From 7d681274f8aa2a7a0bac004a16e376d36103c94e Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Sat, 6 Oct 2018 16:50:10 +0200 Subject: [PATCH] Improved code that handles collision shapes, fixes #21945 --- modules/bullet/area_bullet.cpp | 10 +- modules/bullet/area_bullet.h | 2 +- modules/bullet/bullet_physics_server.cpp | 18 +- modules/bullet/bullet_physics_server.h | 7 - modules/bullet/collision_object_bullet.cpp | 184 ++++++++++----------- modules/bullet/collision_object_bullet.h | 35 ++-- modules/bullet/rigid_body_bullet.cpp | 15 +- modules/bullet/rigid_body_bullet.h | 4 +- modules/bullet/shape_bullet.cpp | 3 +- modules/bullet/shape_owner_bullet.h | 9 +- 10 files changed, 126 insertions(+), 161 deletions(-) diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index a3ba3aa0bf9..a0486443c28 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -58,7 +58,7 @@ AreaBullet::AreaBullet() : isScratched(false) { btGhost = bulletnew(btGhostObject); - btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape()); + reload_shapes(); setupBulletCollisionObject(btGhost); /// Collision objects with a callback still have collision response with dynamic rigid bodies. /// In order to use collision objects as trigger, you have to disable the collision response. @@ -166,11 +166,9 @@ bool AreaBullet::is_monitoring() const { return get_godot_object_flags() & GOF_IS_MONITORING_AREA; } -void AreaBullet::main_shape_resetted() { - if (get_main_shape()) - btGhost->setCollisionShape(get_main_shape()); - else - btGhost->setCollisionShape(BulletPhysicsServer::get_empty_shape()); +void AreaBullet::main_shape_changed() { + CRASH_COND(!get_main_shape()) + btGhost->setCollisionShape(get_main_shape()); } void AreaBullet::reload_body() { diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index a6bf73906c0..07550023f1f 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -142,7 +142,7 @@ public: _FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; } _FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; } - virtual void main_shape_resetted(); + virtual void main_shape_changed(); virtual void reload_body(); virtual void set_space(SpaceBullet *p_space); diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 53a38967c35..1c03f47a306 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -74,12 +74,6 @@ body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies()); // <--------------- Joint creation asserts -btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty()); - -btEmptyShape *BulletPhysicsServer::get_empty_shape() { - return emptyShape; -} - void BulletPhysicsServer::_bind_methods() { //ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer::DoTest); } @@ -89,9 +83,7 @@ BulletPhysicsServer::BulletPhysicsServer() : active(true), active_spaces_count(0) {} -BulletPhysicsServer::~BulletPhysicsServer() { - bulletdelete(emptyShape); -} +BulletPhysicsServer::~BulletPhysicsServer() {} RID BulletPhysicsServer::shape_create(ShapeType p_shape) { ShapeBullet *shape = NULL; @@ -338,7 +330,7 @@ Transform BulletPhysicsServer::area_get_shape_transform(RID p_area, int p_shape_ void BulletPhysicsServer::area_remove_shape(RID p_area, int p_shape_idx) { AreaBullet *area = area_owner.get(p_area); ERR_FAIL_COND(!area); - return area->remove_shape(p_shape_idx); + return area->remove_shape_full(p_shape_idx); } void BulletPhysicsServer::area_clear_shapes(RID p_area) { @@ -346,7 +338,7 @@ void BulletPhysicsServer::area_clear_shapes(RID p_area) { ERR_FAIL_COND(!area); for (int i = area->get_shape_count(); 0 < i; --i) - area->remove_shape(0); + area->remove_shape_full(0); } void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) { @@ -567,7 +559,7 @@ void BulletPhysicsServer::body_remove_shape(RID p_body, int p_shape_idx) { RigidBodyBullet *body = rigid_body_owner.get(p_body); ERR_FAIL_COND(!body); - body->remove_shape(p_shape_idx); + body->remove_shape_full(p_shape_idx); } void BulletPhysicsServer::body_clear_shapes(RID p_body) { @@ -1486,7 +1478,7 @@ void BulletPhysicsServer::free(RID p_rid) { // Notify the shape is configured for (Map::Element *element = shape->get_owners().front(); element; element = element->next()) { - static_cast(element->key())->remove_shape(shape); + static_cast(element->key())->remove_shape_full(shape); } shape_owner.free(p_rid); diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index 4c52cace675..6b7dcd86e6e 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -60,13 +60,6 @@ class BulletPhysicsServer : public PhysicsServer { mutable RID_Owner soft_body_owner; mutable RID_Owner joint_owner; -private: - /// This is used as replacement of collision shape inside a compound or main shape - static btEmptyShape *emptyShape; - -public: - static btEmptyShape *get_empty_shape(); - protected: static void _bind_methods(); diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index 61834b8e3f1..e62a22311fc 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -43,8 +43,7 @@ @author AndreaCatania */ -#define enableDynamicAabbTree true -#define initialChildCapacity 1 +#define enableDynamicAabbTree false CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {} @@ -60,7 +59,10 @@ void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_tra void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) { if (!bt_shape) { - bt_shape = shape->create_bt_shape(scale * body_scale); + if (active) + bt_shape = shape->create_bt_shape(scale * body_scale); + else + bt_shape = ShapeBullet::create_shape_empty(); } } @@ -90,7 +92,7 @@ bool equal(real_t first, real_t second) { void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) { 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])) { body_scale = p_new_scale; - on_body_scale_changed(); + body_scale_changed(); } } @@ -100,7 +102,7 @@ btVector3 CollisionObjectBullet::get_bt_body_scale() const { return s; } -void CollisionObjectBullet::on_body_scale_changed() { +void CollisionObjectBullet::body_scale_changed() { force_shape_reset = true; } @@ -204,31 +206,10 @@ RigidCollisionObjectBullet::~RigidCollisionObjectBullet() { } } -/* Not used -void RigidCollisionObjectBullet::_internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) { - bool at_least_one_was_changed = false; - btTransform old_transf; - // Inverse because I need remove the shapes - // Fetch all shapes to be sure to remove all shapes - for (int i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) { - if (compoundShape->getChildShape(i) == p_old_shape) { - - old_transf = compoundShape->getChildTransform(i); - compoundShape->removeChildShapeByIndex(i); - compoundShape->addChildShape(old_transf, p_new_shape); - at_least_one_was_changed = true; - } - } - - if (at_least_one_was_changed) { - on_shapes_changed(); - } -}*/ - void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform) { shapes.push_back(ShapeWrapper(p_shape, p_transform, true)); p_shape->add_owner(this); - on_shapes_changed(); + reload_shapes(); } void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) { @@ -236,42 +217,7 @@ void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) { shp.shape->remove_owner(this); p_shape->add_owner(this); shp.shape = p_shape; - on_shapes_changed(); -} - -void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) { - ERR_FAIL_INDEX(p_index, get_shape_count()); - - shapes.write[p_index].set_transform(p_transform); - on_shape_changed(shapes.write[p_index].shape); -} - -void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) { - // Remove the shape, all the times it appears - // Reverse order required for delete. - for (int i = shapes.size() - 1; 0 <= i; --i) { - if (p_shape == shapes[i].shape) { - internal_shape_destroy(i); - shapes.remove(i); - } - } - on_shapes_changed(); -} - -void RigidCollisionObjectBullet::remove_shape(int p_index) { - ERR_FAIL_INDEX(p_index, get_shape_count()); - internal_shape_destroy(p_index); - shapes.remove(p_index); - on_shapes_changed(); -} - -void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) { - // Reverse order required for delete. - for (int i = shapes.size() - 1; 0 <= i; --i) { - internal_shape_destroy(i, p_permanentlyFromThisBody); - } - shapes.clear(); - on_shapes_changed(); + reload_shapes(); } int RigidCollisionObjectBullet::get_shape_count() const { @@ -286,6 +232,51 @@ btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const { return shapes[p_index].bt_shape; } +int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const { + const int size = shapes.size(); + for (int i = 0; i < size; ++i) { + if (shapes[i].shape == p_shape) + return i; + } + return -1; +} + +void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) { + // Remove the shape, all the times it appears + // Reverse order required for delete. + for (int i = shapes.size() - 1; 0 <= i; --i) { + if (p_shape == shapes[i].shape) { + internal_shape_destroy(i); + shapes.remove(i); + } + } + reload_shapes(); +} + +void RigidCollisionObjectBullet::remove_shape_full(int p_index) { + ERR_FAIL_INDEX(p_index, get_shape_count()); + internal_shape_destroy(p_index); + shapes.remove(p_index); + reload_shapes(); +} + +void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) { + // Reverse order required for delete. + for (int i = shapes.size() - 1; 0 <= i; --i) { + internal_shape_destroy(i, p_permanentlyFromThisBody); + } + shapes.clear(); + reload_shapes(); +} + +void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) { + ERR_FAIL_INDEX(p_index, get_shape_count()); + + shapes.write[p_index].set_transform(p_transform); + // Note, enableDynamicAabbTree is false because on transform change compound is destroyed + reload_shapes(); +} + const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const { return shapes[p_index].transform; } @@ -296,21 +287,26 @@ Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const { return trs; } -void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_shape) { - const int size = shapes.size(); - for (int i = 0; i < size; ++i) { - if (shapes[i].shape == p_shape) { - bulletdelete(shapes.write[i].bt_shape); - } - } - on_shapes_changed(); +void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) { + shapes.write[p_index].active = !p_disabled; + shape_changed(p_index); } -void RigidCollisionObjectBullet::on_shapes_changed() { +bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) { + return !shapes[p_index].active; +} - if (mainShape && mainShape->isCompound()) { +void RigidCollisionObjectBullet::shape_changed(int p_shape_index) { + bulletdelete(shapes.write[p_shape_index].bt_shape); + reload_shapes(); +} + +void RigidCollisionObjectBullet::reload_shapes() { + + if (mainShape && mainShape->isCompound()) + // Destroy compound bulletdelete(mainShape); - } + mainShape = NULL; ShapeWrapper *shpWrapper; @@ -325,7 +321,7 @@ void RigidCollisionObjectBullet::on_shapes_changed() { force_shape_reset = false; } - btVector3 body_scale(get_bt_body_scale()); + const btVector3 body_scale(get_bt_body_scale()); if (!shape_count) return; @@ -333,47 +329,33 @@ void RigidCollisionObjectBullet::on_shapes_changed() { // Try to optimize by not using compound if (1 == shape_count) { shpWrapper = &shapes.write[0]; - if (shpWrapper->active && shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) { + if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) { shpWrapper->claim_bt_shape(body_scale); mainShape = shpWrapper->bt_shape; - main_shape_resetted(); + main_shape_changed(); return; } } - btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity)); + // Optimization not possible use a compound shape + btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count)); - // Insert all shapes into compound for (int i(0); i < shape_count; ++i) { shpWrapper = &shapes.write[i]; - if (shpWrapper->active) { - shpWrapper->claim_bt_shape(body_scale); - - btTransform scaled_shape_transform(shpWrapper->transform); - scaled_shape_transform.getOrigin() *= body_scale; - compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape); - } else { - compoundShape->addChildShape(btTransform(), BulletPhysicsServer::get_empty_shape()); - } + shpWrapper->claim_bt_shape(body_scale); + btTransform scaled_shape_transform(shpWrapper->transform); + scaled_shape_transform.getOrigin() *= body_scale; + compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape); } compoundShape->recalculateLocalAabb(); mainShape = compoundShape; - main_shape_resetted(); + main_shape_changed(); } -void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) { - shapes.write[p_index].active = !p_disabled; - on_shapes_changed(); -} - -bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) { - return !shapes[p_index].active; -} - -void RigidCollisionObjectBullet::on_body_scale_changed() { - CollisionObjectBullet::on_body_scale_changed(); - on_shapes_changed(); +void RigidCollisionObjectBullet::body_scale_changed() { + CollisionObjectBullet::body_scale_changed(); + reload_shapes(); } void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) { diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index ea06cecb173..230dca9498e 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -157,7 +157,7 @@ public: void set_body_scale(const Vector3 &p_new_scale); const Vector3 &get_body_scale() const { return body_scale; } btVector3 get_bt_body_scale() const; - virtual void on_body_scale_changed(); + virtual void body_scale_changed(); void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject); void remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject); @@ -185,7 +185,7 @@ public: virtual void reload_body() = 0; virtual void set_space(SpaceBullet *p_space) = 0; _FORCE_INLINE_ SpaceBullet *get_space() const { return space; } - /// This is an event that is called when a collision checker starts + virtual void on_collision_checker_start() = 0; virtual void dispatch_callbacks() = 0; @@ -197,7 +197,6 @@ public: virtual void on_enter_area(AreaBullet *p_area) = 0; virtual void on_exit_area(AreaBullet *p_area); - /// GodotObjectFlags void set_godot_object_flags(int flags); int get_godot_object_flags() const; @@ -209,7 +208,6 @@ public: class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet { protected: - /// This could be a compound shape in case multi please collision are found btCollisionShape *mainShape; Vector shapes; @@ -219,31 +217,34 @@ public: _FORCE_INLINE_ const Vector &get_shapes_wrappers() const { return shapes; } - /// This is used to set new shape or replace existing - //virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0; + _FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; } + void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform()); void set_shape(int p_index, ShapeBullet *p_shape); - 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); diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index d9a77885b31..22c3637bd54 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -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; diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index 25dac309514..7c7f307c3c0 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -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); diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index 93f656e4b8c..8bb621a863a 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -65,7 +65,8 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { void ShapeBullet::notifyShapeChanged() { for (Map::Element *E = owners.front(); E; E = E->next()) { - static_cast(E->key())->on_shape_changed(this); + ShapeOwnerBullet *owner = static_cast(E->key()); + owner->shape_changed(owner->find_shape(this)); } } diff --git a/modules/bullet/shape_owner_bullet.h b/modules/bullet/shape_owner_bullet.h index 29d42d12f26..72ddbc482c9 100644 --- a/modules/bullet/shape_owner_bullet.h +++ b/modules/bullet/shape_owner_bullet.h @@ -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