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Improved code that handles collision shapes, fixes #21945

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This commit is contained in:
Andrea Catania
2018-10-06 16:50:10 +02:00
parent 5328dcb7bb
commit 7d681274f8
10 changed files with 126 additions and 161 deletions
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184
modules/bullet/collision_object_bullet.cpp
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@@ -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) {