- Enhanced the flush mechanism by flushing only needed thing.
- Flushing Areas before anything else. - Make sure to correctly fetch gravity when the integrate_forces function is used - Lazy reload body when layer and mask changes - Shapes are reloaded just before the physics step starts. - Improved some other parts of the code. - Added override keyword - Using LocalVector
This commit is contained in:
Andrea Catania
parent
9e34ba4855
commit
8d0d6d6921
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@ -65,14 +65,11 @@ AreaBullet::~AreaBullet() {
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}
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void AreaBullet::dispatch_callbacks() {
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if (!isScratched) {
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return;
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}
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isScratched = false;
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RigidCollisionObjectBullet::dispatch_callbacks();
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// Reverse order because I've to remove EXIT objects
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for (int i = overlappingObjects.size() - 1; 0 <= i; --i) {
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OverlappingObjectData &otherObj = overlappingObjects.write[i];
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OverlappingObjectData &otherObj = overlappingObjects[i];
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switch (otherObj.state) {
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case OVERLAP_STATE_ENTER:
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@ -112,10 +109,9 @@ void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3
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}
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void AreaBullet::scratch() {
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if (isScratched) {
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return;
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if (space != nullptr) {
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space->add_to_pre_flush_queue(this);
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}
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isScratched = true;
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}
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void AreaBullet::clear_overlaps(bool p_notify) {
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@ -173,9 +169,9 @@ void AreaBullet::do_reload_body() {
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void AreaBullet::set_space(SpaceBullet *p_space) {
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// Clear the old space if there is one
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if (space) {
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clear_overlaps(false);
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isScratched = false;
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// Remove this object form the physics world
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space->unregister_collision_object(this);
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@ -187,10 +183,11 @@ void AreaBullet::set_space(SpaceBullet *p_space) {
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if (space) {
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space->register_collision_object(this);
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reload_body();
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scratch();
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}
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}
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void AreaBullet::on_collision_filters_change() {
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void AreaBullet::do_reload_collision_filters() {
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if (space) {
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space->reload_collision_filters(this);
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}
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@ -204,13 +201,13 @@ void AreaBullet::add_overlap(CollisionObjectBullet *p_otherObject) {
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void AreaBullet::put_overlap_as_exit(int p_index) {
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scratch();
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overlappingObjects.write[p_index].state = OVERLAP_STATE_EXIT;
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overlappingObjects[p_index].state = OVERLAP_STATE_EXIT;
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}
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void AreaBullet::put_overlap_as_inside(int p_index) {
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// This check is required to be sure this body was inside
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if (OVERLAP_STATE_DIRTY == overlappingObjects[p_index].state) {
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overlappingObjects.write[p_index].state = OVERLAP_STATE_INSIDE;
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overlappingObjects[p_index].state = OVERLAP_STATE_INSIDE;
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}
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}
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@ -32,7 +32,7 @@
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#define AREABULLET_H
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#include "collision_object_bullet.h"
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#include "core/vector.h"
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#include "core/local_vector.h"
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#include "servers/physics_server_3d.h"
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#include "space_bullet.h"
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@ -83,7 +83,7 @@ private:
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Variant *call_event_res_ptr[5];
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btGhostObject *btGhost;
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Vector<OverlappingObjectData> overlappingObjects;
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LocalVector<OverlappingObjectData> overlappingObjects;
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bool monitorable = true;
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PhysicsServer3D::AreaSpaceOverrideMode spOv_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
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@ -96,8 +96,6 @@ private:
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real_t spOv_angularDump = 0.1;
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int spOv_priority = 0;
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bool isScratched = false;
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InOutEventCallback eventsCallbacks[2];
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public:
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@ -139,11 +137,11 @@ public:
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_FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; }
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_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
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virtual void main_shape_changed();
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virtual void do_reload_body();
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virtual void set_space(SpaceBullet *p_space);
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virtual void main_shape_changed() override;
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virtual void do_reload_body() override;
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virtual void set_space(SpaceBullet *p_space) override;
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virtual void dispatch_callbacks();
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virtual void dispatch_callbacks() override;
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void call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3D::AreaBodyStatus p_status);
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void set_on_state_change(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
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void scratch();
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@ -152,9 +150,9 @@ public:
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// Dispatch the callbacks and removes from overlapping list
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void remove_overlap(CollisionObjectBullet *p_object, bool p_notify);
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virtual void on_collision_filters_change();
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virtual void on_collision_checker_start() {}
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virtual void on_collision_checker_end() { isTransformChanged = false; }
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virtual void do_reload_collision_filters() override;
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virtual void on_collision_checker_start() override {}
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virtual void on_collision_checker_end() override { isTransformChanged = false; }
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void add_overlap(CollisionObjectBullet *p_otherObject);
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void put_overlap_as_exit(int p_index);
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@ -166,8 +164,8 @@ public:
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void set_event_callback(Type p_callbackObjectType, ObjectID p_id, const StringName &p_method);
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bool has_event_callback(Type p_callbackObjectType);
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virtual void on_enter_area(AreaBullet *p_area);
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virtual void on_exit_area(AreaBullet *p_area);
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virtual void on_enter_area(AreaBullet *p_area) override;
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virtual void on_exit_area(AreaBullet *p_area) override;
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};
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#endif
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@ -52,7 +52,7 @@ class BulletPhysicsServer3D : public PhysicsServer3D {
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bool active = true;
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char active_spaces_count = 0;
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Vector<SpaceBullet *> active_spaces;
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LocalVector<SpaceBullet *> active_spaces;
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mutable RID_PtrOwner<SpaceBullet> space_owner;
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mutable RID_PtrOwner<ShapeBullet> shape_owner;
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@ -165,11 +165,20 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet
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return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
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}
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void CollisionObjectBullet::prepare_object_for_dispatch() {
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if (need_body_reload) {
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void CollisionObjectBullet::reload_body() {
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needs_body_reload = true;
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}
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void CollisionObjectBullet::dispatch_callbacks() {}
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void CollisionObjectBullet::pre_process() {
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if (needs_body_reload) {
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do_reload_body();
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need_body_reload = false;
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} else if (needs_collision_filters_reload) {
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do_reload_collision_filters();
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}
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needs_body_reload = false;
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needs_collision_filters_reload = false;
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}
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void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
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@ -245,7 +254,7 @@ void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform
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}
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void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
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ShapeWrapper &shp = shapes.write[p_index];
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ShapeWrapper &shp = shapes[p_index];
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shp.shape->remove_owner(this);
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p_shape->add_owner(this);
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shp.shape = p_shape;
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@ -307,7 +316,7 @@ void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBod
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void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
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ERR_FAIL_INDEX(p_index, get_shape_count());
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shapes.write[p_index].set_transform(p_transform);
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shapes[p_index].set_transform(p_transform);
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shape_changed(p_index);
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}
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@ -325,7 +334,7 @@ void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled
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if (shapes[p_index].active != p_disabled) {
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return;
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}
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shapes.write[p_index].active = !p_disabled;
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shapes[p_index].active = !p_disabled;
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shape_changed(p_index);
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}
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@ -333,16 +342,16 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
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return !shapes[p_index].active;
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}
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void RigidCollisionObjectBullet::prepare_object_for_dispatch() {
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void RigidCollisionObjectBullet::pre_process() {
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if (need_shape_reload) {
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do_reload_shapes();
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need_shape_reload = false;
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}
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CollisionObjectBullet::prepare_object_for_dispatch();
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CollisionObjectBullet::pre_process();
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}
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void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
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ShapeWrapper &shp = shapes.write[p_shape_index];
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ShapeWrapper &shp = shapes[p_shape_index];
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if (shp.bt_shape == mainShape) {
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mainShape = nullptr;
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}
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@ -363,12 +372,11 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
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mainShape = nullptr;
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const int shape_count = shapes.size();
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ShapeWrapper *shapes_ptr = shapes.ptrw();
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// Reset all shapes if required
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if (force_shape_reset) {
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for (int i(0); i < shape_count; ++i) {
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shapes_ptr[i].release_bt_shape();
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shapes[i].release_bt_shape();
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}
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force_shape_reset = false;
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}
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@ -377,10 +385,10 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
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if (1 == shape_count) {
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// Is it possible to optimize by not using compound?
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btTransform transform = shapes_ptr[0].get_adjusted_transform();
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btTransform transform = shapes[0].get_adjusted_transform();
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if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
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shapes_ptr[0].claim_bt_shape(body_scale);
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mainShape = shapes_ptr[0].bt_shape;
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shapes[0].claim_bt_shape(body_scale);
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mainShape = shapes[0].bt_shape;
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main_shape_changed();
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// Nothing more to do
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return;
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@ -391,10 +399,10 @@ void RigidCollisionObjectBullet::do_reload_shapes() {
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btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
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for (int i(0); i < shape_count; ++i) {
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shapes_ptr[i].claim_bt_shape(body_scale);
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btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform());
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shapes[i].claim_bt_shape(body_scale);
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btTransform scaled_shape_transform(shapes[i].get_adjusted_transform());
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scaled_shape_transform.getOrigin() *= body_scale;
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compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape);
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compoundShape->addChildShape(scaled_shape_transform, shapes[i].bt_shape);
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}
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compoundShape->recalculateLocalAabb();
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@ -408,7 +416,7 @@ void RigidCollisionObjectBullet::body_scale_changed() {
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}
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void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
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ShapeWrapper &shp = shapes.write[p_index];
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ShapeWrapper &shp = shapes[p_index];
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shp.shape->remove_owner(this, p_permanentlyFromThisBody);
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if (shp.bt_shape == mainShape) {
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mainShape = nullptr;
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@ -31,6 +31,7 @@
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#ifndef COLLISION_OBJECT_BULLET_H
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#define COLLISION_OBJECT_BULLET_H
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#include "core/local_vector.h"
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#include "core/math/transform.h"
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#include "core/math/vector3.h"
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#include "core/object.h"
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@ -126,16 +127,18 @@ protected:
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VSet<RID> exceptions;
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bool need_body_reload = true;
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bool needs_body_reload = true;
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bool needs_collision_filters_reload = true;
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/// This array is used to know all areas where this Object is overlapped in
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/// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea)
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/// This array is used mainly to know which area hold the pointer of this object
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Vector<AreaBullet *> areasOverlapped;
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LocalVector<AreaBullet *> areasOverlapped;
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bool isTransformChanged = false;
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public:
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bool is_in_world = false;
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bool is_in_flush_queue = false;
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public:
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CollisionObjectBullet(Type p_type);
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@ -171,7 +174,7 @@ public:
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_FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) {
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if (collisionLayer != p_layer) {
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collisionLayer = p_layer;
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on_collision_filters_change();
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needs_collision_filters_reload = true;
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}
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}
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_FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; }
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@ -179,24 +182,23 @@ public:
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_FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) {
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if (collisionMask != p_mask) {
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collisionMask = p_mask;
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on_collision_filters_change();
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needs_collision_filters_reload = true;
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}
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}
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_FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; }
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virtual void on_collision_filters_change() = 0;
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virtual void do_reload_collision_filters() = 0;
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_FORCE_INLINE_ bool test_collision_mask(CollisionObjectBullet *p_other) const {
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return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
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}
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bool need_reload_body() const {
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return need_body_reload;
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return needs_body_reload;
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}
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void reload_body() {
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need_body_reload = true;
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}
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void reload_body();
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virtual void do_reload_body() = 0;
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virtual void set_space(SpaceBullet *p_space) = 0;
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_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
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@ -204,8 +206,8 @@ public:
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virtual void on_collision_checker_start() = 0;
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virtual void on_collision_checker_end() = 0;
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virtual void prepare_object_for_dispatch();
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virtual void dispatch_callbacks() = 0;
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virtual void dispatch_callbacks();
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virtual void pre_process();
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void set_collision_enabled(bool p_enabled);
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bool is_collisions_response_enabled();
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@ -229,7 +231,7 @@ public:
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class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
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protected:
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btCollisionShape *mainShape = nullptr;
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Vector<ShapeWrapper> shapes;
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LocalVector<ShapeWrapper> shapes;
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bool need_shape_reload = true;
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public:
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@ -237,7 +239,7 @@ public:
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CollisionObjectBullet(p_type) {}
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~RigidCollisionObjectBullet();
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_FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
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_FORCE_INLINE_ const LocalVector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
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_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
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@ -248,9 +250,9 @@ public:
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ShapeBullet *get_shape(int p_index) const;
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btCollisionShape *get_bt_shape(int p_index) const;
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int find_shape(ShapeBullet *p_shape) const;
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virtual int find_shape(ShapeBullet *p_shape) const override;
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virtual void remove_shape_full(ShapeBullet *p_shape);
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virtual void remove_shape_full(ShapeBullet *p_shape) override;
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void remove_shape_full(int p_index);
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void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false);
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@ -262,15 +264,15 @@ public:
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void set_shape_disabled(int p_index, bool p_disabled);
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bool is_shape_disabled(int p_index);
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virtual void prepare_object_for_dispatch();
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virtual void pre_process() override;
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virtual void shape_changed(int p_shape_index);
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void reload_shapes();
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virtual void shape_changed(int p_shape_index) override;
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virtual void reload_shapes() override;
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bool need_reload_shapes() const { return need_shape_reload; }
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virtual void do_reload_shapes();
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virtual void main_shape_changed() = 0;
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virtual void body_scale_changed();
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virtual void body_scale_changed() override;
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private:
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void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false);
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@ -51,9 +51,7 @@
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BulletPhysicsDirectBodyState3D *BulletPhysicsDirectBodyState3D::singleton = nullptr;
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Vector3 BulletPhysicsDirectBodyState3D::get_total_gravity() const {
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Vector3 gVec;
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B_TO_G(body->btBody->getGravity(), gVec);
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return gVec;
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return body->total_gravity;
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}
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float BulletPhysicsDirectBodyState3D::get_total_angular_damp() const {
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@ -183,7 +181,7 @@ int BulletPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx
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}
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|
||||
Vector3 BulletPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
|
||||
RigidBodyBullet::CollisionData &colDat = body->collisions.write[p_contact_idx];
|
||||
RigidBodyBullet::CollisionData &colDat = body->collisions[p_contact_idx];
|
||||
|
||||
btVector3 hitLocation;
|
||||
G_TO_B(colDat.hitLocalLocation, hitLocation);
|
||||
|
|
@ -213,7 +211,7 @@ void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) {
|
|||
}
|
||||
|
||||
void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
|
||||
const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
|
||||
const LocalVector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
|
||||
const int shapes_count = shapes_wrappers.size();
|
||||
|
||||
just_delete_shapes(shapes_count);
|
||||
|
|
@ -228,8 +226,8 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
|
|||
continue;
|
||||
}
|
||||
|
||||
shapes.write[i].transform = shape_wrapper->transform;
|
||||
shapes.write[i].transform.getOrigin() *= owner_scale;
|
||||
shapes[i].transform = shape_wrapper->transform;
|
||||
shapes[i].transform.getOrigin() *= owner_scale;
|
||||
switch (shape_wrapper->shape->get_type()) {
|
||||
case PhysicsServer3D::SHAPE_SPHERE:
|
||||
case PhysicsServer3D::SHAPE_BOX:
|
||||
|
|
@ -237,11 +235,11 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
|
|||
case PhysicsServer3D::SHAPE_CYLINDER:
|
||||
case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
|
||||
case PhysicsServer3D::SHAPE_RAY: {
|
||||
shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
|
||||
shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
|
||||
} break;
|
||||
default:
|
||||
WARN_PRINT("This shape is not supported for kinematic collision.");
|
||||
