From a42765dadad77d4f4893d9ccf73b7cfefc1643bd Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Mon, 5 Feb 2018 18:20:26 +0100 Subject: [PATCH] Added physics API in order to enable/disable collisions between rigidbody attached to a joint with bullet physics bullet Fixes #16424 --- modules/bullet/bullet_physics_server.cpp | 30 ++++++++++++++----- modules/bullet/bullet_physics_server.h | 3 ++ modules/bullet/constraint_bullet.cpp | 12 +++++++- modules/bullet/constraint_bullet.h | 4 +++ scene/2d/joints_2d.cpp | 3 +- scene/3d/physics_joint.cpp | 3 +- servers/physics/constraint_sw.h | 5 ++++ servers/physics/physics_server_sw.cpp | 27 +++++++++++++++++ servers/physics/physics_server_sw.h | 3 ++ servers/physics_2d/constraint_2d_sw.h | 5 ++++ servers/physics_2d/physics_2d_server_sw.cpp | 27 +++++++++++++++++ servers/physics_2d/physics_2d_server_sw.h | 3 ++ .../physics_2d/physics_2d_server_wrap_mt.h | 3 ++ servers/physics_2d_server.h | 3 ++ servers/physics_server.h | 3 ++ 15 files changed, 121 insertions(+), 13 deletions(-) diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 51de4998fa4..b646fc164d4 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -70,8 +70,8 @@ return RID(); \ } -#define AddJointToSpace(body, joint, disableCollisionsBetweenLinkedBodies) \ - body->get_space()->add_constraint(joint, disableCollisionsBetweenLinkedBodies); +#define AddJointToSpace(body, joint) \ + body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies()); // <--------------- Joint creation asserts btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty()); @@ -987,6 +987,20 @@ int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const { return 0; } +void BulletPhysicsServer::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); +} + +bool BulletPhysicsServer::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + JointBullet *joint(joint_owner.get(p_joint)); + ERR_FAIL_COND_V(!joint, false); + + return joint->is_disabled_collisions_between_bodies(); +} + RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) { RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); @@ -1003,7 +1017,7 @@ RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1071,7 +1085,7 @@ RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hin ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1091,7 +1105,7 @@ RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 & ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1143,7 +1157,7 @@ RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_lo ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1177,7 +1191,7 @@ RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform & } JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } @@ -1213,7 +1227,7 @@ RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true)); - AddJointToSpace(body_A, joint, true); + AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index e0e46cd369c..764ec2387cf 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -290,6 +290,9 @@ public: virtual void joint_set_solver_priority(RID p_joint, int p_priority); virtual int joint_get_solver_priority(RID p_joint) const; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable); + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; + virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B); virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value); diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp index b60e89b6fd6..d15fb8de015 100644 --- a/modules/bullet/constraint_bullet.cpp +++ b/modules/bullet/constraint_bullet.cpp @@ -39,7 +39,8 @@ ConstraintBullet::ConstraintBullet() : space(NULL), - constraint(NULL) {} + constraint(NULL), + disabled_collisions_between_bodies(true) {} void ConstraintBullet::setup(btTypedConstraint *p_constraint) { constraint = p_constraint; @@ -53,3 +54,12 @@ void ConstraintBullet::set_space(SpaceBullet *p_space) { void ConstraintBullet::destroy_internal_constraint() { space->remove_constraint(this); } + +void ConstraintBullet::disable_collisions_between_bodies(const bool p_disabled) { + disabled_collisions_between_bodies = p_disabled; + + if (space) { + space->remove_constraint(this); + space->add_constraint(this, disabled_collisions_between_bodies); + } +} diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h index 23be5a5063c..ed3a318cbcd 100644 --- a/modules/bullet/constraint_bullet.h +++ b/modules/bullet/constraint_bullet.h @@ -49,6 +49,7 @@ class ConstraintBullet : public RIDBullet { protected: SpaceBullet *space; btTypedConstraint *constraint; + bool disabled_collisions_between_bodies; public: ConstraintBullet(); @@ -57,6 +58,9 @@ public: virtual void set_space(SpaceBullet *p_space); virtual void destroy_internal_constraint(); + void disable_collisions_between_bodies(const bool p_disabled); + _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; } + public: virtual ~ConstraintBullet() { bulletdelete(constraint); diff --git a/scene/2d/joints_2d.cpp b/scene/2d/joints_2d.cpp index 7a96a548548..329382c0347 100644 --- a/scene/2d/joints_2d.cpp +++ b/scene/2d/joints_2d.cpp @@ -75,8 +75,7 @@ void Joint2D::_update_joint(bool p_only_free) { ba = body_a->get_rid(); bb = body_b->get_rid(); - if (exclude_from_collision) - Physics2DServer::get_singleton()->body_add_collision_exception(body_a->get_rid(), body_b->get_rid()); + Physics2DServer::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); } void Joint2D::set_node_a(const NodePath &p_node_a) { diff --git a/scene/3d/physics_joint.cpp b/scene/3d/physics_joint.cpp index fed6d76f65f..2e9f1a241a6 100644 --- a/scene/3d/physics_joint.cpp +++ b/scene/3d/physics_joint.cpp @@ -71,8 +71,7 @@ void Joint::_update_joint(bool p_only_free) { ba = body_a->get_rid(); bb = body_b->get_rid(); - if (exclude_from_collision) - PhysicsServer::get_singleton()->body_add_collision_exception(body_a->get_rid(), body_b->get_rid()); + PhysicsServer::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); } void Joint::set_node_a(const NodePath &p_node_a) { diff --git a/servers/physics/constraint_sw.h b/servers/physics/constraint_sw.h index a641f06f0cf..41789600f65 100644 --- a/servers/physics/constraint_sw.h +++ b/servers/physics/constraint_sw.h @@ -41,6 +41,7 @@ class ConstraintSW : public RID_Data { ConstraintSW *island_next; ConstraintSW *island_list_next; int priority; + bool disabled_collisions_between_bodies; RID self; @@ -50,6 +51,7 @@ protected: _body_count = p_body_count; island_step = 0; priority = 1; + disabled_collisions_between_bodies = true; } public: @@ -71,6 +73,9 @@ public: _FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; } _FORCE_INLINE_ int get_priority() const { return priority; } + _FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; } + _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; } + virtual bool setup(real_t p_step) = 0; virtual void solve(real_t p_step) = 0; diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp index ea0d372281e..0f7c6deaac5 100644 --- a/servers/physics/physics_server_sw.cpp +++ b/servers/physics/physics_server_sw.cpp @@ -1093,6 +1093,33 @@ int PhysicsServerSW::joint_get_solver_priority(RID p_joint) const { return joint->get_priority(); } +void PhysicsServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + JointSW *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); + + if (2 == joint->get_body_count()) { + BodySW *body_a = *joint->get_body_ptr(); + BodySW *body_b = *(joint->get_body_ptr() + 1); + + if (p_disable) { + body_add_collision_exception(body_a->get_self(), body_b->get_self()); + body_add_collision_exception(body_b->get_self(), body_a->get_self()); + } else { + body_remove_collision_exception(body_a->get_self(), body_b->get_self()); + body_remove_collision_exception(body_b->get_self(), body_a->get_self()); + } + } +} + +bool PhysicsServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + JointSW *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, true); + + return joint->is_disabled_collisions_between_bodies(); +} + PhysicsServerSW::JointType PhysicsServerSW::joint_get_type(RID p_joint) const { JointSW *joint = joint_owner.get(p_joint); diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h index 132ac789686..923b59d28f6 100644 --- a/servers/physics/physics_server_sw.h +++ b/servers/physics/physics_server_sw.h @@ -275,6 +275,9 @@ public: virtual void joint_set_solver_priority(RID p_joint, int p_priority); virtual int joint_get_solver_priority(RID p_joint) const; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable); + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; + /* MISC */ virtual void free(RID p_rid); diff --git a/servers/physics_2d/constraint_2d_sw.h b/servers/physics_2d/constraint_2d_sw.h index a08037bb37c..c1954935d35 100644 --- a/servers/physics_2d/constraint_2d_sw.h +++ b/servers/physics_2d/constraint_2d_sw.h @@ -40,6 +40,7 @@ class Constraint2DSW : public RID_Data { uint64_t island_step; Constraint2DSW *island_next; Constraint2DSW *island_list_next; + bool disabled_collisions_between_bodies; RID self; @@ -48,6 +49,7 @@ protected: _body_ptr = p_body_ptr; _body_count = p_body_count; island_step = 0; + disabled_collisions_between_bodies = true; } public: @@ -66,6 +68,9 @@ public: _FORCE_INLINE_ Body2DSW **get_body_ptr() const { return _body_ptr; } _FORCE_INLINE_ int get_body_count() const { return _body_count; } + _FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; } + _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; } + virtual bool setup(real_t p_step) = 0; virtual void solve(real_t p_step) = 0; diff --git a/servers/physics_2d/physics_2d_server_sw.cpp b/servers/physics_2d/physics_2d_server_sw.cpp index 7d7bbbebac3..0603287a79e 100644 --- a/servers/physics_2d/physics_2d_server_sw.cpp +++ b/servers/physics_2d/physics_2d_server_sw.cpp @@ -1015,6 +1015,33 @@ real_t Physics2DServerSW::joint_get_param(RID p_joint, JointParam p_param) const return 0; } +void Physics2DServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + Joint2DSW *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); + + if (2 == joint->get_body_count()) { + Body2DSW *body_a = *joint->get_body_ptr(); + Body2DSW *body_b = *(joint->get_body_ptr() + 1); + + if (p_disable) { + body_add_collision_exception(body_a->get_self(), body_b->get_self()); + body_add_collision_exception(body_b->get_self(), body_a->get_self()); + } else { + body_remove_collision_exception(body_a->get_self(), body_b->get_self()); + body_remove_collision_exception(body_b->get_self(), body_a->get_self()); + } + } +} + +bool Physics2DServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + const Joint2DSW *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, true); + + return joint->is_disabled_collisions_between_bodies(); +} + RID Physics2DServerSW::pin_joint_create(const Vector2 &p_pos, RID p_body_a, RID p_body_b) { Body2DSW *A = body_owner.get(p_body_a); diff --git a/servers/physics_2d/physics_2d_server_sw.h b/servers/physics_2d/physics_2d_server_sw.h index 97edb855820..cf9c2957bff 100644 --- a/servers/physics_2d/physics_2d_server_sw.h +++ b/servers/physics_2d/physics_2d_server_sw.h @@ -242,6 +242,9 @@ public: virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value); virtual real_t joint_get_param(RID p_joint, JointParam p_param) const; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disabled); + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; + virtual RID pin_joint_create(const Vector2 &p_pos, RID p_body_a, RID p_body_b = RID()); virtual RID groove_joint_create(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b); virtual RID damped_spring_joint_create(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b = RID()); diff --git a/servers/physics_2d/physics_2d_server_wrap_mt.h b/servers/physics_2d/physics_2d_server_wrap_mt.h index 276c37c5779..d625bc98929 100644 --- a/servers/physics_2d/physics_2d_server_wrap_mt.h +++ b/servers/physics_2d/physics_2d_server_wrap_mt.h @@ -263,6 +263,9 @@ public: FUNC3(joint_set_param, RID, JointParam, real_t); FUNC2RC(real_t, joint_get_param, RID, JointParam); + FUNC2(joint_disable_collisions_between_bodies, RID, const bool); + FUNC1RC(bool, joint_is_disabled_collisions_between_bodies, RID); + ///FUNC3RID(pin_joint,const Vector2&,RID,RID); ///FUNC5RID(groove_joint,const Vector2&,const Vector2&,const Vector2&,RID,RID); ///FUNC4RID(damped_spring_joint,const Vector2&,const Vector2&,RID,RID); diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h index be447ed1375..462244c667b 100644 --- a/servers/physics_2d_server.h +++ b/servers/physics_2d_server.h @@ -499,6 +499,9 @@ public: virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value) = 0; virtual real_t joint_get_param(RID p_joint, JointParam p_param) const = 0; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0; + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0; + virtual RID pin_joint_create(const Vector2 &p_anchor, RID p_body_a, RID p_body_b = RID()) = 0; virtual RID groove_joint_create(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) = 0; virtual RID damped_spring_joint_create(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b = RID()) = 0; diff --git a/servers/physics_server.h b/servers/physics_server.h index 94fc8d479dd..2ac405293e0 100644 --- a/servers/physics_server.h +++ b/servers/physics_server.h @@ -491,6 +491,9 @@ public: virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0; virtual int joint_get_solver_priority(RID p_joint) const = 0; + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0; + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0; + virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0; enum PinJointParam {