godot/modules/bullet/shape_bullet.h

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/*  shape_bullet.h                                                       */
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#ifndef SHAPE_BULLET_H
#define SHAPE_BULLET_H

#include "core/math/geometry_3d.h"
#include "core/variant/variant.h"
#include "rid_bullet.h"
#include "servers/physics_server_3d.h"

#include <LinearMath/btAlignedObjectArray.h>
#include <LinearMath/btScalar.h>
#include <LinearMath/btVector3.h>

/**
	@author AndreaCatania
*/

class ShapeBullet;
class btCollisionShape;
class ShapeOwnerBullet;
class btBvhTriangleMeshShape;

class ShapeBullet : public RIDBullet {
	Map<ShapeOwnerBullet *, int> owners;
	real_t margin = 0.04;

protected:
	/// return self
	btCollisionShape *prepare(btCollisionShape *p_btShape) const;
	void notifyShapeChanged();

public:
	ShapeBullet();
	virtual ~ShapeBullet();

	btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;

	void add_owner(ShapeOwnerBullet *p_owner);
	void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
	bool is_owner(ShapeOwnerBullet *p_owner) const;
	const Map<ShapeOwnerBullet *, int> &get_owners() const;

	void set_margin(real_t p_margin);
	real_t get_margin() const;

	/// Setup the shape
	virtual void set_data(const Variant &p_data) = 0;
	virtual Variant get_data() const = 0;

	virtual PhysicsServer3D::ShapeType get_type() const = 0;

public:
	static class btEmptyShape *create_shape_empty();
	static class btStaticPlaneShape *create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant);
	static class btSphereShape *create_shape_sphere(btScalar radius);
	static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents);
	static class btCapsuleShape *create_shape_capsule(btScalar radius, btScalar height);
	static class btCylinderShape *create_shape_cylinder(btScalar radius, btScalar height);
	/// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface();
	static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
	static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
	static class btHeightfieldTerrainShape *create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
	static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
};

class WorldBoundaryShapeBullet : public ShapeBullet {
	Plane plane;

public:
	WorldBoundaryShapeBullet();

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);

private:
	void setup(const Plane &p_plane);
};

class SphereShapeBullet : public ShapeBullet {
	real_t radius;

public:
	SphereShapeBullet();

	_FORCE_INLINE_ real_t get_radius() { return radius; }
	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);

private:
	void setup(real_t p_radius);
};

class BoxShapeBullet : public ShapeBullet {
	btVector3 half_extents;

public:
	BoxShapeBullet();

	_FORCE_INLINE_ const btVector3 &get_half_extents() { return half_extents; }
	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);

private:
	void setup(const Vector3 &p_half_extents);
};

class CapsuleShapeBullet : public ShapeBullet {
	real_t height;
	real_t radius;

public:
	CapsuleShapeBullet();

	_FORCE_INLINE_ real_t get_height() { return height; }
	_FORCE_INLINE_ real_t get_radius() { return radius; }
	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);

private:
	void setup(real_t p_height, real_t p_radius);
};

class CylinderShapeBullet : public ShapeBullet {
	real_t height;
	real_t radius;

public:
	CylinderShapeBullet();

	_FORCE_INLINE_ real_t get_height() { return height; }
	_FORCE_INLINE_ real_t get_radius() { return radius; }
	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);

private:
	void setup(real_t p_height, real_t p_radius);
};

class ConvexPolygonShapeBullet : public ShapeBullet {
public:
	btAlignedObjectArray<btVector3> vertices;

	ConvexPolygonShapeBullet();

	virtual void set_data(const Variant &p_data);
	void get_vertices(Vector<Vector3> &out_vertices);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);

private:
	void setup(const Vector<Vector3> &p_vertices);
};

class ConcavePolygonShapeBullet : public ShapeBullet {
	class btBvhTriangleMeshShape *meshShape = nullptr;

public:
	Vector<Vector3> faces;

	ConcavePolygonShapeBullet();
	virtual ~ConcavePolygonShapeBullet();

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);

private:
	void setup(Vector<Vector3> p_faces);
};

class HeightMapShapeBullet : public ShapeBullet {
public:
	Vector<float> heights;
	int width = 0;
	int depth = 0;
	real_t min_height = 0.0;
	real_t max_height = 0.0;

	HeightMapShapeBullet();

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);

private:
	void setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
};

class RayShapeBullet : public ShapeBullet {
public:
	real_t length = 1.0;
	bool slips_on_slope = false;

	RayShapeBullet();

	virtual void set_data(const Variant &p_data);
	virtual Variant get_data() const;
	virtual PhysicsServer3D::ShapeType get_type() const;
	virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);

private:
	void setup(real_t p_length, bool p_slips_on_slope);
};
#endif