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Merge pull request #15490 from AndreaCatania/kin 

Fixed #15417 kinematics char jumping
This commit is contained in:
Rémi Verschelde 2018-01-08 20:13:27 +01:00 committed by GitHub
parent 15cb56122e c507a4988d
commit d2f4964f58
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 66 additions and 70 deletions
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6
modules/bullet/collision_object_bullet.cpp
View File

@ -49,7 +49,9 @@
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) {
G_TO_B(p_transform.get_basis().get_scale(), scale);
G_TO_B(p_transform, transform);
UNSCALE_BT_BASIS(transform);
}
void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
transform = p_transform;
@ -235,7 +237,7 @@ void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transfor
ERR_FAIL_INDEX(p_index, get_shape_count());
shapes[p_index].set_transform(p_transform);
on_shapes_changed();
on_shape_changed(shapes[p_index].shape);
}
void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) {
@ -320,7 +322,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
shpWrapper = &shapes[i];
if (shpWrapper->active) {
if (!shpWrapper->bt_shape) {
shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape();
shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(shpWrapper->scale);
}
compoundShape->addChildShape(shpWrapper->transform, shpWrapper->bt_shape);
} else {

2
modules/bullet/collision_object_bullet.h
View File

@ -72,6 +72,7 @@ public:
ShapeBullet *shape;
btCollisionShape *bt_shape;
btTransform transform;
btVector3 scale;
bool active;
ShapeWrapper() :
@ -102,6 +103,7 @@ public:
shape = otherShape.shape;
bt_shape = otherShape.bt_shape;
transform = otherShape.transform;
scale = otherShape.scale;
active = otherShape.active;
}

6
modules/bullet/rigid_body_bullet.cpp
View File

@ -204,7 +204,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
const CollisionObjectBullet::ShapeWrapper *shape_wrapper;
btVector3 owner_body_scale(owner->get_bt_body_scale());
btVector3 owner_scale(owner->get_bt_body_scale());
for (int i = shapes_count - 1; 0 <= i; --i) {
shape_wrapper = &shapes_wrappers[i];
@ -213,14 +213,14 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
}
shapes[i].transform = shape_wrapper->transform;
shapes[i].transform.getOrigin() *= owner_body_scale;
shapes[i].transform.getOrigin() *= owner_scale;
switch (shape_wrapper->shape->get_type()) {
case PhysicsServer::SHAPE_SPHERE:
case PhysicsServer::SHAPE_BOX:
case PhysicsServer::SHAPE_CAPSULE:
case PhysicsServer::SHAPE_CONVEX_POLYGON:
case PhysicsServer::SHAPE_RAY: {
shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_body_scale, safe_margin));
shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
} break;
default:
WARN_PRINT("This shape is not supported to be kinematic!");

7
modules/bullet/shape_bullet.cpp
View File

@ -48,11 +48,6 @@ ShapeBullet::ShapeBullet() {}
ShapeBullet::~ShapeBullet() {}
btCollisionShape *ShapeBullet::create_bt_shape() {
btVector3 s(1, 1, 1);
return create_bt_shape(s);
}
btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin) {
btVector3 s;
G_TO_B(p_implicit_scale, s);
@ -82,7 +77,7 @@ void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) {
void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody) {
Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner);
ERR_FAIL_COND(!E);
if (!E) return;
E->get()--;
if (p_permanentlyFromThisBody || 0 >= E->get()) {
owners.erase(E);

1
modules/bullet/shape_bullet.h
View File

@ -62,7 +62,6 @@ public:
ShapeBullet();
virtual ~ShapeBullet();
btCollisionShape *create_bt_shape();
btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin = 0);
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0) = 0;

