Merge pull request #39726 from AndreaCatania/add_body_impr_physics
Optimized physics object spawn time
This commit is contained in:
Rémi Verschelde
GitHub
commit
bd3a468fc2
12 changed files with 204 additions and 71 deletions
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@ -164,7 +164,7 @@ void AreaBullet::main_shape_changed() {
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btGhost->setCollisionShape(get_main_shape());
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}
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void AreaBullet::reload_body() {
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void AreaBullet::do_reload_body() {
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if (space) {
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space->remove_area(this);
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space->add_area(this);
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@ -178,13 +178,15 @@ void AreaBullet::set_space(SpaceBullet *p_space) {
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isScratched = false;
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// Remove this object form the physics world
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space->unregister_collision_object(this);
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space->remove_area(this);
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}
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space = p_space;
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if (space) {
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space->add_area(this);
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space->register_collision_object(this);
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reload_body();
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}
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}
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@ -140,7 +140,7 @@ public:
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_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
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virtual void main_shape_changed();
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virtual void reload_body();
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virtual void do_reload_body();
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virtual void set_space(SpaceBullet *p_space);
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virtual void dispatch_callbacks();
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@ -79,7 +79,7 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const
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}
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void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
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if (!bt_shape) {
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if (bt_shape == nullptr) {
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if (active) {
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bt_shape = shape->create_bt_shape(scale * body_scale);
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} else {
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@ -88,6 +88,13 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s
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}
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}
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void CollisionObjectBullet::ShapeWrapper::release_bt_shape() {
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if (bt_shape != nullptr) {
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shape->destroy_bt_shape(bt_shape);
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bt_shape = nullptr;
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}
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}
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CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
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RIDBullet(),
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type(p_type) {}
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@ -158,6 +165,13 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet
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return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
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}
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void CollisionObjectBullet::prepare_object_for_dispatch() {
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if (need_body_reload) {
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do_reload_body();
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need_body_reload = false;
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}
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}
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void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
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collisionsEnabled = p_enabled;
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if (collisionsEnabled) {
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@ -319,16 +333,28 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
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return !shapes[p_index].active;
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}
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void RigidCollisionObjectBullet::prepare_object_for_dispatch() {
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if (need_shape_reload) {
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do_reload_shapes();
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need_shape_reload = false;
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}
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CollisionObjectBullet::prepare_object_for_dispatch();
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}
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void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
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ShapeWrapper &shp = shapes.write[p_shape_index];
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if (shp.bt_shape == mainShape) {
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mainShape = nullptr;
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}
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bulletdelete(shp.bt_shape);
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shp.release_bt_shape();
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reload_shapes();
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}
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void RigidCollisionObjectBullet::reload_shapes() {
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need_shape_reload = true;
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}
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void RigidCollisionObjectBullet::do_reload_shapes() {
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if (mainShape && mainShape->isCompound()) {
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// Destroy compound
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bulletdelete(mainShape);
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@ -336,41 +362,39 @@ void RigidCollisionObjectBullet::reload_shapes() {
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mainShape = nullptr;
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ShapeWrapper *shpWrapper;
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const int shape_count = shapes.size();
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ShapeWrapper *shapes_ptr = shapes.ptrw();
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// Reset shape if required
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// Reset all shapes if required
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if (force_shape_reset) {
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for (int i(0); i < shape_count; ++i) {
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shpWrapper = &shapes.write[i];
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bulletdelete(shpWrapper->bt_shape);
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shapes_ptr[i].release_bt_shape();
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}
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force_shape_reset = false;
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}
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const btVector3 body_scale(get_bt_body_scale());
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// Try to optimize by not using compound
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if (1 == shape_count) {
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shpWrapper = &shapes.write[0];
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btTransform transform = shpWrapper->get_adjusted_transform();
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// Is it possible to optimize by not using compound?
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btTransform transform = shapes_ptr[0].get_adjusted_transform();
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if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
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shpWrapper->claim_bt_shape(body_scale);
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mainShape = shpWrapper->bt_shape;
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shapes_ptr[0].claim_bt_shape(body_scale);
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mainShape = shapes_ptr[0].bt_shape;
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main_shape_changed();
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// Nothing more to do
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return;
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}
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}
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// Optimization not possible use a compound shape
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// Optimization not possible use a compound shape.
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btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
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for (int i(0); i < shape_count; ++i) {
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shpWrapper = &shapes.write[i];
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shpWrapper->claim_bt_shape(body_scale);
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btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
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shapes_ptr[i].claim_bt_shape(body_scale);
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btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform());
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scaled_shape_transform.getOrigin() *= body_scale;
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compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
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compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape);
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}
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compoundShape->recalculateLocalAabb();
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@ -389,5 +413,5 @@ void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_perm
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if (shp.bt_shape == mainShape) {
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mainShape = nullptr;
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}
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bulletdelete(shp.bt_shape);
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shp.release_bt_shape();
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}
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@ -70,11 +70,12 @@ public:
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struct ShapeWrapper {
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ShapeBullet *shape = nullptr;
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btCollisionShape *bt_shape = nullptr;
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btTransform transform;
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btVector3 scale;
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bool active = true;
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btCollisionShape *bt_shape = nullptr;
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public:
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ShapeWrapper() {}
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ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) :
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@ -107,6 +108,7 @@ public:
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btTransform get_adjusted_transform() const;
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void claim_bt_shape(const btVector3 &body_scale);
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void release_bt_shape();
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};
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protected:
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@ -124,12 +126,17 @@ protected:
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VSet<RID> exceptions;
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bool need_body_reload = true;
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/// This array is used to know all areas where this Object is overlapped in
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/// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea)
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/// This array is used mainly to know which area hold the pointer of this object
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Vector<AreaBullet *> areasOverlapped;
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bool isTransformChanged = false;
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public:
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bool is_in_world = false;
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public:
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CollisionObjectBullet(Type p_type);
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virtual ~CollisionObjectBullet();
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@ -183,13 +190,21 @@ public:
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return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
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}
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virtual void reload_body() = 0;
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bool need_reload_body() const {
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return need_body_reload;
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}
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void reload_body() {
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need_body_reload = true;
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}
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virtual void do_reload_body() = 0;
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virtual void set_space(SpaceBullet *p_space) = 0;
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_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
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virtual void on_collision_checker_start() = 0;
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virtual void on_collision_checker_end() = 0;
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virtual void prepare_object_for_dispatch();
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virtual void dispatch_callbacks() = 0;
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void set_collision_enabled(bool p_enabled);
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@ -215,6 +230,7 @@ class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwn
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protected:
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btCollisionShape *mainShape = nullptr;
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Vector<ShapeWrapper> shapes;
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bool need_shape_reload = true;
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public:
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RigidCollisionObjectBullet(Type p_type) :
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@ -246,8 +262,12 @@ public:
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void set_shape_disabled(int p_index, bool p_disabled);
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bool is_shape_disabled(int p_index);
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virtual void prepare_object_for_dispatch();
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virtual void shape_changed(int p_shape_index);
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virtual void reload_shapes();
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void reload_shapes();
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bool need_reload_shapes() const { return need_shape_reload; }
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virtual void do_reload_shapes();
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virtual void main_shape_changed() = 0;
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virtual void body_scale_changed();
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@ -237,7 +237,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
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case PhysicsServer3D::SHAPE_CYLINDER:
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case PhysicsServer3D::SHAPE_CONVEX_POLYGON:
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case PhysicsServer3D::SHAPE_RAY: {
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shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
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shapes.write[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin));
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} break;
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default:
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WARN_PRINT("This shape is not supported for kinematic collision.");
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@ -307,7 +307,7 @@ void RigidBodyBullet::main_shape_changed() {
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set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
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}
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void RigidBodyBullet::reload_body() {
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void RigidBodyBullet::do_reload_body() {
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if (space) {
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space->remove_rigid_body(this);
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if (get_main_shape()) {
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@ -325,13 +325,15 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) {
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assert_no_constraints();
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// Remove this object form the physics world
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space->unregister_collision_object(this);
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space->remove_rigid_body(this);
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}
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space = p_space;
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if (space) {
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space->add_rigid_body(this);
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space->register_collision_object(this);
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reload_body();
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}
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}
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@ -803,8 +805,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
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}
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}
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void RigidBodyBullet::reload_shapes() {
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RigidCollisionObjectBullet::reload_shapes();
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void RigidBodyBullet::do_reload_shapes() {
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RigidCollisionObjectBullet::do_reload_shapes();
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const btScalar invMass = btBody->getInvMass();
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const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
