godotengine
/
godot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
godot/modules/bullet/space_bullet.h

224 lines
12 KiB
C++
Raw Normal View History

Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/*************************************************************************/
/* space_bullet.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-04 23:50:27 +00:00
/* https://godotengine.org */
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/*************************************************************************/
Update copyright statements to 2021 Happy new year to the wonderful Godot community! 2020 has been a tough year for most of us personally, but a good year for Godot development nonetheless with a huge amount of work done towards Godot 4.0 and great improvements backported to the long-lived 3.2 branch. We've had close to 400 contributors to engine code this year, authoring near 7,000 commit! (And that's only for the `master` branch and for the engine code, there's a lot more when counting docs, demos and other first-party repos.) Here's to a great year 2021 for all Godot users 🎆
2021-01-01 19:13:46 +00:00
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SPACE_BULLET_H
#define SPACE_BULLET_H
Reorganized core/ directory, it was too fatty already -Removed FuncRef, since Callable makes it obsolete -Removed int_types.h as its obsolete in c++11+ -Changed color names code
2020-11-07 22:33:38 +00:00
#include "core/templates/vector.h"
#include "core/variant/variant.h"
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
#include "godot_result_callbacks.h"
#include "rid_bullet.h"
Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.
2020-03-27 18:21:27 +00:00
#include "servers/physics_server_3d.h"
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
Add missing copyright headers and fix formatting Using `misc/scripts/fix_headers.py` on all Godot files. Some missing header guards were added, and the header inclusion order was fixed in the Bullet module.
2018-01-04 23:50:27 +00:00
#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h>
#include <LinearMath/btScalar.h>
#include <LinearMath/btTransform.h>
#include <LinearMath/btVector3.h>
/**
@author AndreaCatania
*/
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
class AreaBullet;
class btBroadphaseInterface;
class btCollisionDispatcher;
class btConstraintSolver;
class btDefaultCollisionConfiguration;
class btDynamicsWorld;
class btDiscreteDynamicsWorld;
class btEmptyShape;
class btGhostPairCallback;
class btSoftRigidDynamicsWorld;
Fix mismatched class/struct definition warnings [-Wmismatched-tags] Fixes the following Clang 7 warnings: ``` core/object.cpp:44:1: warning: '_ObjectDebugLock' defined as a struct here but previously declared as a class [-Wmismatched-tags] core/variant_call.cpp:43:1: warning: '_VariantCall' defined as a struct here but previously declared as a class [-Wmismatched-tags] drivers/gles3/rasterizer_storage_gles3.h:765:2: warning: 'MultiMesh' defined as a struct here but previously declared as a class [-Wmismatched-tags] editor/editor_node.h:794:1: warning: 'EditorProgress' defined as a struct here but previously declared as a class [-Wmismatched-tags] modules/bullet/rigid_body_bullet.h:230:17: warning: class 'KinematicUtilities' was previously declared as a struct [-Wmismatched-tags] modules/bullet/space_bullet.h:60:1: warning: class 'btSoftBodyWorldInfo' was previously declared as a struct [-Wmismatched-tags] scene/resources/world_2d.cpp:40:1: warning: 'SpatialIndexer2D' defined as a struct here but previously declared as a class [-Wmismatched-tags] scene/resources/world.cpp:39:1: warning: 'SpatialIndexer' defined as a struct here but previously declared as a class [-Wmismatched-tags] servers/audio/reverb_sw.cpp:60:1: warning: 'ReverbParamsSW' defined as a struct here but previously declared as a class [-Wmismatched-tags] thirdparty/bullet/BulletSoftBody/btSoftBody.h:43:1: warning: 'btSoftBodyWorldInfo' defined as a struct here but previously declared as a class [-Wmismatched-tags] ```
2018-10-01 14:46:50 +00:00
struct btSoftBodyWorldInfo;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
class ConstraintBullet;
class CollisionObjectBullet;
class RigidBodyBullet;
class SpaceBullet;
class SoftBodyBullet;
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
class btGjkEpaPenetrationDepthSolver;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
Fixing trimesh precision
2018-08-31 07:40:50 +00:00
extern ContactAddedCallback gContactAddedCallback;
Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.
2020-03-27 18:21:27 +00:00
class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState3D {
GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState3D);
Made use of semicolons more consitent, fixed formatting
2019-03-19 18:35:57 +00:00
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
private:
SpaceBullet *space;
public:
BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
Add override keywords.
2020-07-10 10:34:39 +00:00
virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
Rename Transform to Transform3D in core
2020-10-17 05:08:21 +00:00
virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/// Returns the list of contacts pairs in this order: Local contact, other body contact
Rename Transform to Transform3D in core
2020-10-17 05:08:21 +00:00
virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
Add override keywords.
