Skip to content
Projects
Groups
Snippets
Help
This project
Loading...
Sign in / Register
Toggle navigation
godot
Project
Overview
Details
Activity
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
0
Issues
0
List
Board
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Charts
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
community
godot
Commits
9353a2bb
Commit
9353a2bb
authored
Mar 26, 2020
by
PouleyKetchoupp
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
Better damping implementation for Bullet rigid bodies
Apply old method for linear & angular damping in Bullet, in order to make it easier to tweak and consistent with Godot Physics.
parent
f61587b1
Hide whitespace changes
Inline
Side-by-side
Showing
4 changed files
with
36 additions
and
22 deletions
+36
-22
SCsub
modules/bullet/SCsub
+2
-0
rigid_body_bullet.cpp
modules/bullet/rigid_body_bullet.cpp
+20
-20
space_bullet.cpp
modules/bullet/space_bullet.cpp
+8
-2
space_bullet.h
modules/bullet/space_bullet.h
+6
-0
No files found.
modules/bullet/SCsub
View file @
9353a2bb
...
...
@@ -204,6 +204,8 @@ if env["builtin_bullet"]:
# if env['target'] == "debug" or env['target'] == "release_debug":
# env_bullet.Append(CPPDEFINES=['BT_DEBUG'])
env_bullet
.
Append
(
CPPDEFINES
=
[
"BT_USE_OLD_DAMPING_METHOD"
])
env_thirdparty
=
env_bullet
.
Clone
()
env_thirdparty
.
disable_warnings
()
env_thirdparty
.
add_source_files
(
env
.
modules_sources
,
thirdparty_sources
)
...
...
modules/bullet/rigid_body_bullet.cpp
View file @
9353a2bb
...
...
@@ -503,15 +503,18 @@ void RigidBodyBullet::set_param(PhysicsServer3D::BodyParameter p_param, real_t p
}
case
PhysicsServer3D
:
:
BODY_PARAM_LINEAR_DAMP
:
linearDamp
=
p_value
;
btBody
->
setDamping
(
linearDamp
,
angularDamp
);
// Mark for updating total linear damping.
scratch_space_override_modificator
();
break
;
case
PhysicsServer3D
:
:
BODY_PARAM_ANGULAR_DAMP
:
angularDamp
=
p_value
;
btBody
->
setDamping
(
linearDamp
,
angularDamp
);
// Mark for updating total angular damping.
scratch_space_override_modificator
();
break
;
case
PhysicsServer3D
:
:
BODY_PARAM_GRAVITY_SCALE
:
gravity_scale
=
p_value
;
/// The Bullet gravity will be is set by reload_space_override_modificator
// The Bullet gravity will be is set by reload_space_override_modificator.
// Mark for updating total gravity scale.
scratch_space_override_modificator
();
break
;
default
:
...
...
@@ -902,21 +905,20 @@ void RigidBodyBullet::on_exit_area(AreaBullet *p_area) {
}
void
RigidBodyBullet
::
reload_space_override_modificator
()
{
// Make sure that kinematic bodies have their total gravity calculated
if
(
!
is_active
()
&&
PhysicsServer3D
::
BODY_MODE_KINEMATIC
!=
mode
)
return
;
Vector3
newGravity
(
space
->
get_gravity_direction
()
*
space
->
get_gravity_magnitude
()
);
real_t
newLinearDamp
(
linearDamp
);
real_t
newAngularDamp
(
angularDamp
);
Vector3
newGravity
(
0.0
,
0.0
,
0.0
);
real_t
newLinearDamp
=
MAX
(
0.0
,
linearDamp
);
real_t
newAngularDamp
=
MAX
(
0.0
,
angularDamp
);
AreaBullet
*
currentArea
;
// Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer
Vector3
support_gravity
(
0
,
0
,
0
);
int
countCombined
(
0
)
;
for
(
int
i
=
areaWhereIamCount
-
1
;
0
<=
i
;
--
i
)
{
bool
stopped
=
false
;
for
(
int
i
=
areaWhereIamCount
-
1
;
(
0
<=
i
)
&&
!
stopped
;
--
i
)
{
currentArea
=
areasWhereIam
[
i
];
...
...
@@ -965,7 +967,6 @@ void RigidBodyBullet::reload_space_override_modificator() {
newGravity
+=
support_gravity
;
newLinearDamp
+=
currentArea
->
get_spOv_linearDamp
();
newAngularDamp
+=
currentArea
->
get_spOv_angularDamp
();
++
countCombined
;
break
;
case
PhysicsServer3D
:
:
AREA_SPACE_OVERRIDE_COMBINE_REPLACE
:
/// This area adds its gravity/damp values to whatever has been calculated
...
...
@@ -974,32 +975,31 @@ void RigidBodyBullet::reload_space_override_modificator() {
newGravity
+=
support_gravity
;
newLinearDamp
+=
currentArea
->
get_spOv_linearDamp
();
newAngularDamp
+=
currentArea
->
get_spOv_angularDamp
();
++
countCombined
;
goto
endAreasCycle
;
stopped
=
true
;
break
;
case
PhysicsServer3D
:
:
AREA_SPACE_OVERRIDE_REPLACE
:
/// This area replaces any gravity/damp, even the default one, and
/// stops taking into account the rest of the areas.
newGravity
=
support_gravity
;
newLinearDamp
=
currentArea
->
get_spOv_linearDamp
();
newAngularDamp
=
currentArea
->
get_spOv_angularDamp
();
countCombined
=
1
;
goto
endAreasCycle
;
stopped
=
true
;
break
;
case
PhysicsServer3D
:
:
AREA_SPACE_OVERRIDE_REPLACE_COMBINE
:
/// This area replaces any gravity/damp calculated so far, but keeps
/// calculating the rest of the areas, down to the default one.
newGravity
=
support_gravity
;
newLinearDamp
=
currentArea
->
get_spOv_linearDamp
();
newAngularDamp
=
currentArea
->
get_spOv_angularDamp
();
countCombined
=
1
;
break
;
}
}
endAreasCycle
:
if
(
1
<
countCombined
)
{
newGravity
/=
countCombined
;
newLinearDamp
/=
countCombined
;
newAngularDamp
/=
countCombined
;
// Add default gravity and damping from space.
if
(
!
stopped
)
{
newGravity
+=
space
->
get_gravity_direction
()
*
space
->
get_gravity_magnitude
();
newLinearDamp
+=
space
->
get_linear_damp
();
newAngularDamp
+=
space
->
get_angular_damp
();
}
btVector3
newBtGravity
;
...
...
modules/bullet/space_bullet.cpp
View file @
9353a2bb
...
...
@@ -342,6 +342,8 @@ SpaceBullet::SpaceBullet() :
godotFilterCallback
(
nullptr
),
gravityDirection
(
0
,
-
1
,
0
),
gravityMagnitude
(
10
),
linear_damp
(
0.0
),
angular_damp
(
0.0
),
contactDebugCount
(
0
),
delta_time
(
0.
)
{
...
...
@@ -379,8 +381,11 @@ void SpaceBullet::set_param(PhysicsServer3D::AreaParameter p_param, const Varian
update_gravity
();
break
;
case
PhysicsServer3D
:
:
AREA_PARAM_LINEAR_DAMP
:
linear_damp
=
p_value
;
break
;
case
PhysicsServer3D
:
:
AREA_PARAM_ANGULAR_DAMP
:
break
;
// No damp
angular_damp
=
p_value
;
break
;
case
PhysicsServer3D
:
:
AREA_PARAM_PRIORITY
:
// Priority is always 0, the lower
break
;
...
...
@@ -401,8 +406,9 @@ Variant SpaceBullet::get_param(PhysicsServer3D::AreaParameter p_param) {
case
PhysicsServer3D
:
:
AREA_PARAM_GRAVITY_VECTOR
:
return
gravityDirection
;
case
PhysicsServer3D
:
:
AREA_PARAM_LINEAR_DAMP
:
return
linear_damp
;
case
PhysicsServer3D
:
:
AREA_PARAM_ANGULAR_DAMP
:
return
0
;
// No damp
return
angular_damp
;
case
PhysicsServer3D
:
:
AREA_PARAM_PRIORITY
:
return
0
;
// Priority is always 0, the lower
case
PhysicsServer3D
:
:
AREA_PARAM_GRAVITY_IS_POINT
:
...
...
modules/bullet/space_bullet.h
View file @
9353a2bb
...
...
@@ -108,6 +108,9 @@ class SpaceBullet : public RIDBullet {
Vector3
gravityDirection
;
real_t
gravityMagnitude
;
real_t
linear_damp
;
real_t
angular_damp
;
Vector
<
AreaBullet
*>
areas
;
Vector
<
Vector3
>
contactDebug
;
...
...
@@ -177,6 +180,9 @@ public:
void
update_gravity
();
real_t
get_linear_damp
()
const
{
return
linear_damp
;
}
real_t
get_angular_damp
()
const
{
return
angular_damp
;
}
bool
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
);
int
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
);
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment