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Bullet physics engine implementation #10013

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Bullet physics engine implementation #10013

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ff3352c
Bullet physics engine implementation
AndreaCatania Aug 1, 2017
aba1c04
Fixed GridMap performance problem
AndreaCatania Aug 29, 2017
cb7f5ce
Fixed scaling
AndreaCatania Aug 30, 2017
076676f
Fixed Area to Area signal emission
AndreaCatania Sep 1, 2017
d9273e0
Supported not-uniform body scale
AndreaCatania Sep 4, 2017
db5d34d
Prepared softbody wrapper
AndreaCatania Sep 11, 2017
734f96e
Fixed travis error
AndreaCatania Sep 12, 2017
d64121c
Implemented better support for softbody
AndreaCatania Sep 13, 2017
340cc45
Improved performance for Kinematic Body, Improved performance during …
AndreaCatania Sep 15, 2017
e321adf
Implemented forgotten API (not yet tested)
AndreaCatania Sep 16, 2017
365fef0
Tested function rest_info
AndreaCatania Sep 16, 2017
f84f3d9
Tested function collide_shape
AndreaCatania Sep 16, 2017
5d94066
Removed reminders because got implemented
AndreaCatania Sep 16, 2017
574ce05
rebased
AndreaCatania Sep 22, 2017
5561d2e
Fixed swapping mode bug. Removed not used functions.
AndreaCatania Sep 26, 2017
12fd869
Fixed character rotation with fast floating point
AndreaCatania Oct 13, 2017
62e7fbd
Improved mass managing
AndreaCatania Oct 13, 2017
f81421e
Added new Physics server API
AndreaCatania Oct 14, 2017
92c20ba
Improved change mode
AndreaCatania Oct 14, 2017
1c045ae
Fixed a bug that set angular factor 0 when you set the mass
AndreaCatania Oct 14, 2017
938dd0e
Fixed changing mode and can sleep handling
AndreaCatania Oct 14, 2017
4ce3e8f
Implemented area GTK check. Fixed area overlapping performance problem.
AndreaCatania Oct 16, 2017
57407d6
Improved stepper and flush query
AndreaCatania Oct 17, 2017
937c31d
Removed setStepper
AndreaCatania Oct 18, 2017
35ea097
Renamed FI callback
AndreaCatania Oct 18, 2017
d19908e
Fixed lock axis
AndreaCatania Oct 20, 2017
3479786
Optimization
AndreaCatania Oct 20, 2017
7a18f1b
issues 12267
AndreaCatania Oct 21, 2017
0c2b8b8
Fixed 12289
AndreaCatania Oct 22, 2017
9821256
Fixed contact body local location
AndreaCatania Oct 22, 2017
907459b
Updated Bullet version
AndreaCatania Oct 24, 2017
b56710b
Bouncing works like Godot
AndreaCatania Oct 24, 2017
8fb0235
RayShape fix in progress
AndreaCatania Oct 27, 2017
d0b4a3d
RayShape fix in progress
AndreaCatania Oct 28, 2017
dcaf880
Fixed contact point report
AndreaCatania Oct 28, 2017
16d4ebf
RayShape fix in progress
AndreaCatania Oct 29, 2017
fd6bae9
Fixed Ray shape
AndreaCatania Oct 30, 2017
a91a47f
Implemented bullet plug. Set Bullet as default physics engine
AndreaCatania Nov 4, 2017
6ee7101
Fixed stepping
AndreaCatania Nov 4, 2017
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4 changes: 4 additions & 0 deletions core/project_settings.cpp
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Expand Up @@ -1050,6 +1050,10 @@ ProjectSettings::ProjectSettings() {
custom_prop_info["compression/formats/gzip/compression_level"] = PropertyInfo(Variant::INT, "compression/formats/gzip/compression_level", PROPERTY_HINT_RANGE, "-1,9,1");

using_datapack = false;

// Physics settings
Compression::zstd_level = GLOBAL_DEF("physics/3d/physics_engine", 0);
custom_prop_info["physics/3d/physics_engine"] = PropertyInfo(Variant::INT, "physics/3d/physics_engine", PROPERTY_HINT_ENUM, "GodotDefault,Bullet");
}

ProjectSettings::~ProjectSettings() {
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191 changes: 191 additions & 0 deletions modules/bullet/SCsub
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#!/usr/bin/env python

Import('env')

# build only version 2
# Bullet 2.87
bullet_src__2_x = [
# BulletCollision
"BulletCollision/BroadphaseCollision/btAxisSweep3.cpp"
, "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp"
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It's a matter of style, but I think it's best to be consistent with other moduels and put the comma after the string, not before.

, "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp"
, "BulletCollision/BroadphaseCollision/btDbvt.cpp"
, "BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp"
, "BulletCollision/BroadphaseCollision/btDispatcher.cpp"
, "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp"
, "BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp"
, "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp"
, "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp"
, "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp"
, "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp"
, "BulletCollision/CollisionDispatch/btCollisionObject.cpp"
, "BulletCollision/CollisionDispatch/btCollisionWorld.cpp"
, "BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp"
, "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp"
, "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btGhostObject.cpp"
, "BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp"
, "BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp"
, "BulletCollision/CollisionDispatch/btManifoldResult.cpp"
, "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp"
, "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp"
, "BulletCollision/CollisionDispatch/btUnionFind.cpp"
, "BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp"
, "BulletCollision/CollisionShapes/btBoxShape.cpp"
, "BulletCollision/CollisionShapes/btBox2dShape.cpp"
, "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp"
, "BulletCollision/CollisionShapes/btCapsuleShape.cpp"
, "BulletCollision/CollisionShapes/btCollisionShape.cpp"
, "BulletCollision/CollisionShapes/btCompoundShape.cpp"
, "BulletCollision/CollisionShapes/btConcaveShape.cpp"
, "BulletCollision/CollisionShapes/btConeShape.cpp"
, "BulletCollision/CollisionShapes/btConvexHullShape.cpp"
, "BulletCollision/CollisionShapes/btConvexInternalShape.cpp"
, "BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp"
, "BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"
, "BulletCollision/CollisionShapes/btConvexShape.cpp"
, "BulletCollision/CollisionShapes/btConvex2dShape.cpp"
, "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp"
, "BulletCollision/CollisionShapes/btCylinderShape.cpp"
, "BulletCollision/CollisionShapes/btEmptyShape.cpp"
, "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp"
, "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp"
, "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp"
, "BulletCollision/CollisionShapes/btMultiSphereShape.cpp"
, "BulletCollision/CollisionShapes/btOptimizedBvh.cpp"
, "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"
, "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp"
, "BulletCollision/CollisionShapes/btShapeHull.cpp"
, "BulletCollision/CollisionShapes/btSphereShape.cpp"
, "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp"
, "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp"
, "BulletCollision/CollisionShapes/btTetrahedronShape.cpp"
, "BulletCollision/CollisionShapes/btTriangleBuffer.cpp"
, "BulletCollision/CollisionShapes/btTriangleCallback.cpp"
, "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp"
, "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp"
, "BulletCollision/CollisionShapes/btTriangleMesh.cpp"
, "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp"
, "BulletCollision/CollisionShapes/btUniformScalingShape.cpp"
, "BulletCollision/Gimpact/btContactProcessing.cpp"
, "BulletCollision/Gimpact/btGenericPoolAllocator.cpp"
, "BulletCollision/Gimpact/btGImpactBvh.cpp"
, "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp"
, "BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp"
, "BulletCollision/Gimpact/btGImpactShape.cpp"
, "BulletCollision/Gimpact/btTriangleShapeEx.cpp"
, "BulletCollision/Gimpact/gim_box_set.cpp"
, "BulletCollision/Gimpact/gim_contact.cpp"
, "BulletCollision/Gimpact/gim_memory.cpp"
, "BulletCollision/Gimpact/gim_tri_collision.cpp"
, "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp"
, "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp"
, "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp"
, "BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp"
, "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp"
, "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp"
, "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp"
, "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp"
, "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp"
, "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp"
, "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp"
, "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp"