101
modules/bullet/space_bullet.cpp
View File

@ -857,31 +857,31 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btVector3 recover_initial_position(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
if (recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recover_initial_position)) {
// Add recover position to "From" and "To" transforms
body_safe_position.getOrigin() += recover_initial_position;
} else {
if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recover_initial_position)) {
break;
}
}
// Add recover movement in order to make it safe
body_safe_position.getOrigin() += recover_initial_position;
}
#endif
btVector3 recovered_motion;
G_TO_B(p_motion, recovered_motion);
const int shape_count(p_body->get_shape_count());
btVector3 motion;
G_TO_B(p_motion, motion);
{ /// phase two - sweep test, from a secure position without margin
const int shape_count(p_body->get_shape_count());
#if debug_test_motion
//Vector3 sup_line;
//B_TO_G(body_safe_position.getOrigin(), sup_line);
//motionVec->clear();
//motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
//motionVec->add_vertex(sup_line);
//motionVec->add_vertex(sup_line + p_motion * 10);
//motionVec->end();
Vector3 sup_line;
B_TO_G(body_safe_position.getOrigin(), sup_line);
motionVec->clear();
motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
motionVec->add_vertex(sup_line);
motionVec->add_vertex(sup_line + p_motion * 10);
motionVec->end();
#endif
for (int shIndex = 0; shIndex < shape_count; ++shIndex) {
@ -898,7 +898,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btTransform shape_world_from = body_safe_position * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += recovered_motion;
shape_world_to.getOrigin() += motion;
GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, IGNORE_AREAS_TRUE);
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
@ -909,27 +909,30 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
if (btResult.hasHit()) {
/// Since for each sweep test I fix the motion of new shapes in base the recover result,
/// if another shape will hit something it means that has a deepest penetration respect the previous shape
recovered_motion *= btResult.m_closestHitFraction;
motion *= btResult.m_closestHitFraction;
}
}
body_safe_position.getOrigin() += motion;
}
bool has_penetration = false;
{ /// Phase three - Recover + contact test with margin
btVector3 delta_recover_movement(0, 0, 0);
RecoverResult r_recover_result;
bool l_has_penetration;
real_t l_penetration_distance = 1e20;
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recovered_motion, &r_recover_result);
l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, delta_recover_movement, &r_recover_result);
if (r_result) {
#if PERFORM_INITIAL_UNSTACK
B_TO_G(recovered_motion + recover_initial_position, r_result->motion);
B_TO_G(motion + delta_recover_movement + recover_initial_position, r_result->motion);
#else
B_TO_G(recovered_motion, r_result->motion);
B_TO_G(motion + delta_recover_movement, r_result->motion);
#endif
if (l_has_penetration) {
has_penetration = true;
@ -942,7 +945,8 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
r_result->remainder = p_motion - r_result->motion; // is the remaining movements
B_TO_G(motion, r_result->remainder); // is the remaining movements
r_result->remainder = p_motion - r_result->remainder;
B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
B_TO_G(r_recover_result.normal, r_result->collision_normal);
B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
@ -961,17 +965,14 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
//}
#if debug_test_motion
//Vector3 sup_line2;
//B_TO_G(recovered_motion, sup_line2);
////Vector3 sup_pos;
////B_TO_G( pt.getPositionWorldOnB(), sup_pos);
//normalLine->clear();
//normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
//normalLine->add_vertex(r_result->collision_point);
//normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
//normalLine->end();
Vector3 sup_line2;
B_TO_G(motion, sup_line2);
normalLine->clear();
normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
normalLine->add_vertex(r_result->collision_point);
normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
normalLine->end();
#endif
} else {
r_result->remainder = Vector3();
}
@ -1019,7 +1020,7 @@ public:
}
};
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
@ -1043,7 +1044,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
body_shape_position = p_body_position * kin_shape.transform;
body_shape_position_recovered = body_shape_position;
body_shape_position_recovered.getOrigin() += r_recover_position;
body_shape_position_recovered.getOrigin() += r_delta_recover_movement;
kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
@ -1060,24 +1061,24 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
if (cs->getChildShape(x)->isConvex()) {
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position_recovered, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_recover_position, r_recover_result)) {
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
} else {
if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position_recovered, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_recover_position, r_recover_result)) {
if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
}
}
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position_recovered, otherObject->getWorldTransform(), p_recover_movement_scale, r_recover_position, r_recover_result)) {
if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
} else {
if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position_recovered, otherObject->getWorldTransform(), p_recover_movement_scale, r_recover_position, r_recover_result)) {
if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) {
penetration = true;
}
@ -1085,26 +1086,15 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
}
}
#if debug_test_motion
Vector3 pos;
B_TO_G(p_body_position.getOrigin(), pos);
Vector3 sup_line;
B_TO_G(sum_recover_normals, sup_line);
motionVec->clear();
motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
motionVec->add_vertex(pos);
motionVec->add_vertex(pos + (sup_line * 10));
motionVec->end();
#endif
return penetration;
}
bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
gjk_input.m_transformA = p_transformA;
gjk_input.m_transformA.getOrigin() += r_delta_recover_movement;
gjk_input.m_transformB = p_transformB;
// Perform GJK test
@ -1113,7 +1103,7 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
if (0 > result.m_distance) {
// Has penetration
r_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1 * p_recover_movement_scale);
r_delta_recover_movement += result.m_normalOnBInWorld * (result.m_distance * -1 * p_recover_movement_scale);
if (r_recover_result) {
if (result.m_distance < r_recover_result->penetration_distance) {
@ -1130,11 +1120,14 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
return false;
}
bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
/// Contact test
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, p_transformA, -1, p_shapeId_A);
btTransform tA(p_transformA);
tA.getOrigin() += r_delta_recover_movement;
btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, tA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
@ -1147,7 +1140,7 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) {
r_recover_position += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
r_delta_recover_movement += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
if (r_recover_result) {
if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {

13
modules/bullet/space_bullet.h
View File

@ -191,15 +191,20 @@ private:
RecoverResult() :
hasPenetration(false),
penetration_distance(1e20) {}
normal(0, 0, 0),
pointWorld(0, 0, 0),
penetration_distance(1e20),
other_compound_shape_index(0),
other_collision_object(NULL),
local_shape_most_recovered(0) {}
};
bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
/// This is an API that recover a kinematic object from penetration
/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
/// This is an API that recover a kinematic object from penetration
/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
};
#endif