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@ -236,7 +236,7 @@ public:
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_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
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virtual void main_shape_changed();
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virtual void reload_body();
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virtual void do_reload_body();
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virtual void set_space(SpaceBullet *p_space);
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virtual void dispatch_callbacks();
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@ -315,7 +315,7 @@ public:
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virtual void set_transform__bullet(const btTransform &p_global_transform);
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virtual const btTransform &get_transform__bullet() const;
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virtual void reload_shapes();
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virtual void do_reload_shapes();
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virtual void on_enter_area(AreaBullet *p_area);
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virtual void on_exit_area(AreaBullet *p_area);
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@ -46,9 +46,15 @@
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@author AndreaCatania
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*/
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ShapeBullet::ShapeBullet() {}
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ShapeBullet::ShapeBullet() {
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}
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ShapeBullet::~ShapeBullet() {}
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ShapeBullet::~ShapeBullet() {
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if (default_shape != nullptr) {
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bulletdelete(default_shape);
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default_shape = nullptr;
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}
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}
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btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) {
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btVector3 s;
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@ -56,6 +62,22 @@ btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale,
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return create_bt_shape(s, p_extra_edge);
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}
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btCollisionShape *ShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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if (p_extra_edge == 0.0 && (p_implicit_scale - btVector3(1, 1, 1)).length2() <= CMP_EPSILON) {
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return default_shape;
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}
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return internal_create_bt_shape(p_implicit_scale, p_extra_edge);
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}
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void ShapeBullet::destroy_bt_shape(btCollisionShape *p_shape) const {
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if (p_shape != default_shape && p_shape != old_default_shape) {
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if (likely(p_shape != nullptr)) {
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bulletdelete(p_shape);
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}
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}
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}
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btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
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p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
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p_btShape->setMargin(margin);
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@ -63,10 +85,21 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
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}
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void ShapeBullet::notifyShapeChanged() {
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// Store the old shape ptr so to not lose the reference pointer.
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old_default_shape = default_shape;
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// Create the new default shape with the new data.
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default_shape = internal_create_bt_shape(btVector3(1, 1, 1));
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for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
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ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key());
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owner->shape_changed(owner->find_shape(this));
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}
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if (old_default_shape) {
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// At this point now one has the old default shape; just delete it.
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bulletdelete(old_default_shape);
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old_default_shape = nullptr;
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}
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}
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void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) {
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@ -186,7 +219,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
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notifyShapeChanged();
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}
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btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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btCollisionShape *PlaneShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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btVector3 btPlaneNormal;
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G_TO_B(plane.normal, btPlaneNormal);
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return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
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@ -214,7 +247,7 @@ void SphereShapeBullet::setup(real_t p_radius) {
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notifyShapeChanged();
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}
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btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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btCollisionShape *SphereShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge));
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}
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@ -241,7 +274,7 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
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notifyShapeChanged();
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}
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btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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btCollisionShape *BoxShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge)));
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}
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@ -274,7 +307,7 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
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notifyShapeChanged();
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}
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btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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btCollisionShape *CapsuleShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
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return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge));
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}
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@ -307,7 +340,7 @@ void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) {
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notifyShapeChanged();
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}
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btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
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btCollisionShape *CylinderShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
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||||
return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
|
||||
}
|
||||
|
||||
|
|
@ -349,7 +382,7 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
|
|||
notifyShapeChanged();
|
||||
}
|
||||
|
||||
btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
|
||||
btCollisionShape *ConvexPolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
|
||||
if (!vertices.size()) {
|
||||
// This is necessary since 0 vertices
|
||||
return prepare(ShapeBullet::create_shape_empty());
|
||||
|
|
@ -431,7 +464,7 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) {
|
|||
notifyShapeChanged();
|
||||
}
|
||||
|
||||
btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
|
||||
btCollisionShape *ConcavePolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
|
||||
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
|
||||
if (!cs) {
|
||||
// This is necessary since if 0 faces the creation of concave return null
|
||||
|
|
@ -555,7 +588,7 @@ void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_d
|
|||
notifyShapeChanged();
|
||||
}
|
||||
|
||||
btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
|
||||
btCollisionShape *HeightMapShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
|
||||
btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height));
|
||||
cs->setLocalScaling(p_implicit_scale);
|
||||
prepare(cs);
|
||||
|
|
@ -588,6 +621,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) {
|
|||
notifyShapeChanged();
|
||||
}
|
||||
|
||||
btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
|
||||
btCollisionShape *RayShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) {
|
||||
return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -53,6 +53,10 @@ class ShapeBullet : public RIDBullet {
|
|||
Map<ShapeOwnerBullet *, int> owners;
|
||||
real_t margin = 0.04;
|
||||
|
||||
// Contains the default shape.
