From 29e01f97e459867fbfe9bb065a6d81d577112d6a Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Sat, 22 Sep 2018 09:42:19 +0200 Subject: [PATCH 1/4] Added rayshape solver algorithm to soft body configurator fixes #22283 fixes #22249 fixes #22281 --- .../bullet/godot_collision_configuration.cpp | 56 +++++++++++++++++++ .../bullet/godot_collision_configuration.h | 13 +++++ modules/bullet/space_bullet.cpp | 2 +- 3 files changed, 70 insertions(+), 1 deletion(-) diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp index f4bb9acbd7b..919c3152d70 100644 --- a/modules/bullet/godot_collision_configuration.cpp +++ b/modules/bullet/godot_collision_configuration.cpp @@ -94,3 +94,59 @@ btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::getClosestPointsAlg return btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1); } } + +GodotSoftCollisionConfiguration::GodotSoftCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) : + btSoftBodyRigidBodyCollisionConfiguration(constructionInfo) { + + void *mem = NULL; + + mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16); + m_rayWorldCF = new (mem) GodotRayWorldAlgorithm::CreateFunc(world); + + mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::SwappedCreateFunc), 16); + m_swappedRayWorldCF = new (mem) GodotRayWorldAlgorithm::SwappedCreateFunc(world); +} + +GodotSoftCollisionConfiguration::~GodotSoftCollisionConfiguration() { + m_rayWorldCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree(m_rayWorldCF); + + m_swappedRayWorldCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree(m_swappedRayWorldCF); +} + +btCollisionAlgorithmCreateFunc *GodotSoftCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) { + + if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { + + // This collision is not supported + return m_emptyCreateFunc; + } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) { + + return m_rayWorldCF; + } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { + + return m_swappedRayWorldCF; + } else { + + return btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1); + } +} + +btCollisionAlgorithmCreateFunc *GodotSoftCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) { + + if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { + + // This collision is not supported + return m_emptyCreateFunc; + } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) { + + return m_rayWorldCF; + } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { + + return m_swappedRayWorldCF; + } else { + + return btSoftBodyRigidBodyCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1); + } +} diff --git a/modules/bullet/godot_collision_configuration.h b/modules/bullet/godot_collision_configuration.h index 9b30ad0c621..11012c5f6db 100644 --- a/modules/bullet/godot_collision_configuration.h +++ b/modules/bullet/godot_collision_configuration.h @@ -32,6 +32,7 @@ #define GODOT_COLLISION_CONFIGURATION_H #include +#include /** @author AndreaCatania @@ -50,4 +51,16 @@ public: virtual btCollisionAlgorithmCreateFunc *getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1); virtual btCollisionAlgorithmCreateFunc *getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1); }; + +class GodotSoftCollisionConfiguration : public btSoftBodyRigidBodyCollisionConfiguration { + btCollisionAlgorithmCreateFunc *m_rayWorldCF; + btCollisionAlgorithmCreateFunc *m_swappedRayWorldCF; + +public: + GodotSoftCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo = btDefaultCollisionConstructionInfo()); + virtual ~GodotSoftCollisionConfiguration(); + + virtual btCollisionAlgorithmCreateFunc *getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1); + virtual btCollisionAlgorithmCreateFunc *getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1); +}; #endif diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 404cb8e37b4..a4aec25124f 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -577,7 +577,7 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { } if (p_create_soft_world) { - collisionConfiguration = bulletnew(btSoftBodyRigidBodyCollisionConfiguration); + collisionConfiguration = bulletnew(GodotSoftCollisionConfiguration(static_cast(world_mem))); } else { collisionConfiguration = bulletnew(GodotCollisionConfiguration(static_cast(world_mem))); } From 855a440071897f757bcd60cf39008b1e374eab06 Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Sat, 22 Sep 2018 10:14:52 +0200 Subject: [PATCH 2/4] Removed node from physical_bone_plugin --- editor/plugins/physical_bone_plugin.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/editor/plugins/physical_bone_plugin.cpp b/editor/plugins/physical_bone_plugin.cpp index 1c3c000808d..1b4f66d6e4d 100644 --- a/editor/plugins/physical_bone_plugin.cpp +++ b/editor/plugins/physical_bone_plugin.cpp @@ -70,12 +70,14 @@ PhysicalBoneEditor::PhysicalBoneEditor(EditorNode *p_editor) : } PhysicalBoneEditor::~PhysicalBoneEditor() { - // TODO the spatial_editor_hb should be removed from SpatialEditor, but in this moment it's not possible for (int i = spatial_editor_hb->get_child_count() - 1; 0 <= i; --i) { Node *n = spatial_editor_hb->get_child(i); spatial_editor_hb->remove_child(n); memdelete(n); } + if (spatial_editor_hb->get_parent()) { + spatial_editor_hb->get_parent()->remove_child(spatial_editor_hb); + } memdelete(spatial_editor_hb); } From d226ba7c2be9c8519aa5434809f93c03f338db0f Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Sat, 22 Sep 2018 11:17:31 +0200 Subject: [PATCH 3/4] Corrected cast_motion query behaviour --- modules/bullet/space_bullet.cpp | 13 ++++++++----- modules/bullet/space_bullet.h | 2 +- 2 files changed, 9 insertions(+), 6 deletions(-) diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index a4aec25124f..329e12cffff 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -150,14 +150,14 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { +bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); if (!btShape->isConvex()) { bulletdelete(btShape); ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); - return 0; + return false; } btConvexShape *bt_convex_shape = static_cast(btShape); @@ -177,10 +177,13 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002); + r_closest_unsafe = 1.0; + r_closest_safe = 1.0; + if (btResult.hasHit()) { const btScalar l = bt_motion.length(); - p_closest_unsafe = btResult.m_closestHitFraction; - p_closest_safe = MAX(p_closest_unsafe - (1 - ((l - 0.01) / l)), 0); + r_closest_unsafe = btResult.m_closestHitFraction; + r_closest_safe = MAX(r_closest_unsafe - (1 - ((l - 0.01) / l)), 0); if (r_info) { if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) { B_TO_G(static_cast(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity); @@ -195,7 +198,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf } bulletdelete(bt_convex_shape); - return btResult.hasHit(); + return true; // Mean success } /// Returns the list of contacts pairs in this order: Local contact, other body contact diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 0649e1f7e3a..67ab5c610d5 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -78,7 +78,7 @@ public: virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false); virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = NULL); + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = NULL); /// Returns the list of contacts pairs in this order: Local contact, other body contact virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); From a3bdcb901f57fc2392fb8a003f8dd017ab5ee9f9 Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Sat, 22 Sep 2018 11:27:30 +0200 Subject: [PATCH 4/4] Correctly freed PhysicalBoneEditor --- editor/plugins/physical_bone_plugin.cpp | 26 +++++++------------------ editor/plugins/physical_bone_plugin.h | 2 +- 2 files changed, 8 insertions(+), 20 deletions(-) diff --git a/editor/plugins/physical_bone_plugin.cpp b/editor/plugins/physical_bone_plugin.cpp index 1b4f66d6e4d..6341d7f2ef0 100644 --- a/editor/plugins/physical_bone_plugin.cpp +++ b/editor/plugins/physical_bone_plugin.cpp @@ -69,17 +69,7 @@ PhysicalBoneEditor::PhysicalBoneEditor(EditorNode *p_editor) : hide(); } -PhysicalBoneEditor::~PhysicalBoneEditor() { - for (int i = spatial_editor_hb->get_child_count() - 1; 0 <= i; --i) { - Node *n = spatial_editor_hb->get_child(i); - spatial_editor_hb->remove_child(n); - memdelete(n); - } - if (spatial_editor_hb->get_parent()) { - spatial_editor_hb->get_parent()->remove_child(spatial_editor_hb); - } - memdelete(spatial_editor_hb); -} +PhysicalBoneEditor::~PhysicalBoneEditor() {} void PhysicalBoneEditor::set_selected(PhysicalBone *p_pb) { @@ -100,19 +90,17 @@ void PhysicalBoneEditor::show() { PhysicalBonePlugin::PhysicalBonePlugin(EditorNode *p_editor) : editor(p_editor), - selected(NULL) { - - physical_bone_editor = memnew(PhysicalBoneEditor(editor)); -} + selected(NULL), + physical_bone_editor(editor) {} void PhysicalBonePlugin::make_visible(bool p_visible) { if (p_visible) { - physical_bone_editor->show(); + physical_bone_editor.show(); } else { - physical_bone_editor->hide(); - physical_bone_editor->set_selected(NULL); + physical_bone_editor.hide(); + physical_bone_editor.set_selected(NULL); selected = NULL; } } @@ -121,5 +109,5 @@ void PhysicalBonePlugin::edit(Object *p_node) { selected = static_cast(p_node); // Trust it ERR_FAIL_COND(!selected); - physical_bone_editor->set_selected(selected); + physical_bone_editor.set_selected(selected); } diff --git a/editor/plugins/physical_bone_plugin.h b/editor/plugins/physical_bone_plugin.h index e03d342709f..e1f8c9ec473 100644 --- a/editor/plugins/physical_bone_plugin.h +++ b/editor/plugins/physical_bone_plugin.h @@ -64,7 +64,7 @@ class PhysicalBonePlugin : public EditorPlugin { EditorNode *editor; PhysicalBone *selected; - PhysicalBoneEditor *physical_bone_editor; + PhysicalBoneEditor physical_bone_editor; public: virtual String get_name() const { return "PhysicalBone"; }