From e4dea0595aae76de254502bca714b9e54e46b74a Mon Sep 17 00:00:00 2001 From: Bastiaan Olij Date: Thu, 25 Apr 2019 13:03:48 +1000 Subject: [PATCH] Add transform support to deal with Bullets centering of shapes --- doc/classes/HeightMapShape.xml | 2 +- modules/bullet/collision_object_bullet.cpp | 24 ++++++++++++++++++++-- modules/bullet/collision_object_bullet.h | 1 + scene/3d/collision_shape.cpp | 4 +++- scene/resources/height_map_shape.cpp | 16 +++------------ 5 files changed, 30 insertions(+), 17 deletions(-) diff --git a/doc/classes/HeightMapShape.xml b/doc/classes/HeightMapShape.xml index 9968551b7ab..22896535b9f 100644 --- a/doc/classes/HeightMapShape.xml +++ b/doc/classes/HeightMapShape.xml @@ -4,7 +4,7 @@ Height map shape for 3D physics (Bullet only). - Height map shape resource, which can be added to a [PhysicsBody] or [Area]. Note that bullet will always center the collision shape. If you minimum height is 0, and you maximum height is 10, bullet will adjust your collision shape down so the minimum height is -5 and the maximum height is 5. + Height map shape resource, which can be added to a [PhysicsBody] or [Area]. diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index eb87901c248..166d7e61588 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -59,6 +59,25 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra transform = p_transform; } +btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const { + if (shape->get_type() == PhysicsServer::SHAPE_HEIGHTMAP) { + const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now + btTransform adjusted_transform; + + // Bullet centers our heightmap: + // https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33 + // This is really counter intuitive so we're adjusting for it + + adjusted_transform.setIdentity(); + adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0)); + adjusted_transform *= transform; + + return adjusted_transform; + } else { + return transform; + } +} + void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) { if (!bt_shape) { if (active) @@ -345,7 +364,8 @@ void RigidCollisionObjectBullet::reload_shapes() { // Try to optimize by not using compound if (1 == shape_count) { shpWrapper = &shapes.write[0]; - if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) { + btTransform transform = shpWrapper->get_adjusted_transform(); + if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) { shpWrapper->claim_bt_shape(body_scale); mainShape = shpWrapper->bt_shape; main_shape_changed(); @@ -359,7 +379,7 @@ void RigidCollisionObjectBullet::reload_shapes() { for (int i(0); i < shape_count; ++i) { shpWrapper = &shapes.write[i]; shpWrapper->claim_bt_shape(body_scale); - btTransform scaled_shape_transform(shpWrapper->transform); + btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform()); scaled_shape_transform.getOrigin() *= body_scale; compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape); } diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index e65bc52caf4..c9430bec185 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -109,6 +109,7 @@ public: void set_transform(const Transform &p_transform); void set_transform(const btTransform &p_transform); + btTransform get_adjusted_transform() const; void claim_bt_shape(const btVector3 &body_scale); }; diff --git a/scene/3d/collision_shape.cpp b/scene/3d/collision_shape.cpp index f32b1398fd6..3190e1e0b24 100644 --- a/scene/3d/collision_shape.cpp +++ b/scene/3d/collision_shape.cpp @@ -65,7 +65,6 @@ void CollisionShape::make_convex_from_brothers() { } void CollisionShape::_update_in_shape_owner(bool p_xform_only) { - parent->shape_owner_set_transform(owner_id, get_transform()); if (p_xform_only) return; @@ -228,6 +227,9 @@ void CollisionShape::_update_debug_shape() { } void CollisionShape::_shape_changed() { + // If this is a heightfield shape our center may have changed + _update_in_shape_owner(true); + if (is_inside_tree() && get_tree()->is_debugging_collisions_hint() && !debug_shape_dirty) { debug_shape_dirty = true; call_deferred("_update_debug_shape"); diff --git a/scene/resources/height_map_shape.cpp b/scene/resources/height_map_shape.cpp index 98b597ac0a5..8cd271dab08 100644 --- a/scene/resources/height_map_shape.cpp +++ b/scene/resources/height_map_shape.cpp @@ -44,16 +44,6 @@ Vector HeightMapShape::_gen_debug_mesh_lines() { PoolRealArray::Read r = map_data.read(); - // Bullet centers our heightmap, this is really counter intuitive but for now we'll adjust our debug shape accordingly: - // https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33 - float min = r[0]; - float max = r[0]; - for (int i = 0; i < map_data.size(); i++) { - if (min > r[i]) min = r[i]; - if (max < r[i]) max = r[i]; - }; - float center = min + ((max - min) * 0.5); - // reserve some memory for our points.. points.resize(((map_width - 1) * map_depth * 2) + (map_width * (map_depth - 1) * 2)); @@ -64,16 +54,16 @@ Vector HeightMapShape::_gen_debug_mesh_lines() { Vector3 height(start.x, 0.0, start.y); for (int w = 0; w < map_width; w++) { - height.y = r[r_offset++] - center; + height.y = r[r_offset++]; if (w != map_width - 1) { points.write[w_offset++] = height; - points.write[w_offset++] = Vector3(height.x + 1.0, r[r_offset] - center, height.z); + points.write[w_offset++] = Vector3(height.x + 1.0, r[r_offset], height.z); } if (d != map_depth - 1) { points.write[w_offset++] = height; - points.write[w_offset++] = Vector3(height.x, r[r_offset + map_width - 1] - center, height.z + 1.0); + points.write[w_offset++] = Vector3(height.x, r[r_offset + map_width - 1], height.z + 1.0); } height.x += 1.0;