Rewritten kinematic system
This commit is contained in:
AndreaCatania
parent
9a78efc7c2
commit
10f879bf88
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@ -634,6 +634,28 @@ float BulletPhysicsServer::body_get_param(RID p_body, BodyParameter p_param) con
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return body->get_param(p_param);
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}
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void BulletPhysicsServer::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
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RigidBodyBullet *body = rigid_body_owner.get(p_body);
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ERR_FAIL_COND(!body);
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if (body->get_kinematic_utilities()) {
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body->get_kinematic_utilities()->setSafeMargin(p_margin);
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}
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}
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real_t BulletPhysicsServer::body_get_kinematic_safe_margin(RID p_body) const {
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RigidBodyBullet *body = rigid_body_owner.get(p_body);
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ERR_FAIL_COND_V(!body, 0);
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if (body->get_kinematic_utilities()) {
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return body->get_kinematic_utilities()->safe_margin;
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}
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return 0;
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}
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void BulletPhysicsServer::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
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RigidBodyBullet *body = rigid_body_owner.get(p_body);
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ERR_FAIL_COND(!body);
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@ -796,12 +818,12 @@ PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) {
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return BulletPhysicsDirectBodyState::get_singleton(body);
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}
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bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin, MotionResult *r_result) {
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bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result) {
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RigidBodyBullet *body = rigid_body_owner.get(p_body);
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ERR_FAIL_COND_V(!body, false);
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ERR_FAIL_COND_V(!body->get_space(), false);
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return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result);
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return body->get_space()->test_body_motion(body, p_from, p_motion, r_result);
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}
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RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) {
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@ -209,6 +209,9 @@ public:
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virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value);
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virtual float body_get_param(RID p_body, BodyParameter p_param) const;
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virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin);
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virtual real_t body_get_kinematic_safe_margin(RID p_body) const;
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virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
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virtual Variant body_get_state(RID p_body, BodyState p_state) const;
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@ -246,7 +249,7 @@ public:
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// this function only works on physics process, errors and returns null otherwise
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virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
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virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin = 0.001, MotionResult *r_result = NULL);
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virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result = NULL);
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/* SOFT BODY API */
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@ -101,7 +101,7 @@ void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBull
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}
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bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
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return !bt_collision_object->checkCollideWithOverride(p_otherCollisionObject->bt_collision_object);
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return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
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}
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void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
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@ -242,50 +242,3 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp
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return cp.getDistance();
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}
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bool GodotRecoverAndClosestContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {
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const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask);
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if (needs) {
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btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject);
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CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer());
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if (gObj == m_self_object) {
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return false;
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} else {
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if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) {
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return false;
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} else if (m_self_object->has_collision_exception(gObj)) {
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return false;
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}
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}
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return true;
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} else {
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return false;
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}
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}
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btScalar GodotRecoverAndClosestContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
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if (cp.getDistance() < -MAX_PENETRATION_DEPTH) {
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if (m_most_penetrated_distance > cp.getDistance()) {
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m_most_penetrated_distance = cp.getDistance();
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// take other object
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btScalar sign(1);
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if (m_self_object == colObj0Wrap->getCollisionObject()->getUserPointer()) {
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m_pointCollisionObject = colObj1Wrap->getCollisionObject();
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m_other_compound_shape_index = cp.m_index1;
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} else {
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m_pointCollisionObject = colObj0Wrap->getCollisionObject();
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sign = -1;
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m_other_compound_shape_index = cp.m_index0;
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}
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m_pointNormalWorld = cp.m_normalWorldOnB * sign;
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m_pointWorld = cp.getPositionWorldOnB();
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m_penetration_distance = cp.getDistance();
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m_recover_penetration -= cp.m_normalWorldOnB * sign * (cp.getDistance() + MAX_PENETRATION_DEPTH);
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}
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}
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return 1;
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}
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@ -36,8 +36,6 @@
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#include "btBulletDynamicsCommon.h"
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#include "servers/physics_server.h"
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#define MAX_PENETRATION_DEPTH 0.005
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class RigidBodyBullet;
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/// This class is required to implement custom collision behaviour in the broadphase
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@ -151,39 +149,4 @@ public:
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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struct GodotRecoverAndClosestContactResultCallback : public btCollisionWorld::ContactResultCallback {
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public:
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btVector3 m_pointNormalWorld;
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btVector3 m_pointWorld;
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btScalar m_penetration_distance;
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int m_other_compound_shape_index;
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const btCollisionObject *m_pointCollisionObject;
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const RigidBodyBullet *m_self_object;
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bool m_ignore_areas;
