Optimized in case is used just 1 shape with no transform
This commit is contained in:
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5307043751
commit
9b446f1cc3
@ -57,7 +57,6 @@ AreaBullet::AreaBullet() :
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spOv_priority(0) {
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spOv_priority(0) {
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btGhost = bulletnew(btGhostObject);
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btGhost = bulletnew(btGhostObject);
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btGhost->setCollisionShape(compoundShape);
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setupBulletCollisionObject(btGhost);
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setupBulletCollisionObject(btGhost);
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/// Collision objects with a callback still have collision response with dynamic rigid bodies.
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/// Collision objects with a callback still have collision response with dynamic rigid bodies.
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/// In order to use collision objects as trigger, you have to disable the collision response.
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/// In order to use collision objects as trigger, you have to disable the collision response.
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@ -162,6 +161,10 @@ bool AreaBullet::is_monitoring() const {
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return get_godot_object_flags() & GOF_IS_MONITORING_AREA;
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return get_godot_object_flags() & GOF_IS_MONITORING_AREA;
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}
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}
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void AreaBullet::main_shape_resetted() {
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btGhost->setCollisionShape(get_main_shape());
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}
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void AreaBullet::reload_body() {
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void AreaBullet::reload_body() {
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if (space) {
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if (space) {
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space->remove_area(this);
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space->remove_area(this);
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@ -142,6 +142,7 @@ public:
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_FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; }
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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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_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
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virtual void main_shape_resetted();
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virtual void reload_body();
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virtual void reload_body();
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virtual void set_space(SpaceBullet *p_space);
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virtual void set_space(SpaceBullet *p_space);
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@ -53,10 +53,17 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_trans
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G_TO_B(p_transform, transform);
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G_TO_B(p_transform, transform);
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UNSCALE_BT_BASIS(transform);
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UNSCALE_BT_BASIS(transform);
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}
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}
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void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
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void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
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transform = p_transform;
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transform = p_transform;
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}
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}
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void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
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if (!bt_shape) {
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bt_shape = shape->create_bt_shape(scale * body_scale);
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}
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}
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CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
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CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
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RIDBullet(),
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RIDBullet(),
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space(NULL),
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space(NULL),
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@ -186,13 +193,14 @@ const btTransform &CollisionObjectBullet::get_transform__bullet() const {
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RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) :
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RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) :
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CollisionObjectBullet(p_type),
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CollisionObjectBullet(p_type),
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compoundShape(bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity))) {
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mainShape(NULL) {
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}
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}
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RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
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RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
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remove_all_shapes(true);
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remove_all_shapes(true);
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bt_collision_object->setCollisionShape(NULL);
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if (mainShape && mainShape->isCompound()) {
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bulletdelete(compoundShape);
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bulletdelete(mainShape);
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}
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}
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}
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/* Not used
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/* Not used
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@ -277,6 +285,10 @@ btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
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return shapes[p_index].bt_shape;
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return shapes[p_index].bt_shape;
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}
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}
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const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
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return shapes[p_index].transform;
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}
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Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
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Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
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Transform trs;
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Transform trs;
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B_TO_G(shapes[p_index].transform, trs);
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B_TO_G(shapes[p_index].transform, trs);
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@ -294,33 +306,47 @@ void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_sha
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}
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}
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void RigidCollisionObjectBullet::on_shapes_changed() {
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void RigidCollisionObjectBullet::on_shapes_changed() {
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int i;
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// Remove all shapes, reverse order for performance reason (Array resize)
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if (mainShape && mainShape->isCompound()) {
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for (i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) {
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bulletdelete(mainShape);
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compoundShape->removeChildShapeByIndex(i);
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}
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}
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mainShape = NULL;
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ShapeWrapper *shpWrapper;
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ShapeWrapper *shpWrapper;
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const int shapes_size = shapes.size();
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const int shape_count = shapes.size();
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// Reset shape if required
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// Reset shape if required
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if (force_shape_reset) {
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if (force_shape_reset) {
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for (i = 0; i < shapes_size; ++i) {
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for (int i(0); i < shape_count; ++i) {
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shpWrapper = &shapes.write[i];
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shpWrapper = &shapes.write[i];
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bulletdelete(shpWrapper->bt_shape);
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bulletdelete(shpWrapper->bt_shape);
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}
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}
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force_shape_reset = false;
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force_shape_reset = false;
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}
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}
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// Insert all shapes
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btVector3 body_scale(get_bt_body_scale());
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btVector3 body_scale(get_bt_body_scale());
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for (i = 0; i < shapes_size; ++i) {
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if (!shape_count)
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return;
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// Try to optimize by not using compound
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if (1 == shape_count) {
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shpWrapper = &shapes.write[0];
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if (shpWrapper->active && shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
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shpWrapper->claim_bt_shape(body_scale);
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mainShape = shpWrapper->bt_shape;
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main_shape_resetted();
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return;
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}
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}
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btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity));
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// Insert all shapes into compound
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for (int i(0); i < shape_count; ++i) {
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shpWrapper = &shapes.write[i];
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shpWrapper = &shapes.write[i];
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if (shpWrapper->active) {
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if (shpWrapper->active) {
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if (!shpWrapper->bt_shape) {
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shpWrapper->claim_bt_shape(body_scale);
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shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale * body_scale);
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}
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btTransform scaled_shape_transform(shpWrapper->transform);
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btTransform scaled_shape_transform(shpWrapper->transform);
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scaled_shape_transform.getOrigin() *= body_scale;
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scaled_shape_transform.getOrigin() *= body_scale;
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@ -331,6 +357,8 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
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}
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}
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compoundShape->recalculateLocalAabb();
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compoundShape->recalculateLocalAabb();
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mainShape = compoundShape;
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main_shape_resetted();
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}
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}
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void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
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void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
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@ -109,6 +109,8 @@ public:
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void set_transform(const Transform &p_transform);
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void set_transform(const Transform &p_transform);
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void set_transform(const btTransform &p_transform);
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void set_transform(const btTransform &p_transform);
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void claim_bt_shape(const btVector3 &body_scale);
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};
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};
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protected:
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protected:
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@ -207,10 +209,8 @@ public:
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class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
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class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
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protected:
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protected:
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/// This is required to combine some shapes together.
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/// This could be a compound shape in case multi please collision are found
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/// Since Godot allow to have multiple shapes for each body with custom relative location,
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btCollisionShape *mainShape;
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/// each body will attach the shapes using this class even if there is only one shape.
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btCompoundShape *compoundShape;
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Vector<ShapeWrapper> shapes;
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Vector<ShapeWrapper> shapes;
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public:
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public:
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@ -231,15 +231,18 @@ public:
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virtual void on_shape_changed(const ShapeBullet *const p_shape);
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virtual void on_shape_changed(const ShapeBullet *const p_shape);
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virtual void on_shapes_changed();
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virtual void on_shapes_changed();
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_FORCE_INLINE_ btCompoundShape *get_compound_shape() const { return compoundShape; }
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_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
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int get_shape_count() const;
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int get_shape_count() const;
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ShapeBullet *get_shape(int p_index) const;
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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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btCollisionShape *get_bt_shape(int p_index) const;
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const btTransform &get_bt_shape_transform(int p_index) const;
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Transform get_shape_transform(int p_index) const;
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Transform get_shape_transform(int p_index) const;
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void set_shape_disabled(int p_index, bool p_disabled);
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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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bool is_shape_disabled(int p_index);
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virtual void main_shape_resetted() = 0;
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virtual void on_body_scale_changed();
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virtual void on_body_scale_changed();
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private:
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private:
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@ -279,7 +279,7 @@ RigidBodyBullet::RigidBodyBullet() :
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// Initial properties
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// Initial properties
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const btVector3 localInertia(0, 0, 0);
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const btVector3 localInertia(0, 0, 0);
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btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, compoundShape, localInertia);
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btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, NULL, localInertia);
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btBody = bulletnew(btRigidBody(cInfo));
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btBody = bulletnew(btRigidBody(cInfo));
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setupBulletCollisionObject(btBody);
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setupBulletCollisionObject(btBody);
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@ -314,6 +314,10 @@ void RigidBodyBullet::destroy_kinematic_utilities() {
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}
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}
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}
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}
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void RigidBodyBullet::main_shape_resetted() {
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btBody->setCollisionShape(get_main_shape());
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}
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void RigidBodyBullet::reload_body() {
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void RigidBodyBullet::reload_body() {
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if (space) {
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if (space) {
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space->remove_rigid_body(this);
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space->remove_rigid_body(this);
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@ -783,9 +787,11 @@ void RigidBodyBullet::on_shapes_changed() {
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const btScalar invMass = btBody->getInvMass();
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const btScalar invMass = btBody->getInvMass();
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const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
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const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
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if (mainShape) {
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btVector3 inertia;
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btVector3 inertia;
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btBody->getCollisionShape()->calculateLocalInertia(mass, inertia);
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mainShape->calculateLocalInertia(mass, inertia);
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btBody->setMassProps(mass, inertia);
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btBody->setMassProps(mass, inertia);
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}
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btBody->updateInertiaTensor();
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btBody->updateInertiaTensor();
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reload_kinematic_shapes();
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reload_kinematic_shapes();
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@ -986,7 +992,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
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return;
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return;
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m_isStatic = false;
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m_isStatic = false;
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compoundShape->calculateLocalInertia(p_mass, localInertia);
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if (mainShape)
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mainShape->calculateLocalInertia(p_mass, localInertia);
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if (PhysicsServer::BODY_MODE_RIGID == mode) {
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if (PhysicsServer::BODY_MODE_RIGID == mode) {
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@ -231,6 +231,7 @@ public:
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_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
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_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
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virtual void main_shape_resetted();
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virtual void reload_body();
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virtual void reload_body();
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virtual void set_space(SpaceBullet *p_space);
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virtual void set_space(SpaceBullet *p_space);
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@ -295,11 +295,10 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
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bool shapes_found = false;
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bool shapes_found = false;
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btCompoundShape *compound = rigid_object->get_compound_shape();
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for (int i = rigid_object->get_shape_count() - 1; 0 <= i; --i) {
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for (int i = compound->getNumChildShapes() - 1; 0 <= i; --i) {
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shape = rigid_object->get_bt_shape(i);
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shape = compound->getChildShape(i);
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if (shape->isConvex()) {
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if (shape->isConvex()) {
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child_transform = compound->getChildTransform(i);
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child_transform = rigid_object->get_bt_shape_transform(i);
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convex_shape = static_cast<btConvexShape *>(shape);
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convex_shape = static_cast<btConvexShape *>(shape);
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input.m_transformB = body_transform * child_transform;
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input.m_transformB = body_transform * child_transform;
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@ -684,18 +683,18 @@ void SpaceBullet::check_ghost_overlaps() {
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bool hasOverlap = false;
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bool hasOverlap = false;
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// For each area shape
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// For each area shape
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for (y = area->get_compound_shape()->getNumChildShapes() - 1; 0 <= y; --y) {
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for (y = area->get_shape_count() - 1; 0 <= y; --y) {
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if (!area->get_compound_shape()->getChildShape(y)->isConvex())
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if (!area->get_bt_shape(y)->isConvex())
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continue;
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continue;
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gjk_input.m_transformA = area->get_transform__bullet() * area->get_compound_shape()->getChildTransform(y);
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gjk_input.m_transformA = area->get_transform__bullet() * area->get_bt_shape_transform(y);
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area_shape = static_cast<btConvexShape *>(area->get_compound_shape()->getChildShape(y));
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area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y));
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// For each other object shape
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// For each other object shape
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for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) {
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for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) {
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other_body_shape = static_cast<btCollisionShape *>(otherObject->get_compound_shape()->getChildShape(z));
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other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z));
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gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z);
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gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_bt_shape_transform(z);
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if (other_body_shape->isConvex()) {
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if (other_body_shape->isConvex()) {
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