2020-07-10 10:34:39 +00:00
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
};
class SpaceBullet : public RIDBullet {
friend class AreaBullet;
friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
friend class BulletPhysicsDirectSpaceState;
Port member initialization from constructor to declaration (C++11) Using `clang-tidy`'s `modernize-use-default-member-init` check and manual review of the changes, and some extra manual changes that `clang-tidy` failed to do. Also went manually through all of `core` to find occurrences that `clang-tidy` couldn't handle, especially all initializations done in a constructor without using initializer lists.
2020-05-12 15:01:17 +00:00
btBroadphaseInterface *broadphase = nullptr;
btDefaultCollisionConfiguration *collisionConfiguration = nullptr;
btCollisionDispatcher *dispatcher = nullptr;
btConstraintSolver *solver = nullptr;
btDiscreteDynamicsWorld *dynamicsWorld = nullptr;
btSoftBodyWorldInfo *soft_body_world_info = nullptr;
btGhostPairCallback *ghostPairCallback = nullptr;
GodotFilterCallback *godotFilterCallback = nullptr;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
Initialize class/struct variables with default values in modules/
2021-02-08 09:57:18 +00:00
btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver = nullptr;
btVoronoiSimplexSolver *gjk_simplex_solver = nullptr;
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
BulletPhysicsDirectSpaceState *direct_access;
Port member initialization from constructor to declaration (C++11) Using `clang-tidy`'s `modernize-use-default-member-init` check and manual review of the changes, and some extra manual changes that `clang-tidy` failed to do. Also went manually through all of `core` to find occurrences that `clang-tidy` couldn't handle, especially all initializations done in a constructor without using initializer lists.
2020-05-12 15:01:17 +00:00
Vector3 gravityDirection = Vector3(0, -1, 0);
Initialize class/struct variables with default values in modules/
2021-02-08 09:57:18 +00:00
real_t gravityMagnitude = 10.0;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
Port member initialization from constructor to declaration (C++11) Using `clang-tidy`'s `modernize-use-default-member-init` check and manual review of the changes, and some extra manual changes that `clang-tidy` failed to do. Also went manually through all of `core` to find occurrences that `clang-tidy` couldn't handle, especially all initializations done in a constructor without using initializer lists.
2020-05-12 15:01:17 +00:00
real_t linear_damp = 0.0;
real_t angular_damp = 0.0;
Better damping implementation for Bullet rigid bodies Apply old method for linear & angular damping in Bullet, in order to make it easier to tweak and consistent with Godot Physics.
2020-03-26 11:32:20 +00:00
Revert "- Enhanced the flush mechanism by flushing only needed thing." This reverts commit 8d0d6d6921d5dfb398f4ab04e4d3937ab550c4ff.
2020-10-08 10:16:12 +00:00
Vector<AreaBullet *> areas;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
Revert "- Enhanced the flush mechanism by flushing only needed thing." This reverts commit 8d0d6d6921d5dfb398f4ab04e4d3937ab550c4ff.
2020-10-08 10:16:12 +00:00
Vector<Vector3> contactDebug;
int contactDebugCount = 0;
Port member initialization from constructor to declaration (C++11) Using `clang-tidy`'s `modernize-use-default-member-init` check and manual review of the changes, and some extra manual changes that `clang-tidy` failed to do. Also went manually through all of `core` to find occurrences that `clang-tidy` couldn't handle, especially all initializations done in a constructor without using initializer lists.
2020-05-12 15:01:17 +00:00
real_t delta_time = 0.;
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
public:
Implemented Soft body - Soft Body Physics node - Soft Body Rendering - Soft body Editor - Soft body importer
2017-11-21 00:36:32 +00:00
SpaceBullet();
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
virtual ~SpaceBullet();
void flush_queries();
Implemented Soft body - Soft Body Physics node - Soft Body Rendering - Soft body Editor - Soft body importer
2017-11-21 00:36:32 +00:00
real_t get_delta_time() { return delta_time; }
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
void step(real_t p_delta_time);
Added BulletPhysics APIs to return internal objects and fixed a typo.
2020-06-21 16:29:45 +00:00
_FORCE_INLINE_ btBroadphaseInterface *get_broadphase() const { return broadphase; }
_FORCE_INLINE_ btDefaultCollisionConfiguration *get_collision_configuration() const { return collisionConfiguration; }
_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() const { return dispatcher; }
_FORCE_INLINE_ btConstraintSolver *get_solver() const { return solver; }
_FORCE_INLINE_ btDiscreteDynamicsWorld *get_dynamic_world() const { return dynamicsWorld; }
_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() const { return soft_body_world_info; }
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
/// Used to set some parameters to Bullet world
/// @param p_param:
/// AREA_PARAM_GRAVITY to set the gravity magnitude of entire world
/// AREA_PARAM_GRAVITY_VECTOR to set the gravity direction of entire world
Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.
2020-03-27 18:21:27 +00:00
void set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
/// Used to get some parameters to Bullet world
/// @param p_param:
/// AREA_PARAM_GRAVITY to get the gravity magnitude of entire world
/// AREA_PARAM_GRAVITY_VECTOR to get the gravity direction of entire world
Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.
2020-03-27 18:21:27 +00:00
Variant get_param(PhysicsServer3D::AreaParameter p_param);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.
2020-03-27 18:21:27 +00:00
void set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value);
real_t get_param(PhysicsServer3D::SpaceParameter p_param);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
void add_area(AreaBullet *p_area);
void remove_area(AreaBullet *p_area);
void reload_collision_filters(AreaBullet *p_area);
void add_rigid_body(RigidBodyBullet *p_body);
Only remove Bullet's body constraints when removing body from space
2021-01-13 13:30:42 +00:00
void remove_rigid_body_constraints(RigidBodyBullet *p_body);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
void remove_rigid_body(RigidBodyBullet *p_body);
void reload_collision_filters(RigidBodyBullet *p_body);
void add_soft_body(SoftBodyBullet *p_body);
void remove_soft_body(SoftBodyBullet *p_body);
void reload_collision_filters(SoftBodyBullet *p_body);
void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false);
void remove_constraint(ConstraintBullet *p_constraint);
int get_num_collision_objects() const;
void remove_all_collision_objects();
BulletPhysicsDirectSpaceState *get_direct_state();
void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); }
Rename empty() to is_empty()
2020-12-15 12:04:21 +00:00
_FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.is_empty(); }
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
_FORCE_INLINE_ void reset_debug_contact_count() {
contactDebugCount = 0;
}
_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
Style: Enforce braces around if blocks and loops Using clang-tidy's `readability-braces-around-statements`. https://clang.llvm.org/extra/clang-tidy/checks/readability-braces-around-statements.html
2020-05-14 14:41:43 +00:00
if (contactDebugCount < contactDebug.size()) {
Revert "- Enhanced the flush mechanism by flushing only needed thing." This reverts commit 8d0d6d6921d5dfb398f4ab04e4d3937ab550c4ff.
2020-10-08 10:16:12 +00:00
contactDebug.write[contactDebugCount++] = p_contact;
Style: Enforce braces around if blocks and loops Using clang-tidy's `readability-braces-around-statements`. https://clang.llvm.org/extra/clang-tidy/checks/readability-braces-around-statements.html
2020-05-14 14:41:43 +00:00
}
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
}
_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
_FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; }
const Vector3 &get_gravity_direction() const { return gravityDirection; }
real_t get_gravity_magnitude() const { return gravityMagnitude; }
void update_gravity();
Better damping implementation for Bullet rigid bodies Apply old method for linear & angular damping in Bullet, in order to make it easier to tweak and consistent with Godot Physics.
2020-03-26 11:32:20 +00:00
real_t get_linear_damp() const { return linear_damp; }
real_t get_angular_damp() const { return angular_damp; }
Rename Transform to Transform3D in core
2020-10-17 05:08:21 +00:00
bool test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes);
int test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
private:
void create_empty_world(bool p_create_soft_world);
void destroy_world();
void check_ghost_overlaps();
void check_body_collision();
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
struct RecoverResult {
Port member initialization from constructor to declaration (C++11) Using `clang-tidy`'s `modernize-use-default-member-init` check and manual review of the changes, and some extra manual changes that `clang-tidy` failed to do. Also went manually through all of `core` to find occurrences that `clang-tidy` couldn't handle, especially all initializations done in a constructor without using initializer lists.
2020-05-12 15:01:17 +00:00
bool hasPenetration = false;
btVector3 normal = btVector3(0, 0, 0);
btVector3 pointWorld = btVector3(0, 0, 0);
btScalar penetration_distance = 1e20; // Negative mean penetration
int other_compound_shape_index = 0;
const btCollisionObject *other_collision_object = nullptr;
int local_shape_most_recovered = 0;
RecoverResult() {}
Rewritten kinematic system
2017-11-07 14:22:09 +00:00
};
Replace NULL with nullptr
2020-04-01 23:20:12 +00:00
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);
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
/// This is an API that recover a kinematic object from penetration
/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
Replace NULL with nullptr
2020-04-01 23:20:12 +00:00
bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
Fixed kinematic movement on concave shape
2017-11-19 01:04:49 +00:00
/// This is an API that recover a kinematic object from penetration
/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
Replace NULL with nullptr
2020-04-01 23:20:12 +00:00
bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
Added ray shape and move_and_slide with snapping on 3D. Added stop_on_slope on 2d part
2018-08-14 17:20:48 +00:00
Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.
2020-03-27 18:21:27 +00:00
int add_separation_result(PhysicsServer3D::SeparationResult *r_results, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const;
int recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results);
Bullet physics engine implementation This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 19:52:59 +00:00
};
#endif