/*************************************************************************/ /* soft_body_bullet.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 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 SOFT_BODY_BULLET_H #define SOFT_BODY_BULLET_H #include "collision_object_bullet.h" #include "scene/resources/material.h" // TODO remove this please #ifdef None /// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet #undef None #define x11_None 0L #endif #include "BulletSoftBody/btSoftBodyHelpers.h" #include "collision_object_bullet.h" #include "scene/resources/mesh.h" #include "servers/physics_server_3d.h" #ifdef x11_None /// This is required to re add the macro None defined by x11 compiler #undef x11_None #define None 0L #endif /** @author AndreaCatania */ class SoftBodyBullet : public CollisionObjectBullet { private: btSoftBody *bt_soft_body = nullptr; Vector> indices_table; btSoftBody::Material *mat0 = nullptr; // This is just a copy of pointer managed by btSoftBody bool isScratched = false; Ref soft_mesh; int simulation_precision = 5; real_t total_mass = 1.; real_t linear_stiffness = 0.5; // [0,1] real_t areaAngular_stiffness = 0.5; // [0,1] real_t volume_stiffness = 0.5; // [0,1] real_t pressure_coefficient = 0.; // [-inf,+inf] real_t pose_matching_coefficient = 0.; // [0,1] real_t damping_coefficient = 0.01; // [0,1] real_t drag_coefficient = 0.; // [0,1] Vector pinned_nodes; // Other property to add //btScalar kVC; // Volume conversation coefficient [0,+inf] //btScalar kDF; // Dynamic friction coefficient [0,1] //btScalar kMT; // Pose matching coefficient [0,1] //btScalar kCHR; // Rigid contacts hardness [0,1] //btScalar kKHR; // Kinetic contacts hardness [0,1] //btScalar kSHR; // Soft contacts hardness [0,1] public: SoftBodyBullet(); ~SoftBodyBullet(); virtual void reload_body(); virtual void set_space(SpaceBullet *p_space); virtual void dispatch_callbacks() {} virtual void on_collision_filters_change() {} virtual void on_collision_checker_start() {} virtual void on_collision_checker_end() {} virtual void on_enter_area(AreaBullet *p_area); virtual void on_exit_area(AreaBullet *p_area); _FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; } void update_rendering_server(class SoftBodyRenderingServerHandler *p_rendering_server_handler); void set_soft_mesh(const Ref &p_mesh); void destroy_soft_body(); // Special function. This function has bad performance void set_soft_transform(const Transform &p_transform); void move_all_nodes(const Transform &p_transform); void set_node_position(int node_index, const Vector3 &p_global_position); void set_node_position(int node_index, const btVector3 &p_global_position); void get_node_position(int node_index, Vector3 &r_position) const; // Heavy function, Please cache this info void get_node_offset(int node_index, Vector3 &r_offset) const; // Heavy function, Please cache this info void get_node_offset(int node_index, btVector3 &r_offset) const; void set_node_mass(int node_index, btScalar p_mass); btScalar get_node_mass(int node_index) const; void reset_all_node_mass(); void reset_all_node_positions(); void set_activation_state(bool p_active); void set_total_mass(real_t p_val); _FORCE_INLINE_ real_t get_total_mass() const { return total_mass; } void set_linear_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; } void set_areaAngular_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; } void set_volume_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; } void set_simulation_precision(int p_val); _FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; } void set_pressure_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; } void set_pose_matching_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_coefficient; } void set_damping_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; } void set_drag_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; } private: void set_trimesh_body_shape(Vector p_indices, Vector p_vertices); void setup_soft_body(); void pin_node(int p_node_index); void unpin_node(int p_node_index); int search_node_pinned(int p_node_index) const; }; #endif // SOFT_BODY_BULLET_H