godot/modules/bullet/collision_object_bullet.cpp

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/*************************************************************************/
/* collision_object_bullet.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
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/* "Software"), to deal in the Software without restriction, including */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/*************************************************************************/
#include "collision_object_bullet.h"
#include "area_bullet.h"
#include "bullet_physics_server.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "shape_bullet.h"
#include "space_bullet.h"
#include <btBulletCollisionCommon.h>
/**
@author AndreaCatania
*/
KinematicBody performance and quality improvements With this change finally one can use compound collisions (like those created by Gridmaps) without serious performance issues. The previous KinematicBody code for Bullet was practically doing a whole bunch of unnecessary calculations. Gridmaps with fairly large octant sizes (in my case 32) can get up to 10000x speedup with this change (literally!). I expect the FPS demo to get a fair speedup as well. List of fixes and improvements: - Fixed a general bug in move_and_slide that affects both GodotPhysics and Bullet, where ray shapes would be ignored unless the stop_on_slope parameter is disabled. Not sure where that came from, but looking at the 2D physics code it was obvious there's a difference. - Enabled the dynamic AABB tree that Bullet uses to allow broadphase collision tests against individual shapes of compound shapes. This is crucial to get good performance with Gridmaps and in general improves the performance whenever a KinematicBody collides with compound collision shapes. - Added code to the broadphase collision detection code used by the Bullet module for KinematicBodies to also do broadphase on the sub-shapes of compound collision shapes. This is possible thanks to the dynamic AABB tree that was previously disabled and it's the change that provides the biggest performance boost. - Now broadphase test is only done once per KinematicBody in Bullet instead of once per each of its shapes which was completely unnecessary. - Fixed the way how the ray separation results are populated in Bullet which was completely broken previously, overwriting previous results and similar non-sense. - Fixed ray shapes for good now. Previously the margin set in the editor was not respected at all, and the KinematicBody code for ray separation was complete bogus, thus all previous attempts to fix it were mislead. - Fixed an obvious bug also in GodotPhysics where an out-of-bounds index was used in the ray result array. There are a whole set of other problems with the KinematicBody code of Bullet which cost performance and may cause unexpected behavior, but those are not addressed in this change (need to keep it "simple"). Not sure whether this fixes any outstanding Github issues but I wouldn't be surprised.
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// We enable dynamic AABB tree so that we can actually perform a broadphase on bodies with compound collision shapes.
// This is crucial for the performance of kinematic bodies and for bodies with transforming shapes.
#define enableDynamicAabbTree true
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) {
G_TO_B(p_transform.get_basis().get_scale_abs(), scale);
G_TO_B(p_transform, transform);
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UNSCALE_BT_BASIS(transform);
}
void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
transform = p_transform;
}
btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const {
if (shape->get_type() == PhysicsServer3D::SHAPE_HEIGHTMAP) {
const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now
btTransform adjusted_transform;
// Bullet centers our heightmap:
// https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33
// This is really counter intuitive so we're adjusting for it
adjusted_transform.setIdentity();
adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0));
adjusted_transform *= transform;
return adjusted_transform;
} else {
return transform;
}
}
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
if (bt_shape == nullptr) {
if (active) {
bt_shape = shape->create_bt_shape(scale * body_scale);
} else {
bt_shape = ShapeBullet::create_shape_empty();
}
}
}
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) {}
CollisionObjectBullet::~CollisionObjectBullet() {
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// Remove all overlapping, notify is not required since godot take care of it
for (int i = areasOverlapped.size() - 1; 0 <= i; --i) {
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areasOverlapped[i]->remove_overlap(this, /*Notify*/ false);
}
destroyBulletCollisionObject();
}
bool equal(real_t first, real_t second) {
return Math::abs(first - second) <= 0.001f;
}
void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
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body_scale = p_new_scale;
body_scale_changed();
}
}
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btVector3 CollisionObjectBullet::get_bt_body_scale() const {
btVector3 s;
G_TO_B(body_scale, s);
return s;
}
void CollisionObjectBullet::body_scale_changed() {
force_shape_reset = true;
}
void CollisionObjectBullet::destroyBulletCollisionObject() {
bulletdelete(bt_collision_object);
}
void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_collisionObject) {
bt_collision_object = p_collisionObject;
bt_collision_object->setUserPointer(this);
bt_collision_object->setUserIndex(type);
// Force the enabling of collision and avoid problems
set_collision_enabled(collisionsEnabled);
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p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.insert(p_ignoreCollisionObject->get_self());
