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Improved kinematic body 2D and 3D, Now can move rigid body

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This commit is contained in:
Andrea Catania
2018-02-16 19:06:00 +01:00
parent da612c324c
commit 6ed392f47a
22 changed files with 96 additions and 88 deletions
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32
modules/bullet/space_bullet.cpp
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@@ -804,8 +804,7 @@ static Ref<SpatialMaterial> red_mat;
static Ref<SpatialMaterial> blue_mat;
#endif
#define IGNORE_AREAS_TRUE true
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, PhysicsServer::MotionResult *r_result) {
bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result) {
#if debug_test_motion
/// Yes I know this is not good, but I've used it as fast debugging hack.
@@ -839,16 +838,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
#endif
///// Release all generated manifolds
//{
// if(p_body->get_kinematic_utilities()){
// for(int i= p_body->get_kinematic_utilities()->m_generatedManifold.size()-1; 0<=i; --i){
// dispatcher->releaseManifold( p_body->get_kinematic_utilities()->m_generatedManifold[i] );
// }
// p_body->get_kinematic_utilities()->m_generatedManifold.clear();
// }
//}
btTransform body_safe_position;
G_TO_B(p_from, body_safe_position);
UNSCALE_BT_BASIS(body_safe_position);
@@ -857,7 +846,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btVector3 recover_initial_position(0, 0, 0);
{ /// Phase one - multi shapes depenetration using margin
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recover_initial_position)) {
if (!recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, recover_initial_position)) {
break;
}
}
@@ -900,7 +889,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += motion;
GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, IGNORE_AREAS_TRUE);
GodotKinClosestConvexResultCallback btResult(shape_world_from.getOrigin(), shape_world_to.getOrigin(), p_body, p_infinite_inertia);
btResult.m_collisionFilterGroup = p_body->get_collision_layer();
btResult.m_collisionFilterMask = p_body->get_collision_mask();
@@ -926,7 +915,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
real_t l_penetration_distance = 1e20;
for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, delta_recover_movement, &r_recover_result);
l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, p_infinite_inertia, delta_recover_movement, &r_recover_result);
if (r_result) {
#if PERFORM_INITIAL_UNSTACK
@@ -955,15 +944,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
r_result->collider_shape = r_recover_result.other_compound_shape_index;
r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
//{ /// Add manifold point to manage collisions
// btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
// btManifoldPoint manifoldPoint(result_callabck.m_pointWorld, result_callabck.m_pointWorld, result_callabck.m_pointNormalWorld, result_callabck.m_penetration_distance);
// manifoldPoint.m_index0 = r_result->collision_local_shape;
// manifoldPoint.m_index1 = r_result->collider_shape;
// manifold->addManifoldPoint(manifoldPoint);
// p_body->get_kinematic_utilities()->m_generatedManifold.push_back(manifold);
//}
#if debug_test_motion
Vector3 sup_line2;
B_TO_G(motion, sup_line2);
@@ -1022,7 +1002,7 @@ public:
}
};
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) {
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
@@ -1053,7 +1033,7 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
for (int i = recover_broad_result.result_collision_objects.size() - 1; 0 <= i; --i) {
btCollisionObject *otherObject = recover_broad_result.result_collision_objects[i];
if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()))
if (!p_body->get_bt_collision_object()->checkCollideWith(otherObject) || !otherObject->checkCollideWith(p_body->get_bt_collision_object()) || (p_infinite_inertia && !otherObject->isStaticOrKinematicObject()))
continue;
if (otherObject->getCollisionShape()->isCompound()) {