godot/modules/bullet/collision_object_bullet.cpp

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/*************************************************************************/
/* collision_object_bullet.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* 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 "collision_object_bullet.h"
#include "area_bullet.h"
#include "bullet_physics_server.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "shape_bullet.h"
#include "space_bullet.h"
#include <btBulletCollisionCommon.h>
/**
@author AndreaCatania
*/
#define enableDynamicAabbTree false
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) {
G_TO_B(p_transform.get_basis().get_scale_abs(), scale);
G_TO_B(p_transform, transform);
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UNSCALE_BT_BASIS(transform);
}
void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
transform = p_transform;
}
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (!bt_shape) {
if (active)
bt_shape = shape->create_bt_shape(scale * body_scale);
else
bt_shape = ShapeBullet::create_shape_empty();
}
}
CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
RIDBullet(),
type(p_type),
instance_id(0),
collisionLayer(0),
collisionMask(0),
collisionsEnabled(true),
m_isStatic(false),
ray_pickable(false),
bt_collision_object(NULL),
body_scale(1., 1., 1.),
Fix warnings about wrong member initialization order [-Wreorder] Fixes the following GCC 5 warnings: ``` core/object.h:193:11: warning: 'MethodInfo::flags' will be initialized after [-Wreorder] core/object.h:192:15: warning: 'PropertyInfo MethodInfo::return_val' [-Wreorder] core/object.cpp:278:1: warning: when initialized here [-Wreorder] core/script_debugger_remote.h:97:6: warning: 'ScriptDebuggerRemote::max_cps' will be initialized after [-Wreorder] core/script_debugger_remote.h:91:6: warning: 'int ScriptDebuggerRemote::max_messages_per_frame' [-Wreorder] core/script_debugger_remote.cpp:1086:1: warning: when initialized here [-Wreorder] core/script_debugger_remote.h:98:6: warning: 'ScriptDebuggerRemote::char_count' will be initialized after [-Wreorder] core/script_debugger_remote.h:92:6: warning: 'int ScriptDebuggerRemote::n_messages_dropped' [-Wreorder] core/script_debugger_remote.cpp:1086:1: warning: when initialized here [-Wreorder] modules/bullet/area_bullet.h:102:7: warning: 'AreaBullet::isScratched' will be initialized after [-Wreorder] modules/bullet/area_bullet.h:92:39: warning: 'PhysicsServer::AreaSpaceOverrideMode AreaBullet::spOv_mode' [-Wreorder] modules/bullet/area_bullet.cpp:46:1: warning: when initialized here [-Wreorder] modules/bullet/collision_object_bullet.h:127:15: warning: 'CollisionObjectBullet::space' will be initialized after [-Wreorder] modules/bullet/collision_object_bullet.h:117:7: warning: 'CollisionObjectBullet::Type CollisionObjectBullet::type' [-Wreorder] modules/bullet/collision_object_bullet.cpp:67:1: warning: when initialized here [-Wreorder] modules/bullet/godot_ray_world_algorithm.h:48:7: warning: 'GodotRayWorldAlgorithm::m_ownManifol1d' will be initialized after [-Wreorder] modules/bullet/godot_ray_world_algorithm.h:46:33: warning: 'const btDiscreteDynamicsWorld* GodotRayWorldAlgorithm::m_world' [-Wreorder] modules/bullet/godot_ray_world_algorithm.cpp:50:1: warning: when initialized here [-Wreorder] modules/bullet/godot_result_callbacks.h:91:18: warning: 'GodotAllConvexResultCallback::m_exclude' will be initialized after [-Wreorder] modules/bullet/godot_result_callbacks.h:89:6: warning: 'int GodotAllConvexResultCallback::m_resultMax' [-Wreorder] modules/bullet/godot_result_callbacks.h:93:2: warning: when initialized here [-Wreorder] modules/bullet/godot_result_callbacks.h:142:18: warning: 'GodotAllContactResultCallback::m_exclude' will be initialized after [-Wreorder] modules/bullet/godot_result_callbacks.h:140:6: warning: 'int GodotAllContactResultCallback::m_resultMax' [-Wreorder] modules/bullet/godot_result_callbacks.h:147:2: warning: when initialized here [-Wreorder] modules/bullet/godot_result_callbacks.h:168:18: warning: 'GodotContactPairContactResultCallback::m_exclude' will be initialized after [-Wreorder] modules/bullet/godot_result_callbacks.h:166:6: warning: 'int GodotContactPairContactResultCallback::m_resultMax' [-Wreorder] modules/bullet/godot_result_callbacks.h:173:2: warning: when initialized