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btScalar m_most_penetrated_distance;
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btVector3 m_recover_penetration;
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GodotRecoverAndClosestContactResultCallback()
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: m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(NULL), m_ignore_areas(true), m_most_penetrated_distance(1e20), m_recover_penetration(0, 0, 0) {}
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GodotRecoverAndClosestContactResultCallback(const RigidBodyBullet *p_self_object, bool p_ignore_areas)
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: m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas), m_most_penetrated_distance(9999999999), m_recover_penetration(0, 0, 0) {}
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void reset() {
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m_pointCollisionObject = NULL;
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m_most_penetrated_distance = 1e20;
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m_recover_penetration.setZero();
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}
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bool hasHit() {
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return m_pointCollisionObject;
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}
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virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
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virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1);
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};
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#endif // GODOT_RESULT_CALLBACKS_H
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@ -177,31 +177,21 @@ PhysicsDirectSpaceState *BulletPhysicsDirectBodyState::get_space_state() {
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}
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RigidBodyBullet::KinematicUtilities::KinematicUtilities(RigidBodyBullet *p_owner)
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: m_owner(p_owner), m_margin(0.01) // Godot default margin 0.001
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{
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m_ghostObject = bulletnew(btPairCachingGhostObject);
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int clearedCurrentFlags = m_ghostObject->getCollisionFlags();
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clearedCurrentFlags &= ~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT);
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m_ghostObject->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_KINEMATIC_OBJECT);
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m_ghostObject->setUserPointer(p_owner);
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m_ghostObject->setUserIndex(TYPE_KINEMATIC_GHOST_BODY);
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resetDefShape();
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: owner(p_owner),
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safe_margin(0.001) {
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}
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RigidBodyBullet::KinematicUtilities::~KinematicUtilities() {
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just_delete_shapes(m_shapes.size()); // don't need to resize
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bulletdelete(m_ghostObject);
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just_delete_shapes(shapes.size()); // don't need to resize
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}
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void RigidBodyBullet::KinematicUtilities::resetDefShape() {
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m_ghostObject->setCollisionShape(BulletPhysicsServer::get_empty_shape());
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void RigidBodyBullet::KinematicUtilities::setSafeMargin(btScalar p_margin) {
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safe_margin = p_margin;
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copyAllOwnerShapes();
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}
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void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
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const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(m_owner->get_shapes_wrappers());
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const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(owner->get_shapes_wrappers());
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const int shapes_count = shapes_wrappers.size();
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just_delete_shapes(shapes_count);
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@ -213,35 +203,35 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
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if (!shape_wrapper->active) {
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continue;
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}
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m_shapes[i].transform = shape_wrapper->transform;
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shapes[i].transform = shape_wrapper->transform;
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btConvexShape *&kin_shape_ref = m_shapes[i].shape;
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btConvexShape *&kin_shape_ref = shapes[i].shape;
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switch (shape_wrapper->shape->get_type()) {
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case PhysicsServer::SHAPE_SPHERE: {
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SphereShapeBullet *sphere = static_cast<SphereShapeBullet *>(shape_wrapper->shape);
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kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * m_owner->body_scale[0] + m_margin);
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kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner->body_scale[0] + safe_margin);
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break;
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}
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case PhysicsServer::SHAPE_BOX: {
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BoxShapeBullet *box = static_cast<BoxShapeBullet *>(shape_wrapper->shape);
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kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * m_owner->body_scale) + btVector3(m_margin, m_margin, m_margin));
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kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner->body_scale) + btVector3(safe_margin, safe_margin, safe_margin));
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break;
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}
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case PhysicsServer::SHAPE_CAPSULE: {
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CapsuleShapeBullet *capsule = static_cast<CapsuleShapeBullet *>(shape_wrapper->shape);
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kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * m_owner->body_scale[0] + m_margin, capsule->get_height() * m_owner->body_scale[1] + m_margin);
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kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner->body_scale[0] + safe_margin, capsule->get_height() * owner->body_scale[1] + safe_margin);
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break;
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}
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case PhysicsServer::SHAPE_CONVEX_POLYGON: {
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ConvexPolygonShapeBullet *godot_convex = static_cast<ConvexPolygonShapeBullet *>(shape_wrapper->shape);
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kin_shape_ref = ShapeBullet::create_shape_convex(godot_convex->vertices);
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kin_shape_ref->setLocalScaling(m_owner->body_scale + btVector3(m_margin, m_margin, m_margin));
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kin_shape_ref->setLocalScaling(owner->body_scale + btVector3(safe_margin, safe_margin, safe_margin));
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break;
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}
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case PhysicsServer::SHAPE_RAY: {
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RayShapeBullet *godot_ray = static_cast<RayShapeBullet *>(shape_wrapper->shape);
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kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * m_owner->body_scale[1] + m_margin);
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kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner->body_scale[1] + safe_margin);
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break;
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}
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default:
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@ -252,12 +242,12 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
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}
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void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) {
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for (int i = m_shapes.size() - 1; 0 <= i; --i) {
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if (m_shapes[i].shape) {
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bulletdelete(m_shapes[i].shape);
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for (int i = shapes.size() - 1; 0 <= i; --i) {
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if (shapes[i].shape) {
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bulletdelete(shapes[i].shape);
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}
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}
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m_shapes.resize(new_size);
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shapes.resize(new_size);
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}
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RigidBodyBullet::RigidBodyBullet()
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@ -162,17 +162,15 @@ public:
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};
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struct KinematicUtilities {
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RigidBodyBullet *m_owner;
