asgardius/virtualx-engine
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Merge pull request #16424 from AndreaCatania/phyj

Browse source 
Added physics API in order to enable/disable collisions between rigidbody attached to a joint with bullet physics bullet
This commit is contained in:
Rémi Verschelde 2018-02-13 15:26:04 +01:00 committed by GitHub
commit eefb58a892
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
15 changed files with 121 additions and 13 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

30
modules/bullet/bullet_physics_server.cpp
View file

@ -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);
}

3
modules/bullet/bullet_physics_server.h
View file

@ -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);

12
modules/bullet/constraint_bullet.cpp
View file

@ -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);
}
}

4
modules/bullet/constraint_bullet.h
View file

@ -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);

3
scene/2d/joints_2d.cpp
View file

@ -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) {

3
scene/3d/physics_joint.cpp
View file

@ -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) {

5
servers/physics/constraint_sw.h
View file

@ -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;

27
servers/physics/physics_server_sw.cpp
View file

@ -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);

3
servers/physics/physics_server_sw.h
View file

@ -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);

5
servers/physics_2d/constraint_2d_sw.h
View file

@ -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;

27
servers/physics_2d/physics_2d_server_sw.cpp
View file

@ -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);

3
servers/physics_2d/physics_2d_server_sw.h
View file

@ -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());

3
servers/physics_2d/physics_2d_server_wrap_mt.h
View file

@ -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);

3
servers/physics_2d_server.h
View file

@ -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;

3
servers/physics_server.h
View file

@ -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 {