shapes.write[i].shape = nullptr;
|
||||
shapes[i].shape = nullptr;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -249,7 +247,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
|
|||
void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) {
|
||||
for (int i = shapes.size() - 1; 0 <= i; --i) {
|
||||
if (shapes[i].shape) {
|
||||
bulletdelete(shapes.write[i].shape);
|
||||
bulletdelete(shapes[i].shape);
|
||||
}
|
||||
}
|
||||
shapes.resize(new_size);
|
||||
|
|
@ -271,8 +269,8 @@ RigidBodyBullet::RigidBodyBullet() :
|
|||
reload_axis_lock();
|
||||
|
||||
areasWhereIam.resize(maxAreasWhereIam);
|
||||
for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
|
||||
areasWhereIam.write[i] = nullptr;
|
||||
for (uint32_t i = 0; i < areasWhereIam.size(); i += 1) {
|
||||
areasWhereIam[i] = nullptr;
|
||||
}
|
||||
btBody->setSleepingThresholds(0.2, 0.2);
|
||||
|
||||
|
|
@ -335,16 +333,15 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
|
|||
if (space) {
|
||||
space->register_collision_object(this);
|
||||
reload_body();
|
||||
space->add_to_flush_queue(this);
|
||||
}
|
||||
}
|
||||
|
||||
void RigidBodyBullet::dispatch_callbacks() {
|
||||
RigidCollisionObjectBullet::dispatch_callbacks();
|
||||
|
||||
/// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent
|
||||
if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) {
|
||||
if (omit_forces_integration) {
|
||||
btBody->clearForces();
|
||||
}
|
||||
|
||||
BulletPhysicsDirectBodyState3D *bodyDirect = BulletPhysicsDirectBodyState3D::get_singleton(this);
|
||||
|
||||
Variant variantBodyDirect = bodyDirect;
|
||||
|
|
@ -362,16 +359,22 @@ void RigidBodyBullet::dispatch_callbacks() {
|
|||
}
|
||||
}
|
||||
|
||||
previousActiveState = btBody->isActive();
|
||||
}
|
||||
|
||||
void RigidBodyBullet::pre_process() {
|
||||
RigidCollisionObjectBullet::pre_process();
|
||||
|
||||
if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) {
|
||||
isScratchedSpaceOverrideModificator = false;
|
||||
reload_space_override_modificator();
|
||||
}
|
||||
|
||||
/// Lock axis
|
||||
btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
|
||||
btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
|
||||
|
||||
previousActiveState = btBody->isActive();
|
||||
if (is_active()) {
|
||||
/// Lock axis
|
||||
btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
|
||||
btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
|
||||
}
|
||||
}
|
||||
|
||||
void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
|
||||
|
|
@ -392,7 +395,7 @@ void RigidBodyBullet::scratch_space_override_modificator() {
|
|||
isScratchedSpaceOverrideModificator = true;
|
||||
}
|
||||
|
||||
void RigidBodyBullet::on_collision_filters_change() {
|
||||
void RigidBodyBullet::do_reload_collision_filters() {
|
||||
if (space) {
|
||||
space->reload_collision_filters(this);
|
||||
}
|
||||
|
|
@ -405,14 +408,15 @@ void RigidBodyBullet::on_collision_checker_start() {
|
|||
collisionsCount = 0;
|
||||
|
||||
// Swap array
|
||||
Vector<RigidBodyBullet *> *s = prev_collision_traces;
|
||||
prev_collision_traces = curr_collision_traces;
|
||||
curr_collision_traces = s;
|
||||
SWAP(prev_collision_traces, curr_collision_traces);
|
||||
}
|
||||
|
||||
void RigidBodyBullet::on_collision_checker_end() {
|
||||
// Always true if active and not a static or kinematic body
|
||||
isTransformChanged = btBody->isActive() && !btBody->isStaticOrKinematicObject();
|
||||
if (isTransformChanged && space != nullptr) {
|
||||
space->add_to_flush_queue(this);
|
||||
}
|
||||
}
|
||||
|
||||
bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) {
|
||||
|
|
@ -420,7 +424,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
|
|||
return false;
|
||||
}
|
||||
|
||||
CollisionData &cd = collisions.write[collisionsCount];
|
||||
CollisionData &cd = collisions[collisionsCount];
|
||||
cd.hitLocalLocation = p_hitLocalLocation;
|
||||
cd.otherObject = p_otherObject;
|
||||
cd.hitWorldLocation = p_hitWorldLocation;
|
||||
|
|
@ -429,7 +433,7 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const
|
|||
cd.other_object_shape = p_other_shape_index;
|
||||
cd.local_shape = p_local_shape_index;
|
||||
|
||||
curr_collision_traces->write[collisionsCount] = p_otherObject;
|
||||
(*curr_collision_traces)[collisionsCount] = p_otherObject;
|
||||
|
||||
++collisionsCount;
|
||||
return true;
|
||||
|
|
@ -464,6 +468,7 @@ bool RigidBodyBullet::is_active() const {
|
|||
|
||||
void RigidBodyBullet::set_omit_forces_integration(bool p_omit) {
|
||||
omit_forces_integration = p_omit;
|
||||
scratch_space_override_modificator();
|
||||
}
|
||||
|
||||
void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p_value) {
|
||||
|
|
@ -839,15 +844,15 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) {
|
|||
for (int i = 0; i < areaWhereIamCount; ++i) {
|
||||
if (nullptr == areasWhereIam[i]) {
|
||||
// This area has the highest priority
|
||||
areasWhereIam.write[i] = p_area;
|
||||
areasWhereIam[i] = p_area;
|
||||
break;
|
||||
} else {
|
||||
if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) {
|
||||
// The position was found, just shift all elements
|
||||
for (int j = i; j < areaWhereIamCount; ++j) {
|
||||
areasWhereIam.write[j + 1] = areasWhereIam[j];
|
||||
areasWhereIam[j + 1] = areasWhereIam[j];
|
||||
}
|
||||
areasWhereIam.write[i] = p_area;
|
||||
areasWhereIam[i] = p_area;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -871,7 +876,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
|
|||
if (p_area == areasWhereIam[i]) {
|
||||
// The area was found, just shift down all elements
|
||||
for (int j = i; j < areaWhereIamCount; ++j) {
|
||||
areasWhereIam.write[j] = areasWhereIam[j + 1];
|
||||
areasWhereIam[j] = areasWhereIam[j + 1];
|
||||
}
|
||||
wasTheAreaFound = true;
|
||||
break;
|
||||
|
|
@ -884,7 +889,7 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
|
|||
}
|
||||
|
||||
--areaWhereIamCount;
|
||||
areasWhereIam.write[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
|
||||
areasWhereIam[areaWhereIamCount] = nullptr; // Even if this is not required, I clear the last element to be safe
|
||||
if (PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) {
|
||||
scratch_space_override_modificator();
|
||||
}
|
||||
|
|
@ -897,36 +902,31 @@ void RigidBodyBullet::reload_space_override_modificator() {
|
|||
return;
|
||||
}
|
||||
|
||||
Vector3 newGravity(0.0, 0.0, 0.0);
|
||||
Vector3 newGravity;
|
||||
real_t newLinearDamp = MAX(0.0, linearDamp);
|
||||
real_t newAngularDamp = MAX(0.0, angularDamp);
|
||||
|
||||
AreaBullet *currentArea;
|
||||
// Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer
|
||||
Vector3 support_gravity(0, 0, 0);
|
||||
|
||||
bool stopped = false;
|
||||
for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) {
|
||||
currentArea = areasWhereIam[i];
|
||||
for (int i = 0; i < areaWhereIamCount && !stopped; i += 1) {
|
||||
AreaBullet *currentArea = areasWhereIam[i];
|
||||
|
||||
if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
Vector3 support_gravity;
|
||||
|
||||
/// Here is calculated the gravity
|
||||
if (currentArea->is_spOv_gravityPoint()) {
|
||||
/// It calculates the direction of new gravity
|
||||
support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin();
|
||||
real_t distanceMag = support_gravity.length();
|
||||
|
||||
const real_t distanceMag = support_gravity.length();
|
||||
// Normalized in this way to avoid the double call of function "length()"
|
||||
if (distanceMag == 0) {
|
||||
support_gravity.x = 0;
|
||||
support_gravity.y = 0;
|
||||
support_gravity.z = 0;
|
||||
support_gravity = Vector3();
|
||||
} else {
|
||||
support_gravity.x /= distanceMag;
|
||||
support_gravity.y /= distanceMag;
|
||||
support_gravity.z /= distanceMag;
|
||||
support_gravity /= distanceMag;
|
||||
}
|
||||
|
||||
/// Here is calculated the final gravity
|
||||
|
|
@ -988,10 +988,17 @@ void RigidBodyBullet::reload_space_override_modificator() {
|
|||
newAngularDamp += space->get_angular_damp();
|
||||
}
|
||||
|
||||
btVector3 newBtGravity;
|
||||
G_TO_B(newGravity * gravity_scale, newBtGravity);
|
||||
total_gravity = newGravity;
|
||||
|
||||
if (omit_forces_integration) {
|
||||
// Custom behaviour.
