Fixing trimesh precision

modules/bullet/bullet_utilities.h

@@ -35,8 +35,6 @@
 	@author AndreaCatania
 */
 
-#pragma once
-
 #define bulletnew(cl) \
 	new cl
 

modules/bullet/collision_object_bullet.cpp

@@ -114,6 +114,7 @@ void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_coll
 	bt_collision_object->setUserIndex(type);
 	// Force the enabling of collision and avoid problems
 	set_collision_enabled(collisionsEnabled);
+	p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
 }
 
 void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {

modules/bullet/godot_result_callbacks.cpp

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

modules/bullet/godot_result_callbacks.h

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

modules/bullet/rigid_body_bullet.cpp

@@ -321,7 +321,8 @@ void RigidBodyBullet::main_shape_resetted() {
 void RigidBodyBullet::reload_body() {
 	if (space) {
 		space->remove_rigid_body(this);
-		space->add_rigid_body(this);
+		if (get_main_shape())
+			space->add_rigid_body(this);
 	}
 }
 

modules/bullet/shape_bullet.cpp

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

modules/bullet/space_bullet.cpp

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

modules/bullet/space_bullet.h

@@ -65,6 +65,8 @@ class SpaceBullet;
 class SoftBodyBullet;
 class btGjkEpaPenetrationDepthSolver;
 
+extern ContactAddedCallback gContactAddedCallback;
+
 class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState {
 	GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState)
 private: