
btVector3 btVec_to;
G_TO_B(p_from, btVec_from);
G_TO_B(p_to, btVec_to);
// setup query
GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude);
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
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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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) {
Ray cast return shape id. Fixes #14473
2017-12-10 11:20:36 +00:00
r_result.shape = btResult.m_shapeId;
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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r_result.rid = gObj->get_self();
r_result.collider_id = gObj->get_instance_id();
r_result.collider = 0 == r_result.collider_id ? NULL : ObjectDB::get_instance(r_result.collider_id);
} else {
WARN_PRINTS("The raycast performed has hit a collision object that is not part of Godot scene, please check it.");
}
return true;
} else {
return false;
}
}
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *p_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
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
if (p_result_max <= 0)
return 0;
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
if (!btShape->isConvex()) {
bulletdelete(btShape);
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
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
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
btTransform bt_xform;
G_TO_B(p_xform, bt_xform);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
UNSCALE_BT_BASIS(bt_xform);
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
btCollisionObject collision_object;
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
GodotAllContactResultCallback btQuery(&collision_object, p_results, p_result_max, &p_exclude);
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btQuery.m_closestDistanceThreshold = 0;
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
space->dynamicsWorld->contactTest(&collision_object, btQuery);
bulletdelete(btConvex);
return btQuery.m_count;
}
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, ShapeRestInfo *r_info) {
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
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
if (!btShape->isConvex()) {
bulletdelete(btShape);
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
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
btConvexShape *bt_convex_shape = static_cast<btConvexShape *>(btShape);
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
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
btTransform bt_xform_from;
G_TO_B(p_xform, bt_xform_from);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
UNSCALE_BT_BASIS(bt_xform_from);
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
btTransform bt_xform_to(bt_xform_from);
bt_xform_to.getOrigin() += bt_motion;
GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude);
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
btResult.m_collisionFilterGroup = 0;
btResult.m_collisionFilterMask = p_collision_mask;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002);
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
bullet cast_motion: reordered null check
2017-11-20 18:00:47 +00:00
if (btResult.hasHit()) {
p_closest_safe = p_closest_unsafe = btResult.m_closestHitFraction;
if (r_info) {
Added null check in Bullet cast_motion API
2017-11-19 17:21:36 +00:00
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;
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
}
}
bulletdelete(bt_convex_shape);
return btResult.hasHit();
}
/// Returns the list of contacts pairs in this order: Local contact, other body contact
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
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
if (p_result_max <= 0)
return 0;
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
if (!btShape->isConvex()) {
bulletdelete(btShape);
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
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
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
btTransform bt_xform;
G_TO_B(p_shape_xform, bt_xform);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
UNSCALE_BT_BASIS(bt_xform);
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
btCollisionObject collision_object;
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btQuery.m_closestDistanceThreshold = 0;
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
space->dynamicsWorld->contactTest(&collision_object, btQuery);
r_result_count = btQuery.m_count;
bulletdelete(btConvex);
return btQuery.m_count;
}
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask) {
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
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
if (!btShape->isConvex()) {
bulletdelete(btShape);
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
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
return 0;
}
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
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
btTransform bt_xform;
G_TO_B(p_shape_xform, bt_xform);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
UNSCALE_BT_BASIS(bt_xform);
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
btCollisionObject collision_object;
collision_object.setCollisionShape(btConvex);
collision_object.setWorldTransform(bt_xform);
GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude);
Removed type_mask and fixed some variable name
2017-11-21 21:56:40 +00:00
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btQuery.m_closestDistanceThreshold = 0;
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
space->dynamicsWorld->contactTest(&collision_object, btQuery);
bulletdelete(btConvex);
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 {
RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collisin_object(p_object);
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;
btCompoundShape *compound = rigid_object->get_compound_shape();
for (int i = compound->getNumChildShapes() - 1; 0 <= i; --i) {
shape = compound->getChildShape(i);
if (shape->isConvex()) {
child_transform = compound->getChildTransform(i);
convex_shape = static_cast<btConvexShape *>(shape);
input.m_transformB = body_transform * child_transform;
btPointCollector result;
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
btGjkPairDetector gjk_pair_detector(&point_shape, convex_shape, space->gjk_simplex_solver, space->gjk_epa_pen_solver);
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
gjk_pair_detector.getClosestPoints(input, result, 0);
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();
}
}
Style: Apply new clang-format 5.0 style to all files
2017-12-06 20:36:34 +00:00
SpaceBullet::SpaceBullet(bool p_create_soft_world) :
broadphase(NULL),
dispatcher(NULL),
solver(NULL),
collisionConfiguration(NULL),
dynamicsWorld(NULL),
soft_body_world_info(NULL),
ghostPairCallback(NULL),
godotFilterCallback(NULL),
gravityDirection(0, -1, 0),
gravityMagnitude(10),
contactDebugCount(0) {
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
create_empty_world(p_create_soft_world);
direct_access = memnew(BulletPhysicsDirectSpaceState(this));
}
SpaceBullet::~SpaceBullet() {
memdelete(direct_access);
destroy_world();
}
void SpaceBullet::flush_queries() {
const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray();
for (int i = colObjArray.size() - 1; 0 <= i; --i) {
static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks();
}
}
void SpaceBullet::step(real_t p_delta_time) {
dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
}
void SpaceBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value) {
assert(dynamicsWorld);
switch (p_param) {
case PhysicsServer::AREA_PARAM_GRAVITY:
gravityMagnitude = p_value;
update_gravity();
break;
case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR:
gravityDirection = p_value;
update_gravity();
break;
case PhysicsServer::AREA_PARAM_LINEAR_DAMP:
case PhysicsServer::AREA_PARAM_ANGULAR_DAMP:
break; // No damp
case PhysicsServer::AREA_PARAM_PRIORITY:
// Priority is always 0, the lower
break;
case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT:
case PhysicsServer::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
break;
default:
WARN_PRINTS("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
break;
}
}
Variant SpaceBullet::get_param(PhysicsServer::AreaParameter p_param) {
switch (p_param) {
case PhysicsServer::AREA_PARAM_GRAVITY:
return gravityMagnitude;
case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR:
return gravityDirection;
case PhysicsServer::AREA_PARAM_LINEAR_DAMP:
case PhysicsServer::AREA_PARAM_ANGULAR_DAMP:
return 0; // No damp
case PhysicsServer::AREA_PARAM_PRIORITY:
return 0; // Priority is always 0, the lower
case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT:
return false;
case PhysicsServer::AREA_PARAM_GRAVITY_DISTANCE_SCALE:
return 0;
case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION:
return 0;
default:
WARN_PRINTS("This get parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
return Variant();
}
}
void SpaceBullet::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION:
case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP:
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
default:
WARN_PRINTS("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it.");
break;
}
}
real_t SpaceBullet::get_param(PhysicsServer::SpaceParameter p_param) {
switch (p_param) {
case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION:
case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION:
case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD:
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD:
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP:
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO:
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS:
default:
WARN_PRINTS("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned.");
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) {
areas.erase(p_area);
dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
}
void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
// This is necessary to change collision filter
dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask());
}
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());
Space override scratching when body is add to world Fixes #13182
2017-11-23 00:25:29 +00:00
p_body->scratch_space_override_modificator();
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
}
}
void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
if (p_body->is_static()) {
dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
} else {
dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
}
}
void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
// This is necessary to change collision filter
remove_rigid_body(p_body);
add_rigid_body(p_body);
}
void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) {
if (is_using_soft_world()) {
if (p_body->get_bt_soft_body()) {
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());
}
}
}
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());
colObj->set_space(NULL);
}
}
void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo())->flush_queries();
}
void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) {
// Notify all Collision objects the collision checker is started
const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray();
for (int i = colObjArray.size() - 1; 0 <= i; --i) {
CollisionObjectBullet *colObj = static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer());
assert(NULL != colObj);
colObj->on_collision_checker_start();
}
SpaceBullet *sb = static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo());
sb->check_ghost_overlaps();
sb->check_body_collision();
}
BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() {
return direct_access;
}
btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) {
return MAX(body0->getRestitution(), body1->getRestitution());
}
void SpaceBullet::create_empty_world(bool p_create_soft_world) {
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver);
gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver);
gjk_simplex_solver->setEqualVertexThreshold(0.f);
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
void *world_mem;
if (p_create_soft_world) {
world_mem = malloc(sizeof(btSoftRigidDynamicsWorld));
} else {
world_mem = malloc(sizeof(btDiscreteDynamicsWorld));
}
if (p_create_soft_world) {
collisionConfiguration = bulletnew(btSoftBodyRigidBodyCollisionConfiguration);
} 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;
dynamicsWorld->setWorldUserInfo(this);
dynamicsWorld->setInternalTickCallback(onBulletPreTickCallback, this, true);
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
dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(NULL);
dynamicsWorld->getPairCache()->setOverlapFilterCallback(NULL);
bulletdelete(ghostPairCallback);
bulletdelete(godotFilterCallback);
// Deallocate world
dynamicsWorld->~btDiscreteDynamicsWorld();
free(dynamicsWorld);
dynamicsWorld = NULL;
bulletdelete(solver);
bulletdelete(broadphase);
bulletdelete(dispatcher);
bulletdelete(collisionConfiguration);
bulletdelete(soft_body_world_info);
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
bulletdelete(gjk_simplex_solver);
bulletdelete(gjk_epa_pen_solver);
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
}
void SpaceBullet::check_ghost_overlaps() {
/// Algorith support variables
btConvexShape *other_body_shape;
btConvexShape *area_shape;
btGjkPairDetector::ClosestPointInput gjk_input;
AreaBullet *area;
RigidCollisionObjectBullet *otherObject;
int x(-1), i(-1), y(-1), z(-1), indexOverlap(-1);
/// For each areas
for (x = areas.size() - 1; 0 <= x; --x) {
area = areas[x];
if (!area->is_monitoring())
continue;
/// 1. Reset all states
for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[i];
// This check prevent the overwrite of ENTER state
// if this function is called more times before dispatchCallbacks
if (otherObj.state != AreaBullet::OVERLAP_STATE_ENTER) {
otherObj.state = AreaBullet::OVERLAP_STATE_DIRTY;
}
}
/// 2. Check all overlapping objects using GJK
const btAlignedObjectArray<btCollisionObject *> ghostOverlaps = area->get_bt_ghost()->getOverlappingPairs();
// For each overlapping
for (i = ghostOverlaps.size() - 1; 0 <= i; --i) {
if (!(ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_RIGID_BODY || ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA))
continue;
otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer());
bool hasOverlap = false;
// For each area shape
for (y = area->get_compound_shape()->getNumChildShapes() - 1; 0 <= y; --y) {
if (!area->get_compound_shape()->getChildShape(y)->isConvex())
continue;
gjk_input.m_transformA = area->get_transform__bullet() * area->get_compound_shape()->getChildTransform(y);
area_shape = static_cast<btConvexShape *>(area->get_compound_shape()->getChildShape(y));
// For each other object shape
for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) {
if (!otherObject->get_compound_shape()->getChildShape(z)->isConvex())
continue;
other_body_shape = static_cast<btConvexShape *>(otherObject->get_compound_shape()->getChildShape(z));
gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z);
btPointCollector result;
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, gjk_simplex_solver, gjk_epa_pen_solver);
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
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
if (0 >= result.m_distance) {
hasOverlap = true;
goto collision_found;
}
} // ~For each other object shape
} // ~For each area shape
collision_found:
if (!hasOverlap)
continue;
indexOverlap = area->find_overlapping_object(otherObject);
if (-1 == indexOverlap) {
// Not found
area->add_overlap(otherObject);
} else {
// Found
area->put_overlap_as_inside(indexOverlap);
}
}
/// 3. Remove not overlapping
for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
// If the overlap has DIRTY state it means that it's no more overlapping
if (area->overlappingObjects[i].state == AreaBullet::OVERLAP_STATE_DIRTY) {
area->put_overlap_as_exit(i);
}
}
}
}
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
RigidBodyBullet *bodyA = static_cast<RigidBodyBullet *>(contactManifold->getBody0()->getUserPointer());
RigidBodyBullet *bodyB = static_cast<RigidBodyBullet *>(contactManifold->getBody1()->getUserPointer());
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
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();
#define REPORT_ALL_CONTACTS 0
#if REPORT_ALL_CONTACTS
for (int j = 0; j < numContacts; j++) {
btManifoldPoint &pt = contactManifold->getContactPoint(j);
#else
// Since I don't need report all contacts for these objects, I'll report only the first
if (numContacts) {
btManifoldPoint &pt = contactManifold->getContactPoint(0);
#endif
Vector3 collisionWorldPosition;
Vector3 collisionLocalPosition;
Vector3 normalOnB;
B_TO_G(pt.m_normalWorldOnB, normalOnB);
if (bodyA->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
/// pt.m_localPointB Doesn't report the exact point in local space
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition);
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
bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, pt.m_index1, pt.m_index0);
}
if (bodyB->can_add_collision()) {
B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
/// pt.m_localPointA Doesn't report the exact point in local space
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition);
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
bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, pt.m_index0, pt.m_index1);
}
#ifdef DEBUG_ENABLED
if (is_debugging_contacts()) {
add_debug_contact(collisionWorldPosition);
}
#endif
}
}
}
}
void SpaceBullet::update_gravity() {
btVector3 btGravity;
G_TO_B(gravityDirection * gravityMagnitude, btGravity);
Fixed gravity scale
2017-11-19 16:52:45 +00:00
//dynamicsWorld->setGravity(btGravity);
dynamicsWorld->setGravity(btVector3(0, 0, 0));
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
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
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
#define PERFORM_INITIAL_UNSTACK 0
#define RECOVERING_MOVEMENT_SCALE 0.4
#define RECOVERING_MOVEMENT_CYCLES 4
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
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
#if debug_test_motion
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
#include "scene/3d/immediate_geometry.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
static ImmediateGeometry *motionVec(NULL);
static ImmediateGeometry *normalLine(NULL);
static Ref<SpatialMaterial> red_mat;
static Ref<SpatialMaterial> blue_mat;
#endif
#define IGNORE_AREAS_TRUE true
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result) {
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
#if debug_test_motion
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
/// Yes I know this is not good, but I've used it as fast debugging hack.
