godotengine/godot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #28326 from BastiaanOlij/center_heightmap

Browse Source 
Center shape according to logic Bullet applies
This commit is contained in:
Rémi Verschelde 2019-05-13 12:58:00 +02:00 committed by GitHub
commit 647021e864
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 56 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
doc/classes/HeightMapShape.xml
View File

@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="HeightMapShape" inherits="Shape" category="Core" version="3.2">
<brief_description>
Height map shape for 3D physics (bullet only)
Height map shape for 3D physics (Bullet only).
</brief_description>
<description>
Height map shape resource, which can be added to a [PhysicsBody] or [Area].

24
modules/bullet/collision_object_bullet.cpp
View File

@ -59,6 +59,25 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra
transform = p_transform;
}
btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const {
if (shape->get_type() == PhysicsServer::SHAPE_HEIGHTMAP) {
const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now
btTransform adjusted_transform;
// Bullet centers our heightmap:
// https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33
// This is really counter intuitive so we're adjusting for it
adjusted_transform.setIdentity();
adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0));
adjusted_transform *= transform;
return adjusted_transform;
} else {
return transform;
}
}
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (!bt_shape) {
if (active)
@ -345,7 +364,8 @@ void RigidCollisionObjectBullet::reload_shapes() {
// 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()) {
btTransform transform = shpWrapper->get_adjusted_transform();
if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
main_shape_changed();
@ -359,7 +379,7 @@ void RigidCollisionObjectBullet::reload_shapes() {
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
shpWrapper->claim_bt_shape(body_scale);
btTransform scaled_shape_transform(shpWrapper->transform);
btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}

1
modules/bullet/collision_object_bullet.h
View File

@ -109,6 +109,7 @@ public:
void set_transform(const Transform &p_transform);
void set_transform(const btTransform &p_transform);
btTransform get_adjusted_transform() const;
void claim_bt_shape(const btVector3 &body_scale);
};

4
scene/3d/collision_shape.cpp
View File

@ -65,7 +65,6 @@ void CollisionShape::make_convex_from_brothers() {
}
void CollisionShape::_update_in_shape_owner(bool p_xform_only) {
parent->shape_owner_set_transform(owner_id, get_transform());
if (p_xform_only)
return;
@ -228,6 +227,9 @@ void CollisionShape::_update_debug_shape() {
}
void CollisionShape::_shape_changed() {
// If this is a heightfield shape our center may have changed
_update_in_shape_owner(true);
if (is_inside_tree() && get_tree()->is_debugging_collisions_hint() && !debug_shape_dirty) {
debug_shape_dirty = true;
call_deferred("_update_debug_shape");

50
scene/resources/height_map_shape.cpp
View File

@ -34,35 +34,43 @@
Vector<Vector3> HeightMapShape::_gen_debug_mesh_lines() {
Vector<Vector3> points;
// This will be slow for large maps...
// also we'll have to figure out how well bullet centers this shape...
if ((map_width != 0) && (map_depth != 0)) {
Vector2 size(map_width - 1, map_depth - 1);
Vector2 start = size * -0.5;
int offset = 0;
// This will be slow for large maps...
// also we'll have to figure out how well bullet centers this shape...
PoolRealArray::Read r = map_data.read();
Vector2 size(map_width - 1, map_depth - 1);
Vector2 start = size * -0.5;
for (int d = 0; d < map_depth; d++) {
Vector3 height(start.x, 0.0, start.y);
PoolRealArray::Read r = map_data.read();
for (int w = 0; w < map_width; w++) {
height.y = r[offset++];
// reserve some memory for our points..
points.resize(((map_width - 1) * map_depth * 2) + (map_width * (map_depth - 1) * 2));
if (w != map_width - 1) {
points.push_back(height);
points.push_back(Vector3(height.x + 1.0, r[offset], height.z));
// now set our points
int r_offset = 0;
int w_offset = 0;
for (int d = 0; d < map_depth; d++) {
Vector3 height(start.x, 0.0, start.y);
for (int w = 0; w < map_width; w++) {
height.y = r[r_offset++];
if (w != map_width - 1) {
points.write[w_offset++] = height;
points.write[w_offset++] = Vector3(height.x + 1.0, r[r_offset], height.z);
}
if (d != map_depth - 1) {
points.write[w_offset++] = height;
points.write[w_offset++] = Vector3(height.x, r[r_offset + map_width - 1], height.z + 1.0);
}
height.x += 1.0;
}
if (d != map_depth - 1) {
points.push_back(height);
points.push_back(Vector3(height.x, r[offset + map_width - 1], height.z + 1.0));
}
height.x += 1.0;
start.y += 1.0;
}
start.y += 1.0;
}
return points;