# BulletDynamics
, "BulletDynamics/Character/btKinematicCharacterController.cpp"
, "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btContactConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btFixedConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btGearConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp"
, "BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp"
, "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp"
, "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp"
, "BulletDynamics/ConstraintSolver/btSliderConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp"
, "BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp"
, "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp"
, "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp"
, "BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp"
, "BulletDynamics/Dynamics/btRigidBody.cpp"
, "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp"
#, "BulletDynamics/Dynamics/Bullet-C-API.cpp"
, "BulletDynamics/Vehicle/btRaycastVehicle.cpp"
, "BulletDynamics/Vehicle/btWheelInfo.cpp"
, "BulletDynamics/Featherstone/btMultiBody.cpp"
, "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp"
, "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp"
, "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp"
, "BulletDynamics/Featherstone/btMultiBodyConstraint.cpp"
, "BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp"
, "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp"
, "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp"
, "BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp"
, "BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp"
, "BulletDynamics/MLCPSolvers/btDantzigLCP.cpp"
, "BulletDynamics/MLCPSolvers/btMLCPSolver.cpp"
, "BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp"

# BulletInverseDynamics
, "BulletInverseDynamics/IDMath.cpp"
, "BulletInverseDynamics/MultiBodyTree.cpp"
, "BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp"
, "BulletInverseDynamics/details/MultiBodyTreeImpl.cpp"

# BulletSoftBody
, "BulletSoftBody/btSoftBody.cpp"
, "BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp"
, "BulletSoftBody/btSoftBodyHelpers.cpp"
, "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp"
, "BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp"
, "BulletSoftBody/btSoftRigidDynamicsWorld.cpp"
, "BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp"
, "BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp"
, "BulletSoftBody/btDefaultSoftBodySolver.cpp"

# clew
, "clew/clew.c"

# LinearMath
, "LinearMath/btAlignedAllocator.cpp"
, "LinearMath/btConvexHull.cpp"
, "LinearMath/btConvexHullComputer.cpp"
, "LinearMath/btGeometryUtil.cpp"
, "LinearMath/btPolarDecomposition.cpp"
, "LinearMath/btQuickprof.cpp"
, "LinearMath/btSerializer.cpp"
, "LinearMath/btSerializer64.cpp"
, "LinearMath/btThreads.cpp"
, "LinearMath/btVector3.cpp"
]

thirdparty_dir = "#thirdparty/Bullet/"
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All thirdparty directories in thirdparty use lower case names, think you could change that one to thirdparty/bullet/ too?

Just do:

git mv thirdparty/Bullet thirdparty/bullet
git add thirdparty/bullet
// edit modules/bullet/SCsub accordingly
git add modules/bullet/SCsub
git commit --amend

thirdparty_src = thirdparty_dir + "src/"

bullet_sources = [thirdparty_src + file for file in bullet_src__2_x]

# include headers
env.Append(CPPPATH=[thirdparty_src])

env.add_source_files(env.modules_sources, bullet_sources)

# Godot source files
env.add_source_files(env.modules_sources, "*.cpp")

Export('env')
33 changes: 33 additions & 0 deletions modules/bullet/SCsub_with_lib
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#!/usr/bin/env python

Import('env')

thirdparty_dir = "#thirdparty/Bullet/"
thirdparty_lib = thirdparty_dir + "Win64/lib/"

bullet_libs = [
"Bullet2FileLoader",
"Bullet3Collision",
"Bullet3Common",
"Bullet3Dynamics",
"Bullet3Geometry",
"Bullet3OpenCL_clew",
"BulletCollision",
"BulletDynamics",
"BulletInverseDynamics",
"BulletSoftBody",
"LinearMath"
]

thirdparty_src = thirdparty_dir + "src/"
# include headers
env.Append(CPPPATH=[thirdparty_src])

# lib
env.Append(LIBPATH=[thirdparty_dir + "/Win64/lib/"])

bullet_libs = [file+'.lib' for file in bullet_libs]
# LIBS doesn't work in windows
env.Append(LINKFLAGS=bullet_libs)

env.add_source_files(env.modules_sources, "*.cpp")
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