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Merge pull request #21433 from AndreaCatania/megafix

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Multiple fixes on Physics things
This commit is contained in:
Rémi Verschelde 2018-08-27 07:46:40 +02:00 committed by GitHub
parent db55d8a4b6 76d02b13a1
commit 98cc2ce1dd
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GPG key ID: 4AEE18F83AFDEB23
8 changed files with 58 additions and 25 deletions
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8
editor/spatial_editor_gizmos.cpp
View file

@ -1722,8 +1722,16 @@ void PhysicalBoneSpatialGizmoPlugin::redraw(EditorSpatialGizmo *p_gizmo) {
return;
Skeleton *sk(physical_bone->find_skeleton_parent());
if (!sk)
return;
PhysicalBone *pb(sk->get_physical_bone(physical_bone->get_bone_id()));
if (!pb)
return;
PhysicalBone *pbp(sk->get_physical_bone_parent(physical_bone->get_bone_id()));
if (!pbp)
return;
Vector<Vector3> points;

10
modules/bullet/cone_twist_joint_bullet.cpp
View file

@ -82,8 +82,11 @@ void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param,
case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value);
break;
#ifndef DISABLE_DEPRECATED
default:
WARN_PRINT("This parameter is not supported by Bullet engine");
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED
#endif // DISABLE_DEPRECATED
}
}
@ -99,8 +102,11 @@ real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_para
return coneConstraint->getLimitSoftness();
case PhysicsServer::CONE_TWIST_JOINT_RELAXATION:
return coneConstraint->getRelaxationFactor();
#ifndef DISABLE_DEPRECATED
default:
WARN_PRINT("This parameter is not supported by Bullet engine");
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED;
return 0;
#endif // DISABLE_DEPRECATED
}
}

18
modules/bullet/generic_6dof_joint_bullet.cpp
View file

@ -152,8 +152,11 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
break;
#ifndef DISABLE_DEPRECATED
default:
WARN_PRINT("This parameter is not supported");
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED
#endif // DISABLE_DEPRECATED
}
}
@ -180,9 +183,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
#ifndef DISABLE_DEPRECATED
default:
WARN_PRINT("This parameter is not supported");
return 0.;
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED;
return 0;
#endif // DISABLE_DEPRECATED
}
}
@ -212,9 +218,11 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
break;
#ifndef DISABLE_DEPRECATED
default:
WARN_PRINT("This flag is not supported by Bullet engine");
return;
ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
WARN_DEPRECATED
#endif // DISABLE_DEPRECATED
}
}

15
modules/bullet/hinge_joint_bullet.cpp
View file

@ -95,11 +95,6 @@ real_t HingeJointBullet::get_hinge_angle() {
void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer::HINGE_JOINT_BIAS:
if (0 < p_value) {
WARN_PRINTS("HingeJoint doesn't support bias in the Bullet backend, so it's always 0.");
}
break;
case PhysicsServer::HINGE_JOINT_LIMIT_UPPER:
hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor());
break;
@ -121,8 +116,11 @@ void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
hingeConstraint->setMaxMotorImpulse(p_value);
break;
#ifndef DISABLE_DEPRECATED
default:
WARN_PRINTS("HingeJoint doesn't support this parameter in the Bullet backend: " + itos(p_param) + ", value: " + itos(p_value));
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED
#endif // DISABLE_DEPRECATED
}
}
@ -145,9 +143,12 @@ real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const
return hingeConstraint->getMotorTargetVelocity();
case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE:
return hingeConstraint->getMaxMotorImpulse();
#ifndef DISABLE_DEPRECATED
default:
WARN_PRINTS("HingeJoint doesn't support this parameter in the Bullet backend: " + itos(p_param));
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED;
return 0;
#endif // DISABLE_DEPRECATED
}
}

6
modules/bullet/pin_joint_bullet.cpp
View file

@ -84,9 +84,11 @@ real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const {
return p2pConstraint->m_setting.m_damping;
case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP:
return p2pConstraint->m_setting.m_impulseClamp;
#ifndef DISABLE_DEPRECATED
default:
WARN_PRINTS("This get parameter is not supported");
return 0;
ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
WARN_DEPRECATED
#endif // DISABLE_DEPRECATED
}
}

4
modules/bullet/space_bullet.cpp
View file

@ -178,7 +178,9 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult, 0.002);
if (btResult.hasHit()) {
p_closest_safe = p_closest_unsafe = btResult.m_closestHitFraction;
const btScalar l = bt_motion.length();
p_closest_unsafe = btResult.m_closestHitFraction;
p_closest_safe = MAX(p_closest_unsafe - (1 - ((l - 0.01) / l)), 0);
if (r_info) {
if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) {
B_TO_G(static_cast<const btRigidBody *>(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity);

20
scene/animation/skeleton_ik.cpp
View file

@ -54,9 +54,9 @@ FabrikInverseKinematic::ChainItem *FabrikInverseKinematic::ChainItem::add_child(
}
/// Build a chain that starts from the root to tip
void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) {
bool FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain) {
ERR_FAIL_COND(-1 == p_task->root_bone);
ERR_FAIL_COND_V(-1 == p_task->root_bone, false);
Chain &chain(p_task->chain);
@ -77,8 +77,8 @@ void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
for (int x = p_task->end_effectors.size() - 1; 0 <= x; --x) {
const EndEffector *ee(&p_task->end_effectors[x]);
ERR_FAIL_COND(p_task->root_bone >= ee->tip_bone);
ERR_FAIL_INDEX(ee->tip_bone, p_task->skeleton->get_bone_count());
ERR_FAIL_COND_V(p_task->root_bone >= ee->tip_bone, false);
ERR_FAIL_INDEX_V(ee->tip_bone, p_task->skeleton->get_bone_count(), false);
sub_chain_size = 0;
// Picks all IDs that composing a single chain in reverse order (except the root)
@ -133,6 +133,7 @@ void FabrikInverseKinematic::build_chain(Task *p_task, bool p_force_simple_chain
break;
}
}
return true;
}
void FabrikInverseKinematic::update_chain(const Skeleton *p_sk, ChainItem *p_chain_item) {
@ -247,7 +248,10 @@ FabrikInverseKinematic::Task *FabrikInverseKinematic::create_simple_task(Skeleto
task->end_effectors.push_back(ee);
task->goal_global_transform = goal_transform;
build_chain(task);
if (!build_chain(task)) {
free_task(task);
return NULL;
}
return task;
}
@ -535,8 +539,10 @@ void SkeletonIK::reload_chain() {
return;
task = FabrikInverseKinematic::create_simple_task(skeleton, skeleton->find_bone(root_bone), skeleton->find_bone(tip_bone), _get_target_transform());
task->max_iterations = max_iterations;
task->min_distance = min_distance;
if (task) {
task->max_iterations = max_iterations;
task->min_distance = min_distance;
}
}
void SkeletonIK::reload_goal() {

2
scene/animation/skeleton_ik.h
View file

@ -123,7 +123,7 @@ public:
private:
/// Init a chain that starts from the root to tip
static void build_chain(Task *p_task, bool p_force_simple_chain = true);
static bool build_chain(Task *p_task, bool p_force_simple_chain = true);
static void update_chain(const Skeleton *p_sk, ChainItem *p_chain_item);