/*************************************************************************/ /* shape_bullet.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* 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 SHAPE_BULLET_H #define SHAPE_BULLET_H #include "core/math/geometry.h" #include "core/variant.h" #include "rid_bullet.h" #include "servers/physics_server.h" #if defined(__clang__) && (__clang_major__ >= 13) #pragma clang diagnostic push #pragma clang diagnostic ignored "-Wdeprecated-copy-with-user-provided-copy" #endif #include <LinearMath/btAlignedObjectArray.h> #include <LinearMath/btScalar.h> #include <LinearMath/btVector3.h> #if defined(__clang__) && (__clang_major__ >= 13) #pragma clang diagnostic pop #endif /** @author AndreaCatania */ class ShapeBullet; class btCollisionShape; class ShapeOwnerBullet; class btBvhTriangleMeshShape; class ShapeBullet : public RIDBullet { Map<ShapeOwnerBullet *, int> owners; real_t margin; 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 PhysicsServer::ShapeType get_type() const = 0; public: static class btEmptyShape *create_shape_empty(); static class btStaticPlaneShape *create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant); static class btSphereShape *create_shape_sphere(btScalar radius); static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents); static class btCapsuleShapeZ *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(PoolVector<real_t> &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 PlaneShapeBullet : public ShapeBullet { Plane plane; public: PlaneShapeBullet(); virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::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 PhysicsServer::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 PhysicsServer::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 PhysicsServer::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 PhysicsServer::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 PhysicsServer::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; public: PoolVector<Vector3> faces; ConcavePolygonShapeBullet(); virtual ~ConcavePolygonShapeBullet(); virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(PoolVector<Vector3> p_faces); }; class HeightMapShapeBullet : public ShapeBullet { public: PoolVector<real_t> heights; int width; int depth; real_t min_height; real_t max_height; HeightMapShapeBullet(); virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::ShapeType get_type() const; virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0); private: void setup(PoolVector<real_t> &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; bool slips_on_slope; RayShapeBullet(); virtual void set_data(const Variant &p_data); virtual Variant get_data() const; virtual PhysicsServer::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 // SHAPE_BULLET_H