With this change finally one can use compound collisions (like those created
by Gridmaps) without serious performance issues. The previous KinematicBody
code for Bullet was practically doing a whole bunch of unnecessary
calculations. Gridmaps with fairly large octant sizes (in my case 32) can get
up to 10000x speedup with this change (literally!). I expect the FPS demo to
get a fair speedup as well.
List of fixes and improvements:
- Fixed a general bug in move_and_slide that affects both GodotPhysics and
Bullet, where ray shapes would be ignored unless the stop_on_slope parameter
is disabled. Not sure where that came from, but looking at the 2D physics
code it was obvious there's a difference.
- Enabled the dynamic AABB tree that Bullet uses to allow broadphase collision
tests against individual shapes of compound shapes. This is crucial to get
good performance with Gridmaps and in general improves the performance
whenever a KinematicBody collides with compound collision shapes.
- Added code to the broadphase collision detection code used by the Bullet
module for KinematicBodies to also do broadphase on the sub-shapes of
compound collision shapes. This is possible thanks to the dynamic AABB
tree that was previously disabled and it's the change that provides the
biggest performance boost.
- Now broadphase test is only done once per KinematicBody in Bullet instead of
once per each of its shapes which was completely unnecessary.
- Fixed the way how the ray separation results are populated in Bullet which
was completely broken previously, overwriting previous results and similar
non-sense.
- Fixed ray shapes for good now. Previously the margin set in the editor was
not respected at all, and the KinematicBody code for ray separation was
complete bogus, thus all previous attempts to fix it were mislead.
- Fixed an obvious bug also in GodotPhysics where an out-of-bounds index was
used in the ray result array.
There are a whole set of other problems with the KinematicBody code of Bullet
which cost performance and may cause unexpected behavior, but those are not
addressed in this change (need to keep it "simple").
Not sure whether this fixes any outstanding Github issues but I wouldn't be
surprised.
Scaling the depth was the wrong solution for the KinematicBody jitter
because it causes jitter with RigidBody. Instead scale the margin that
is ignored to allow KinematicBody to still pick up the ray shape in the
kinematic test when the shape is just at margin distance from another
one. This solution does not cause jitter with either KinematicBody or
RigidBody.
- Added code handling non-compound collision to recover_from_penetration_ray()
which is now needed due to the optimization avoiding the use of compound
collisions when only a single collision shape is used.
- Removed arbitrary margin applied in the collision algorithm of RayShapes
which causes jittered movement. For lack of a better replacement and for
lack of any explanation on why it has been introduced, it's now using the
shape's margin property instead which is small enough to not show visible
jitter.
- Tried to get rid of inconsistent uses of the collision margin.
- Removed hack from GodotDeepPenetrationContactResultCallback::addContactPoint
for RayShape collision as it's no longer needed as the collision algorithm
of RayShapes correctly calculates the contact normal for a while now.
Fixes#25227.
Fixes the following GCC 5 warnings:
```
core/object.h:193:11: warning: 'MethodInfo::flags' will be initialized after [-Wreorder]
core/object.h:192:15: warning: 'PropertyInfo MethodInfo::return_val' [-Wreorder]
core/object.cpp:278:1: warning: when initialized here [-Wreorder]
core/script_debugger_remote.h:97:6: warning: 'ScriptDebuggerRemote::max_cps' will be initialized after [-Wreorder]
core/script_debugger_remote.h:91:6: warning: 'int ScriptDebuggerRemote::max_messages_per_frame' [-Wreorder]
core/script_debugger_remote.cpp:1086:1: warning: when initialized here [-Wreorder]
core/script_debugger_remote.h:98:6: warning: 'ScriptDebuggerRemote::char_count' will be initialized after [-Wreorder]
core/script_debugger_remote.h:92:6: warning: 'int ScriptDebuggerRemote::n_messages_dropped' [-Wreorder]
core/script_debugger_remote.cpp:1086:1: warning: when initialized here [-Wreorder]
modules/bullet/area_bullet.h:102:7: warning: 'AreaBullet::isScratched' will be initialized after [-Wreorder]
modules/bullet/area_bullet.h:92:39: warning: 'PhysicsServer::AreaSpaceOverrideMode AreaBullet::spOv_mode' [-Wreorder]
modules/bullet/area_bullet.cpp:46:1: warning: when initialized here [-Wreorder]
modules/bullet/collision_object_bullet.h:127:15: warning: 'CollisionObjectBullet::space' will be initialized after [-Wreorder]
modules/bullet/collision_object_bullet.h:117:7: warning: 'CollisionObjectBullet::Type CollisionObjectBullet::type' [-Wreorder]
modules/bullet/collision_object_bullet.cpp:67:1: warning: when initialized here [-Wreorder]
modules/bullet/godot_ray_world_algorithm.h:48:7: warning: 'GodotRayWorldAlgorithm::m_ownManifol1d' will be initialized after [-Wreorder]
modules/bullet/godot_ray_world_algorithm.h:46:33: warning: 'const btDiscreteDynamicsWorld* GodotRayWorldAlgorithm::m_world' [-Wreorder]
modules/bullet/godot_ray_world_algorithm.cpp:50:1: warning: when initialized here [-Wreorder]
modules/bullet/godot_result_callbacks.h:91:18: warning: 'GodotAllConvexResultCallback::m_exclude' will be initialized after [-Wreorder]
modules/bullet/godot_result_callbacks.h:89:6: warning: 'int GodotAllConvexResultCallback::m_resultMax' [-Wreorder]
modules/bullet/godot_result_callbacks.h:93:2: warning: when initialized here [-Wreorder]
modules/bullet/godot_result_callbacks.h:142:18: warning: 'GodotAllContactResultCallback::m_exclude' will be initialized after [-Wreorder]
modules/bullet/godot_result_callbacks.h:140:6: warning: 'int GodotAllContactResultCallback::m_resultMax' [-Wreorder]
modules/bullet/godot_result_callbacks.h:147:2: warning: when initialized here [-Wreorder]
modules/bullet/godot_result_callbacks.h:168:18: warning: 'GodotContactPairContactResultCallback::m_exclude' will be initialized after [-Wreorder]
modules/bullet/godot_result_callbacks.h:166:6: warning: 'int GodotContactPairContactResultCallback::m_resultMax' [-Wreorder]
modules/bullet/godot_result_callbacks.h:173:2: warning: when initialized here [-Wreorder]
modules/bullet/godot_result_callbacks.h:195:18: warning: 'GodotRestInfoContactResultCallback::m_exclude' will be initialized after [-Wreorder]
modules/bullet/godot_result_callbacks.h:191:7: warning: 'bool GodotRestInfoContactResultCallback::m_collided' [-Wreorder]
modules/bullet/godot_result_callbacks.h:199:2: warning: when initialized here [-Wreorder]
modules/bullet/rigid_body_bullet.h:200:9: warning: 'RigidBodyBullet::gravity_scale' will be initialized after [-Wreorder]
modules/bullet/rigid_body_bullet.h:199:9: warning: 'real_t RigidBodyBullet::mass' [-Wreorder]
modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder]
modules/bullet/rigid_body_bullet.h:222:28: warning: 'RigidBodyBullet::force_integration_callback' will be initialized after [-Wreorder]
modules/bullet/rigid_body_bullet.h:219:7: warning: 'bool RigidBodyBullet::isTransformChanged' [-Wreorder]
modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder]
modules/bullet/rigid_body_bullet.h:220:7: warning: 'RigidBodyBullet::previousActiveState' will be initialized after [-Wreorder]
modules/bullet/rigid_body_bullet.h:208:6: warning: 'int RigidBodyBullet::maxCollisionsDetection' [-Wreorder]
modules/bullet/rigid_body_bullet.cpp:258:1: warning: when initialized here [-Wreorder]
modules/bullet/soft_body_bullet.h:69:9: warning: 'SoftBodyBullet::total_mass' will be initialized after [-Wreorder]
modules/bullet/soft_body_bullet.h:68:6: warning: 'int SoftBodyBullet::simulation_precision' [-Wreorder]
modules/bullet/soft_body_bullet.cpp:38:1: warning: when initialized here [-Wreorder]