|
||||
btBody->setGravity(btVector3(0, 0, 0));
|
||||
} else {
|
||||
btVector3 newBtGravity;
|
||||
G_TO_B(newGravity * gravity_scale, newBtGravity);
|
||||
btBody->setGravity(newBtGravity);
|
||||
}
|
||||
|
||||
btBody->setGravity(newBtGravity);
|
||||
btBody->setDamping(newLinearDamp, newAngularDamp);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -171,7 +171,7 @@ public:
|
|||
struct KinematicUtilities {
|
||||
RigidBodyBullet *owner;
|
||||
btScalar safe_margin;
|
||||
Vector<KinematicShape> shapes;
|
||||
LocalVector<KinematicShape> shapes;
|
||||
|
||||
KinematicUtilities(RigidBodyBullet *p_owner);
|
||||
~KinematicUtilities();
|
||||
|
|
@ -193,6 +193,7 @@ private:
|
|||
PhysicsServer3D::BodyMode mode;
|
||||
GodotMotionState *godotMotionState;
|
||||
btRigidBody *btBody;
|
||||
Vector3 total_gravity;
|
||||
uint16_t locked_axis = 0;
|
||||
real_t mass = 1;
|
||||
real_t gravity_scale = 1;
|
||||
|
|
@ -202,18 +203,18 @@ private:
|
|||
bool omit_forces_integration = false;
|
||||
bool can_integrate_forces = false;
|
||||
|
||||
Vector<CollisionData> collisions;
|
||||
Vector<RigidBodyBullet *> collision_traces_1;
|
||||
Vector<RigidBodyBullet *> collision_traces_2;
|
||||
Vector<RigidBodyBullet *> *prev_collision_traces;
|
||||
Vector<RigidBodyBullet *> *curr_collision_traces;
|
||||
LocalVector<CollisionData> collisions;
|
||||
LocalVector<RigidBodyBullet *> collision_traces_1;
|
||||
LocalVector<RigidBodyBullet *> collision_traces_2;
|
||||
LocalVector<RigidBodyBullet *> *prev_collision_traces;
|
||||
LocalVector<RigidBodyBullet *> *curr_collision_traces;
|
||||
|
||||
// these parameters are used to avoid vector resize
|
||||
int maxCollisionsDetection = 0;
|
||||
int collisionsCount = 0;
|
||||
int prev_collision_count = 0;
|
||||
uint32_t maxCollisionsDetection = 0;
|
||||
uint32_t collisionsCount = 0;
|
||||
uint32_t prev_collision_count = 0;
|
||||
|
||||
Vector<AreaBullet *> areasWhereIam;
|
||||
LocalVector<AreaBullet *> areasWhereIam;
|
||||
// these parameters are used to avoid vector resize
|
||||
int maxAreasWhereIam = 10;
|
||||
int areaWhereIamCount = 0;
|
||||
|
|
@ -235,21 +236,20 @@ public:
|
|||
|
||||
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
|
||||
|
||||
virtual void main_shape_changed();
|
||||
virtual void do_reload_body();
|
||||
virtual void set_space(SpaceBullet *p_space);
|
||||
virtual void main_shape_changed() override;
|
||||
virtual void do_reload_body() override;
|
||||
virtual void set_space(SpaceBullet *p_space) override;
|
||||
|
||||
virtual void dispatch_callbacks();
|
||||
virtual void dispatch_callbacks() override;
|
||||
virtual void pre_process() override;
|
||||
void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
|
||||
void scratch_space_override_modificator();
|
||||
|
||||
virtual void on_collision_filters_change();
|
||||
virtual void on_collision_checker_start();
|
||||
virtual void on_collision_checker_end();
|
||||
|
||||
void set_max_collisions_detection(int p_maxCollisionsDetection) {
|
||||
ERR_FAIL_COND(0 > p_maxCollisionsDetection);
|
||||
virtual void do_reload_collision_filters() override;
|
||||
virtual void on_collision_checker_start() override;
|
||||
virtual void on_collision_checker_end() override;
|
||||
|
||||
void set_max_collisions_detection(uint32_t p_maxCollisionsDetection) {
|
||||
maxCollisionsDetection = p_maxCollisionsDetection;
|
||||
|
||||
collisions.resize(p_maxCollisionsDetection);
|
||||
|
|
@ -312,19 +312,19 @@ public:
|
|||
void set_angular_velocity(const Vector3 &p_velocity);
|
||||
Vector3 get_angular_velocity() const;
|
||||
|
||||
virtual void set_transform__bullet(const btTransform &p_global_transform);
|
||||
virtual const btTransform &get_transform__bullet() const;
|
||||
virtual void set_transform__bullet(const btTransform &p_global_transform) override;
|
||||
virtual const btTransform &get_transform__bullet() const override;
|
||||
|
||||
virtual void do_reload_shapes();
|
||||
virtual void do_reload_shapes() override;
|
||||
|
||||
virtual void on_enter_area(AreaBullet *p_area);
|
||||
virtual void on_exit_area(AreaBullet *p_area);
|
||||
virtual void on_enter_area(AreaBullet *p_area) override;
|
||||
virtual void on_exit_area(AreaBullet *p_area) override;
|
||||
void reload_space_override_modificator();
|
||||
|
||||
/// Kinematic
|
||||
void reload_kinematic_shapes();
|
||||
|
||||
virtual void notify_transform_changed();
|
||||
virtual void notify_transform_changed() override;
|
||||
|
||||
private:
|
||||
void _internal_set_mass(real_t p_mass);
|
||||
|
|
|
|||
|
|
@ -346,14 +346,14 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
|
|||
indices_table.push_back(Vector<int>());
|
||||
}
|
||||
|
||||
indices_table.write[vertex_id].push_back(vs_vertex_index);
|
||||
indices_table[vertex_id].push_back(vs_vertex_index);
|
||||
vs_indices_to_physics_table.push_back(vertex_id);
|
||||
}
|
||||
}
|
||||
|
||||
const int indices_map_size(indices_table.size());
|
||||
|
||||
Vector<btScalar> bt_vertices;
|
||||
LocalVector<btScalar> bt_vertices;
|
||||
|
||||
{ // Parse vertices to bullet
|
||||
|
||||
|
|
@ -361,13 +361,13 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
|
|||
const Vector3 *p_vertices_read = p_vertices.ptr();
|
||||
|
||||
for (int i = 0; i < indices_map_size; ++i) {
|
||||
bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
|
||||
bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
|
||||
bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
|
||||
bt_vertices[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
|
||||
bt_vertices[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
|
||||
bt_vertices[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
|
||||
}
|
||||
}
|
||||
|
||||
Vector<int> bt_triangles;
|
||||
LocalVector<int> bt_triangles;
|
||||
const int triangles_size(p_indices.size() / 3);
|
||||
|
||||
{ // Parse indices
|
||||
|
|
@ -377,9 +377,9 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
|
|||
const int *p_indices_read = p_indices.ptr();
|
||||
|
||||
for (int i = 0; i < triangles_size; ++i) {
|
||||
bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
|
||||
bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
|
||||
bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
|
||||
bt_triangles[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
|
||||
bt_triangles[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
|
||||
bt_triangles[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -32,7 +32,6 @@
|
|||
#define SOFT_BODY_BULLET_H
|
||||
|
||||
#include "collision_object_bullet.h"
|
||||
#include "scene/resources/material.h" // TODO remove this please
|
||||
|
||||
#ifdef None
|
||||
/// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet
|
||||
|
|
@ -58,7 +57,7 @@
|
|||
class SoftBodyBullet : public CollisionObjectBullet {
|
||||
private:
|
||||
btSoftBody *bt_soft_body = nullptr;
|
||||
Vector<Vector<int>> indices_table;
|
||||
LocalVector<Vector<int>> indices_table;
|
||||
btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
|
||||
bool isScratched = false;
|
||||
|
||||
|
|
@ -73,7 +72,7 @@ private:
|
|||
real_t pose_matching_coefficient = 0.; // [0,1]
|
||||
real_t damping_coefficient = 0.01; // [0,1]
|
||||
real_t drag_coefficient = 0.; // [0,1]
|
||||
Vector<int> pinned_nodes;
|
||||
LocalVector<int> pinned_nodes;
|
||||
|
||||
// Other property to add
|
||||
//btScalar kVC; // Volume conversation coefficient [0,+inf]
|
||||
|
|
@ -87,15 +86,14 @@ public:
|
|||
SoftBodyBullet();
|
||||
~SoftBodyBullet();
|
||||
|
||||
virtual void do_reload_body();
|
||||
virtual void set_space(SpaceBullet *p_space);
|
||||
virtual void do_reload_body() override;
|
||||
virtual void set_space(SpaceBullet *p_space) override;
|
||||
|
||||
virtual void dispatch_callbacks() {}
|
||||
virtual void on_collision_filters_change() {}
|
||||
virtual void on_collision_checker_start() {}
|
||||
virtual void on_collision_checker_end() {}
|
||||
virtual void on_enter_area(AreaBullet *p_area);
|
||||
virtual void on_exit_area(AreaBullet *p_area);
|
||||
virtual void do_reload_collision_filters() override {}
|
||||
virtual void on_collision_checker_start() override {}
|
||||
virtual void on_collision_checker_end() override {}
|
||||
virtual void on_enter_area(AreaBullet *p_area) override;
|
||||
virtual void on_exit_area(AreaBullet *p_area) override;
|
||||
|
||||
_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
|
||||
|
||||
|
|
|
|||
|
|
@ -348,16 +348,46 @@ SpaceBullet::~SpaceBullet() {
|
|||
destroy_world();
|
||||
}
|
||||
|
||||
void SpaceBullet::flush_queries() {
|
||||
const int size = collision_objects.size();
|
||||
CollisionObjectBullet **objects = collision_objects.ptrw();
|
||||
for (int i = 0; i < size; i += 1) {
|
||||
objects[i]->prepare_object_for_dispatch();
|
||||
objects[i]->dispatch_callbacks();
|
||||
void SpaceBullet::add_to_pre_flush_queue(CollisionObjectBullet *p_co) {
|
||||
if (p_co->is_in_flush_queue == false) {
|
||||
p_co->is_in_flush_queue = true;
|
||||
queue_pre_flush.push_back(p_co);
|
||||
}
|
||||
}
|
||||
|
||||
void SpaceBullet::add_to_flush_queue(CollisionObjectBullet *p_co) {
|
||||
if (p_co->is_in_flush_queue == false) {
|
||||
p_co->is_in_flush_queue = true;
|
||||
queue_flush.push_back(p_co);
|
||||
}
|
||||
}
|
||||
|
||||
void SpaceBullet::remove_from_any_queue(CollisionObjectBullet *p_co) {
|
||||
if (p_co->is_in_flush_queue) {
|
||||
p_co->is_in_flush_queue = false;
|
||||
queue_pre_flush.erase(p_co);
|
||||
queue_flush.erase(p_co);
|
||||
}
|
||||
}
|
||||
|
||||
void SpaceBullet::flush_queries() {
|
||||
for (uint32_t i = 0; i < queue_pre_flush.size(); i += 1) {
|
||||
queue_pre_flush[i]->dispatch_callbacks();
|
||||
queue_pre_flush[i]->is_in_flush_queue = false;
|
||||
}
|
||||
for (uint32_t i = 0; i < queue_flush.size(); i += 1) {
|
||||
queue_flush[i]->dispatch_callbacks();
|
||||
queue_flush[i]->is_in_flush_queue = false;
|
||||
}
|
||||
queue_pre_flush.clear();
|
||||
queue_flush.clear();
|
||||
}
|
||||
|
||||
void SpaceBullet::step(real_t p_delta_time) {
|
||||
for (uint32_t i = 0; i < collision_objects.size(); i += 1) {
|
||||
collision_objects[i]->pre_process();
|
||||
}
|
||||
|
||||
delta_time = p_delta_time;
|
||||
dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
|
||||
}
|
||||
|
|
@ -488,6 +518,7 @@ void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) {
|
|||
}
|
||||
|
||||
void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) {
|
||||
remove_from_any_queue(p_object);
|
||||
collision_objects.erase(p_object);
|
||||
}
|
||||
|
||||
|
|
@ -702,7 +733,7 @@ void SpaceBullet::check_ghost_overlaps() {
|
|||
|
||||
/// 1. Reset all states
|
||||
for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) {
|
||||
AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects.write[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) {
|
||||
|
|
|
|||
|
|
@ -31,8 +31,8 @@
|
|||
#ifndef SPACE_BULLET_H
|
||||
#define SPACE_BULLET_H
|
||||
|
||||
#include "core/local_vector.h"
|
||||
#include "core/variant.h"
|
||||
#include "core/vector.h"
|
||||
#include "godot_result_callbacks.h"
|
||||
#include "rid_bullet.h"
|
||||
#include "servers/physics_server_3d.h"
|
||||
|
|
@ -110,17 +110,23 @@ class SpaceBullet : public RIDBullet {
|
|||
real_t linear_damp = 0.0;
|
||||
real_t angular_damp = 0.0;
|
||||
|
||||
Vector<CollisionObjectBullet *> collision_objects;
|
||||
Vector<AreaBullet *> areas;
|
||||
LocalVector<CollisionObjectBullet *> queue_pre_flush;
|
||||
LocalVector<CollisionObjectBullet *> queue_flush;
|
||||
LocalVector<CollisionObjectBullet *> collision_objects;
|
||||
LocalVector<AreaBullet *> areas;
|
||||
|
||||
Vector<Vector3> contactDebug;
|
||||
int contactDebugCount = 0;
|
||||
LocalVector<Vector3> contactDebug;
|
||||
uint32_t contactDebugCount = 0;
|
||||
real_t delta_time = 0.;
|
||||
|
||||
public:
|
||||
SpaceBullet();
|
||||
virtual ~SpaceBullet();
|
||||
|
||||
void add_to_flush_queue(CollisionObjectBullet *p_co);
|
||||
void add_to_pre_flush_queue(CollisionObjectBullet *p_co);
|
||||
void remove_from_any_queue(CollisionObjectBullet *p_co);
|
||||
|
||||
void flush_queries();
|
||||
real_t get_delta_time() { return delta_time; }
|
||||
void step(real_t p_delta_time);
|
||||
|
|
@ -177,7 +183,7 @@ public:
|
|||
}
|
||||
_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
|
||||
if (contactDebugCount < contactDebug.size()) {
|
||||
contactDebug.write[contactDebugCount++] = p_contact;
|
||||
contactDebug[contactDebugCount++] = p_contact;
|
||||
}
|
||||
}
|
||||
_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
|
||||
|
|
|
|||
Loading…
Reference in New Issue