mirror of
https://github.com/godotengine/godot.git
synced 2024-11-23 04:33:29 +00:00
Improved code that handles collision shapes, fixes #21945
This commit is contained in:
Andrea Catania
parent
5328dcb7bb
commit
7d681274f8
@ -58,7 +58,7 @@ AreaBullet::AreaBullet() :
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isScratched(false) {
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btGhost = bulletnew(btGhostObject);
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btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape());
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reload_shapes();
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setupBulletCollisionObject(btGhost);
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/// Collision objects with a callback still have collision response with dynamic rigid bodies.
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/// In order to use collision objects as trigger, you have to disable the collision response.
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@ -166,11 +166,9 @@ bool AreaBullet::is_monitoring() const {
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return get_godot_object_flags() & GOF_IS_MONITORING_AREA;
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}
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void AreaBullet::main_shape_resetted() {
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if (get_main_shape())
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btGhost->setCollisionShape(get_main_shape());
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else
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btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape());
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void AreaBullet::main_shape_changed() {
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CRASH_COND(!get_main_shape())
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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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@ -142,7 +142,7 @@ public:
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_FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; }
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_FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; }
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virtual void main_shape_resetted();
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virtual void main_shape_changed();
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virtual void reload_body();
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virtual void set_space(SpaceBullet *p_space);
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@ -74,12 +74,6 @@
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body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
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// <--------------- Joint creation asserts
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btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty());
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btEmptyShape *BulletPhysicsServer::get_empty_shape() {
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return emptyShape;
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}
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void BulletPhysicsServer::_bind_methods() {
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//ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer::DoTest);
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}
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@ -89,9 +83,7 @@ BulletPhysicsServer::BulletPhysicsServer() :
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active(true),
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active_spaces_count(0) {}
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BulletPhysicsServer::~BulletPhysicsServer() {
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bulletdelete(emptyShape);
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}
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BulletPhysicsServer::~BulletPhysicsServer() {}
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RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
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ShapeBullet *shape = NULL;
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@ -338,7 +330,7 @@ Transform BulletPhysicsServer::area_get_shape_transform(RID p_area, int p_shape_
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void BulletPhysicsServer::area_remove_shape(RID p_area, int p_shape_idx) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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return area->remove_shape(p_shape_idx);
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return area->remove_shape_full(p_shape_idx);
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}
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void BulletPhysicsServer::area_clear_shapes(RID p_area) {
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@ -346,7 +338,7 @@ void BulletPhysicsServer::area_clear_shapes(RID p_area) {
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ERR_FAIL_COND(!area);
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for (int i = area->get_shape_count(); 0 < i; --i)
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area->remove_shape(0);
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area->remove_shape_full(0);
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}
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void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
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@ -567,7 +559,7 @@ void BulletPhysicsServer::body_remove_shape(RID p_body, int p_shape_idx) {
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RigidBodyBullet *body = rigid_body_owner.get(p_body);
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ERR_FAIL_COND(!body);
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body->remove_shape(p_shape_idx);
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body->remove_shape_full(p_shape_idx);
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}
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void BulletPhysicsServer::body_clear_shapes(RID p_body) {
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@ -1486,7 +1478,7 @@ void BulletPhysicsServer::free(RID p_rid) {
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// Notify the shape is configured
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for (Map<ShapeOwnerBullet *, int>::Element *element = shape->get_owners().front(); element; element = element->next()) {
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static_cast<ShapeOwnerBullet *>(element->key())->remove_shape(shape);
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static_cast<ShapeOwnerBullet *>(element->key())->remove_shape_full(shape);
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}
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shape_owner.free(p_rid);
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@ -60,13 +60,6 @@ class BulletPhysicsServer : public PhysicsServer {
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mutable RID_Owner<SoftBodyBullet> soft_body_owner;
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mutable RID_Owner<JointBullet> joint_owner;
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private:
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/// This is used as replacement of collision shape inside a compound or main shape
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static btEmptyShape *emptyShape;
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public:
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static btEmptyShape *get_empty_shape();
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protected:
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static void _bind_methods();
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@ -43,8 +43,7 @@
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@author AndreaCatania
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*/
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#define enableDynamicAabbTree true
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#define initialChildCapacity 1
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#define enableDynamicAabbTree false
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CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
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@ -60,7 +59,10 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra
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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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bt_shape = shape->create_bt_shape(scale * body_scale);
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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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bt_shape = ShapeBullet::create_shape_empty();
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}
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}
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@ -90,7 +92,7 @@ bool equal(real_t first, real_t second) {
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void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
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if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
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body_scale = p_new_scale;
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on_body_scale_changed();
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body_scale_changed();
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}
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}
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@ -100,7 +102,7 @@ btVector3 CollisionObjectBullet::get_bt_body_scale() const {
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return s;
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}
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void CollisionObjectBullet::on_body_scale_changed() {
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void CollisionObjectBullet::body_scale_changed() {
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force_shape_reset = true;
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}
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@ -204,31 +206,10 @@ RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
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}
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}
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/* Not used
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void RigidCollisionObjectBullet::_internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) {
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bool at_least_one_was_changed = false;
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btTransform old_transf;
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// Inverse because I need remove the shapes
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// Fetch all shapes to be sure to remove all shapes
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for (int i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) {
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if (compoundShape->getChildShape(i) == p_old_shape) {
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old_transf = compoundShape->getChildTransform(i);
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compoundShape->removeChildShapeByIndex(i);
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compoundShape->addChildShape(old_transf, p_new_shape);
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at_least_one_was_changed = true;
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}
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}
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if (at_least_one_was_changed) {
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on_shapes_changed();
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}
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}*/
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void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform) {
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shapes.push_back(ShapeWrapper(p_shape, p_transform, true));
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p_shape->add_owner(this);
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on_shapes_changed();
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reload_shapes();
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}
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void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
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@ -236,42 +217,7 @@ void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
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shp.shape->remove_owner(this);
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p_shape->add_owner(this);
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shp.shape = p_shape;
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on_shapes_changed();
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}
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void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
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ERR_FAIL_INDEX(p_index, get_shape_count());
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shapes.write[p_index].set_transform(p_transform);
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on_shape_changed(shapes.write[p_index].shape);
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}
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void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) {
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// Remove the shape, all the times it appears
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// Reverse order required for delete.
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for (int i = shapes.size() - 1; 0 <= i; --i) {
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if (p_shape == shapes[i].shape) {
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internal_shape_destroy(i);
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shapes.remove(i);
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}
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}
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on_shapes_changed();
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}
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void RigidCollisionObjectBullet::remove_shape(int p_index) {
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ERR_FAIL_INDEX(p_index, get_shape_count());
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internal_shape_destroy(p_index);
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shapes.remove(p_index);
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on_shapes_changed();
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}
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void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) {
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// Reverse order required for delete.
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for (int i = shapes.size() - 1; 0 <= i; --i) {
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internal_shape_destroy(i, p_permanentlyFromThisBody);
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}
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shapes.clear();
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on_shapes_changed();
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reload_shapes();
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}
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int RigidCollisionObjectBullet::get_shape_count() const {
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@ -286,6 +232,51 @@ btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
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return shapes[p_index].bt_shape;
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}
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int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const {
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const int size = shapes.size();
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for (int i = 0; i < size; ++i) {
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if (shapes[i].shape == p_shape)
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return i;
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}
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return -1;
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}
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void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
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// Remove the shape, all the times it appears
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// Reverse order required for delete.
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for (int i = shapes.size() - 1; 0 <= i; --i) {
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if (p_shape == shapes[i].shape) {
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internal_shape_destroy(i);
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shapes.remove(i);
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}
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}
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reload_shapes();
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}
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void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
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ERR_FAIL_INDEX(p_index, get_shape_count());
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internal_shape_destroy(p_index);
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shapes.remove(p_index);
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reload_shapes();
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}
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void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) {
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// Reverse order required for delete.
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for (int i = shapes.size() - 1; 0 <= i; --i) {
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internal_shape_destroy(i, p_permanentlyFromThisBody);
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}
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shapes.clear();
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reload_shapes();
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}
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void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
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ERR_FAIL_INDEX(p_index, get_shape_count());
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shapes.write[p_index].set_transform(p_transform);
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// Note, enableDynamicAabbTree is false because on transform change compound is destroyed
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reload_shapes();
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}
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const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
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return shapes[p_index].transform;
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}
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@ -296,21 +287,26 @@ Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
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return trs;
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}
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void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_shape) {
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const int size = shapes.size();
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for (int i = 0; i < size; ++i) {
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if (shapes[i].shape == p_shape) {
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bulletdelete(shapes.write[i].bt_shape);
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}
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}
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on_shapes_changed();
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void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
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shapes.write[p_index].active = !p_disabled;
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shape_changed(p_index);
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}
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void RigidCollisionObjectBullet::on_shapes_changed() {
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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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if (mainShape && mainShape->isCompound()) {
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void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
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bulletdelete(shapes.write[p_shape_index].bt_shape);
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reload_shapes();
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}
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void RigidCollisionObjectBullet::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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}
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mainShape = NULL;
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ShapeWrapper *shpWrapper;
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@ -325,7 +321,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
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force_shape_reset = false;
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}
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btVector3 body_scale(get_bt_body_scale());
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const btVector3 body_scale(get_bt_body_scale());
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if (!shape_count)
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return;
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@ -333,47 +329,33 @@ void RigidCollisionObjectBullet::on_shapes_changed() {
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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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if (shpWrapper->active && shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
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if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->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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main_shape_resetted();
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main_shape_changed();
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return;
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}
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}
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btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity));
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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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// Insert all shapes into compound
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for (int i(0); i < shape_count; ++i) {
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shpWrapper = &shapes.write[i];
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if (shpWrapper->active) {
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shpWrapper->claim_bt_shape(body_scale);
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btTransform scaled_shape_transform(shpWrapper->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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} else {
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compoundShape->addChildShape(btTransform(), BulletPhysicsServer::get_empty_shape());
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}
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shpWrapper->claim_bt_shape(body_scale);
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btTransform scaled_shape_transform(shpWrapper->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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}
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compoundShape->recalculateLocalAabb();
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mainShape = compoundShape;
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main_shape_resetted();
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main_shape_changed();
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}
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void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
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shapes.write[p_index].active = !p_disabled;
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on_shapes_changed();
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}
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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::on_body_scale_changed() {
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CollisionObjectBullet::on_body_scale_changed();
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on_shapes_changed();
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void RigidCollisionObjectBullet::body_scale_changed() {
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CollisionObjectBullet::body_scale_changed();
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reload_shapes();
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}
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void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
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@ -157,7 +157,7 @@ public:
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void set_body_scale(const Vector3 &p_new_scale);
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const Vector3 &get_body_scale() const { return body_scale; }
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btVector3 get_bt_body_scale() const;
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virtual void on_body_scale_changed();
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virtual void body_scale_changed();
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void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
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void remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
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@ -185,7 +185,7 @@ public:
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virtual void 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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/// This is an event that is called when a collision checker starts
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virtual void on_collision_checker_start() = 0;
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virtual void dispatch_callbacks() = 0;
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@ -197,7 +197,6 @@ public:
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virtual void on_enter_area(AreaBullet *p_area) = 0;
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virtual void on_exit_area(AreaBullet *p_area);
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/// GodotObjectFlags
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void set_godot_object_flags(int flags);
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int get_godot_object_flags() const;
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@ -209,7 +208,6 @@ public:
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class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
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protected:
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/// This could be a compound shape in case multi please collision are found
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btCollisionShape *mainShape;
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Vector<ShapeWrapper> shapes;
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@ -219,31 +217,34 @@ public:
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_FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
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/// This is used to set new shape or replace existing
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//virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0;
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_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
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void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform());
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void set_shape(int p_index, ShapeBullet *p_shape);
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||||
void set_shape_transform(int p_index, const Transform &p_transform);
|
||||
virtual void remove_shape(ShapeBullet *p_shape);
|
||||
void remove_shape(int p_index);
|
||||
void remove_all_shapes(bool p_permanentlyFromThisBody = false);
|
||||
|
||||
virtual void on_shape_changed(const ShapeBullet *const p_shape);
|
||||
virtual void on_shapes_changed();
|
||||
|
||||
_FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; }
|
||||
|
||||
int get_shape_count() const;
|
||||
ShapeBullet *get_shape(int p_index) const;
|
||||
btCollisionShape *get_bt_shape(int p_index) const;
|
||||
|
||||
int find_shape(ShapeBullet *p_shape) const;
|
||||
|
||||
virtual void remove_shape_full(ShapeBullet *p_shape);
|
||||
void remove_shape_full(int p_index);
|
||||
void remove_all_shapes(bool p_permanentlyFromThisBody = false);
|
||||
|
||||
void set_shape_transform(int p_index, const Transform &p_transform);
|
||||
|
||||
const btTransform &get_bt_shape_transform(int p_index) const;
|
||||
Transform get_shape_transform(int p_index) const;
|
||||
|
||||
void set_shape_disabled(int p_index, bool p_disabled);
|
||||
bool is_shape_disabled(int p_index);
|
||||
|
||||
virtual void main_shape_resetted() = 0;
|
||||
virtual void on_body_scale_changed();
|
||||
virtual void shape_changed(int p_shape_index);
|
||||
virtual void reload_shapes();
|
||||
|
||||
virtual void main_shape_changed() = 0;
|
||||
virtual void body_scale_changed();
|
||||
|
||||
private:
|
||||
void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false);
|
||||
|
||||
@ -279,9 +279,10 @@ RigidBodyBullet::RigidBodyBullet() :
|
||||
|
||||
// Initial properties
|
||||
const btVector3 localInertia(0, 0, 0);
|
||||
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, BulletPhysicsServer::get_empty_shape(), localInertia);
|
||||
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, NULL, localInertia);
|
||||
|
||||
btBody = bulletnew(btRigidBody(cInfo));
|
||||
reload_shapes();
|
||||
setupBulletCollisionObject(btBody);
|
||||
|
||||
set_mode(PhysicsServer::BODY_MODE_RIGID);
|
||||
@ -314,11 +315,9 @@ void RigidBodyBullet::destroy_kinematic_utilities() {
|
||||
}
|
||||
}
|
||||
|
||||
void RigidBodyBullet::main_shape_resetted() {
|
||||
if (get_main_shape())
|
||||
btBody->setCollisionShape(get_main_shape());
|
||||
else
|
||||
btBody->setCollisionShape(BulletPhysicsServer::get_empty_shape());
|
||||
void RigidBodyBullet::main_shape_changed() {
|
||||
CRASH_COND(!get_main_shape())
|
||||
btBody->setCollisionShape(get_main_shape());
|
||||
set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset
|
||||
}
|
||||
|
||||
@ -791,8 +790,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const {
|
||||
}
|
||||
}
|
||||
|
||||
void RigidBodyBullet::on_shapes_changed() {
|
||||
RigidCollisionObjectBullet::on_shapes_changed();
|
||||
void RigidBodyBullet::reload_shapes() {
|
||||
RigidCollisionObjectBullet::reload_shapes();
|
||||
|
||||
const btScalar invMass = btBody->getInvMass();
|
||||
const btScalar mass = invMass == 0 ? 0 : 1 / invMass;
|
||||
|
||||
@ -231,7 +231,7 @@ public:
|
||||
|
||||
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
|
||||
|
||||
virtual void main_shape_resetted();
|
||||
virtual void main_shape_changed();
|
||||
virtual void reload_body();
|
||||
virtual void set_space(SpaceBullet *p_space);
|
||||
|
||||
@ -302,7 +302,7 @@ public:
|
||||
virtual void set_transform__bullet(const btTransform &p_global_transform);
|
||||
virtual const btTransform &get_transform__bullet() const;
|
||||
|
||||
virtual void on_shapes_changed();
|
||||
virtual void reload_shapes();
|
||||
|
||||
virtual void on_enter_area(AreaBullet *p_area);
|
||||
virtual void on_exit_area(AreaBullet *p_area);
|
||||
|
||||
@ -65,7 +65,8 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
|
||||
|
||||
void ShapeBullet::notifyShapeChanged() {
|
||||
for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
|
||||
static_cast<ShapeOwnerBullet *>(E->key())->on_shape_changed(this);
|
||||
ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E->key());
|
||||
owner->shape_changed(owner->find_shape(this));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -45,11 +45,10 @@ class CollisionObjectBullet;
|
||||
/// E.G. BodyShape is a child of this
|
||||
class ShapeOwnerBullet {
|
||||
public:
|
||||
/// This is used to set new shape or replace existing
|
||||
//virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0;
|
||||
virtual void on_shape_changed(const ShapeBullet *const p_shape) = 0;
|
||||
virtual void on_shapes_changed() = 0;
|
||||
virtual void remove_shape(class ShapeBullet *p_shape) = 0;
|
||||
virtual int find_shape(ShapeBullet *p_shape) const = 0;
|
||||
virtual void shape_changed(int p_shape_index) = 0;
|
||||
virtual void reload_shapes() = 0;
|
||||
virtual void remove_shape_full(class ShapeBullet *p_shape) = 0;
|
||||
virtual ~ShapeOwnerBullet() {}
|
||||
};
|
||||
#endif
|
||||
|
||||
Loading…
Reference in New Issue
Block a user