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
/// I'm leaving it here just for speedup the other eventual debugs
if (!normalLine) {
motionVec = memnew(ImmediateGeometry);
normalLine = memnew(ImmediateGeometry);
SceneTree::get_singleton()->get_current_scene()->add_child(motionVec);
SceneTree::get_singleton()->get_current_scene()->add_child(normalLine);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
motionVec->set_as_toplevel(true);
normalLine->set_as_toplevel(true);
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
red_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial));
red_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
red_mat->set_line_width(20.0);
red_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true);
red_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
red_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true);
red_mat->set_albedo(Color(1, 0, 0, 1));
motionVec->set_material_override(red_mat);
blue_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial));
blue_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
blue_mat->set_line_width(20.0);
blue_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true);
blue_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
blue_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true);
blue_mat->set_albedo(Color(0, 0, 1, 1));
normalLine->set_material_override(blue_mat);
}
#endif
///// Release all generated manifolds
//{
// if(p_body->get_kinematic_utilities()){
// for(int i= p_body->get_kinematic_utilities()->m_generatedManifold.size()-1; 0<=i; --i){
// dispatcher->releaseManifold( p_body->get_kinematic_utilities()->m_generatedManifold[i] );
// }
// p_body->get_kinematic_utilities()->m_generatedManifold.clear();
// }
//}
btTransform body_safe_position;
G_TO_B(p_from, body_safe_position);
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
UNSCALE_BT_BASIS(body_safe_position);
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
#if PERFORM_INITIAL_UNSTACK
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btVector3 recover_initial_position(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
if (recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recover_initial_position)) {
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
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
// Add recover position to "From" and "To" transforms
body_safe_position.getOrigin() += recover_initial_position;
} else {
break;
}
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
}
}
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
#endif
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
btVector3 recovered_motion;
G_TO_B(p_motion, recovered_motion);
const int shape_count(p_body->get_shape_count());
{ /// phase two - sweep test, from a secure position without margin
#if debug_test_motion
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
//Vector3 sup_line;
//B_TO_G(body_safe_position.getOrigin(), sup_line);
//motionVec->clear();
//motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
//motionVec->add_vertex(sup_line);
//motionVec->add_vertex(sup_line + p_motion * 10);
//motionVec->end();
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
#endif
for (int shIndex = 0; shIndex < shape_count; ++shIndex) {
if (p_body->is_shape_disabled(shIndex)) {
continue;
}
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
if (!p_body->get_bt_shape(shIndex)->isConvex()) {
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
// Skip no convex shape
continue;
}
Removed dynamic_cast from Bullet Server
2017-11-19 16:11:47 +00:00
btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
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
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btTransform shape_world_from = body_safe_position * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += recovered_motion;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, IGNORE_AREAS_TRUE);
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
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
btResult.m_collisionFilterMask = p_body->get_collision_mask();
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, 0.002);
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
if (btResult.hasHit()) {
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
/// if another shape will hit something it means that has a deepest penetration respect the previous shape
recovered_motion *= btResult.m_closestHitFraction;
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
}
}
}
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
bool has_penetration = false;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
{ /// Phase three - Recover + contact test with margin
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
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
RecoverResult r_recover_result;
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
bool l_has_penetration;
real_t l_penetration_distance = 1e20;
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
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recovered_motion, &r_recover_result);
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
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
if (r_result) {
#if PERFORM_INITIAL_UNSTACK
B_TO_G(recovered_motion + recover_initial_position, r_result->motion);
#else
B_TO_G(recovered_motion, r_result->motion);
#endif
if (l_has_penetration) {
has_penetration = true;
if (l_penetration_distance <= r_recover_result.penetration_distance) {
continue;
}
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
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
l_penetration_distance = r_recover_result.penetration_distance;
const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
r_result->remainder = p_motion - r_result->motion; // is the remaining movements
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;
//{ /// Add manifold point to manage collisions
// btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
// btManifoldPoint manifoldPoint(result_callabck.m_pointWorld, result_callabck.m_pointWorld, result_callabck.m_pointNormalWorld, result_callabck.m_penetration_distance);
// manifoldPoint.m_index0 = r_result->collision_local_shape;
// manifoldPoint.m_index1 = r_result->collider_shape;
// manifold->addManifoldPoint(manifoldPoint);
// p_body->get_kinematic_utilities()->m_generatedManifold.push_back(manifold);
//}
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
#if debug_test_motion
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
//Vector3 sup_line2;
//B_TO_G(recovered_motion, sup_line2);
////Vector3 sup_pos;
////B_TO_G( pt.getPositionWorldOnB(), sup_pos);
//normalLine->clear();
//normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
//normalLine->add_vertex(r_result->collision_point);
//normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
//normalLine->end();
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
#endif
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
} else {
r_result->remainder = Vector3();
}
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
} else {
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
if (!l_has_penetration)
break;
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
}
}
}
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
return has_penetration;
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
}
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
private:
const btCollisionObject *self_collision_object;
uint32_t collision_layer;
uint32_t collision_mask;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
public:
Vector<btCollisionObject *> result_collision_objects;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
public:
Style: Apply new clang-format 5.0 style to all files
2017-12-06 20:36:34 +00:00
RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask) :
self_collision_object(p_self_collision_object),
collision_layer(p_collision_layer),
collision_mask(p_collision_mask) {}
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
virtual ~RecoverPenetrationBroadPhaseCallback() {}
virtual bool process(const btBroadphaseProxy *proxy) {
btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) {
result_collision_objects.push_back(co);
return true;
}
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
}
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
return false;
}
void reset() {
result_collision_objects.empty();
}
};
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
btTransform body_shape_position;
btTransform body_shape_position_recovered;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
// Broad phase support
btVector3 minAabb, maxAabb;
bool penetration = false;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
// For each shape
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
recover_broad_result.reset();
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
if (!kin_shape.is_active()) {
continue;
}
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
body_shape_position = p_body_position * kin_shape.transform;
body_shape_position_recovered = body_shape_position;
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
body_shape_position_recovered.getOrigin() += r_recover_position;
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
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
continue;
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
if (otherObject->getCollisionShape()->isCompound()) {
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
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
// Each convex shape
btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
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
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
if (cs->getChildShape(x)->isConvex()) {
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position_recovered, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_recover_position, r_recover_result)) {
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
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
penetration = true;
}
} else {
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position_recovered, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_recover_position, r_recover_result)) {
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
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
penetration = true;
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
}
}
}
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position_recovered, otherObject->getWorldTransform(), p_recover_movement_scale, r_recover_position, r_recover_result)) {
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
penetration = true;
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
}
} else {
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position_recovered, otherObject->getWorldTransform(), p_recover_movement_scale, r_recover_position, r_recover_result)) {
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
penetration = true;
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
}
}
}
}
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
#if debug_test_motion
Vector3 pos;
B_TO_G(p_body_position.getOrigin(), pos);
Vector3 sup_line;
B_TO_G(sum_recover_normals, sup_line);
motionVec->clear();
motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
motionVec->add_vertex(pos);
motionVec->add_vertex(pos + (sup_line * 10));
motionVec->end();
#endif
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
return penetration;
}
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
// 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);
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
if (0 > result.m_distance) {
// Has penetration
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
r_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1 * p_recover_movement_scale);
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
if (r_recover_result) {
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
if (result.m_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
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;
}
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
}
return true;
}
return false;
}
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
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_recover_position, RecoverResult *r_recover_result) {
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
/// Contact test
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, p_transformA, -1, p_shapeId_A);
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
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()) {
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
r_recover_position += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
if (r_recover_result) {
Fixed kinematic movement stuck, Changed how shape scale works, Optimized
2017-12-23 17:23:12 +00:00
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
r_recover_result->hasPenetration = true;
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;
}
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
}
return true;
}
}
return false;
}
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