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Merge pull request #14965 from AndreaCatania/intshap

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Fixed bullet intersect_shape crash, Fixed bullet sleeping
This commit is contained in:
Rémi Verschelde 2017-12-23 11:18:30 +01:00 committed by GitHub
commit 5463b5e348
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 33 additions and 12 deletions
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5
modules/bullet/godot_result_callbacks.cpp
View file

@ -142,6 +142,9 @@ bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) co
btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) {
if (m_count >= m_resultMax)
return cp.getDistance();
if (cp.getDistance() <= 0) {
PhysicsDirectSpaceState::ShapeResult &result = m_results[m_count];
@ -165,7 +168,7 @@ btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, con
++m_count;
}
return m_count < m_resultMax;
return cp.getDistance();
}
bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const {

39
modules/bullet/rigid_body_bullet.cpp
View file

@ -264,6 +264,7 @@ RigidBodyBullet::RigidBodyBullet() :
can_sleep(true),
force_integration_callback(NULL),
isTransformChanged(false),
previousActiveState(true),
maxCollisionsDetection(0),
collisionsCount(0),
maxAreasWhereIam(10),
@ -287,6 +288,7 @@ RigidBodyBullet::RigidBodyBullet() :
for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
areasWhereIam[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
}
RigidBodyBullet::~RigidBodyBullet() {
@ -337,7 +339,7 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
void RigidBodyBullet::dispatch_callbacks() {
/// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent
if (btBody->isActive() && force_integration_callback && isTransformChanged) {
if (previousActiveState != btBody->isActive() && force_integration_callback && isTransformChanged) {
BulletPhysicsDirectBodyState *bodyDirect = BulletPhysicsDirectBodyState::get_singleton(this);
@ -364,6 +366,8 @@ void RigidBodyBullet::dispatch_callbacks() {
/// Lock axis
btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor());
btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor());
previousActiveState = btBody->isActive();
}
void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) {
@ -580,7 +584,8 @@ Variant RigidBodyBullet::get_state(PhysicsServer::BodyState p_state) const {
void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) {
btVector3 btImpu;
G_TO_B(p_impulse, btImpu);
btBody->activate();
if (Vector3() != p_impulse)
btBody->activate();
btBody->applyCentralImpulse(btImpu);
}
@ -589,14 +594,16 @@ void RigidBodyBullet::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impul
btVector3 btPos;
G_TO_B(p_impulse, btImpu);
G_TO_B(p_pos, btPos);
btBody->activate();
if (Vector3() != p_impulse)
btBody->activate();
btBody->applyImpulse(btImpu, btPos);
}
void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) {
btVector3 btImp;
G_TO_B(p_impulse, btImp);
btBody->activate();
if (Vector3() != p_impulse)
btBody->activate();
btBody->applyTorqueImpulse(btImp);
}
@ -605,28 +612,32 @@ void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_pos)
btVector3 btPos;
G_TO_B(p_force, btForce);
G_TO_B(p_pos, btPos);
btBody->activate();
if (Vector3() != p_force)
btBody->activate();
btBody->applyForce(btForce, btPos);
}
void RigidBodyBullet::apply_central_force(const Vector3 &p_force) {
btVector3 btForce;
G_TO_B(p_force, btForce);
btBody->activate();
if (Vector3() != p_force)
btBody->activate();
btBody->applyCentralForce(btForce);
}
void RigidBodyBullet::apply_torque(const Vector3 &p_torque) {
btVector3 btTorq;
G_TO_B(p_torque, btTorq);
btBody->activate();
if (Vector3() != p_torque)
btBody->activate();
btBody->applyTorque(btTorq);
}
void RigidBodyBullet::set_applied_force(const Vector3 &p_force) {
btVector3 btVec = btBody->getTotalTorque();
btBody->activate();
if (Vector3() != p_force)
btBody->activate();
btBody->clearForces();
btBody->applyTorque(btVec);
@ -644,7 +655,8 @@ Vector3 RigidBodyBullet::get_applied_force() const {
void RigidBodyBullet::set_applied_torque(const Vector3 &p_torque) {
btVector3 btVec = btBody->getTotalForce();
btBody->activate();
if (Vector3() != p_torque)
btBody->activate();
btBody->clearForces();
btBody->applyCentralForce(btVec);
@ -711,7 +723,8 @@ bool RigidBodyBullet::is_continuous_collision_detection_enabled() const {
void RigidBodyBullet::set_linear_velocity(const Vector3 &p_velocity) {
btVector3 btVec;
G_TO_B(p_velocity, btVec);
btBody->activate();
if (Vector3() != p_velocity)
btBody->activate();
btBody->setLinearVelocity(btVec);
}
@ -724,7 +737,8 @@ Vector3 RigidBodyBullet::get_linear_velocity() const {
void RigidBodyBullet::set_angular_velocity(const Vector3 &p_velocity) {
btVector3 btVec;
G_TO_B(p_velocity, btVec);
btBody->activate();
if (Vector3() != p_velocity)
btBody->activate();
btBody->setAngularVelocity(btVec);
}
@ -833,6 +847,9 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
void RigidBodyBullet::reload_space_override_modificator() {
if (!is_active())
return;
Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude());
real_t newLinearDamp(linearDamp);
real_t newAngularDamp(angularDamp);

1
modules/bullet/rigid_body_bullet.h
View file

@ -207,6 +207,7 @@ private:
bool isScratchedSpaceOverrideModificator;
bool isTransformChanged;
bool previousActiveState; // Last check state
ForceIntegrationCallback *force_integration_callback;