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btScalar m_margin;
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btManifoldArray m_manifoldArray; ///keep track of the contact manifolds
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class btPairCachingGhostObject *m_ghostObject;
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Vector<KinematicShape> m_shapes;
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RigidBodyBullet *owner;
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btScalar safe_margin;
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Vector<KinematicShape> shapes;
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KinematicUtilities(RigidBodyBullet *p_owner);
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~KinematicUtilities();
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void setSafeMargin(btScalar p_margin);
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/// Used to set the default shape to ghost
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void resetDefShape();
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void copyAllOwnerShapes();
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private:
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@ -50,9 +50,6 @@
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#include "ustring.h"
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#include <assert.h>
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// test only
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//#include "scene/3d/immediate_geometry.h"
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BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_space)
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: PhysicsDirectSpaceState(), space(p_space) {}
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@ -174,7 +171,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
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btResult.m_collisionFilterGroup = p_collision_layer;
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btResult.m_collisionFilterMask = p_object_type_mask;
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space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult);
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space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002);
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if (btResult.hasHit()) {
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if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) {
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@ -281,10 +278,6 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
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btVector3 bt_point;
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G_TO_B(p_point, bt_point);
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btGjkEpaPenetrationDepthSolver gjk_epa_pen_solver;
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btVoronoiSimplexSolver gjk_simplex_solver;
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gjk_simplex_solver.setEqualVertexThreshold(0.);
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btSphereShape point_shape(0.);
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btCollisionShape *shape;
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@ -308,7 +301,7 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
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input.m_transformB = body_transform * child_transform;
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btPointCollector result;
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btGjkPairDetector gjk_pair_detector(&point_shape, convex_shape, &gjk_simplex_solver, &gjk_epa_pen_solver);
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btGjkPairDetector gjk_pair_detector(&point_shape, convex_shape, space->gjk_simplex_solver, space->gjk_epa_pen_solver);
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gjk_pair_detector.getClosestPoints(input, result, 0);
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if (out_distance > result.m_distance) {
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@ -558,13 +551,10 @@ btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const
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}
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void SpaceBullet::create_empty_world(bool p_create_soft_world) {
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assert(NULL == broadphase);
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assert(NULL == dispatcher);
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assert(NULL == solver);
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assert(NULL == collisionConfiguration);
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assert(NULL == dynamicsWorld);
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assert(NULL == ghostPairCallback);
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assert(NULL == godotFilterCallback);
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gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver);
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gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver);
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gjk_simplex_solver->setEqualVertexThreshold(0.f);
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void *world_mem;
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if (p_create_soft_world) {
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@ -611,13 +601,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) {
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}
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void SpaceBullet::destroy_world() {
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assert(NULL != broadphase);
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assert(NULL != dispatcher);
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assert(NULL != solver);
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assert(NULL != collisionConfiguration);
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assert(NULL != dynamicsWorld);
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assert(NULL != ghostPairCallback);
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assert(NULL != godotFilterCallback);
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/// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot
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@ -637,14 +620,13 @@ void SpaceBullet::destroy_world() {
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bulletdelete(dispatcher);
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bulletdelete(collisionConfiguration);
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bulletdelete(soft_body_world_info);
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bulletdelete(gjk_simplex_solver);
|
||||
bulletdelete(gjk_epa_pen_solver);
|
||||
}
|
||||
|
||||
void SpaceBullet::check_ghost_overlaps() {
|
||||
|
||||
/// Algorith support variables
|
||||
btGjkEpaPenetrationDepthSolver gjk_epa_pen_solver;
|
||||
btVoronoiSimplexSolver gjk_simplex_solver;
|
||||
gjk_simplex_solver.setEqualVertexThreshold(0.f);
|
||||
btConvexShape *other_body_shape;
|
||||
btConvexShape *area_shape;
|
||||
btGjkPairDetector::ClosestPointInput gjk_input;
|
||||
|
|
@ -701,7 +683,7 @@ void SpaceBullet::check_ghost_overlaps() {
|
|||
gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z);
|
||||
|
||||
btPointCollector result;
|
||||
btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, &gjk_simplex_solver, &gjk_epa_pen_solver);
|
||||
btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, gjk_simplex_solver, gjk_epa_pen_solver);
|
||||
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
|
||||
|
||||
if (0 >= result.m_distance) {
|
||||
|
|
@ -743,23 +725,11 @@ void SpaceBullet::check_body_collision() {
|
|||
const int numManifolds = dynamicsWorld->getDispatcher()->getNumManifolds();
|
||||
for (int i = 0; i < numManifolds; ++i) {
|
||||
btPersistentManifold *contactManifold = dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
||||
const btCollisionObject *obA = contactManifold->getBody0();
|
||||
const btCollisionObject *obB = contactManifold->getBody1();
|
||||
|
||||
if (btCollisionObject::CO_RIGID_BODY != obA->getInternalType() || btCollisionObject::CO_RIGID_BODY != obB->getInternalType()) {
|
||||
// This checks is required to be sure the ghost object is skipped
|
||||
// The ghost object "getUserPointer" return the BodyBullet owner so this check is required
|
||||
continue;
|
||||
}
|
||||
|
||||
// Asserts all Godot objects are assigned
|
||||
assert(NULL != obA->getUserPointer());
|
||||
assert(NULL != obB->getUserPointer());
|
||||
|
||||
// I know this static cast is a bit risky. But I'm checking its type just after it.
|
||||
// This allow me to avoid a lot of other cast and checks
|
||||
RigidBodyBullet *bodyA = static_cast<RigidBodyBullet *>(obA->getUserPointer());
|
||||
RigidBodyBullet *bodyB = static_cast<RigidBodyBullet *>(obB->getUserPointer());
|
||||
RigidBodyBullet *bodyA = static_cast<RigidBodyBullet *>(contactManifold->getBody0()->getUserPointer());
|
||||
RigidBodyBullet *bodyB = static_cast<RigidBodyBullet *>(contactManifold->getBody1()->getUserPointer());
|
||||
|
||||
if (CollisionObjectBullet::TYPE_RIGID_BODY == bodyA->getType() && CollisionObjectBullet::TYPE_RIGID_BODY == bodyB->getType()) {
|
||||
if (!bodyA->can_add_collision() && !bodyB->can_add_collision()) {
|
||||
|
|
@ -784,13 +754,13 @@ void SpaceBullet::check_body_collision() {
|
|||
if (bodyA->can_add_collision()) {
|
||||
B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition);
|
||||
/// pt.m_localPointB Doesn't report the exact point in local space
|
||||
B_TO_G(pt.getPositionWorldOnB() - obB->getWorldTransform().getOrigin(), collisionLocalPosition);
|
||||
B_TO_G(pt.getPositionWorldOnB() - contactManifold->getBody1()->getWorldTransform().getOrigin(), collisionLocalPosition);
|
||||
bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, pt.m_index1, pt.m_index0);
|
||||
}
|
||||
if (bodyB->can_add_collision()) {
|
||||
B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition);
|
||||
/// pt.m_localPointA Doesn't report the exact point in local space
|
||||
B_TO_G(pt.getPositionWorldOnA() - obA->getWorldTransform().getOrigin(), collisionLocalPosition);
|
||||
B_TO_G(pt.getPositionWorldOnA() - contactManifold->getBody0()->getWorldTransform().getOrigin(), collisionLocalPosition);
|
||||
bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, pt.m_index0, pt.m_index1);
|
||||
}
|
||||
|
||||
|
|
@ -817,7 +787,12 @@ void SpaceBullet::update_gravity() {
|
|||
/// I'm leaving this here just for future tests.
|
||||
/// Debug motion and normal vector drawing
|
||||
#define debug_test_motion 0
|
||||
#define PERFORM_INITIAL_UNSTACK 1
|
||||
|
||||
#if debug_test_motion
|
||||
|
||||
#include "scene/3d/immediate_geometry.h"
|
||||
|
||||
static ImmediateGeometry *motionVec(NULL);
|
||||
static ImmediateGeometry *normalLine(NULL);
|
||||
static Ref<SpatialMaterial> red_mat;
|
||||
|
|
@ -825,10 +800,10 @@ static Ref<SpatialMaterial> blue_mat;
|
|||
#endif
|
||||
|
||||
#define IGNORE_AREAS_TRUE true
|
||||
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result) {
|
||||
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result) {
|
||||
|
||||
#if debug_test_motion
|
||||
/// Yes I know this is not good, but I've used it as fast debugging.
|
||||
/// Yes I know this is not good, but I've used it as fast debugging hack.
|
||||
/// I'm leaving it here just for speedup the other eventual debugs
|
||||
if (!normalLine) {
|
||||
motionVec = memnew(ImmediateGeometry);
|
||||
|
|
@ -866,43 +841,21 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
|
|||
// }
|
||||
//}
|
||||
|
||||
btVector3 recover_initial_position;
|
||||
recover_initial_position.setZero();
|
||||
btVector3 recover_initial_position(0, 0, 0);
|
||||
|
||||
/// I'm performing the unstack at the end of movement so I'm sure the player is unstacked even after the movement.
|
||||
/// I've removed the initial unstack because this is useful just for the first tick since after the first
|
||||
/// the real unstack is performed at the end of process.
|
||||
/// However I'm leaving here the old code.
|
||||
/// Note: It has a bug when two shapes touches something simultaneously the body is moved too much away (I'm not fixing it for the reason written above).
|
||||
#define INITIAL_UNSTACK 0
|
||||
#if !INITIAL_UNSTACK
|
||||
btTransform body_safe_position;
|
||||
G_TO_B(p_from, body_safe_position);
|
||||
//btTransform body_unsafe_positino;
|
||||
//G_TO_B(p_from, body_unsafe_positino);
|
||||
#else
|
||||
btTransform body_safe_position;
|
||||
btTransform body_unsafe_positino;
|
||||
|
||||
{ /// Phase one - multi shapes depenetration using margin
|
||||
G_TO_B(p_from, body_safe_position);
|
||||
G_TO_B(p_from, body_unsafe_positino);
|
||||
#if PERFORM_INITIAL_UNSTACK
|
||||
if (recover_from_penetration(p_body, body_safe_position, recover_initial_position)) {
|
||||
|
||||
// MAX_PENETRATION_DEPTH Is useful have the ghost a bit penetrated so I can detect the floor easily
|
||||
recover_from_penetration(p_body, body_safe_position, MAX_PENETRATION_DEPTH, /* p_depenetration_speed */ 1, recover_initial_position);
|
||||
|
||||
/// Not required if I put p_depenetration_speed = 1
|
||||
//for(int t = 0; t<4; ++t){
|
||||
// if(!recover_from_penetration(p_body, body_safe_position, MAX_PENETRATION_DEPTH, /* p_depenetration_speed */0.2, recover_initial_position)){
|
||||
// break;
|
||||
// }
|
||||
//}
|
||||
|
||||
// Add recover position to "From" and "To" transforms
|
||||
body_safe_position.getOrigin() += recover_initial_position;
|
||||
}
|
||||
// Add recover position to "From" and "To" transforms
|
||||
body_safe_position.getOrigin() += recover_initial_position;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
int shape_most_recovered(-1);
|
||||
btVector3 recovered_motion;
|
||||
G_TO_B(p_motion, recovered_motion);
|
||||
const int shape_count(p_body->get_shape_count());
|
||||
|
|
@ -930,127 +883,53 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
|
|||
continue;
|
||||
}
|
||||
|
||||
btTransform shape_xform_from;
|
||||
G_TO_B(p_body->get_shape_transform(shIndex), shape_xform_from);
|
||||
//btTransform shape_xform_to(shape_xform_from);
|
||||
btTransform shape_world_from;
|
||||
G_TO_B(p_body->get_shape_transform(shIndex), shape_world_from);
|
||||
|
||||
// Add local shape transform
|
||||
shape_xform_from.getOrigin() += body_safe_position.getOrigin();
|
||||
shape_xform_from.getBasis() *= body_safe_position.getBasis();
|
||||
shape_world_from = body_safe_position * shape_world_from;
|
||||
|
||||
btTransform shape_xform_to(shape_xform_from);
|
||||
//shape_xform_to.getOrigin() += body_unsafe_positino.getOrigin();
|
||||
//shape_xform_to.getBasis() *= body_unsafe_positino.getBasis();
|
||||
shape_xform_to.getOrigin() += recovered_motion;
|
||||
btTransform shape_world_to(shape_world_from);
|
||||
shape_world_to.getOrigin() += recovered_motion;
|
||||
|
||||
GodotKinClosestConvexResultCallback btResult(shape_xform_from.getOrigin(), shape_xform_to.getOrigin(), p_body, IGNORE_AREAS_TRUE);
|
||||
GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, IGNORE_AREAS_TRUE);
|
||||
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
|
||||
btResult.m_collisionFilterMask = p_body->get_collision_mask();
|
||||
|
||||
dynamicsWorld->convexSweepTest(convex_shape_test, shape_xform_from, shape_xform_to, btResult);
|
||||
dynamicsWorld->convexSweepTest(convex_shape_test, shape_world_from, shape_world_to, btResult, 0.002);
|
||||
|
||||
if (btResult.hasHit()) {
|
||||
//recovered_motion *= btResult.m_closestHitFraction;
|
||||
/// 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 recovering respect the previous shape
|
||||
shape_most_recovered = shIndex;
|
||||
/// if another shape will hit something it means that has a deepest penetration respect the previous shape
|
||||
recovered_motion *= btResult.m_closestHitFraction;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool hasHit = false;
|
||||
bool hasPenetration = false;
|
||||
|
||||
{ /// Phase three - contact test with margin
|
||||
{ /// Phase three - Recover + contact test with margin
|
||||
|
||||
btGhostObject *ghost = p_body->get_kinematic_utilities()->m_ghostObject;
|
||||
RecoverResult recover_result;
|
||||
|
||||
GodotRecoverAndClosestContactResultCallback result_callabck;
|
||||
|
||||
if (false && 0 <= shape_most_recovered) {
|
||||
result_callabck.m_self_object = p_body;
|
||||
result_callabck.m_ignore_areas = IGNORE_AREAS_TRUE;
|
||||
result_callabck.m_collisionFilterGroup = p_body->get_collision_layer();
|
||||
result_callabck.m_collisionFilterMask = p_body->get_collision_mask();
|
||||
|
||||
const RigidBodyBullet::KinematicShape &kin(p_body->get_kinematic_utilities()->m_shapes[shape_most_recovered]);
|
||||
ghost->setCollisionShape(kin.shape);
|
||||
ghost->setWorldTransform(body_safe_position);
|
||||
|
||||
ghost->getWorldTransform().getOrigin() += recovered_motion;
|
||||
ghost->getWorldTransform().getOrigin() += kin.transform.getOrigin();
|
||||
ghost->getWorldTransform().getBasis() *= kin.transform.getBasis();
|
||||
|
||||
dynamicsWorld->contactTest(ghost, result_callabck);
|
||||
|
||||
recovered_motion += result_callabck.m_recover_penetration; // Required to avoid all kind of penetration
|
||||
|
||||
} else {
|
||||
// The sweep result does not return a penetrated shape, so I've to check all shapes
|
||||
// Then return the most penetrated shape
|
||||
|
||||
GodotRecoverAndClosestContactResultCallback iter_result_callabck(p_body, IGNORE_AREAS_TRUE);
|
||||
iter_result_callabck.m_collisionFilterGroup = p_body->get_collision_layer();
|
||||
iter_result_callabck.m_collisionFilterMask = p_body->get_collision_mask();
|
||||
|
||||
btScalar max_penetration(99999999999);
|
||||
for (int i = 0; i < shape_count; ++i) {
|
||||
|
||||
const RigidBodyBullet::KinematicShape &kin(p_body->get_kinematic_utilities()->m_shapes[i]);
|
||||
if (!kin.is_active()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
// reset callback each function
|
||||
iter_result_callabck.reset();
|
||||
|
||||
ghost->setCollisionShape(kin.shape);
|
||||
ghost->setWorldTransform(body_safe_position);
|
||||
ghost->getWorldTransform().getOrigin() += recovered_motion;
|
||||
ghost->getWorldTransform().getOrigin() += kin.transform.getOrigin();
|
||||
ghost->getWorldTransform().getBasis() *= kin.transform.getBasis();
|
||||
|
||||
dynamicsWorld->contactTest(ghost, iter_result_callabck);
|
||||
|
||||
if (iter_result_callabck.hasHit()) {
|
||||
if (max_penetration > iter_result_callabck.m_penetration_distance) {
|
||||
max_penetration = iter_result_callabck.m_penetration_distance;
|
||||
shape_most_recovered = i;
|
||||
// This is more penetrated
|
||||
result_callabck.m_pointCollisionObject = iter_result_callabck.m_pointCollisionObject;
|
||||
result_callabck.m_pointNormalWorld = iter_result_callabck.m_pointNormalWorld;
|
||||
result_callabck.m_pointWorld = iter_result_callabck.m_pointWorld;
|
||||
result_callabck.m_penetration_distance = iter_result_callabck.m_penetration_distance;
|
||||
result_callabck.m_other_compound_shape_index = iter_result_callabck.m_other_compound_shape_index;
|
||||
|
||||
recovered_motion += iter_result_callabck.m_recover_penetration; // Required to avoid all kind of penetration
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
hasHit = result_callabck.hasHit();
|
||||
hasPenetration = recover_from_penetration(p_body, body_safe_position, recovered_motion, &recover_result);
|
||||
|
||||
if (r_result) {
|
||||
|
||||
B_TO_G(recovered_motion + recover_initial_position, r_result->motion);
|
||||
|
||||
if (hasHit) {
|
||||
|
||||
if (btCollisionObject::CO_RIGID_BODY != result_callabck.m_pointCollisionObject->getInternalType()) {
|
||||
ERR_PRINT("The collision is not against a rigid body. Please check what's going on.");
|
||||
goto EndExecution;
|
||||
}
|
||||
const btRigidBody *btRigid = static_cast<const btRigidBody *>(result_callabck.m_pointCollisionObject);
|
||||
if (hasPenetration) {
|
||||
const btRigidBody *btRigid = static_cast<const btRigidBody *>(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(result_callabck.m_pointWorld, r_result->collision_point);
|
||||
B_TO_G(result_callabck.m_pointNormalWorld, r_result->collision_normal);
|
||||
B_TO_G(btRigid->getVelocityInLocalPoint(result_callabck.m_pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
|
||||
B_TO_G(recover_result.pointWorld, r_result->collision_point);
|
||||
B_TO_G(recover_result.pointNormalWorld, r_result->collision_normal);
|
||||
B_TO_G(btRigid->getVelocityInLocalPoint(recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
|
||||
r_result->collider = collisionObject->get_self();
|
||||
r_result->collider_id = collisionObject->get_instance_id();
|
||||
r_result->collider_shape = result_callabck.m_other_compound_shape_index;
|
||||
r_result->collision_local_shape = shape_most_recovered;
|
||||
r_result->collider_shape = recover_result.other_compound_shape_index;
|
||||
r_result->collision_local_shape = recover_result.local_shape_most_recovered;
|
||||
|
||||
//{ /// Add manifold point to manage collisions
|
||||
// btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
|
||||
|
|
@ -1079,85 +958,144 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
|
|||
}
|
||||
}
|
||||
|
||||
EndExecution:
|
||||
p_body->get_kinematic_utilities()->resetDefShape();
|
||||
return hasHit;
|
||||
return hasPenetration;
|
||||
}
|
||||
|
||||
/// Note: It has a bug when two shapes touches something simultaneously the body is moved too much away
|
||||
/// (I'm not fixing it because I don't use it).
