From 7709a8349354b469361ec7e1429af0dc8af80b2a Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Sun, 21 Jun 2020 12:48:40 +0200 Subject: [PATCH] Optimized physics object spawn time and optimized shape usage when the shape is not scaled --- modules/bullet/area_bullet.cpp | 6 +- modules/bullet/area_bullet.h | 2 +- modules/bullet/collision_object_bullet.cpp | 58 ++++++++++++----- modules/bullet/collision_object_bullet.h | 26 +++++++- modules/bullet/rigid_body_bullet.cpp | 12 ++-- modules/bullet/rigid_body_bullet.h | 4 +- modules/bullet/shape_bullet.cpp | 55 +++++++++++++---- modules/bullet/shape_bullet.h | 28 ++++++--- modules/bullet/soft_body_bullet.cpp | 6 +- modules/bullet/soft_body_bullet.h | 2 +- modules/bullet/space_bullet.cpp | 72 +++++++++++++++++----- modules/bullet/space_bullet.h | 4 ++ 12 files changed, 204 insertions(+), 71 deletions(-) diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp index 79d8e252f019..4964a6c8c910 100644 --- a/modules/bullet/area_bullet.cpp +++ b/modules/bullet/area_bullet.cpp @@ -164,7 +164,7 @@ void AreaBullet::main_shape_changed() { btGhost->setCollisionShape(get_main_shape()); } -void AreaBullet::reload_body() { +void AreaBullet::do_reload_body() { if (space) { space->remove_area(this); space->add_area(this); @@ -177,13 +177,15 @@ void AreaBullet::set_space(SpaceBullet *p_space) { isScratched = false; // Remove this object form the physics world + space->unregister_collision_object(this); space->remove_area(this); } space = p_space; if (space) { - space->add_area(this); + space->register_collision_object(this); + reload_body(); } } diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h index c0bcc858fed5..12272092f727 100644 --- a/modules/bullet/area_bullet.h +++ b/modules/bullet/area_bullet.h @@ -140,7 +140,7 @@ class AreaBullet : public RigidCollisionObjectBullet { _FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; } virtual void main_shape_changed(); - virtual void reload_body(); + virtual void do_reload_body(); virtual void set_space(SpaceBullet *p_space); virtual void dispatch_callbacks(); diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index a3158a15e51e..dd208965bdd1 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -79,7 +79,7 @@ btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const } void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) { - if (!bt_shape) { + if (bt_shape == nullptr) { if (active) { bt_shape = shape->create_bt_shape(scale * body_scale); } else { @@ -88,6 +88,13 @@ void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_s } } +void CollisionObjectBullet::ShapeWrapper::release_bt_shape() { + if (bt_shape != nullptr) { + shape->destroy_bt_shape(bt_shape); + bt_shape = nullptr; + } +} + CollisionObjectBullet::CollisionObjectBullet(Type p_type) : RIDBullet(), type(p_type) {} @@ -158,6 +165,13 @@ bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object); } +void CollisionObjectBullet::prepare_object_for_dispatch() { + if (need_body_reload) { + do_reload_body(); + need_body_reload = false; + } +} + void CollisionObjectBullet::set_collision_enabled(bool p_enabled) { collisionsEnabled = p_enabled; if (collisionsEnabled) { @@ -319,16 +333,28 @@ bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) { return !shapes[p_index].active; } +void RigidCollisionObjectBullet::prepare_object_for_dispatch() { + if (need_shape_reload) { + do_reload_shapes(); + need_shape_reload = false; + } + CollisionObjectBullet::prepare_object_for_dispatch(); +} + void RigidCollisionObjectBullet::shape_changed(int p_shape_index) { ShapeWrapper &shp = shapes.write[p_shape_index]; if (shp.bt_shape == mainShape) { mainShape = nullptr; } - bulletdelete(shp.bt_shape); + shp.release_bt_shape(); reload_shapes(); } void RigidCollisionObjectBullet::reload_shapes() { + need_shape_reload = true; +} + +void RigidCollisionObjectBullet::do_reload_shapes() { if (mainShape && mainShape->isCompound()) { // Destroy compound bulletdelete(mainShape); @@ -336,41 +362,39 @@ void RigidCollisionObjectBullet::reload_shapes() { mainShape = nullptr; - ShapeWrapper *shpWrapper; const int shape_count = shapes.size(); + ShapeWrapper *shapes_ptr = shapes.ptrw(); - // Reset shape if required + // Reset all shapes if required if (force_shape_reset) { for (int i(0); i < shape_count; ++i) { - shpWrapper = &shapes.write[i]; - bulletdelete(shpWrapper->bt_shape); + shapes_ptr[i].release_bt_shape(); } force_shape_reset = false; } const btVector3 body_scale(get_bt_body_scale()); - // Try to optimize by not using compound if (1 == shape_count) { - shpWrapper = &shapes.write[0]; - btTransform transform = shpWrapper->get_adjusted_transform(); + // Is it possible to optimize by not using compound? + btTransform transform = shapes_ptr[0].get_adjusted_transform(); if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) { - shpWrapper->claim_bt_shape(body_scale); - mainShape = shpWrapper->bt_shape; + shapes_ptr[0].claim_bt_shape(body_scale); + mainShape = shapes_ptr[0].bt_shape; main_shape_changed(); + // Nothing more to do return; } } - // Optimization not possible use a compound shape + // Optimization not possible use a compound shape. btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count)); for (int i(0); i < shape_count; ++i) { - shpWrapper = &shapes.write[i]; - shpWrapper->claim_bt_shape(body_scale); - btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform()); + shapes_ptr[i].claim_bt_shape(body_scale); + btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform()); scaled_shape_transform.getOrigin() *= body_scale; - compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape); + compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape); } compoundShape->recalculateLocalAabb(); @@ -389,5 +413,5 @@ void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_perm if (shp.bt_shape == mainShape) { mainShape = nullptr; } - bulletdelete(shp.bt_shape); + shp.release_bt_shape(); } diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index f1423a69e4d7..ac74661f2429 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -70,11 +70,12 @@ class CollisionObjectBullet : public RIDBullet { struct ShapeWrapper { ShapeBullet *shape = nullptr; - btCollisionShape *bt_shape = nullptr; btTransform transform; btVector3 scale; bool active = true; + btCollisionShape *bt_shape = nullptr; + public: ShapeWrapper() {} ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) : @@ -107,6 +108,7 @@ class CollisionObjectBullet : public RIDBullet { btTransform get_adjusted_transform() const; void claim_bt_shape(const btVector3 &body_scale); + void release_bt_shape(); }; protected: @@ -124,12 +126,17 @@ class CollisionObjectBullet : public RIDBullet { VSet exceptions; + bool need_body_reload = true; + /// This array is used to know all areas where this Object is overlapped in /// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea) /// This array is used mainly to know which area hold the pointer of this object Vector areasOverlapped; bool isTransformChanged = false; +public: + bool is_in_world = false; + public: CollisionObjectBullet(Type p_type); virtual ~CollisionObjectBullet(); @@ -183,13 +190,21 @@ class CollisionObjectBullet : public RIDBullet { return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask; } - virtual void reload_body() = 0; + bool need_reload_body() const { + return need_body_reload; + } + + void reload_body() { + need_body_reload = true; + } + virtual void do_reload_body() = 0; virtual void set_space(SpaceBullet *p_space) = 0; _FORCE_INLINE_ SpaceBullet *get_space() const { return space; } virtual void on_collision_checker_start() = 0; virtual void on_collision_checker_end() = 0; + virtual void prepare_object_for_dispatch(); virtual void dispatch_callbacks() = 0; void set_collision_enabled(bool p_enabled); @@ -215,6 +230,7 @@ class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwn protected: btCollisionShape *mainShape = nullptr; Vector shapes; + bool need_shape_reload = true; public: RigidCollisionObjectBullet(Type p_type) : @@ -246,8 +262,12 @@ class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwn void set_shape_disabled(int p_index, bool p_disabled); bool is_shape_disabled(int p_index); + virtual void prepare_object_for_dispatch(); + virtual void shape_changed(int p_shape_index); - virtual void reload_shapes(); + void reload_shapes(); + bool need_reload_shapes() const { return need_shape_reload; } + virtual void do_reload_shapes(); virtual void main_shape_changed() = 0; virtual void body_scale_changed(); diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 9aac7ba9e41a..737adcc18615 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -237,7 +237,7 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { case PhysicsServer3D::SHAPE_CYLINDER: case PhysicsServer3D::SHAPE_CONVEX_POLYGON: case PhysicsServer3D::SHAPE_RAY: { - shapes.write[i].shape = static_cast(shape_wrapper->shape->create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin)); + shapes.write[i].shape = static_cast(shape_wrapper->shape->internal_create_bt_shape(owner_scale * shape_wrapper->scale, safe_margin)); } break; default: WARN_PRINT("This shape is not supported for kinematic collision."); @@ -307,7 +307,7 @@ void RigidBodyBullet::main_shape_changed() { set_continuous_collision_detection(is_continuous_collision_detection_enabled()); // Reset } -void RigidBodyBullet::reload_body() { +void RigidBodyBullet::do_reload_body() { if (space) { space->remove_rigid_body(this); if (get_main_shape()) { @@ -325,13 +325,15 @@ void RigidBodyBullet::set_space(SpaceBullet *p_space) { assert_no_constraints(); // Remove this object form the physics world + space->unregister_collision_object(this); space->remove_rigid_body(this); } space = p_space; if (space) { - space->add_rigid_body(this); + space->register_collision_object(this); + reload_body(); } } @@ -803,8 +805,8 @@ const btTransform &RigidBodyBullet::get_transform__bullet() const { } } -void RigidBodyBullet::reload_shapes() { - RigidCollisionObjectBullet::reload_shapes(); +void RigidBodyBullet::do_reload_shapes() { + RigidCollisionObjectBullet::do_reload_shapes(); const btScalar invMass = btBody->getInvMass(); const btScalar mass = invMass == 0 ? 0 : 1 / invMass; diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index 6d159504b8d9..993de50bac17 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -236,7 +236,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet { _FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; } virtual void main_shape_changed(); - virtual void reload_body(); + virtual void do_reload_body(); virtual void set_space(SpaceBullet *p_space); virtual void dispatch_callbacks(); @@ -315,7 +315,7 @@ class RigidBodyBullet : public RigidCollisionObjectBullet { virtual void set_transform__bullet(const btTransform &p_global_transform); virtual const btTransform &get_transform__bullet() const; - virtual void reload_shapes(); + virtual void do_reload_shapes(); virtual void on_enter_area(AreaBullet *p_area); virtual void on_exit_area(AreaBullet *p_area); diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index d53f1e7d1737..f4550c20246f 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -46,9 +46,15 @@ @author AndreaCatania */ -ShapeBullet::ShapeBullet() {} +ShapeBullet::ShapeBullet() { +} -ShapeBullet::~ShapeBullet() {} +ShapeBullet::~ShapeBullet() { + if (default_shape != nullptr) { + bulletdelete(default_shape); + default_shape = nullptr; + } +} btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) { btVector3 s; @@ -56,6 +62,22 @@ btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, return create_bt_shape(s, p_extra_edge); } +btCollisionShape *ShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { + if (p_extra_edge == 0.0 && (p_implicit_scale - btVector3(1, 1, 1)).length2() <= CMP_EPSILON) { + return default_shape; + } + + return internal_create_bt_shape(p_implicit_scale, p_extra_edge); +} + +void ShapeBullet::destroy_bt_shape(btCollisionShape *p_shape) const { + if (p_shape != default_shape && p_shape != old_default_shape) { + if (likely(p_shape != nullptr)) { + bulletdelete(p_shape); + } + } +} + btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { p_btShape->setUserPointer(const_cast(this)); p_btShape->setMargin(margin); @@ -63,10 +85,21 @@ btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { } void ShapeBullet::notifyShapeChanged() { + // Store the old shape ptr so to not lose the reference pointer. + old_default_shape = default_shape; + // Create the new default shape with the new data. + default_shape = internal_create_bt_shape(btVector3(1, 1, 1)); + for (Map::Element *E = owners.front(); E; E = E->next()) { ShapeOwnerBullet *owner = static_cast(E->key()); owner->shape_changed(owner->find_shape(this)); } + + if (old_default_shape) { + // At this point now one has the old default shape; just delete it. + bulletdelete(old_default_shape); + old_default_shape = nullptr; + } } void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) { @@ -186,7 +219,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) { notifyShapeChanged(); } -btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *PlaneShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btVector3 btPlaneNormal; G_TO_B(plane.normal, btPlaneNormal); return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d)); @@ -214,7 +247,7 @@ void SphereShapeBullet::setup(real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *SphereShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge)); } @@ -241,7 +274,7 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) { notifyShapeChanged(); } -btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *BoxShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge))); } @@ -274,7 +307,7 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *CapsuleShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1] + p_extra_edge)); } @@ -307,7 +340,7 @@ void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) { notifyShapeChanged(); } -btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { +btCollisionShape *CylinderShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin)); } @@ -349,7 +382,7 @@ void ConvexPolygonShapeBullet::setup(const Vector &p_vertices) { notifyShapeChanged(); } -btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *ConvexPolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { if (!vertices.size()) { // This is necessary since 0 vertices return prepare(ShapeBullet::create_shape_empty()); @@ -431,7 +464,7 @@ void ConcavePolygonShapeBullet::setup(Vector p_faces) { notifyShapeChanged(); } -btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *ConcavePolygonShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape); if (!cs) { // This is necessary since if 0 faces the creation of concave return null @@ -555,7 +588,7 @@ void HeightMapShapeBullet::setup(Vector &p_heights, int p_width, int p_d notifyShapeChanged(); } -btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *HeightMapShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height)); cs->setLocalScaling(p_implicit_scale); prepare(cs); @@ -588,6 +621,6 @@ void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) { notifyShapeChanged(); } -btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { +btCollisionShape *RayShapeBullet::internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope)); } diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index a35a1d8a18f8..6ca4d36a2365 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -53,6 +53,10 @@ class ShapeBullet : public RIDBullet { Map owners; real_t margin = 0.04; + // Contains the default shape. + btCollisionShape *default_shape = nullptr; + btCollisionShape *old_default_shape = nullptr; + protected: /// return self btCollisionShape *prepare(btCollisionShape *p_btShape) const; @@ -63,7 +67,11 @@ class ShapeBullet : public RIDBullet { virtual ~ShapeBullet(); btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0); - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0; + btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + + void destroy_bt_shape(btCollisionShape *p_shape) const; + + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0; void add_owner(ShapeOwnerBullet *p_owner); void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false); @@ -102,7 +110,7 @@ class PlaneShapeBullet : public ShapeBullet { virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Plane &p_plane); @@ -118,7 +126,7 @@ class SphereShapeBullet : public ShapeBullet { virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_radius); @@ -134,7 +142,7 @@ class BoxShapeBullet : public ShapeBullet { virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Vector3 &p_half_extents); @@ -152,7 +160,7 @@ class CapsuleShapeBullet : public ShapeBullet { virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_height, real_t p_radius); @@ -170,7 +178,7 @@ class CylinderShapeBullet : public ShapeBullet { virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: void setup(real_t p_height, real_t p_radius); @@ -186,7 +194,7 @@ class ConvexPolygonShapeBullet : public ShapeBullet { void get_vertices(Vector &out_vertices); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(const Vector &p_vertices); @@ -204,7 +212,7 @@ class ConcavePolygonShapeBullet : public ShapeBullet { virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(Vector p_faces); @@ -223,7 +231,7 @@ class HeightMapShapeBullet : public ShapeBullet { virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(Vector &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); @@ -239,7 +247,7 @@ class RayShapeBullet : public ShapeBullet { virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer3D::ShapeType get_type() const; - virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); + virtual btCollisionShape *internal_create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(real_t p_length, bool p_slips_on_slope); diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 6794d6c313c6..3fccd3d8a2bd 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -41,7 +41,7 @@ SoftBodyBullet::SoftBodyBullet() : SoftBodyBullet::~SoftBodyBullet() { } -void SoftBodyBullet::reload_body() { +void SoftBodyBullet::do_reload_body() { if (space) { space->remove_soft_body(this); space->add_soft_body(this); @@ -51,13 +51,15 @@ void SoftBodyBullet::reload_body() { void SoftBodyBullet::set_space(SpaceBullet *p_space) { if (space) { isScratched = false; + space->unregister_collision_object(this); space->remove_soft_body(this); } space = p_space; if (space) { - space->add_soft_body(this); + space->register_collision_object(this); + reload_body(); } } diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index da8a2412eddb..ba968f4271e4 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -87,7 +87,7 @@ class SoftBodyBullet : public CollisionObjectBullet { SoftBodyBullet(); ~SoftBodyBullet(); - virtual void reload_body(); + virtual void do_reload_body(); virtual void set_space(SpaceBullet *p_space); virtual void dispatch_callbacks() {} diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 99f58e70595c..84be5a056b30 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -126,7 +126,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - bulletdelete(btShape); + shape->destroy_bt_shape(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return 0; } @@ -146,7 +146,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra btQuery.m_closestDistanceThreshold = 0; space->dynamicsWorld->contactTest(&collision_object, btQuery); - bulletdelete(btConvex); + shape->destroy_bt_shape(btShape); return btQuery.m_count; } @@ -156,7 +156,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin); if (!btShape->isConvex()) { - bulletdelete(btShape); + shape->destroy_bt_shape(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } @@ -198,7 +198,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf } } - bulletdelete(bt_convex_shape); + shape->destroy_bt_shape(btShape); return true; // Mean success } @@ -212,7 +212,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - bulletdelete(btShape); + shape->destroy_bt_shape(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } @@ -233,7 +233,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & space->dynamicsWorld->contactTest(&collision_object, btQuery); r_result_count = btQuery.m_count; - bulletdelete(btConvex); + shape->destroy_bt_shape(btShape); return btQuery.m_count; } @@ -243,7 +243,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale_abs(), p_margin); if (!btShape->isConvex()) { - bulletdelete(btShape); + shape->destroy_bt_shape(btShape); ERR_PRINT("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); return false; } @@ -263,7 +263,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh btQuery.m_closestDistanceThreshold = 0; space->dynamicsWorld->contactTest(&collision_object, btQuery); - bulletdelete(btConvex); + shape->destroy_bt_shape(btShape); if (btQuery.m_collided) { if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) { @@ -339,9 +339,11 @@ SpaceBullet::~SpaceBullet() { } void SpaceBullet::flush_queries() { - const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray(); - for (int i = colObjArray.size() - 1; 0 <= i; --i) { - static_cast(colObjArray[i]->getUserPointer())->dispatch_callbacks(); + const int size = collision_objects.size(); + CollisionObjectBullet **objects = collision_objects.ptrw(); + for (int i = 0; i < size; i += 1) { + objects[i]->prepare_object_for_dispatch(); + objects[i]->dispatch_callbacks(); } } @@ -438,16 +440,30 @@ real_t SpaceBullet::get_param(PhysicsServer3D::SpaceParameter p_param) { } void SpaceBullet::add_area(AreaBullet *p_area) { +#ifdef TOOLS_ENABLED + // This never happen, and there is no way for the user to trigger it. + // If in future a bug is introduced into this bullet integration and this + // function is called twice, the crash will notify the developer that will + // fix it even before do the eventual PR. + CRASH_COND(p_area->is_in_world); +#endif areas.push_back(p_area); dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask()); + p_area->is_in_world = true; } void SpaceBullet::remove_area(AreaBullet *p_area) { - areas.erase(p_area); - dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); + if (p_area->is_in_world) { + areas.erase(p_area); + dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); + p_area->is_in_world = false; + } } void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { + if (p_area->is_in_world == false) { + return; + } btGhostObject *ghost_object = p_area->get_bt_ghost(); btBroadphaseProxy *ghost_proxy = ghost_object->getBroadphaseHandle(); @@ -457,24 +473,46 @@ void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { dynamicsWorld->refreshBroadphaseProxy(ghost_object); } +void SpaceBullet::register_collision_object(CollisionObjectBullet *p_object) { + collision_objects.push_back(p_object); +} + +void SpaceBullet::unregister_collision_object(CollisionObjectBullet *p_object) { + collision_objects.erase(p_object); +} + void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) { +#ifdef TOOLS_ENABLED + // This never happen, and there is no way for the user to trigger it. + // If in future a bug is introduced into this bullet integration and this + // function is called twice, the crash will notify the developer that will + // fix it even before do the eventual PR. + CRASH_COND(p_body->is_in_world); +#endif if (p_body->is_static()) { dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); } else { dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); p_body->scratch_space_override_modificator(); } + p_body->is_in_world = true; } void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { - if (p_body->is_static()) { - dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); - } else { - dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); + if (p_body->is_in_world) { + if (p_body->is_static()) { + dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); + } else { + dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); + } + p_body->is_in_world = false; } } void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) { + if (p_body->is_in_world == false) { + return; + } btRigidBody *rigid_body = p_body->get_bt_rigid_body(); btBroadphaseProxy *body_proxy = rigid_body->getBroadphaseProxy(); diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 5ff421ef52bd..11183b8550c5 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -110,6 +110,7 @@ class SpaceBullet : public RIDBullet { real_t linear_damp = 0.0; real_t angular_damp = 0.0; + Vector collision_objects; Vector areas; Vector contactDebug; @@ -147,6 +148,9 @@ class SpaceBullet : public RIDBullet { void remove_area(AreaBullet *p_area); void reload_collision_filters(AreaBullet *p_area); + void register_collision_object(CollisionObjectBullet *p_object); + void unregister_collision_object(CollisionObjectBullet *p_object); + void add_rigid_body(RigidBodyBullet *p_body); void remove_rigid_body(RigidBodyBullet *p_body); void reload_collision_filters(RigidBodyBullet *p_body);