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@@ -91,6 +91,35 @@ class SpaceBullet : public RIDBullet {
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friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
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friend class BulletPhysicsDirectSpaceState;
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+public:
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+ /// IMPORTANT NOTE: These members are public to expose some bullet
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+ /// physics internal functionalities that are not supported or exposed
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+ /// through the `PhysicsServer`.
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+ ///
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+ /// One example is the unofficial module `godot-kinematic-body`:
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+ /// https://github.com/AndreaCatania/godot-kinematic-body/blob/3.x/kinematic_object_3d.cpp
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+ ///
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+ /// # How it works
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+ /// To access these members from a module, the first step is to cast the
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+ /// `PhysicsServer` to `BulletPhysicsServer`. This step is necessary
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+ /// to have access to the `space_owner` (which is a storage that holds
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+ /// the `SpaceBullet` objects).
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+ /// ```c++
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+ /// BulletPhysicsServer* bullet_physics_singleton = static_cast<BulletPhysicsServer *>(PhysicsServer::get_singleton());
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+ /// SpaceBullet* space = bullet_physics_singleton->get_space_owner()->getornull(get_world()->get_space());
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+ /// ```
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+ //
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+ /// Once you have access to the space, you can access the members and
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+ /// execute bullet physics commands:
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+ /// ```c++
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+ /// space->dynamicsWorld->convexSweepTest(
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+ /// p_shape,
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+ /// btTransform(btMatrix3x3::getIdentity(), p_position),
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+ /// btTransform(btMatrix3x3::getIdentity(), p_position + p_motion),
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+ /// result,
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+ /// p_margin);
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+ /// ```
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+
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btBroadphaseInterface *broadphase;
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btDefaultCollisionConfiguration *collisionConfiguration;
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btCollisionDispatcher *dispatcher;
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@@ -194,6 +223,7 @@ private:
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void check_ghost_overlaps();
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void check_body_collision();
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+public:
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struct RecoverResult {
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bool hasPenetration;
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btVector3 normal;
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@@ -213,6 +243,7 @@ private:
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local_shape_most_recovered(0) {}
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};
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+private:
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bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr, const Set<RID> &p_exclude = Set<RID>());
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/// This is an API that recover a kinematic object from penetration
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/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
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Rémi Verschelde