diff options
author | Rémi Verschelde <rverschelde@gmail.com> | 2020-05-14 13:23:58 +0200 |
---|---|---|
committer | Rémi Verschelde <rverschelde@gmail.com> | 2020-05-14 16:54:55 +0200 |
commit | 0be6d925dc3c6413bce7a3ccb49631b8e4a6e67a (patch) | |
tree | a27e497da7104dd0a64f98a04fa3067668735e91 /modules/bullet | |
parent | 710b34b70227becdc652b4ae027fe0ac47409642 (diff) | |
download | redot-engine-0be6d925dc3c6413bce7a3ccb49631b8e4a6e67a.tar.gz |
Style: clang-format: Disable KeepEmptyLinesAtTheStartOfBlocks
Which means that reduz' beloved style which we all became used to
will now be changed automatically to remove the first empty line.
This makes us lean closer to 1TBS (the one true brace style) instead
of hybridating it with some Allman-inspired spacing.
There's still the case of braces around single-statement blocks that
needs to be addressed (but clang-format can't help with that, but
clang-tidy may if we agree about it).
Part of #33027.
Diffstat (limited to 'modules/bullet')
25 files changed, 0 insertions, 158 deletions
diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index a4a86ab751..d5b03015a9 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -45,7 +45,6 @@ AreaBullet::AreaBullet() : RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_AREA) { - btGhost = bulletnew(btGhostObject); reload_shapes(); setupBulletCollisionObject(btGhost); @@ -91,7 +90,6 @@ void AreaBullet::dispatch_callbacks() { } void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer3D::AreaBodyStatus p_status) { - InOutEventCallback &event = eventsCallbacks[static_cast<int>(p_otherObject->getType())]; Object *areaGodoObject = ObjectDB::get_instance(event.event_callback_id); diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp index 0f54f848dc..ee84354315 100644 --- a/modules/bullet/btRayShape.cpp +++ b/modules/bullet/btRayShape.cpp @@ -50,7 +50,6 @@ btRayShape::~btRayShape() { } void btRayShape::setLength(btScalar p_length) { - m_length = p_length; reload_cache(); } @@ -61,7 +60,6 @@ void btRayShape::setMargin(btScalar margin) { } void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) { - slipsOnSlope = p_slipsOnSlope; } @@ -101,7 +99,6 @@ void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrat } void btRayShape::reload_cache() { - m_cacheScaledLength = m_length * m_localScaling[2]; m_cacheSupportPoint.setIdentity(); diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h index df6dd93d57..d9ecde81e6 100644 --- a/modules/bullet/btRayShape.h +++ b/modules/bullet/btRayShape.h @@ -42,7 +42,6 @@ /// Ray shape around z axis ATTRIBUTE_ALIGNED16(class) btRayShape : public btConvexInternalShape { - btScalar m_length; bool slipsOnSlope; /// The default axis is the z diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 09a5f6f983..c20fade011 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -88,35 +88,27 @@ RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) { switch (p_shape) { case SHAPE_PLANE: { - shape = bulletnew(PlaneShapeBullet); } break; case SHAPE_SPHERE: { - shape = bulletnew(SphereShapeBullet); } break; case SHAPE_BOX: { - shape = bulletnew(BoxShapeBullet); } break; case SHAPE_CAPSULE: { - shape = bulletnew(CapsuleShapeBullet); } break; case SHAPE_CYLINDER: { - shape = bulletnew(CylinderShapeBullet); } break; case SHAPE_CONVEX_POLYGON: { - shape = bulletnew(ConvexPolygonShapeBullet); } break; case SHAPE_CONCAVE_POLYGON: { - shape = bulletnew(ConcavePolygonShapeBullet); } break; case SHAPE_HEIGHTMAP: { - shape = bulletnew(HeightMapShapeBullet); } break; case SHAPE_RAY: { @@ -176,7 +168,6 @@ RID BulletPhysicsServer3D::space_create() { } void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) { - SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND(!space); @@ -371,7 +362,6 @@ void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, co space->set_param(p_param, p_value); } } else { - AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); @@ -497,7 +487,6 @@ PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const } void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) { - RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -651,7 +640,6 @@ void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_ ERR_FAIL_COND(!body); if (body->get_kinematic_utilities()) { - body->get_kinematic_utilities()->setSafeMargin(p_margin); } } @@ -661,7 +649,6 @@ real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const { ERR_FAIL_COND_V(!body, 0); if (body->get_kinematic_utilities()) { - return body->get_kinematic_utilities()->safe_margin; } @@ -1487,7 +1474,6 @@ int BulletPhysicsServer3D::generic_6dof_joint_get_precision(RID p_joint) { void BulletPhysicsServer3D::free(RID p_rid) { if (shape_owner.owns(p_rid)) { - ShapeBullet *shape = shape_owner.getornull(p_rid); // Notify the shape is configured @@ -1498,7 +1484,6 @@ void BulletPhysicsServer3D::free(RID p_rid) { shape_owner.free(p_rid); bulletdelete(shape); } else if (rigid_body_owner.owns(p_rid)) { - RigidBodyBullet *body = rigid_body_owner.getornull(p_rid); body->set_space(nullptr); @@ -1509,7 +1494,6 @@ void BulletPhysicsServer3D::free(RID p_rid) { bulletdelete(body); } else if (soft_body_owner.owns(p_rid)) { - SoftBodyBullet *body = soft_body_owner.getornull(p_rid); body->set_space(nullptr); @@ -1518,7 +1502,6 @@ void BulletPhysicsServer3D::free(RID p_rid) { bulletdelete(body); } else if (area_owner.owns(p_rid)) { - AreaBullet *area = area_owner.getornull(p_rid); area->set_space(nullptr); @@ -1529,14 +1512,12 @@ void BulletPhysicsServer3D::free(RID p_rid) { bulletdelete(area); } else if (joint_owner.owns(p_rid)) { - JointBullet *joint = joint_owner.getornull(p_rid); joint->destroy_internal_constraint(); joint_owner.free(p_rid); bulletdelete(joint); } else if (space_owner.owns(p_rid)) { - SpaceBullet *space = space_owner.getornull(p_rid); space->remove_all_collision_objects(); @@ -1545,7 +1526,6 @@ void BulletPhysicsServer3D::free(RID p_rid) { space_owner.free(p_rid); bulletdelete(space); } else { - ERR_FAIL_MSG("Invalid ID."); } } @@ -1561,7 +1541,6 @@ void BulletPhysicsServer3D::step(float p_deltaTime) { BulletPhysicsDirectBodyState3D::singleton_setDeltaTime(p_deltaTime); for (int i = 0; i < active_spaces_count; ++i) { - active_spaces[i]->step(p_deltaTime); } } diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index 9ad74ad262..0d456a155a 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -184,7 +184,6 @@ int CollisionObjectBullet::get_godot_object_flags() const { } void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { - set_body_scale(p_global_transform.basis.get_scale_abs()); btTransform bt_transform; @@ -323,7 +322,6 @@ void RigidCollisionObjectBullet::shape_changed(int p_shape_index) { } void RigidCollisionObjectBullet::reload_shapes() { - if (mainShape && mainShape->isCompound()) { // Destroy compound bulletdelete(mainShape); diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index aac51034b8..b4735fa9e9 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -42,7 +42,6 @@ ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) : JointBullet() { - Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); @@ -50,7 +49,6 @@ ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h index 125940439f..538808be51 100644 --- a/modules/bullet/constraint_bullet.h +++ b/modules/bullet/constraint_bullet.h @@ -45,7 +45,6 @@ class SpaceBullet; class btTypedConstraint; class ConstraintBullet : public RIDBullet { - protected: SpaceBullet *space = nullptr; btTypedConstraint *constraint = nullptr; diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 638944df76..56a66dba45 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -42,7 +42,6 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : JointBullet() { - for (int i = 0; i < 3; i++) { for (int j = 0; j < PhysicsServer3D::G6DOF_JOINT_FLAG_MAX; j++) { flags[i][j] = false; diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp index 8e29845a36..ec7a1dbd9a 100644 --- a/modules/bullet/godot_collision_configuration.cpp +++ b/modules/bullet/godot_collision_configuration.cpp @@ -41,7 +41,6 @@ GodotCollisionConfiguration::GodotCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) : btDefaultCollisionConfiguration(constructionInfo) { - void *mem = nullptr; mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16); @@ -60,44 +59,33 @@ GodotCollisionConfiguration::~GodotCollisionConfiguration() { } btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::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 btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1); } } btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::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 btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1); } } GodotSoftCollisionConfiguration::GodotSoftCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) : btSoftBodyRigidBodyCollisionConfiguration(constructionInfo) { - void *mem = nullptr; mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16); @@ -116,37 +104,27 @@ GodotSoftCollisionConfiguration::~GodotSoftCollisionConfiguration() { } 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_motion_state.h b/modules/bullet/godot_motion_state.h index e2c1b10e94..90d1614a77 100644 --- a/modules/bullet/godot_motion_state.h +++ b/modules/bullet/godot_motion_state.h @@ -46,7 +46,6 @@ class RigidBodyBullet; /// DOC: /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/MotionStates#What.27s_a_MotionState.3F class GodotMotionState : public btMotionState { - /// This data is used to store the new world position for kinematic body btTransform bodyKinematicWorldTransf; /// This data is used to store last world position diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp index 2caa75c2a7..fbb336ca56 100644 --- a/modules/bullet/godot_ray_world_algorithm.cpp +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -61,7 +61,6 @@ GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() { } void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) { - if (!m_manifoldPtr) { if (m_isSwapped) { m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject()); @@ -79,13 +78,11 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo const btCollisionObjectWrapper *other_co_wrapper; if (m_isSwapped) { - ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape()); ray_transform = body1Wrap->getWorldTransform(); other_co_wrapper = body0Wrap; } else { - ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape()); ray_transform = body0Wrap->getWorldTransform(); @@ -99,7 +96,6 @@ void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *bo m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult); if (btResult.hasHit()) { - btScalar depth(ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1)); if (depth > -RAY_PENETRATION_DEPTH_EPSILON) diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h index ec7f68dc51..45344186f5 100644 --- a/modules/bullet/godot_ray_world_algorithm.h +++ b/modules/bullet/godot_ray_world_algorithm.h @@ -42,7 +42,6 @@ class btDiscreteDynamicsWorld; class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm { - const btDiscreteDynamicsWorld *m_world; btPersistentManifold *m_manifoldPtr; bool m_ownManifold = false; @@ -61,7 +60,6 @@ public: manifoldArray.push_back(m_manifoldPtr); } struct CreateFunc : public btCollisionAlgorithmCreateFunc { - const btDiscreteDynamicsWorld *m_world; CreateFunc(const btDiscreteDynamicsWorld *world); @@ -72,7 +70,6 @@ public: }; struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc { - const btDiscreteDynamicsWorld *m_world; SwappedCreateFunc(const btDiscreteDynamicsWorld *world); diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp index ad20a7e451..b9c2a00b34 100644 --- a/modules/bullet/godot_result_callbacks.cpp +++ b/modules/bullet/godot_result_callbacks.cpp @@ -126,7 +126,6 @@ bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *prox if (gObj == m_self_object) { return false; } else { - // A kinematic body can't be stopped by a rigid body since the mass of kinematic body is infinite if (m_infinite_inertia && !btObj->isStaticOrKinematicObject()) return false; @@ -201,12 +200,10 @@ bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) co } btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { - if (m_count >= m_resultMax) return cp.getDistance(); if (cp.getDistance() <= 0) { - PhysicsDirectSpaceState3D::ShapeResult &result = m_results[m_count]; // Penetrated @@ -295,7 +292,6 @@ bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy } btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { - if (cp.getDistance() <= m_min_distance) { m_min_distance = cp.getDistance(); @@ -325,7 +321,6 @@ btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp } void GodotDeepPenetrationContactResultCallback::addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorldOnB, btScalar depth) { - if (m_penetration_distance > depth) { // Has penetration? const bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index e7f3d75c10..2338277565 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -42,7 +42,6 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) : JointBullet() { - Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); @@ -50,7 +49,6 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); @@ -59,7 +57,6 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); } else { - hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA)); } @@ -68,7 +65,6 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) : JointBullet() { - btVector3 btPivotA; btVector3 btAxisA; G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA); @@ -82,7 +78,6 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB)); } else { - hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA)); } diff --git a/modules/bullet/joint_bullet.h b/modules/bullet/joint_bullet.h index 9cb8aab276..c70cea817e 100644 --- a/modules/bullet/joint_bullet.h +++ b/modules/bullet/joint_bullet.h @@ -42,7 +42,6 @@ class RigidBodyBullet; class btTypedConstraint; class JointBullet : public ConstraintBullet { - public: JointBullet(); virtual ~JointBullet(); diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp index 68b40d7405..1cfbc65c78 100644 --- a/modules/bullet/pin_joint_bullet.cpp +++ b/modules/bullet/pin_joint_bullet.cpp @@ -42,7 +42,6 @@ PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b) : JointBullet() { if (p_body_b) { - btVector3 btPivotA; btVector3 btPivotB; G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA); diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 7a244b8c32..69a81f6f15 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -257,7 +257,6 @@ void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) { RigidBodyBullet::RigidBodyBullet() : RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY) { - godotMotionState = bulletnew(GodotMotionState(this)); // Initial properties @@ -337,7 +336,6 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { void RigidBodyBullet::dispatch_callbacks() { /// The check isFirstTransformChanged is necessary in order to call integrated forces only when the first transform is sent if ((btBody->isKinematicObject() || btBody->isActive() || previousActiveState != btBody->isActive()) && force_integration_callback && can_integrate_forces) { - if (omit_forces_integration) btBody->clearForces(); @@ -371,7 +369,6 @@ void RigidBodyBullet::dispatch_callbacks() { } void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) { - if (force_integration_callback) { memdelete(force_integration_callback); force_integration_callback = nullptr; @@ -398,7 +395,6 @@ void RigidBodyBullet::on_collision_filters_change() { } void RigidBodyBullet::on_collision_checker_start() { - prev_collision_count = collisionsCount; collisionsCount = 0; @@ -414,7 +410,6 @@ void RigidBodyBullet::on_collision_checker_end() { } bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index) { - if (collisionsCount >= maxCollisionsDetection) { return false; } @@ -565,7 +560,6 @@ PhysicsServer3D::BodyMode RigidBodyBullet::get_mode() const { } void RigidBodyBullet::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) { - switch (p_state) { case PhysicsServer3D::BODY_STATE_TRANSFORM: set_transform(p_variant); @@ -714,7 +708,6 @@ bool RigidBodyBullet::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const { } void RigidBodyBullet::reload_axis_lock() { - btBody->setLinearFactor(btVector3(float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_X)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Y)), float(!is_axis_locked(PhysicsServer3D::BODY_AXIS_LINEAR_Z)))); if (PhysicsServer3D::BODY_MODE_CHARACTER == mode) { /// When character angular is always locked @@ -793,10 +786,8 @@ void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transfor const btTransform &RigidBodyBullet::get_transform__bullet() const { if (is_static()) { - return RigidCollisionObjectBullet::get_transform__bullet(); } else { - return godotMotionState->getCurrentWorldTransform(); } } @@ -831,7 +822,6 @@ void RigidBodyBullet::on_enter_area(AreaBullet *p_area) { return; } for (int i = 0; i < areaWhereIamCount; ++i) { - if (nullptr == areasWhereIam[i]) { // This area has the highest priority areasWhereIam.write[i] = p_area; @@ -901,7 +891,6 @@ void RigidBodyBullet::reload_space_override_modificator() { bool stopped = false; for (int i = areaWhereIamCount - 1; (0 <= i) && !stopped; --i) { - currentArea = areasWhereIam[i]; if (!currentArea || PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) { @@ -910,7 +899,6 @@ void RigidBodyBullet::reload_space_override_modificator() { /// Here is calculated the gravity if (currentArea->is_spOv_gravityPoint()) { - /// It calculates the direction of new gravity support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin(); real_t distanceMag = support_gravity.length(); @@ -1004,7 +992,6 @@ void RigidBodyBullet::notify_transform_changed() { } void RigidBodyBullet::_internal_set_mass(real_t p_mass) { - btVector3 localInertia(0, 0, 0); int clearedCurrentFlags = btBody->getCollisionFlags(); @@ -1013,7 +1000,6 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) { // Rigidbody is dynamic if and only if mass is non Zero, otherwise static const bool isDynamic = p_mass != 0.f; if (isDynamic) { - if (PhysicsServer3D::BODY_MODE_RIGID != mode && PhysicsServer3D::BODY_MODE_CHARACTER != mode) return; @@ -1022,10 +1008,8 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) { mainShape->calculateLocalInertia(p_mass, localInertia); if (PhysicsServer3D::BODY_MODE_RIGID == mode) { - btBody->setCollisionFlags(clearedCurrentFlags); // Just set the flags without Kin and Static } else { - btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_CHARACTER_OBJECT); } @@ -1035,16 +1019,13 @@ void RigidBodyBullet::_internal_set_mass(real_t p_mass) { btBody->forceActivationState(DISABLE_DEACTIVATION); // DISABLE_DEACTIVATION 4 } } else { - if (PhysicsServer3D::BODY_MODE_STATIC != mode && PhysicsServer3D::BODY_MODE_KINEMATIC != mode) return; m_isStatic = true; if (PhysicsServer3D::BODY_MODE_STATIC == mode) { - btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_STATIC_OBJECT); } else { - btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_KINEMATIC_OBJECT); set_transform__bullet(btBody->getWorldTransform()); // Set current Transform using kinematic method } diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index f94dea8036..6d159504b8 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -142,7 +142,6 @@ public: }; class RigidBodyBullet : public RigidCollisionObjectBullet { - public: struct CollisionData { RigidBodyBullet *otherObject; @@ -249,7 +248,6 @@ public: virtual void on_collision_checker_end(); void set_max_collisions_detection(int p_maxCollisionsDetection) { - ERR_FAIL_COND(0 > p_maxCollisionsDetection); maxCollisionsDetection = p_maxCollisionsDetection; diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index e3b869ad8d..424daf7726 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -89,7 +89,6 @@ void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFrom } bool ShapeBullet::is_owner(ShapeOwnerBullet *p_owner) const { - return owners.has(p_owner); } @@ -394,7 +393,6 @@ void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) { } int src_face_count = faces.size(); if (0 < src_face_count) { - // It counts the faces and assert the array contains the correct number of vertices. ERR_FAIL_COND(src_face_count % 3); @@ -513,7 +511,6 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { // Compute min and max heights if not specified. if (!d.has("min_height") && !d.has("max_height")) { - const real_t *r = l_heights.ptr(); int heights_size = l_heights.size(); @@ -564,13 +561,11 @@ RayShapeBullet::RayShapeBullet() : ShapeBullet() {} void RayShapeBullet::set_data(const Variant &p_data) { - Dictionary d = p_data; setup(d["length"], d["slips_on_slope"]); } Variant RayShapeBullet::get_data() const { - Dictionary d; d["length"] = length; d["slips_on_slope"] = slips_on_slope; diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index 88b62b6dc9..b24ded574f 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -50,7 +50,6 @@ class ShapeOwnerBullet; class btBvhTriangleMeshShape; class ShapeBullet : public RIDBullet { - Map<ShapeOwnerBullet *, int> owners; real_t margin = 0.04; @@ -95,7 +94,6 @@ public: }; class PlaneShapeBullet : public ShapeBullet { - Plane plane; public: @@ -111,7 +109,6 @@ private: }; class SphereShapeBullet : public ShapeBullet { - real_t radius; public: @@ -128,7 +125,6 @@ private: }; class BoxShapeBullet : public ShapeBullet { - btVector3 half_extents; public: @@ -145,7 +141,6 @@ private: }; class CapsuleShapeBullet : public ShapeBullet { - real_t height; real_t radius; @@ -164,7 +159,6 @@ private: }; class CylinderShapeBullet : public ShapeBullet { - real_t height; real_t radius; @@ -183,7 +177,6 @@ private: }; class ConvexPolygonShapeBullet : public ShapeBullet { - public: btAlignedObjectArray<btVector3> vertices; @@ -218,7 +211,6 @@ private: }; class HeightMapShapeBullet : public ShapeBullet { - public: Vector<real_t> heights; int width; @@ -238,7 +230,6 @@ private: }; class RayShapeBullet : public ShapeBullet { - public: real_t length = 1; bool slips_on_slope = false; diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp index de47c91e5d..c248b78acf 100644 --- a/modules/bullet/slider_joint_bullet.cpp +++ b/modules/bullet/slider_joint_bullet.cpp @@ -42,7 +42,6 @@ SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : JointBullet() { - Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); @@ -50,7 +49,6 @@ SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index bbaa23e064..3047a3eed1 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -105,14 +105,12 @@ void SoftBodyBullet::update_rendering_server(SoftBodyRenderingServerHandler *p_r } void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) { - if (p_mesh.is_null()) soft_mesh.unref(); else soft_mesh = p_mesh; if (soft_mesh.is_null()) { - destroy_soft_body(); return; } @@ -123,7 +121,6 @@ void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) { } void SoftBodyBullet::destroy_soft_body() { - if (!bt_soft_body) return; @@ -223,7 +220,6 @@ void SoftBodyBullet::reset_all_node_positions() { const Vector3 *vs_vertices_read = vs_vertices.ptr(); for (int vertex_index = bt_soft_body->m_nodes.size() - 1; 0 <= vertex_index; --vertex_index) { - G_TO_B(vs_vertices_read[indices_table[vertex_index][0]], bt_soft_body->m_nodes[vertex_index].m_x); bt_soft_body->m_nodes[vertex_index].m_q = bt_soft_body->m_nodes[vertex_index].m_x; @@ -331,7 +327,6 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector const Vector3 *p_vertices_read = p_vertices.ptr(); for (int vs_vertex_index = 0; vs_vertex_index < vs_vertices_size; ++vs_vertex_index) { - Map<Vector3, int>::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]); int vertex_id; if (e) { @@ -387,7 +382,6 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector } void SoftBodyBullet::setup_soft_body() { - if (!bt_soft_body) return; diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index d28af7d61d..da8a2412ed 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -56,7 +56,6 @@ */ class SoftBodyBullet : public CollisionObjectBullet { - private: btSoftBody *bt_soft_body = nullptr; Vector<Vector<int>> indices_table; diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index aff203d7b4..433f1109c9 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -63,7 +63,6 @@ BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_spac space(p_space) {} int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (p_result_max <= 0) return 0; @@ -86,7 +85,6 @@ int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, Shape } bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) { - btVector3 btVec_from; btVector3 btVec_to; @@ -238,7 +236,6 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & } bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); @@ -276,7 +273,6 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh } Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { - RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collisin_object(p_object); ERR_FAIL_COND_V(!rigid_object, Vector3()); @@ -320,12 +316,10 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_ } if (shapes_found) { - Vector3 out; B_TO_G(out_closest_point, out); return out; } else { - // no shapes found, use distance to origin. return rigid_object->get_transform().get_origin(); } @@ -539,7 +533,6 @@ void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep } void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) { - const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray(); // Notify all Collision objects the collision checker is started @@ -561,17 +554,14 @@ BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() { } btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) { - return CLAMP(body0->getRestitution() + body1->getRestitution(), 0, 1); } btScalar calculateGodotCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1) { - return ABS(MIN(body0->getFriction(), body1->getFriction())); } void SpaceBullet::create_empty_world(bool p_create_soft_world) { - gjk_epa_pen_solver = bulletnew(btGjkEpaPenetrationDepthSolver); gjk_simplex_solver = bulletnew(btVoronoiSimplexSolver); @@ -624,7 +614,6 @@ void SpaceBullet::create_empty_world(bool p_create_soft_world) { } void SpaceBullet::destroy_world() { - /// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(nullptr); @@ -648,7 +637,6 @@ void SpaceBullet::destroy_world() { } void SpaceBullet::check_ghost_overlaps() { - /// Algorithm support variables btCollisionShape *other_body_shape; btConvexShape *area_shape; @@ -681,7 +669,6 @@ void SpaceBullet::check_ghost_overlaps() { // For each overlapping for (i = ghostOverlaps.size() - 1; 0 <= i; --i) { - bool hasOverlap = false; btCollisionObject *overlapped_bt_co = ghostOverlaps[i]; RigidCollisionObjectBullet *otherObject = static_cast<RigidCollisionObjectBullet *>(overlapped_bt_co->getUserPointer()); @@ -714,7 +701,6 @@ void SpaceBullet::check_ghost_overlaps() { // For each other object shape for (z = otherObject->get_shape_count() - 1; 0 <= z; --z) { - other_body_shape = static_cast<btCollisionShape *>(otherObject->get_bt_shape(z)); btTransform other_shape_transform(otherObject->get_bt_shape_transform(z)); @@ -725,7 +711,6 @@ void SpaceBullet::check_ghost_overlaps() { other_shape_transform; if (other_body_shape->isConvex()) { - btPointCollector result; btGjkPairDetector gjk_pair_detector( area_shape, @@ -740,7 +725,6 @@ void SpaceBullet::check_ghost_overlaps() { } } else { - btCollisionObjectWrapper obA(nullptr, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y); btCollisionObjectWrapper obB(nullptr, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z); @@ -823,7 +807,6 @@ void SpaceBullet::check_body_collision() { pt.getDistance() <= 0.0 || bodyA->was_colliding(bodyB) || bodyB->was_colliding(bodyA)) { - Vector3 collisionWorldPosition; Vector3 collisionLocalPosition; Vector3 normalOnB; @@ -883,7 +866,6 @@ static Ref<StandardMaterial3D> blue_mat; #endif bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) { - #if debug_test_motion /// Yes I know this is not good, but I've used it as fast debugging hack. /// I'm leaving it here just for speedup the other eventual debugs @@ -1000,7 +982,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f B_TO_G(motion + initial_recover_motion + __rec, r_result->motion); if (has_penetration) { - const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object); CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer()); @@ -1034,7 +1015,6 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f } int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin) { - btTransform body_transform; G_TO_B(p_transform, body_transform); UNSCALE_BT_BASIS(body_transform); @@ -1099,14 +1079,12 @@ public: self_collision_object(p_self_collision_object), collision_layer(p_collision_layer), collision_mask(p_collision_mask) { - bounds = btDbvtVolume::FromMM(p_aabb_min, p_aabb_max); } virtual ~RecoverPenetrationBroadPhaseCallback() {} virtual bool process(const btBroadphaseProxy *proxy) { - btCollisionObject *co = static_cast<btCollisionObject *>(proxy->m_clientObject); if (co->getInternalType() <= btCollisionObject::CO_RIGID_BODY) { if (self_collision_object != proxy->m_clientObject && GodotFilterCallback::test_collision_filters(collision_layer, collision_mask, proxy->m_collisionFilterGroup, proxy->m_collisionFilterMask)) { @@ -1150,13 +1128,11 @@ public: }; 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) { - // Calculate the cumulative AABB of all shapes of the kinematic body btVector3 aabb_min, aabb_max; bool shapes_found = false; for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); if (!kin_shape.is_active()) { continue; @@ -1201,7 +1177,6 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran // Perform narrowphase per shape for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); if (!kin_shape.is_active()) { continue; @@ -1230,23 +1205,19 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran if (cs->getChildShape(shape_idx)->isConvex()) { if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(shape_idx)), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; } } else { if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; } } } else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; } } else { if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, r_recover_result)) { - penetration = true; } } @@ -1257,7 +1228,6 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran } bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { - // Initialize GJK input btGjkPairDetector::ClosestPointInput gjk_input; gjk_input.m_transformA = p_transformA; @@ -1288,7 +1258,6 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt } bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result) { - /// Contact test btTransform tA(p_transformA); @@ -1325,7 +1294,6 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC } int SpaceBullet::add_separation_result(PhysicsServer3D::SeparationResult *r_result, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const { - // optimize results (ignore non-colliding) if (p_recover_result.penetration_distance < 0.0) { const btRigidBody *btRigid = static_cast<const btRigidBody *>(p_other_object); @@ -1347,13 +1315,11 @@ int SpaceBullet::add_separation_result(PhysicsServer3D::SeparationResult *r_resu } int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results) { - // Calculate the cumulative AABB of all shapes of the kinematic body btVector3 aabb_min, aabb_max; bool shapes_found = false; for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->shapes[kinIndex]); if (!kin_shape.is_active()) { continue; @@ -1397,7 +1363,6 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT // Perform narrowphase per shape for (int kinIndex = p_body->get_kinematic_utilities()->shapes.size() - 1; 0 <= kinIndex; --kinIndex) { - if (ray_count >= p_result_max) { break; } @@ -1429,14 +1394,11 @@ int SpaceBullet::recover_from_penetration_ray(RigidBodyBullet *p_body, const btT RecoverResult recover_result; if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(shape_idx), p_body->get_bt_collision_object(), otherObject, kinIndex, shape_idx, shape_transform, otherObject->getWorldTransform() * cs->getChildTransform(shape_idx), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) { - ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject); } } else { - RecoverResult recover_result; if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, shape_transform, otherObject->getWorldTransform(), p_recover_movement_scale, r_delta_recover_movement, &recover_result)) { - ray_count = add_separation_result(&r_results[ray_count], recover_result, kinIndex, otherObject); } } diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 6fe4571bba..2dad965de8 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -87,7 +87,6 @@ public: }; class SpaceBullet : public RIDBullet { - friend class AreaBullet; friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep); friend class BulletPhysicsDirectSpaceState; |