|
||||
btCollisionShape *default_shape = nullptr;
|
||||
btCollisionShape *old_default_shape = nullptr;
|
||||
|
||||
protected:
|
||||
/// return self
|
||||
btCollisionShape *prepare(btCollisionShape *p_btShape) const;
|
||||
|
|
@ -63,7 +67,11 @@ public:
|
|||
virtual ~ShapeBullet();
|
||||
|
||||
btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
|
||||
btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
void destroy_bt_shape(btCollisionShape *p_shape) const;
|
||||
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
|
||||
|
||||
void add_owner(ShapeOwnerBullet *p_owner);
|
||||
void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
|
||||
|
|
@ -102,7 +110,7 @@ public:
|
|||
virtual void set_data(const Variant &p_data);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
private:
|
||||
void setup(const Plane &p_plane);
|
||||
|
|
@ -118,7 +126,7 @@ public:
|
|||
virtual void set_data(const Variant &p_data);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
private:
|
||||
void setup(real_t p_radius);
|
||||
|
|
@ -134,7 +142,7 @@ public:
|
|||
virtual void set_data(const Variant &p_data);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
private:
|
||||
void setup(const Vector3 &p_half_extents);
|
||||
|
|
@ -152,7 +160,7 @@ public:
|
|||
virtual void set_data(const Variant &p_data);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
private:
|
||||
void setup(real_t p_height, real_t p_radius);
|
||||
|
|
@ -170,7 +178,7 @@ public:
|
|||
virtual void set_data(const Variant &p_data);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
|
||||
|
||||
private:
|
||||
void setup(real_t p_height, real_t p_radius);
|
||||
|
|
@ -186,7 +194,7 @@ public:
|
|||
void get_vertices(Vector<Vector3> &out_vertices);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
private:
|
||||
void setup(const Vector<Vector3> &p_vertices);
|
||||
|
|
@ -204,7 +212,7 @@ public:
|
|||
virtual void set_data(const Variant &p_data);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
private:
|
||||
void setup(Vector<Vector3> p_faces);
|
||||
|
|
@ -223,7 +231,7 @@ public:
|
|||
virtual void set_data(const Variant &p_data);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
private:
|
||||
void setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
|
||||
|
|
@ -239,7 +247,7 @@ public:
|
|||
virtual void set_data(const Variant &p_data);
|
||||
virtual Variant get_data() const;
|
||||
virtual PhysicsServer3D::ShapeType get_type() const;
|
||||
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
|
||||
|
||||
private:
|
||||
void setup(real_t p_length, bool p_slips_on_slope);
|
||||
|
|
|
|||
|
|
@ -41,7 +41,7 @@ SoftBodyBullet::SoftBodyBullet() :
|
|||
SoftBodyBullet::~SoftBodyBullet() {
|
||||
}
|
||||
|
||||
void SoftBodyBullet::reload_body() {
|
||||
void SoftBodyBullet::do_reload_body() {
|
||||
if (space) {
|
||||
space->remove_soft_body(this);
|
||||
space->add_soft_body(this);
|
||||
|
|
@ -51,13 +51,15 @@ void SoftBodyBullet::reload_body() {
|
|||
void SoftBodyBullet::set_space(SpaceBullet *p_space) {
|
||||
if (space) {
|
||||
isScratched = false;
|
||||
space->unregister_collision_object(this);
|
||||
space->remove_soft_body(this);
|
||||
}
|
||||
|
||||
space = p_space;
|
||||
|
||||
if (space) {
|
||||
space->add_soft_body(this);
|
||||
space->register_collision_object(this);
|
||||
reload_body();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -87,7 +87,7 @@ public:
|
|||
SoftBodyBullet();
|
||||
~SoftBodyBullet();
|
||||
|
||||
virtual void reload_body();
|
||||
virtual void do_reload_body();
|
||||
virtual void set_space(SpaceBullet *p_space);
|
||||
|
||||
virtual void dispatch_callbacks() {}
|
||||
|
|
|
|||
|
|
@ -127,7 +127,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
|
|||
|
||||
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin);
|
||||
if (!btShape->isConvex()) {
|
||||
bulletdelete(btShape);
|
||||
shape->destroy_bt_shape(btShape);
|
||||
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -147,7 +147,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
|
|||
btQuery.m_closestDistanceThreshold = 0;
|
||||
space->dynamicsWorld->contactTest(&collision_object, btQuery);
|
||||
|
||||
bulletdelete(btConvex);
|
||||
shape->destroy_bt_shape(btShape);
|
||||
|
||||
return btQuery.m_count;
|
||||
}
|
||||
|
|
@ -167,7 +167,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
|
|||
|
||||
btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
|
||||
if (!btShape->isConvex()) {
|
||||
bulletdelete(btShape);
|
||||
shape->destroy_bt_shape(btShape);
|
||||
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
|
||||
return false;
|
||||
}
|
||||
|
|
@ -206,7 +206,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
|
|||
r_closest_unsafe = 1.0f;
|
||||
}
|
||||
|
||||
bulletdelete(bt_convex_shape);
|
||||
shape->destroy_bt_shape(btShape);
|
||||
return true; // Mean success
|
||||
}
|
||||
|
||||
|
|
@ -221,7 +221,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
|
|||
|
||||
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
|
||||
if (!btShape->isConvex()) {
|
||||
bulletdelete(btShape);
|
||||
shape->destroy_bt_shape(btShape);
|
||||
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
|
||||
return false;
|
||||
}
|
||||
|
|
@ -242,7 +242,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
|
|||
space->dynamicsWorld->contactTest(&collision_object, btQuery);
|
||||
|
||||
r_result_count = btQuery.m_count;
|
||||
bulletdelete(btConvex);
|
||||
shape->destroy_bt_shape(btShape);
|
||||
|
||||
return btQuery.m_count;
|
||||
}
|
||||
|
|
@ -253,7 +253,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
|
|||
|
||||
btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin);
|
||||
if (!btShape->isConvex()) {
|
||||
bulletdelete(btShape);
|
||||
shape->destroy_bt_shape(btShape);
|
||||
ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
|
||||
return false;
|
||||
}
|
||||
|
|
@ -273,7 +273,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
|
|||
btQuery.m_closestDistanceThreshold = 0;
|
||||
space->dynamicsWorld->contactTest(&collision_object, btQuery);
|
||||
|
||||
bulletdelete(btConvex);
|
||||
shape->destroy_bt_shape(btShape);
|
||||
|
||||
if (btQuery.m_collided) {
|
||||
if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) {
|
||||
|
|
@ -349,9 +349,11 @@ SpaceBullet::~SpaceBullet() {
|
|||
}
|
||||
|
||||
void SpaceBullet::flush_queries() {
|
||||
const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray();
|
||||
for (int i = colObjArray.size() - 1; 0 <= i; --i) {
|
||||
static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks();
|
||||
const int size = collision_objects.size();
|
||||
CollisionObjectBullet **objects = collision_objects.ptrw();
|
||||
for (int i = 0; i < size; i += 1) {
|
||||
objects[i]->prepare_object_for_dispatch();
|
||||
objects[i]->dispatch_callbacks();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -448,16 +450,30 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) {
|
|||
}
|
||||
|
||||
void SpaceBullet::add_area(AreaBullet *p_area) {
|
||||
#ifdef TOOLS_ENABLED
|
||||
// This never happen, and there is no way for the user to trigger it.
|
||||
// If in future a bug is introduced into this bullet integration and this
|
||||
// function is called twice, the crash will notify the developer that will
|
||||
// fix it even before do the eventual PR.
|
||||
CRASH_COND(p_area->is_in_world);
|
||||
#endif
|
||||
areas.push_back(p_area);
|
||||
dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask());
|
||||
p_area->is_in_world = true;
|
||||
}
|
||||
|
||||
void SpaceBullet::remove_area(AreaBullet *p_area) {
|
||||
areas.erase(p_area);
|
||||
dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
|
||||
if (p_area->is_in_world) {
|
||||
areas.erase(p_area);
|
||||
dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost());
|
||||
p_area->is_in_world = false;
|
||||
}
|
||||
}
|
||||
|
||||
void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
|
||||
if (p_area->is_in_world == false) {
|
||||
return;
|
||||
}
|
||||
btGhostObject *ghost_object = p_area->get_bt_ghost();
|
||||
|
||||
btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle();
|
||||
|
|
@ -467,24 +483,46 @@ void SpaceBullet::reload_collision_filters(AreaBullet *p_area) {
|
|||
dynamicsWorld->refreshBroadphaseProxy(ghost_object);
|
||||
}
|
||||
|
||||
void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) {
|
||||
collision_objects.push_back(p_object);
|
||||
}
|
||||
|
||||
void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) {
|
||||
collision_objects.erase(p_object);
|
||||
}
|
||||
|
||||
void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) {
|
||||
#ifdef TOOLS_ENABLED
|
||||
// This never happen, and there is no way for the user to trigger it.
|
||||
// If in future a bug is introduced into this bullet integration and this
|
||||
// function is called twice, the crash will notify the developer that will
|
||||
// fix it even before do the eventual PR.
|
||||
CRASH_COND(p_body->is_in_world);
|
||||
#endif
|
||||
if (p_body->is_static()) {
|
||||
dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
|
||||
} else {
|
||||
dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
|
||||
p_body->scratch_space_override_modificator();
|
||||
}
|
||||
p_body->is_in_world = true;
|
||||
}
|
||||
|
||||
void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) {
|
||||
if (p_body->is_static()) {
|
||||
dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
|
||||
} else {
|
||||
dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
|
||||
if (p_body->is_in_world) {
|
||||
if (p_body->is_static()) {
|
||||
dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body());
|
||||
} else {
|
||||
dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body());
|
||||
}
|
||||
p_body->is_in_world = false;
|
||||
}
|
||||
}
|
||||
|
||||
void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
|
||||
if (p_body->is_in_world == false) {
|
||||
return;
|
||||
}
|
||||
btRigidBody *rigid_body = p_body->get_bt_rigid_body();
|
||||
|
||||
btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy();
|
||||
|
|
|
|||
|
|
@ -110,6 +110,7 @@ class SpaceBullet : public RIDBullet {
|
|||
real_t linear_damp = 0.0;
|
||||
real_t angular_damp = 0.0;
|
||||
|
||||
Vector<CollisionObjectBullet *> collision_objects;
|
||||
Vector<AreaBullet *> areas;
|
||||
|
||||
Vector<Vector3> contactDebug;
|
||||
|
|
@ -150,6 +151,9 @@ public:
|
|||
void remove_area(AreaBullet *p_area);
|
||||
void reload_collision_filters(AreaBullet *p_area);
|
||||
|
||||
void register_collision_object(CollisionObjectBullet *p_object);
|
||||
void unregister_collision_object(CollisionObjectBullet *p_object);
|
||||
|
||||
void add_rigid_body(RigidBodyBullet *p_body);
|
||||
void remove_rigid_body(RigidBodyBullet *p_body);
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void reload_collision_filters(RigidBodyBullet *p_body);
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Reference in a new issue