- 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.
218 lines
11 KiB
C++
218 lines
11 KiB
C++
/*************************************************************************/
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/* space_bullet.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef SPACE_BULLET_H
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#define SPACE_BULLET_H
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#include "core/variant.h"
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#include "core/vector.h"
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#include "godot_result_callbacks.h"
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#include "rid_bullet.h"
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#include "servers/physics_server.h"
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#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
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#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h>
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#include <LinearMath/btScalar.h>
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#include <LinearMath/btTransform.h>
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#include <LinearMath/btVector3.h>
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/**
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@author AndreaCatania
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*/
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class AreaBullet;
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class btBroadphaseInterface;
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class btCollisionDispatcher;
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class btConstraintSolver;
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class btDefaultCollisionConfiguration;
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class btDynamicsWorld;
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class btDiscreteDynamicsWorld;
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class btEmptyShape;
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class btGhostPairCallback;
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class btSoftRigidDynamicsWorld;
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struct btSoftBodyWorldInfo;
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class ConstraintBullet;
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class CollisionObjectBullet;
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class RigidBodyBullet;
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class SpaceBullet;
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class SoftBodyBullet;
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class btGjkEpaPenetrationDepthSolver;
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extern ContactAddedCallback gContactAddedCallback;
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class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState {
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GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState)
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private:
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SpaceBullet *space;
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public:
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BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
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virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false);
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virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = NULL);
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/// Returns the list of contacts pairs in this order: Local contact, other body contact
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virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
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};
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class SpaceBullet : public RIDBullet {
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friend class AreaBullet;
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friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
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friend class BulletPhysicsDirectSpaceState;
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btBroadphaseInterface *broadphase;
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btDefaultCollisionConfiguration *collisionConfiguration;
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btCollisionDispatcher *dispatcher;
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btConstraintSolver *solver;
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btDiscreteDynamicsWorld *dynamicsWorld;
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btSoftBodyWorldInfo *soft_body_world_info;
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btGhostPairCallback *ghostPairCallback;
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GodotFilterCallback *godotFilterCallback;
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btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver;
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btVoronoiSimplexSolver *gjk_simplex_solver;
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BulletPhysicsDirectSpaceState *direct_access;
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Vector3 gravityDirection;
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real_t gravityMagnitude;
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Vector<AreaBullet *> areas;
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Vector<Vector3> contactDebug;
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int contactDebugCount;
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real_t delta_time;
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public:
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SpaceBullet();
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virtual ~SpaceBullet();
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void flush_queries();
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real_t get_delta_time() { return delta_time; }
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void step(real_t p_delta_time);
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_FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }
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_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
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_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
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_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
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/// Used to set some parameters to Bullet world
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/// @param p_param:
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/// AREA_PARAM_GRAVITY to set the gravity magnitude of entire world
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/// AREA_PARAM_GRAVITY_VECTOR to set the gravity direction of entire world
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void set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value);
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/// Used to get some parameters to Bullet world
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/// @param p_param:
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/// AREA_PARAM_GRAVITY to get the gravity magnitude of entire world
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/// AREA_PARAM_GRAVITY_VECTOR to get the gravity direction of entire world
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Variant get_param(PhysicsServer::AreaParameter p_param);
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void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value);
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real_t get_param(PhysicsServer::SpaceParameter p_param);
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void add_area(AreaBullet *p_area);
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void remove_area(AreaBullet *p_area);
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void reload_collision_filters(AreaBullet *p_area);
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void add_rigid_body(RigidBodyBullet *p_body);
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void remove_rigid_body(RigidBodyBullet *p_body);
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void reload_collision_filters(RigidBodyBullet *p_body);
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void add_soft_body(SoftBodyBullet *p_body);
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void remove_soft_body(SoftBodyBullet *p_body);
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void reload_collision_filters(SoftBodyBullet *p_body);
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void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false);
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void remove_constraint(ConstraintBullet *p_constraint);
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int get_num_collision_objects() const;
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void remove_all_collision_objects();
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BulletPhysicsDirectSpaceState *get_direct_state();
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void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); }
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_FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); }
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_FORCE_INLINE_ void reset_debug_contact_count() {
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contactDebugCount = 0;
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}
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_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
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if (contactDebugCount < contactDebug.size()) contactDebug.write[contactDebugCount++] = p_contact;
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}
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_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
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_FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; }
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const Vector3 &get_gravity_direction() const { return gravityDirection; }
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real_t get_gravity_magnitude() const { return gravityMagnitude; }
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void update_gravity();
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bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes);
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int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, float p_margin);
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private:
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void create_empty_world(bool p_create_soft_world);
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void destroy_world();
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void check_ghost_overlaps();
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void check_body_collision();
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struct RecoverResult {
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bool hasPenetration;
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btVector3 normal;
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btVector3 pointWorld;
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btScalar penetration_distance; // Negative mean penetration
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int other_compound_shape_index;
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const btCollisionObject *other_collision_object;
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int local_shape_most_recovered;
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RecoverResult() :
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hasPenetration(false),
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normal(0, 0, 0),
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pointWorld(0, 0, 0),
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penetration_distance(1e20),
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other_compound_shape_index(0),
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other_collision_object(NULL),
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local_shape_most_recovered(0) {}
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};
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bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
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/// This is an API that recover a kinematic object from penetration
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/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
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bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
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/// This is an API that recover a kinematic object from penetration
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/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
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bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = NULL);
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void convert_to_separation_result(PhysicsServer::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const;
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int recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results);
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};
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#endif
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