if (!bt_collision_object) {
return;
}
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
if (space) {
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space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
}
void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.erase(p_ignoreCollisionObject->get_self());
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false);
if (space) {
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space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
}
bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
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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) {
bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE));
} else {
bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
}
}
bool CollisionObjectBullet::is_collisions_response_enabled() {
return collisionsEnabled;
}
void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) {
areasOverlapped.push_back(p_area);
}
void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) {
areasOverlapped.erase(p_area);
}
void CollisionObjectBullet::set_godot_object_flags(int flags) {
bt_collision_object->setUserIndex2(flags);
}
int CollisionObjectBullet::get_godot_object_flags() const {
return bt_collision_object->getUserIndex2();
}
void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
set_body_scale(p_global_transform.basis.get_scale_abs());
btTransform bt_transform;
G_TO_B(p_global_transform, bt_transform);
UNSCALE_BT_BASIS(bt_transform);
set_transform__bullet(bt_transform);
}
Transform CollisionObjectBullet::get_transform() const {
Transform t;
B_TO_G(get_transform__bullet(), t);
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t.basis.scale(body_scale);
return t;
}
void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) {
bt_collision_object->setWorldTransform(p_global_transform);
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notify_transform_changed();
}
const btTransform &CollisionObjectBullet::get_transform__bullet() const {
return bt_collision_object->getWorldTransform();
}
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void CollisionObjectBullet::notify_transform_changed() {
isTransformChanged = true;
}
RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
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remove_all_shapes(true, true);
if (mainShape && mainShape->isCompound()) {
bulletdelete(mainShape);
}
}
void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform, bool p_disabled) {
shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled));
p_shape->add_owner(this);
reload_shapes();
}
void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this);
p_shape->add_owner(this);
shp.shape = p_shape;
reload_shapes();
}
int RigidCollisionObjectBullet::get_shape_count() const {
return shapes.size();
}
ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const {
return shapes[p_index].shape;
}
btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
return shapes[p_index].bt_shape;
}
int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const {
const int size = shapes.size();
for (int i = 0; i < size; ++i) {
if (shapes[i].shape == p_shape) {
return i;
}
}
return -1;
}
void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
// Remove the shape, all the times it appears
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
if (p_shape == shapes[i].shape) {
internal_shape_destroy(i);
shapes.remove(i);
}
}
reload_shapes();
}
void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
ERR_FAIL_INDEX(p_index, get_shape_count());
internal_shape_destroy(p_index);
shapes.remove(p_index);
reload_shapes();
}
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void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody, bool p_force_not_reload) {
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
internal_shape_destroy(i, p_permanentlyFromThisBody);
}
shapes.clear();
if (!p_force_not_reload) {
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reload_shapes();
}
}
void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
ERR_FAIL_INDEX(p_index, get_shape_count());
shapes.write[p_index].set_transform(p_transform);
shape_changed(p_index);
}
const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
return shapes[p_index].transform;
}
Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
Transform trs;
B_TO_G(shapes[p_index].transform, trs);
return trs;
}
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
if (shapes[p_index].active != p_disabled) {
return;
}
shapes.write[p_index].active = !p_disabled;
shape_changed(p_index);
}
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) {
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mainShape = nullptr;
}
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);
}
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mainShape = nullptr;
const int shape_count = shapes.size();
ShapeWrapper *shapes_ptr = shapes.ptrw();
// Reset all shapes if required
if (force_shape_reset) {
for (int i(0); i < shape_count; ++i) {
shapes_ptr[i].release_bt_shape();
}
force_shape_reset = false;
}
const btVector3 body_scale(get_bt_body_scale());
if (1 == shape_count) {
// 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()) {
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.
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
for (int i(0); i < shape_count; ++i) {
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, shapes_ptr[i].bt_shape);
}
compoundShape->recalculateLocalAabb();
mainShape = compoundShape;
main_shape_changed();
}
void RigidCollisionObjectBullet::body_scale_changed() {
CollisionObjectBullet::body_scale_changed();
reload_shapes();
}
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
ShapeWrapper &shp = shapes.write[p_index];
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
if (shp.bt_shape == mainShape) {
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mainShape = nullptr;
}
shp.release_bt_shape();
}