modules/bullet/soft_body_bullet.h:76:9: warning: 'SoftBodyBullet::drag_coefficient' will be initialized after [-Wreorder]
modules/bullet/soft_body_bullet.h:61:14: warning: 'btSoftBody* SoftBodyBullet::bt_soft_body' [-Wreorder]
modules/bullet/soft_body_bullet.cpp:38:1: warning: when initialized here [-Wreorder]
modules/bullet/space_bullet.h:97:22: warning: 'SpaceBullet::solver' will be initialized after [-Wreorder]
modules/bullet/space_bullet.h:95:35: warning: 'btDefaultCollisionConfiguration* SpaceBullet::collisionConfiguration' [-Wreorder]
modules/bullet/space_bullet.cpp:333:1: warning: when initialized here [-Wreorder]
modules/bullet/space_bullet.h:101:23: warning: 'SpaceBullet::soft_body_world_info' will be initialized after [-Wreorder]
modules/bullet/space_bullet.h:99:23: warning: 'btGhostPairCallback* SpaceBullet::ghostPairCallback' [-Wreorder]
modules/bullet/space_bullet.cpp:333:1: warning: when initialized here [-Wreorder]
modules/gdnative/nativescript/nativescript.h:79:13: warning: 'NativeScriptDesc::base_native_type' will be initialized after [-Wreorder]
modules/gdnative/nativescript/nativescript.h:73:9: warning: 'String NativeScriptDesc::documentation' [-Wreorder]
modules/gdnative/nativescript/nativescript.h:88:9: warning: when initialized here [-Wreorder]
modules/gdscript/gdscript.h:296:6: warning: 'GDScriptWarning::line' will be initialized after [-Wreorder]
modules/gdscript/gdscript.h:294:4: warning: 'GDScriptWarning::Code GDScriptWarning::code' [-Wreorder]
modules/gdscript/gdscript.h:303:2: warning: when initialized here [-Wreorder]
scene/3d/physics_body.h:544:7: warning: 'PhysicalBone::simulate_physics' will be initialized after [-Wreorder]
scene/3d/physics_body.h:543:7: warning: 'bool PhysicalBone::_internal_static_body' [-Wreorder]
scene/3d/physics_body.cpp:2502:1: warning: when initialized here [-Wreorder]
scene/3d/physics_body.h:546:6: warning: 'PhysicalBone::bone_id' will be initialized after [-Wreorder]
scene/3d/physics_body.h:539:12: warning: 'Skeleton* PhysicalBone::parent_skeleton' [-Wreorder]
scene/3d/physics_body.cpp:2502:1: warning: when initialized here [-Wreorder]
scene/3d/spring_arm.h:44:11: warning: 'SpringArm::mask' will be initialized after [-Wreorder]
scene/3d/spring_arm.h:43:8: warning: 'float SpringArm::current_spring_length' [-Wreorder]
scene/3d/spring_arm.cpp:37:1: warning: when initialized here [-Wreorder]
scene/animation/skeleton_ik.h:159:11: warning: 'SkeletonIK::target_node_override' will be initialized after [-Wreorder]
scene/animation/skeleton_ik.h:152:7: warning: 'bool SkeletonIK::use_magnet' [-Wreorder]
scene/animation/skeleton_ik.cpp:418:1: warning: when initialized here [-Wreorder]
scene/resources/tile_set.h:84:9: warning: 'TileSet::AutotileData::size' will be initialized after [-Wreorder]
scene/resources/tile_set.h:83:7: warning: 'int TileSet::AutotileData::spacing' [-Wreorder]
scene/resources/tile_set.h:92:12: warning: when initialized here [-Wreorder]
scene/resources/tile_set.h:115:12: warning: 'TileSet::TileData::tile_mode' will be initialized after [-Wreorder]
scene/resources/tile_set.h:114:9: warning: 'Color TileSet::TileData::modulate' [-Wreorder]
scene/resources/tile_set.h:120:12: warning: when initialized here [-Wreorder]
servers/physics/body_sw.h:84:19: warning: 'BodySW::direct_state_query_list' will be initialized after [-Wreorder]
servers/physics/body_sw.h:57:11: warning: 'uint16_t BodySW::locked_axis' [-Wreorder]
servers/physics/body_sw.cpp:756:1: warning: when initialized here [-Wreorder]
```
Nothing really relevant for us, but it's not a bad consistency
improvement anyway so worth taking.
Using `misc/scripts/fix_headers.py` on all Godot files.
Some missing header guards were added, and the header inclusion order
was fixed in the Bullet module.
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features.
Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc..
It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
Daniel Rakos
Rémi Verschelde
Andrea Catania