here [-Wreorder] modules/bullet/godot_result_callbacks.h:195:18: warning: 'GodotRestInfoContactResultCallback::m_exclude' will be initialized after [-Wreorder] modules/bullet/godot_result_callbacks.h:191:7: warning: 'bool GodotRestInfoContactResultCallback::m_collided' [-Wreorder] modules/bullet/godot_result_callbacks.h:199:2: warning: when initialized here [-Wreorder] modules/bullet/rigid_body_bullet.h:200:9: warning: 'RigidBodyBullet::gravity_scale' will be initialized after [-Wreorder] modules/bullet/rigid_body_bullet.h:199:9: warning: 'real_t RigidBodyBullet::mass' [-Wreorder] modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder] modules/bullet/rigid_body_bullet.h:222:28: warning: 'RigidBodyBullet::force_integration_callback' will be initialized after [-Wreorder] modules/bullet/rigid_body_bullet.h:219:7: warning: 'bool RigidBodyBullet::isTransformChanged' [-Wreorder] modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder] modules/bullet/rigid_body_bullet.h:220:7: warning: 'RigidBodyBullet::previousActiveState' will be initialized after [-Wreorder] modules/bullet/rigid_body_bullet.h:208:6: warning: 'int RigidBodyBullet::maxCollisionsDetection' [-Wreorder] modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder] modules/bullet/soft_body_bullet.h:69:9: warning: 'SoftBodyBullet::total_mass' will be initialized after [-Wreorder] modules/bullet/soft_body_bullet.h:68:6: warning: 'int SoftBodyBullet::simulation_precision' [-Wreorder] modules/bullet/soft_body_bullet.cpp:38:1: warning: when initialized here [-Wreorder] modules/bullet/soft_body_bullet.h:76:9: warning: 'SoftBodyBullet::drag_coefficient' will be initialized after [-Wreorder] modules/bullet/soft_body_bullet.h:61:14: warning: 'btSoftBody* SoftBodyBullet::bt_soft_body' [-Wreorder] modules/bullet/soft_body_bullet.cpp:38:1: warning: when initialized here [-Wreorder] modules/bullet/space_bullet.h:97:22: warning: 'SpaceBullet::solver' will be initialized after [-Wreorder] modules/bullet/space_bullet.h:95:35: warning: 'btDefaultCollisionConfiguration* SpaceBullet::collisionConfiguration' [-Wreorder] modules/bullet/space_bullet.cpp:333:1: warning: when initialized here [-Wreorder] modules/bullet/space_bullet.h:101:23: warning: 'SpaceBullet::soft_body_world_info' will be initialized after [-Wreorder] modules/bullet/space_bullet.h:99:23: warning: 'btGhostPairCallback* SpaceBullet::ghostPairCallback' [-Wreorder] modules/bullet/space_bullet.cpp:333:1: warning: when initialized here [-Wreorder] modules/gdnative/nativescript/nativescript.h:79:13: warning: 'NativeScriptDesc::base_native_type' will be initialized after [-Wreorder] modules/gdnative/nativescript/nativescript.h:73:9: warning: 'String NativeScriptDesc::documentation' [-Wreorder] modules/gdnative/nativescript/nativescript.h:88:9: warning: when initialized here [-Wreorder] modules/gdscript/gdscript.h:296:6: warning: 'GDScriptWarning::line' will be initialized after [-Wreorder] modules/gdscript/gdscript.h:294:4: warning: 'GDScriptWarning::Code GDScriptWarning::code' [-Wreorder] modules/gdscript/gdscript.h:303:2: warning: when initialized here [-Wreorder] scene/3d/physics_body.h:544:7: warning: 'PhysicalBone::simulate_physics' will be initialized after [-Wreorder] scene/3d/physics_body.h:543:7: warning: 'bool PhysicalBone::_internal_static_body' [-Wreorder] scene/3d/physics_body.cpp:2502:1: warning: when initialized here [-Wreorder] scene/3d/physics_body.h:546:6: warning: 'PhysicalBone::bone_id' will be initialized after [-Wreorder] scene/3d/physics_body.h:539:12: warning: 'Skeleton* PhysicalBone::parent_skeleton' [-Wreorder] scene/3d/physics_body.cpp:2502:1: warning: when initialized here [-Wreorder] scene/3d/spring_arm.h:44:11: warning: 'SpringArm::mask' will be initialized after [-Wreorder] scene/3d/spring_arm.h:43:8: warning: 'float SpringArm::current_spring_length' [-Wreorder] scene/3d/spring_arm.cpp:37:1: warning: when initialized here [-Wreorder] scene/animation/skeleton_ik.h:159:11: warning: 'SkeletonIK::target_node_override' will be initialized after [-Wreorder] scene/animation/skeleton_ik.h:152:7: warning: 'bool SkeletonIK::use_magnet' [-Wreorder] scene/animation/skeleton_ik.cpp:418:1: warning: when initialized here [-Wreorder] scene/resources/tile_set.h:84:9: warning: 'TileSet::AutotileData::size' will be initialized after [-Wreorder] scene/resources/tile_set.h:83:7: warning: 'int TileSet::AutotileData::spacing' [-Wreorder] scene/resources/tile_set.h:92:12: warning: when initialized here [-Wreorder] scene/resources/tile_set.h:115:12: warning: 'TileSet::TileData::tile_mode' will be initialized after [-Wreorder] scene/resources/tile_set.h:114:9: warning: 'Color TileSet::TileData::modulate' [-Wreorder] scene/resources/tile_set.h:120:12: warning: when initialized here [-Wreorder] servers/physics/body_sw.h:84:19: warning: 'BodySW::direct_state_query_list' will be initialized after [-Wreorder] servers/physics/body_sw.h:57:11: warning: 'uint16_t BodySW::locked_axis' [-Wreorder] servers/physics/body_sw.cpp:756:1: warning: when initialized here [-Wreorder] ``` Nothing really relevant for us, but it's not a bad consistency improvement anyway so worth taking.
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force_shape_reset(false),
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space(NULL),
isTransformChanged(false) {}
CollisionObjectBullet::~CollisionObjectBullet() {
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// Remove all overlapping, notify is not required since godot take care of it
for (int i = areasOverlapped.size() - 1; 0 <= i; --i) {
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areasOverlapped[i]->remove_overlap(this, /*Notify*/ false);
}
destroyBulletCollisionObject();
}
bool equal(real_t first, real_t second) {
return Math::abs(first - second) <= 0.001f;
}
void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
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body_scale = p_new_scale;
body_scale_changed();
}
}
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btVector3 CollisionObjectBullet::get_bt_body_scale() const {
btVector3 s;
G_TO_B(body_scale, s);
return s;
}
void CollisionObjectBullet::body_scale_changed() {
force_shape_reset = true;
}
void CollisionObjectBullet::destroyBulletCollisionObject() {
bulletdelete(bt_collision_object);
}
void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_collisionObject) {
bt_collision_object = p_collisionObject;
bt_collision_object->setUserPointer(this);
bt_collision_object->setUserIndex(type);
// Force the enabling of collision and avoid problems
set_collision_enabled(collisionsEnabled);
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p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.insert(p_ignoreCollisionObject->get_self());
if (!bt_collision_object)
return;
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
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if (space)
space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.erase(p_ignoreCollisionObject->get_self());
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false);
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if (space)
space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
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return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
}
void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
collisionsEnabled = p_enabled;
if (collisionsEnabled) {
bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE));
} else {
bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
}
}
bool CollisionObjectBullet::is_collisions_response_enabled() {
return collisionsEnabled;
}
void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) {
areasOverlapped.push_back(p_area);
}
void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) {
areasOverlapped.erase(p_area);
}
void CollisionObjectBullet::set_godot_object_flags(int flags) {
bt_collision_object->setUserIndex2(flags);
}
int CollisionObjectBullet::get_godot_object_flags() const {
return bt_collision_object->getUserIndex2();
}
void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
set_body_scale(p_global_transform.basis.get_scale_abs());
btTransform bt_transform;
G_TO_B(p_global_transform, bt_transform);
UNSCALE_BT_BASIS(bt_transform);
set_transform__bullet(bt_transform);
}
Transform CollisionObjectBullet::get_transform() const {
Transform t;
B_TO_G(get_transform__bullet(), t);
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t.basis.scale(body_scale);
return t;
}
void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) {
bt_collision_object->setWorldTransform(p_global_transform);
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notify_transform_changed();
}
const btTransform &CollisionObjectBullet::get_transform__bullet() const {
return bt_collision_object->getWorldTransform();
}
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void CollisionObjectBullet::notify_transform_changed() {
isTransformChanged = true;
}
RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) :
CollisionObjectBullet(p_type),
mainShape(NULL) {
}
RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
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remove_all_shapes(true, true);
if (mainShape && mainShape->isCompound()) {
bulletdelete(mainShape);
}
}
void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform, bool p_disabled) {
shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled));
p_shape->add_owner(this);
reload_shapes();
}
void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this);
p_shape->add_owner(this);
shp.shape = p_shape;
reload_shapes();
}
int RigidCollisionObjectBullet::get_shape_count() const {
return shapes.size();
}
ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const {
return shapes[p_index].shape;
}
btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
return shapes[p_index].bt_shape;
}
int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const {
const int size = shapes.size();
for (int i = 0; i < size; ++i) {
if (shapes[i].shape == p_shape)
return i;
}
return -1;
}
void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
// Remove the shape, all the times it appears
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
if (p_shape == shapes[i].shape) {
internal_shape_destroy(i);
shapes.remove(i);
}
}
reload_shapes();
}
void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
ERR_FAIL_INDEX(p_index, get_shape_count());
internal_shape_destroy(p_index);
shapes.remove(p_index);
reload_shapes();
}
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void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody, bool p_force_not_reload) {
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
internal_shape_destroy(i, p_permanentlyFromThisBody);
}
shapes.clear();
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if (!p_force_not_reload)
reload_shapes();
}
void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
ERR_FAIL_INDEX(p_index, get_shape_count());
shapes.write[p_index].set_transform(p_transform);
// Note, enableDynamicAabbTree is false because on transform change compound is destroyed
reload_shapes();
}
const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
return shapes[p_index].transform;
}
Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
Transform trs;
B_TO_G(shapes[p_index].transform, trs);
return trs;
}
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
if (shapes[p_index].active != p_disabled)
return;
shapes.write[p_index].active = !p_disabled;
shape_changed(p_index);
}
bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
return !shapes[p_index].active;
}
void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
ShapeWrapper &shp = shapes.write[p_shape_index];
if (shp.bt_shape == mainShape) {
mainShape = NULL;
}
bulletdelete(shp.bt_shape);
reload_shapes();
}
void RigidCollisionObjectBullet::reload_shapes() {
if (mainShape && mainShape->isCompound()) {
// Destroy compound
bulletdelete(mainShape);
}
mainShape = NULL;
ShapeWrapper *shpWrapper;
const int shape_count = shapes.size();
// Reset shape if required
if (force_shape_reset) {
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
bulletdelete(shpWrapper->bt_shape);
}
force_shape_reset = false;
}
const btVector3 body_scale(get_bt_body_scale());
// Try to optimize by not using compound
if (1 == shape_count) {
shpWrapper = &shapes.write[0];
if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
main_shape_changed();
return;
}
}
// Optimization not possible use a compound shape
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
shpWrapper->claim_bt_shape(body_scale);
btTransform scaled_shape_transform(shpWrapper->transform);
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}
compoundShape->recalculateLocalAabb();
mainShape = compoundShape;
main_shape_changed();
}
void RigidCollisionObjectBullet::body_scale_changed() {
CollisionObjectBullet::body_scale_changed();
reload_shapes();
}
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
if (shp.bt_shape == mainShape) {
mainShape = NULL;
}
bulletdelete(shp.bt_shape);
}