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6dd65c0d67
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.
108 lines
4.1 KiB
C++
108 lines
4.1 KiB
C++
/*************************************************************************/
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/* btRayShape.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "btRayShape.h"
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#include "core/math/math_funcs.h"
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#include <LinearMath/btAabbUtil2.h>
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/**
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@author AndreaCatania
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*/
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btRayShape::btRayShape(btScalar length) :
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btConvexInternalShape(),
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m_shapeAxis(0, 0, 1) {
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m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
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setLength(length);
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}
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btRayShape::~btRayShape() {
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}
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void btRayShape::setLength(btScalar p_length) {
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m_length = p_length;
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reload_cache();
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}
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void btRayShape::setMargin(btScalar margin) {
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btConvexInternalShape::setMargin(margin);
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reload_cache();
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}
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void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
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slipsOnSlope = p_slipsOnSlope;
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}
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btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
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return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
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}
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btVector3 btRayShape::localGetSupportingVertexWithoutMargin(const btVector3 &vec) const {
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if (vec.z() > 0)
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return m_shapeAxis * m_cacheScaledLength;
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else
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return btVector3(0, 0, 0);
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}
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void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const {
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for (int i = 0; i < numVectors; ++i) {
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supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
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}
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}
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void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
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btVector3 localAabbMin(0, 0, 0);
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btVector3 localAabbMax(m_shapeAxis * m_cacheScaledLength);
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btTransformAabb(localAabbMin, localAabbMax, m_collisionMargin, t, aabbMin, aabbMax);
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}
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void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const {
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inertia.setZero();
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}
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int btRayShape::getNumPreferredPenetrationDirections() const {
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return 0;
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}
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void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const {
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penetrationVector.setZero();
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}
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void btRayShape::reload_cache() {
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m_cacheScaledLength = m_length * m_localScaling[2];
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m_cacheSupportPoint.setIdentity();
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m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength);
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}
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