|
||||
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position) {
|
||||
struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
|
||||
private:
|
||||
const btCollisionObject *self_collision_object;
|
||||
uint32_t collision_layer;
|
||||
uint32_t collision_mask;
|
||||
|
||||
public:
|
||||
Vector<btCollisionObject *> result_collision_objects;
|
||||
|
||||
public:
|
||||
RecoverPenetrationBroadPhaseCallback(const btCollisionObject *p_self_collision_object, uint32_t p_collision_layer, uint32_t p_collision_mask)
|
||||
: self_collision_object(p_self_collision_object),
|
||||
collision_layer(p_collision_layer),
|
||||
collision_mask(p_collision_mask) {}
|
||||
|
||||
virtual ~RecoverPenetrationBroadPhaseCallback() {}
|
||||
|
||||
virtual bool process(const btBroadphaseProxy *proxy) {
|
||||
|
||||
btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject);
|
||||
if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) {
|
||||
if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) {
|
||||
result_collision_objects.push_back(co);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void reset() {
|
||||
result_collision_objects.empty();
|
||||
}
|
||||
};
|
||||
|
||||
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btVector3 &out_recover_position, RecoverResult *recover_result) {
|
||||
|
||||
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
|
||||
|
||||
btTransform body_shape_position;
|
||||
btTransform body_shape_position_recovered;
|
||||
|
||||
// Broad phase support
|
||||
btVector3 minAabb, maxAabb;
|
||||
|
||||
// GJK support
|
||||
btGjkPairDetector::ClosestPointInput gjk_input;
|
||||
|
||||
bool penetration = false;
|
||||
btPairCachingGhostObject *ghost = p_body->get_kinematic_utilities()->m_ghostObject;
|
||||
|
||||
for (int kinIndex = p_body->get_kinematic_utilities()->m_shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
|
||||
const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->m_shapes[kinIndex]);
|
||||
// For each shape
|
||||
for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) {
|
||||
|
||||
recover_broad_result.reset();
|
||||
|
||||
const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]);
|
||||
if (!kin_shape.is_active()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
btConvexShape *convexShape = kin_shape.shape;
|
||||
btTransform shape_xform(kin_shape.transform);
|
||||
body_shape_position = p_body_position * kin_shape.transform;
|
||||
body_shape_position_recovered = body_shape_position;
|
||||
body_shape_position_recovered.getOrigin() += out_recover_position;
|
||||
|
||||
// from local to world
|
||||
shape_xform.getOrigin() += p_from.getOrigin();
|
||||
shape_xform.getBasis() *= p_from.getBasis();
|
||||
kin_shape.shape->getAabb(body_shape_position_recovered, minAabb, maxAabb);
|
||||
dynamicsWorld->getBroadphase()->aabbTest(minAabb, maxAabb, recover_broad_result);
|
||||
|
||||
// Apply last recovery to avoid doubling the recovering
|
||||
shape_xform.getOrigin() += out_recover_position;
|
||||
|
||||
ghost->setCollisionShape(convexShape);
|
||||
ghost->setWorldTransform(shape_xform);
|
||||
|
||||
btVector3 minAabb, maxAabb;
|
||||
convexShape->getAabb(shape_xform, minAabb, maxAabb);
|
||||
dynamicsWorld->getBroadphase()->setAabb(ghost->getBroadphaseHandle(),
|
||||
minAabb,
|
||||
maxAabb,
|
||||
dynamicsWorld->getDispatcher());
|
||||
|
||||
dynamicsWorld->getDispatcher()->dispatchAllCollisionPairs(ghost->getOverlappingPairCache(), dynamicsWorld->getDispatchInfo(), dynamicsWorld->getDispatcher());
|
||||
|
||||
for (int i = 0; i < ghost->getOverlappingPairCache()->getNumOverlappingPairs(); ++i) {
|
||||
p_body->get_kinematic_utilities()->m_manifoldArray.resize(0);
|
||||
|
||||
btBroadphasePair *collisionPair = &ghost->getOverlappingPairCache()->getOverlappingPairArray()[i];
|
||||
|
||||
btCollisionObject *obj0 = static_cast<btCollisionObject *>(collisionPair->m_pProxy0->m_clientObject);
|
||||
btCollisionObject *obj1 = static_cast<btCollisionObject *>(collisionPair->m_pProxy1->m_clientObject);
|
||||
|
||||
if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse()))
|
||||
for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
|
||||
btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
|
||||
if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
|
||||
continue;
|
||||
|
||||
// This is not required since the dispatched does all the job
|
||||
//if (!needsCollision(obj0, obj1))
|
||||
// continue;
|
||||
if (otherObject->getCollisionShape()->isCompound()) { /// Execute GJK test against all shapes
|
||||
|
||||
if (collisionPair->m_algorithm)
|
||||
collisionPair->m_algorithm->getAllContactManifolds(p_body->get_kinematic_utilities()->m_manifoldArray);
|
||||
// Each convex shape
|
||||
btCompoundShape *cs = static_cast<btCompoundShape *>(otherObject->getCollisionShape());
|
||||
for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
|
||||
|
||||
for (int j = 0; j < p_body->get_kinematic_utilities()->m_manifoldArray.size(); ++j) {
|
||||
if (!cs->getChildShape(x)->isConvex())
|
||||
continue;
|
||||
|
||||
btPersistentManifold *manifold = p_body->get_kinematic_utilities()->m_manifoldArray[j];
|
||||
btScalar directionSign = manifold->getBody0() == ghost ? btScalar(-1.0) : btScalar(1.0);
|
||||
for (int p = 0; p < manifold->getNumContacts(); ++p) {
|
||||
const btManifoldPoint &pt = manifold->getContactPoint(p);
|
||||
// Initialize GJK input
|
||||
gjk_input.m_transformA = body_shape_position;
|
||||
gjk_input.m_transformA.getOrigin() += out_recover_position;
|
||||
gjk_input.m_transformB = otherObject->getWorldTransform() * cs->getChildTransform(x);
|
||||
|
||||
btScalar dist = pt.getDistance();
|
||||
if (dist < -p_maxPenetrationDepth) {
|
||||
// Perform GJK test
|
||||
btPointCollector result;
|
||||
btGjkPairDetector gjk_pair_detector(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), gjk_simplex_solver, gjk_epa_pen_solver);
|
||||
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
|
||||
if (0 > result.m_distance) {
|
||||
// Has penetration
|
||||
out_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
|
||||
penetration = true;
|
||||
out_recover_position += pt.m_normalWorldOnB * directionSign * (dist + p_maxPenetrationDepth) * p_depenetration_speed;
|
||||
//print_line("penetrate distance: " + rtos(dist));
|
||||
|
||||
if (recover_result) {
|
||||
|
||||
recover_result->hasPenetration = true;
|
||||
recover_result->other_collision_object = otherObject;
|
||||
recover_result->other_compound_shape_index = x;
|
||||
recover_result->penetration_distance = result.m_distance;
|
||||
recover_result->pointNormalWorld = result.m_normalOnBInWorld;
|
||||
recover_result->pointWorld = result.m_pointInWorld;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
|
||||
|
||||
// Initialize GJK input
|
||||
gjk_input.m_transformA = body_shape_position;
|
||||
gjk_input.m_transformA.getOrigin() += out_recover_position;
|
||||
gjk_input.m_transformB = otherObject->getWorldTransform();
|
||||
|
||||
// Perform GJK test
|
||||
btPointCollector result;
|
||||
btGjkPairDetector gjk_pair_detector(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), gjk_simplex_solver, gjk_epa_pen_solver);
|
||||
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
|
||||
if (0 > result.m_distance) {
|
||||
// Has penetration
|
||||
out_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
|
||||
penetration = true;
|
||||
|
||||
if (recover_result) {
|
||||
|
||||
recover_result->hasPenetration = true;
|
||||
recover_result->other_collision_object = otherObject;
|
||||
recover_result->other_compound_shape_index = 0;
|
||||
recover_result->penetration_distance = result.m_distance;
|
||||
recover_result->pointNormalWorld = result.m_normalOnBInWorld;
|
||||
recover_result->pointWorld = result.m_pointInWorld;
|
||||
}
|
||||
//else {
|
||||
// print_line("touching distance: " + rtos(dist));
|
||||
//}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
p_body->get_kinematic_utilities()->resetDefShape();
|
||||
return penetration;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -59,6 +59,7 @@ class CollisionObjectBullet;
|
|||
class RigidBodyBullet;
|
||||
class SpaceBullet;
|
||||
class SoftBodyBullet;
|
||||
class btGjkEpaPenetrationDepthSolver;
|
||||
|
||||
class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState {
|
||||
GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState)
|
||||
|
|
@ -93,6 +94,9 @@ private:
|
|||
GodotFilterCallback *godotFilterCallback;
|
||||
btSoftBodyWorldInfo *soft_body_world_info;
|
||||
|
||||
btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver;
|
||||
btVoronoiSimplexSolver *gjk_simplex_solver;
|
||||
|
||||
BulletPhysicsDirectSpaceState *direct_access;
|
||||
Vector3 gravityDirection;
|
||||
real_t gravityMagnitude;
|
||||
|
|
@ -163,7 +167,7 @@ public:
|
|||
|
||||
void update_gravity();
|
||||
|
||||
bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result);
|
||||
bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result);
|
||||
|
||||
private:
|
||||
void create_empty_world(bool p_create_soft_world);
|
||||
|
|
@ -171,6 +175,19 @@ private:
|
|||
void check_ghost_overlaps();
|
||||
void check_body_collision();
|
||||
|
||||
bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position);
|
||||
struct RecoverResult {
|
||||
bool hasPenetration;
|
||||
btVector3 pointNormalWorld;
|
||||
btVector3 pointWorld;
|
||||
btScalar penetration_distance; // Negative is penetration
|
||||
int other_compound_shape_index;
|
||||
const btCollisionObject *other_collision_object;
|
||||
int local_shape_most_recovered;
|
||||
|
||||
RecoverResult()
|
||||
: hasPenetration(false) {}
|
||||
};
|
||||
|
||||
bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &out_recover_position, RecoverResult *recover_result = NULL);
|
||||
};
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -938,7 +938,7 @@ bool KinematicBody::move_and_collide(const Vector3 &p_motion, Collision &r_colli
|
|||
|
||||
Transform gt = get_global_transform();
|
||||
PhysicsServer::MotionResult result;
|
||||
bool colliding = PhysicsServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, margin, &result);
|
||||
bool colliding = PhysicsServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, &result);
|
||||
|
||||
if (colliding) {
|
||||
r_collision.collider_metadata = result.collider_metadata;
|
||||
|
|
@ -1041,12 +1041,13 @@ bool KinematicBody::test_move(const Transform &p_from, const Vector3 &p_motion)
|
|||
|
||||
ERR_FAIL_COND_V(!is_inside_tree(), false);
|
||||
|
||||
return PhysicsServer::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, margin);
|
||||
return PhysicsServer::get_singleton()->body_test_motion(get_rid(), p_from, p_motion);
|
||||
}
|
||||
|
||||
void KinematicBody::set_safe_margin(float p_margin) {
|
||||
|
||||
margin = p_margin;
|
||||
PhysicsServer::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin);
|
||||
}
|
||||
|
||||
float KinematicBody::get_safe_margin() const {
|
||||
|
|
|
|||
|
|
@ -736,6 +736,10 @@ void BodySW::set_force_integration_callback(ObjectID p_id, const StringName &p_m
|
|||
}
|
||||
}
|
||||
|
||||
void BodySW::set_kinematic_margin(real_t p_margin) {
|
||||
kinematic_safe_margin = p_margin;
|
||||
}
|
||||
|
||||
BodySW::BodySW()
|
||||
: CollisionObjectSW(TYPE_BODY), active_list(this), inertia_update_list(this), direct_state_query_list(this) {
|
||||
|
||||
|
|
@ -743,6 +747,7 @@ BodySW::BodySW()
|
|||
active = true;
|
||||
|
||||
mass = 1;
|
||||
kinematic_safe_margin = 0.01;
|
||||
//_inv_inertia=Transform();
|
||||
_inv_mass = 1;
|
||||
bounce = 0;
|
||||
|
|
|
|||
|
|
@ -55,6 +55,7 @@ class BodySW : public CollisionObjectSW {
|
|||
|
||||
PhysicsServer::BodyAxisLock axis_lock;
|
||||
|
||||
real_t kinematic_safe_margin;
|
||||
real_t _inv_mass;
|
||||
Vector3 _inv_inertia; // Relative to the principal axes of inertia
|
||||
|
||||
|
|
@ -149,6 +150,9 @@ class BodySW : public CollisionObjectSW {
|
|||
public:
|
||||
void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
|
||||
|
||||
void set_kinematic_margin(real_t p_margin);
|
||||
_FORCE_INLINE_ real_t get_kinematic_margin() { return kinematic_safe_margin; }
|
||||
|
||||
_FORCE_INLINE_ void add_area(AreaSW *p_area) {
|
||||
int index = areas.find(AreaCMP(p_area));
|
||||
if (index > -1) {
|
||||
|
|
|
|||
|
|
@ -695,6 +695,19 @@ real_t PhysicsServerSW::body_get_param(RID p_body, BodyParameter p_param) const
|
|||
return body->get_param(p_param);
|
||||
};
|
||||
|
||||
void PhysicsServerSW::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
|
||||
BodySW *body = body_owner.get(p_body);
|
||||
ERR_FAIL_COND(!body);
|
||||
body->set_kinematic_margin(p_margin);
|
||||
}
|
||||
|
||||
real_t PhysicsServerSW::body_get_kinematic_safe_margin(RID p_body) const {
|
||||
BodySW *body = body_owner.get(p_body);
|
||||
ERR_FAIL_COND_V(!body, 0);
|
||||
|
||||
return body->get_kinematic_margin();
|
||||
}
|
||||
|
||||
void PhysicsServerSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
|
||||
|
||||
BodySW *body = body_owner.get(p_body);
|
||||
|
|
@ -888,7 +901,7 @@ bool PhysicsServerSW::body_is_ray_pickable(RID p_body) const {
|
|||
return body->is_ray_pickable();
|
||||
}
|
||||
|
||||
bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin, MotionResult *r_result) {
|
||||
bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result) {
|
||||
|
||||
BodySW *body = body_owner.get(p_body);
|
||||
ERR_FAIL_COND_V(!body, false);
|
||||
|
|
@ -897,7 +910,7 @@ bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, cons
|
|||
|
||||
_update_shapes();
|
||||
|
||||
return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result);
|
||||
return body->get_space()->test_body_motion(body, p_from, p_motion, body->get_kinematic_margin(), r_result);
|
||||
}
|
||||
|
||||
PhysicsDirectBodyState *PhysicsServerSW::body_get_direct_state(RID p_body) {
|
||||
|
|
|
|||
|
|
@ -187,6 +187,9 @@ public:
|
|||
virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value);
|
||||
virtual real_t body_get_param(RID p_body, BodyParameter p_param) const;
|
||||
|
||||
virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin);
|
||||
virtual real_t body_get_kinematic_safe_margin(RID p_body) const;
|
||||
|
||||
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
|
||||
virtual Variant body_get_state(RID p_body, BodyState p_state) const;
|
||||
|
||||
|
|
@ -221,7 +224,7 @@ public:
|
|||
virtual void body_set_ray_pickable(RID p_body, bool p_enable);
|
||||
virtual bool body_is_ray_pickable(RID p_body) const;
|
||||
|
||||
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin = 0.001, MotionResult *r_result = NULL);
|
||||
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result = NULL);
|
||||
|
||||
// this function only works on physics process, errors and returns null otherwise
|
||||
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
|
||||
|
|
|
|||
|
|
@ -481,6 +481,9 @@ void PhysicsServer::_bind_methods() {
|
|||
ClassDB::bind_method(D_METHOD("body_set_param", "body", "param", "value"), &PhysicsServer::body_set_param);
|
||||
ClassDB::bind_method(D_METHOD("body_get_param", "body", "param"), &PhysicsServer::body_get_param);
|
||||
|
||||
ClassDB::bind_method(D_METHOD("body_set_kinematic_safe_margin", "body", "margin"), &PhysicsServer::body_set_kinematic_safe_margin);
|
||||
ClassDB::bind_method(D_METHOD("body_get_kinematic_safe_margin", "body"), &PhysicsServer::body_get_kinematic_safe_margin);
|
||||
|
||||
ClassDB::bind_method(D_METHOD("body_set_state", "body", "state", "value"), &PhysicsServer::body_set_state);
|
||||
ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer::body_get_state);
|
||||
|
||||
|
|
|
|||
|
|
@ -411,6 +411,9 @@ public:
|
|||
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0;
|
||||
virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0;
|
||||
|
||||
virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) = 0;
|
||||
virtual real_t body_get_kinematic_safe_margin(RID p_body) const = 0;
|
||||
|
||||
//state
|
||||
enum BodyState {
|
||||
BODY_STATE_TRANSFORM,
|
||||
|
|
@ -482,7 +485,7 @@ public:
|
|||
Variant collider_metadata;
|
||||
};
|
||||
|
||||
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin = 0.001, MotionResult *r_result = NULL) = 0;
|
||||
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result = NULL) = 0;
|
||||
|
||||
/* JOINT API */
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue