Merge pull request #21433 from AndreaCatania/megafix

Multiple fixes on Physics things

editor/spatial_editor_gizmos.cpp

@@ -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;
 

modules/bullet/cone_twist_joint_bullet.cpp

@@ -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
 	}
 }

modules/bullet/generic_6dof_joint_bullet.cpp

@@ -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
 	}
 }
 

modules/bullet/hinge_joint_bullet.cpp

@@ -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
 	}
 }
 

modules/bullet/pin_joint_bullet.cpp

@@ -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
 	}
 }
 

modules/bullet/space_bullet.cpp

@@ -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);

scene/animation/skeleton_ik.cpp

@@ -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() {

scene/animation/skeleton_ik.h

@@ -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);