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Merge pull request #21808 from AndreaCatania/optitri 

Optimized bullet trimesh collision
This commit is contained in:
Juan Linietsky 2018-09-07 15:09:26 -03:00 committed by GitHub
parent ec4b8e4a5a 88967e4001
commit fc50728d45
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 101 additions and 40 deletions
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5
modules/bullet/area_bullet.cpp
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@ -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);

2
modules/bullet/bullet_utilities.h
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@ -35,8 +35,6 @@
@author AndreaCatania
*/
#pragma once
#define bulletnew(cl) \
new cl

57
modules/bullet/collision_object_bullet.cpp
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@ -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),
@ -107,6 +114,7 @@ void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_coll
bt_collision_object->setUserIndex(type);
// Force the enabling of collision and avoid problems
set_collision_enabled(collisionsEnabled);
p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
@ -186,13 +194,14 @@ 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 +286,10 @@ 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 +307,47 @@ 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 +358,8 @@ 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:

8
modules/bullet/godot_result_callbacks.cpp
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@ -34,11 +34,19 @@
#include "bullet_types_converter.h"
#include "collision_object_bullet.h"
#include "rigid_body_bullet.h"
#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
/**
@author AndreaCatania
*/
bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
if (!colObj1Wrap->getCollisionObject()->getCollisionShape()->isCompound()) {
btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1);
}
return true;
}
bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) {
return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask;
}

3
modules/bullet/godot_result_callbacks.h
View File

@ -42,6 +42,9 @@
class RigidBodyBullet;
/// This callback is injected inside bullet server and allow me to smooth contacts against trimesh
bool godotContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
/// This class is required to implement custom collision behaviour in the broadphase
struct GodotFilterCallback : public btOverlapFilterCallback {
static bool test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask);

20
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);
@ -314,10 +314,15 @@ 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);
space->add_rigid_body(this);
if (get_main_shape())
space->add_rigid_body(this);
}
}
@ -783,9 +788,11 @@ void RigidBodyBullet::on_shapes_changed() {
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
btVector3 inertia;
btBody->getCollisionShape()->calculateLocalInertia(mass, inertia);
btBody->setMassProps(mass, inertia);
if (mainShape) {
btVector3 inertia;
mainShape->calculateLocalInertia(mass, inertia);
btBody->setMassProps(mass, inertia);
}
btBody->updateInertiaTensor();
reload_kinematic_shapes();
@ -986,7 +993,8 @@ 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
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@ -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);

7
modules/bullet/shape_bullet.cpp
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@ -36,6 +36,7 @@
#include "bullet_utilities.h"
#include "shape_owner_bullet.h"
#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
#include <BulletCollision/CollisionShapes/btConvexPointCloudShape.h>
#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
#include <btBulletCollisionCommon.h>
@ -358,7 +359,8 @@ ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() :
ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() {
if (meshShape) {
delete meshShape->getMeshInterface();
delete meshShape;
delete meshShape->getTriangleInfoMap();
bulletdelete(meshShape);
}
faces = PoolVector<Vector3>();
}
@ -380,6 +382,7 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
if (meshShape) {
/// Clear previous created shape
delete meshShape->getMeshInterface();
delete meshShape->getTriangleInfoMap();
bulletdelete(meshShape);
}
int src_face_count = faces.size();
@ -407,6 +410,8 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
const bool useQuantizedAabbCompression = true;
meshShape = bulletnew(btBvhTriangleMeshShape(shapeInterface, useQuantizedAabbCompression));
btTriangleInfoMap *triangleInfoMap = new btTriangleInfoMap();
btGenerateInternalEdgeInfo(meshShape, triangleInfoMap);
} else {
meshShape = NULL;
ERR_PRINT("The faces count are 0, the mesh shape cannot be created");

22
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;
@ -598,6 +597,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
godotFilterCallback = bulletnew(GodotFilterCallback);
gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution;
gCalculateCombinedFrictionCallback = &calculateGodotCombinedFriction;
gContactAddedCallback = &godotContactAddedCallback;
dynamicsWorld->setWorldUserInfo(this);
@ -684,18 +684,18 @@ 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()) {

2
modules/bullet/space_bullet.h
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@ -65,6 +65,8 @@ class SpaceBullet;
class SoftBodyBullet;
class btGjkEpaPenetrationDepthSolver;
extern ContactAddedCallback gContactAddedCallback;
class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState {
GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState)
private: