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Improved code that handles collision shapes, fixes #21945

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This commit is contained in:
Andrea Catania 2018-10-06 16:50:10 +02:00
parent 5328dcb7bb
commit 7d681274f8
10 changed files with 126 additions and 161 deletions
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10
modules/bullet/area_bullet.cpp
View file

@ -58,7 +58,7 @@ AreaBullet::AreaBullet() :
isScratched(false) {
btGhost = bulletnew(btGhostObject);
btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape());
reload_shapes();
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.
@ -166,11 +166,9 @@ bool AreaBullet::is_monitoring() const {
return get_godot_object_flags() & GOF_IS_MONITORING_AREA;
}
void AreaBullet::main_shape_resetted() {
if (get_main_shape())
btGhost->setCollisionShape(get_main_shape());
else
btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape());
void AreaBullet::main_shape_changed() {
CRASH_COND(!get_main_shape())
btGhost->setCollisionShape(get_main_shape());
}
void AreaBullet::reload_body() {

2
modules/bullet/area_bullet.h
View file

@ -142,7 +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 main_shape_changed();
virtual void reload_body();
virtual void set_space(SpaceBullet *p_space);

18
modules/bullet/bullet_physics_server.cpp
View file

@ -74,12 +74,6 @@
body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
// <--------------- Joint creation asserts
btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty());
btEmptyShape *BulletPhysicsServer::get_empty_shape() {
return emptyShape;
}
void BulletPhysicsServer::_bind_methods() {
//ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer::DoTest);
}
@ -89,9 +83,7 @@ BulletPhysicsServer::BulletPhysicsServer() :
active(true),
active_spaces_count(0) {}
BulletPhysicsServer::~BulletPhysicsServer() {
bulletdelete(emptyShape);
}
BulletPhysicsServer::~BulletPhysicsServer() {}
RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
ShapeBullet *shape = NULL;
@ -338,7 +330,7 @@ Transform BulletPhysicsServer::area_get_shape_transform(RID p_area, int p_shape_
void BulletPhysicsServer::area_remove_shape(RID p_area, int p_shape_idx) {
AreaBullet *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
return area->remove_shape(p_shape_idx);
return area->remove_shape_full(p_shape_idx);
}
void BulletPhysicsServer::area_clear_shapes(RID p_area) {
@ -346,7 +338,7 @@ void BulletPhysicsServer::area_clear_shapes(RID p_area) {
ERR_FAIL_COND(!area);
for (int i = area->get_shape_count(); 0 < i; --i)
area->remove_shape(0);
area->remove_shape_full(0);
}
void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
@ -567,7 +559,7 @@ void BulletPhysicsServer::body_remove_shape(RID p_body, int p_shape_idx) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->remove_shape(p_shape_idx);
body->remove_shape_full(p_shape_idx);
}
void BulletPhysicsServer::body_clear_shapes(RID p_body) {
@ -1486,7 +1478,7 @@ void BulletPhysicsServer::free(RID p_rid) {
// Notify the shape is configured
for (Map<ShapeOwnerBullet *, int>::Element *element = shape->get_owners().front(); element; element = element->next()) {
static_cast<ShapeOwnerBullet *>(element->key())->remove_shape(shape);
static_cast<ShapeOwnerBullet *>(element->key())->remove_shape_full(shape);
}
shape_owner.free(p_rid);

7
modules/bullet/bullet_physics_server.h
View file

@ -60,13 +60,6 @@ class BulletPhysicsServer : public PhysicsServer {
mutable RID_Owner<SoftBodyBullet> soft_body_owner;
mutable RID_Owner<JointBullet> joint_owner;
private:
/// This is used as replacement of collision shape inside a compound or main shape
static btEmptyShape *emptyShape;
public:
static btEmptyShape *get_empty_shape();
protected:
static void _bind_methods();

184
modules/bullet/collision_object_bullet.cpp
View file

@ -43,8 +43,7 @@
@author AndreaCatania
*/
#define enableDynamicAabbTree true
#define initialChildCapacity 1
#define enableDynamicAabbTree false
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
@ -60,7 +59,10 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (!bt_shape) {
bt_shape = shape->create_bt_shape(scale * body_scale);
if (active)
bt_shape = shape->create_bt_shape(scale * body_scale);
else
bt_shape = ShapeBullet::create_shape_empty();
}
}
@ -90,7 +92,7 @@ bool equal(real_t first, real_t second) {
void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
body_scale = p_new_scale;
on_body_scale_changed();
body_scale_changed();
}
}
@ -100,7 +102,7 @@ btVector3 CollisionObjectBullet::get_bt_body_scale() const {
return s;
}
void CollisionObjectBullet::on_body_scale_changed() {
void CollisionObjectBullet::body_scale_changed() {
force_shape_reset = true;
}
@ -204,31 +206,10 @@ RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
}
}
/* Not used
void RigidCollisionObjectBullet::_internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) {
bool at_least_one_was_changed = false;
btTransform old_transf;
// Inverse because I need remove the shapes
// Fetch all shapes to be sure to remove all shapes
for (int i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) {
if (compoundShape->getChildShape(i) == p_old_shape) {
old_transf = compoundShape->getChildTransform(i);
compoundShape->removeChildShapeByIndex(i);
compoundShape->addChildShape(old_transf, p_new_shape);
at_least_one_was_changed = true;
}
}
if (at_least_one_was_changed) {
on_shapes_changed();
}
}*/
void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform) {
shapes.push_back(ShapeWrapper(p_shape, p_transform, true));
p_shape->add_owner(this);
on_shapes_changed();
reload_shapes();
}
void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
@ -236,42 +217,7 @@ void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
shp.shape->remove_owner(this);
p_shape->add_owner(this);
shp.shape = p_shape;
on_shapes_changed();
}
void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
ERR_FAIL_INDEX(p_index, get_shape_count());
shapes.write[p_index].set_transform(p_transform);
on_shape_changed(shapes.write[p_index].shape);
}
void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) {
// Remove the shape, all the times it appears
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
if (p_shape == shapes[i].shape) {
internal_shape_destroy(i);
shapes.remove(i);
}
}
on_shapes_changed();
}
void RigidCollisionObjectBullet::remove_shape(int p_index) {
ERR_FAIL_INDEX(p_index, get_shape_count());
internal_shape_destroy(p_index);
shapes.remove(p_index);
on_shapes_changed();
}
void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) {
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
internal_shape_destroy(i, p_permanentlyFromThisBody);
}
shapes.clear();
on_shapes_changed();
reload_shapes();
}
int RigidCollisionObjectBullet::get_shape_count() const {
@ -286,6 +232,51 @@ btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
return shapes[p_index].bt_shape;
}
int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const {
const int size = shapes.size();
for (int i = 0; i < size; ++i) {
if (shapes[i].shape == p_shape)
return i;
}
return -1;
}
void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
// Remove the shape, all the times it appears
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
if (p_shape == shapes[i].shape) {
internal_shape_destroy(i);
shapes.remove(i);
}
}
reload_shapes();
}
void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
ERR_FAIL_INDEX(p_index, get_shape_count());
internal_shape_destroy(p_index);
shapes.remove(p_index);
reload_shapes();
}
void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) {
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
internal_shape_destroy(i, p_permanentlyFromThisBody);
}
shapes.clear();
reload_shapes();
}
void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
ERR_FAIL_INDEX(p_index, get_shape_count());
shapes.write[p_index].set_transform(p_transform);
// Note, enableDynamicAabbTree is false because on transform change compound is destroyed
reload_shapes();
}
const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
return shapes[p_index].transform;
}
@ -296,21 +287,26 @@ Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
return trs;
}
void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_shape) {
const int size = shapes.size();
for (int i = 0; i < size; ++i) {
if (shapes[i].shape == p_shape) {
bulletdelete(shapes.write[i].bt_shape);
}
}
on_shapes_changed();
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
shapes.write[p_index].active = !p_disabled;
shape_changed(p_index);
}
void RigidCollisionObjectBullet::on_shapes_changed() {
bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
return !shapes[p_index].active;
}
if (mainShape && mainShape->isCompound()) {
void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
bulletdelete(shapes.write[p_shape_index].bt_shape);
reload_shapes();
}
void RigidCollisionObjectBullet::reload_shapes() {
if (mainShape && mainShape->isCompound())
// Destroy compound
bulletdelete(mainShape);
}
mainShape = NULL;
ShapeWrapper *shpWrapper;
@ -325,7 +321,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
force_shape_reset = false;
}
btVector3 body_scale(get_bt_body_scale());
const btVector3 body_scale(get_bt_body_scale());
if (!shape_count)
return;
@ -333,47 +329,33 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
// 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()) {
if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
main_shape_resetted();
main_shape_changed();
return;
}
}
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity));
// Optimization not possible use a compound shape
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
// Insert all shapes into compound
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
if (shpWrapper->active) {
shpWrapper->claim_bt_shape(body_scale);
btTransform scaled_shape_transform(shpWrapper->transform);
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
} else {
compoundShape->addChildShape(btTransform(), BulletPhysicsServer::get_empty_shape());
}
shpWrapper->claim_bt_shape(body_scale);
btTransform scaled_shape_transform(shpWrapper->transform);
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}
compoundShape->recalculateLocalAabb();
mainShape = compoundShape;
main_shape_resetted();
main_shape_changed();
}
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
shapes.write[p_index].active = !p_disabled;
on_shapes_changed();
}
bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
return !shapes[p_index].active;
}
void RigidCollisionObjectBullet::on_body_scale_changed() {
CollisionObjectBullet::on_body_scale_changed();
on_shapes_changed();
void RigidCollisionObjectBullet::body_scale_changed() {
CollisionObjectBullet::body_scale_changed();
reload_shapes();
}
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {

35
modules/bullet/collision_object_bullet.h
View file

@ -157,7 +157,7 @@ public:
void set_body_scale(const Vector3 &p_new_scale);
const Vector3 &get_body_scale() const { return body_scale; }
btVector3 get_bt_body_scale() const;
virtual void on_body_scale_changed();
virtual void body_scale_changed();
void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
void remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
@ -185,7 +185,7 @@ public:
virtual void reload_body() = 0;
virtual void set_space(SpaceBullet *p_space) = 0;
_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
/// This is an event that is called when a collision checker starts
virtual void on_collision_checker_start() = 0;
virtual void dispatch_callbacks() = 0;
@ -197,7 +197,6 @@ public:
virtual void on_enter_area(AreaBullet *p_area) = 0;
virtual void on_exit_area(AreaBullet *p_area);
/// GodotObjectFlags
void set_godot_object_flags(int flags);
int get_godot_object_flags() const;
@ -209,7 +208,6 @@ public:
class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
protected:
/// This could be a compound shape in case multi please collision are found
btCollisionShape *mainShape;
Vector<ShapeWrapper> shapes;
@ -219,31 +217,34 @@ public:
_FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
/// This is used to set new shape or replace existing
//virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0;
_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform());
void set_shape(int p_index, ShapeBullet *p_shape);
void set_shape_transform(int p_index, const Transform &p_transform);
virtual void remove_shape(ShapeBullet *p_shape);
void remove_shape(int p_index);
void remove_all_shapes(bool p_permanentlyFromThisBody = false);
virtual void on_shape_changed(const ShapeBullet *const p_shape);
virtual void on_shapes_changed();
_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;
int find_shape(ShapeBullet *p_shape) const;
virtual void remove_shape_full(ShapeBullet *p_shape);
void remove_shape_full(int p_index);
void remove_all_shapes(bool p_permanentlyFromThisBody = false);
void set_shape_transform(int p_index, const Transform &p_transform);
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();
virtual void shape_changed(int p_shape_index);
virtual void reload_shapes();
virtual void main_shape_changed() = 0;
virtual void body_scale_changed();
private:
void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false);

15
modules/bullet/rigid_body_bullet.cpp
View file

@ -279,9 +279,10 @@ RigidBodyBullet::RigidBodyBullet() :
// Initial properties
const btVector3 localInertia(0, 0, 0);
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, BulletPhysicsServer::get_empty_shape(), localInertia);
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, NULL, localInertia);
btBody = bulletnew(btRigidBody(cInfo));
reload_shapes();
setupBulletCollisionObject(btBody);
set_mode(PhysicsServer::BODY_MODE_RIGID);
@ -314,11 +315,9 @@ void RigidBodyBullet::destroy_kinematic_utilities() {
}
}
void RigidBodyBullet::main_shape_resetted() {
if (get_main_shape())
btBody->setCollisionShape(get_main_shape());
else
btBody->setCollisionShape(BulletPhysicsServer::get_empty_shape());
void RigidBodyBullet::main_shape_changed() {
CRASH_COND(!get_main_shape())
btBody->setCollisionShape(get_main_shape());
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
}
@ -791,8 +790,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
}
}
void RigidBodyBullet::on_shapes_changed() {
RigidCollisionObjectBullet::on_shapes_changed();
void RigidBodyBullet::reload_shapes() {
RigidCollisionObjectBullet::reload_shapes();
const btScalar invMass = btBody->getInvMass();
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;

4
modules/bullet/rigid_body_bullet.h
View file

@ -231,7 +231,7 @@ public:
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
virtual void main_shape_resetted();
virtual void main_shape_changed();
virtual void reload_body();
virtual void set_space(SpaceBullet *p_space);
@ -302,7 +302,7 @@ public:
virtual void set_transform__bullet(const btTransform &p_global_transform);
virtual const btTransform &get_transform__bullet() const;
virtual void on_shapes_changed();
virtual void reload_shapes();
virtual void on_enter_area(AreaBullet *p_area);
virtual void on_exit_area(AreaBullet *p_area);

3
modules/bullet/shape_bullet.cpp
View file

@ -65,7 +65,8 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
void ShapeBullet::notifyShapeChanged() {
for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
static_cast<ShapeOwnerBullet *>(E->key())->on_shape_changed(this);
ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key());
owner->shape_changed(owner->find_shape(this));
}
}

9
modules/bullet/shape_owner_bullet.h
View file

@ -45,11 +45,10 @@ class CollisionObjectBullet;
/// E.G. BodyShape is a child of this
class ShapeOwnerBullet {
public:
/// This is used to set new shape or replace existing
//virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0;
virtual void on_shape_changed(const ShapeBullet *const p_shape) = 0;
virtual void on_shapes_changed() = 0;
virtual void remove_shape(class ShapeBullet *p_shape) = 0;
virtual int find_shape(ShapeBullet *p_shape) const = 0;
virtual void shape_changed(int p_shape_index) = 0;
virtual void reload_shapes() = 0;
virtual void remove_shape_full(class ShapeBullet *p_shape) = 0;
virtual ~ShapeOwnerBullet() {}
};
#endif