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

Optimized in case is used just 1 shape with no transform

Browse Source
This commit is contained in:
Andrea Catania 2018-09-06 18:19:05 +02:00
parent 5307043751
commit 9b446f1cc3
7 changed files with 78 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
modules/bullet/area_bullet.cpp
View File

@ -57,7 +57,6 @@ AreaBullet::AreaBullet() :
spOv_priority(0) {
btGhost = bulletnew(btGhostObject);
btGhost->setCollisionShape(compoundShape);
setupBulletCollisionObject(btGhost);
/// Collision objects with a callback still have collision response with dynamic rigid bodies.
/// In order to use collision objects as trigger, you have to disable the collision response.
@ -162,6 +161,10 @@ bool AreaBullet::is_monitoring() const {
return get_godot_object_flags() & GOF_IS_MONITORING_AREA;
}
void AreaBullet::main_shape_resetted() {
btGhost->setCollisionShape(get_main_shape());
}
void AreaBullet::reload_body() {
if (space) {
space->remove_area(this);

1
modules/bullet/area_bullet.h
View File

@ -142,6 +142,7 @@ public:
_FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; }
_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
virtual void main_shape_resetted();
virtual void reload_body();
virtual void set_space(SpaceBullet *p_space);

56
modules/bullet/collision_object_bullet.cpp
View File

@ -53,10 +53,17 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_trans
G_TO_B(p_transform, transform);
UNSCALE_BT_BASIS(transform);
}
void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
transform = p_transform;
}
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (!bt_shape) {
bt_shape = shape->create_bt_shape(scale * body_scale);
}
}
CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
RIDBullet(),
space(NULL),
@ -186,13 +193,14 @@ const btTransform &CollisionObjectBullet::get_transform__bullet() const {
RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) :
CollisionObjectBullet(p_type),
compoundShape(bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity))) {
mainShape(NULL) {
}
RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
remove_all_shapes(true);
bt_collision_object->setCollisionShape(NULL);
bulletdelete(compoundShape);
if (mainShape && mainShape->isCompound()) {
bulletdelete(mainShape);
}
}
/* Not used
@ -277,6 +285,10 @@ btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
return shapes[p_index].bt_shape;
}
const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
return shapes[p_index].transform;
}
Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
Transform trs;
B_TO_G(shapes[p_index].transform, trs);
@ -294,33 +306,47 @@ void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_sha
}
void RigidCollisionObjectBullet::on_shapes_changed() {
int i;
// Remove all shapes, reverse order for performance reason (Array resize)
for (i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) {
compoundShape->removeChildShapeByIndex(i);
if (mainShape && mainShape->isCompound()) {
bulletdelete(mainShape);
}
mainShape = NULL;
ShapeWrapper *shpWrapper;
const int shapes_size = shapes.size();
const int shape_count = shapes.size();
// Reset shape if required
if (force_shape_reset) {
for (i = 0; i < shapes_size; ++i) {
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
bulletdelete(shpWrapper->bt_shape);
}
force_shape_reset = false;
}
// Insert all shapes
btVector3 body_scale(get_bt_body_scale());
for (i = 0; i < shapes_size; ++i) {
if (!shape_count)
return;
// Try to optimize by not using compound
if (1 == shape_count) {
shpWrapper = &shapes.write[0];
if (shpWrapper->active && shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
main_shape_resetted();
return;
}
}
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity));
// Insert all shapes into compound
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
if (shpWrapper->active) {
if (!shpWrapper->bt_shape) {
shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale * body_scale);
}
shpWrapper->claim_bt_shape(body_scale);
btTransform scaled_shape_transform(shpWrapper->transform);
scaled_shape_transform.getOrigin() *= body_scale;
@ -331,6 +357,8 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
}
compoundShape->recalculateLocalAabb();
mainShape = compoundShape;
main_shape_resetted();
}
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {

13
modules/bullet/collision_object_bullet.h
View File

@ -109,6 +109,8 @@ public:
void set_transform(const Transform &p_transform);
void set_transform(const btTransform &p_transform);
void claim_bt_shape(const btVector3 &body_scale);
};
protected:
@ -207,10 +209,8 @@ public:
class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
protected:
/// This is required to combine some shapes together.
/// Since Godot allow to have multiple shapes for each body with custom relative location,
/// each body will attach the shapes using this class even if there is only one shape.
btCompoundShape *compoundShape;
/// This could be a compound shape in case multi please collision are found
btCollisionShape *mainShape;
Vector<ShapeWrapper> shapes;
public:
@ -231,15 +231,18 @@ public:
virtual void on_shape_changed(const ShapeBullet *const p_shape);
virtual void on_shapes_changed();
_FORCE_INLINE_ btCompoundShape *get_compound_shape() const { return compoundShape; }
_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
int get_shape_count() const;
ShapeBullet *get_shape(int p_index) const;
btCollisionShape *get_bt_shape(int p_index) const;
const btTransform &get_bt_shape_transform(int p_index) const;
Transform get_shape_transform(int p_index) const;
void set_shape_disabled(int p_index, bool p_disabled);
bool is_shape_disabled(int p_index);
virtual void main_shape_resetted() = 0;
virtual void on_body_scale_changed();
private:

13
modules/bullet/rigid_body_bullet.cpp
View File

@ -279,7 +279,7 @@ RigidBodyBullet::RigidBodyBullet() :
// Initial properties
const btVector3 localInertia(0, 0, 0);
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, compoundShape, localInertia);
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, NULL, localInertia);
btBody = bulletnew(btRigidBody(cInfo));
setupBulletCollisionObject(btBody);
@ -314,6 +314,10 @@ void RigidBodyBullet::destroy_kinematic_utilities() {
}
}
void RigidBodyBullet::main_shape_resetted() {
btBody->setCollisionShape(get_main_shape());
}
void RigidBodyBullet::reload_body() {
if (space) {
space->remove_rigid_body(this);
@ -783,9 +787,11 @@ void RigidBodyBullet::on_shapes_changed() {
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
if (mainShape) {
btVector3 inertia;
btBody->getCollisionShape()->calculateLocalInertia(mass, inertia);
mainShape->calculateLocalInertia(mass, inertia);
btBody->setMassProps(mass, inertia);
}
btBody->updateInertiaTensor();
reload_kinematic_shapes();
@ -986,7 +992,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
return;
m_isStatic = false;
compoundShape->calculateLocalInertia(p_mass, localInertia);
if (mainShape)
mainShape->calculateLocalInertia(p_mass, localInertia);
if (PhysicsServer::BODY_MODE_RIGID == mode) {

1
modules/bullet/rigid_body_bullet.h
View File

@ -231,6 +231,7 @@ public:
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
virtual void main_shape_resetted();
virtual void reload_body();
virtual void set_space(SpaceBullet *p_space);

21
modules/bullet/space_bullet.cpp
View File

@ -295,11 +295,10 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
bool shapes_found = false;
btCompoundShape *compound = rigid_object->get_compound_shape();
for (int i = compound->getNumChildShapes() - 1; 0 <= i; --i) {
shape = compound->getChildShape(i);
for (int i = rigid_object->get_shape_count() - 1; 0 <= i; --i) {
shape = rigid_object->get_bt_shape(i);
if (shape->isConvex()) {
child_transform = compound->getChildTransform(i);
child_transform = rigid_object->get_bt_shape_transform(i);
convex_shape = static_cast<btConvexShape *>(shape);
input.m_transformB = body_transform * child_transform;
@ -684,18 +683,18 @@ void SpaceBullet::check_ghost_overlaps() {
bool hasOverlap = false;
// For each area shape
for (y = area->get_compound_shape()->getNumChildShapes() - 1; 0 <= y; --y) {
if (!area->get_compound_shape()->getChildShape(y)->isConvex())
for (y = area->get_shape_count() - 1; 0 <= y; --y) {
if (!area->get_bt_shape(y)->isConvex())
continue;
gjk_input.m_transformA = area->get_transform__bullet() * area->get_compound_shape()->getChildTransform(y);
area_shape = static_cast<btConvexShape *>(area->get_compound_shape()->getChildShape(y));
gjk_input.m_transformA = area->get_transform__bullet() * area->get_bt_shape_transform(y);
area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y));
// For each other object shape
for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) {
for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) {
other_body_shape = static_cast<btCollisionShape *>(otherObject->get_compound_shape()->getChildShape(z));
gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z);
other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z));
gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_bt_shape_transform(z);
if (other_body_shape->isConvex()) {