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Fixed kinematic movement stuck, Changed how shape scale works, Optimized

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This commit is contained in:
AndreaCatania
2017-12-23 18:23:12 +01:00
parent 8d13753e91
commit f4b96cc0a9
9 changed files with 220 additions and 171 deletions
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55
modules/bullet/shape_bullet.cpp
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@@ -43,6 +43,17 @@ ShapeBullet::ShapeBullet() {}
ShapeBullet::~ShapeBullet() {}
btCollisionShape *ShapeBullet::create_bt_shape() {
btVector3 s(1, 1, 1);
return create_bt_shape(s);
}
btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin) {
btVector3 s;
G_TO_B(p_implicit_scale, s);
return create_bt_shape(s, p_margin);
}
btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
p_btShape->setMargin(0.);
@@ -150,7 +161,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
btCollisionShape *PlaneShapeBullet::create_bt_shape() {
btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
btVector3 btPlaneNormal;
G_TO_B(plane.normal, btPlaneNormal);
return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
@@ -178,8 +189,8 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
btCollisionShape *SphereShapeBullet::create_bt_shape() {
return prepare(ShapeBullet::create_shape_sphere(radius));
btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_margin));
}
/* Box */
@@ -205,8 +216,8 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
btCollisionShape *BoxShapeBullet::create_bt_shape() {
return prepare(ShapeBullet::create_shape_box(half_extents));
btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_margin, p_margin, p_margin)));
}
/* Capsule */
@@ -238,8 +249,8 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
btCollisionShape *CapsuleShapeBullet::create_bt_shape() {
return prepare(ShapeBullet::create_shape_capsule(radius, height));
btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
}
/* Convex polygon */
@@ -280,8 +291,12 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape() {
return prepare(ShapeBullet::create_shape_convex(vertices));
btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
cs->setMargin(p_margin);
return cs;
}
/* Concave polygon */
@@ -349,13 +364,15 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
notifyShapeChanged();
}
btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape() {
btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
if (!cs) {
if (!cs)
// This is necessary since if 0 faces the creation of concave return NULL
cs = ShapeBullet::create_shape_empty();
}
return prepare(cs);
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
cs->setMargin(p_margin);
return cs;
}
/* Height map shape */
@@ -407,8 +424,12 @@ void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int
notifyShapeChanged();
}
btCollisionShape *HeightMapShapeBullet::create_bt_shape() {
return prepare(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size));
btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size));
cs->setLocalScaling(p_implicit_scale);
prepare(cs);
cs->setMargin(p_margin);
return cs;
}
/* Ray shape */
@@ -433,6 +454,6 @@ void RayShapeBullet::setup(real_t p_length) {
notifyShapeChanged();
}
btCollisionShape *RayShapeBullet::create_bt_shape() {
return prepare(ShapeBullet::create_shape_ray(length));
btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin));
}