418 lines
14 KiB
C++
418 lines
14 KiB
C++
/*************************************************************************/
|
|
/* collision_object_bullet.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2020 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. */
|
|
/*************************************************************************/
|
|
|
|
#include "collision_object_bullet.h"
|
|
|
|
#include "area_bullet.h"
|
|
#include "bullet_physics_server.h"
|
|
#include "bullet_types_converter.h"
|
|
#include "bullet_utilities.h"
|
|
#include "shape_bullet.h"
|
|
#include "space_bullet.h"
|
|
|
|
#include <btBulletCollisionCommon.h>
|
|
|
|
/**
|
|
@author AndreaCatania
|
|
*/
|
|
|
|
// We enable dynamic AABB tree so that we can actually perform a broadphase on bodies with compound collision shapes.
|
|
// This is crucial for the performance of kinematic bodies and for bodies with transforming shapes.
|
|
#define enableDynamicAabbTree true
|
|
|
|
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
|
|
|
|
void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) {
|
|
G_TO_B(p_transform.get_basis().get_scale_abs(), scale);
|
|
G_TO_B(p_transform, transform);
|
|
UNSCALE_BT_BASIS(transform);
|
|
}
|
|
|
|
void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
|
|
transform = p_transform;
|
|
}
|
|
|
|
btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const {
|
|
if (shape->get_type() == PhysicsServer3D::SHAPE_HEIGHTMAP) {
|
|
const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now
|
|
btTransform adjusted_transform;
|
|
|
|
// Bullet centers our heightmap:
|
|
// https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33
|
|
// This is really counter intuitive so we're adjusting for it
|
|
|
|
adjusted_transform.setIdentity();
|
|
adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0));
|
|
adjusted_transform *= transform;
|
|
|
|
return adjusted_transform;
|
|
} else {
|
|
return transform;
|
|
}
|
|
}
|
|
|
|
void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
|
|
if (bt_shape == nullptr) {
|
|
if (active) {
|
|
bt_shape = shape->create_bt_shape(scale * body_scale);
|
|
} else {
|
|
bt_shape = ShapeBullet::create_shape_empty();
|
|
}
|
|
}
|
|
}
|
|
|
|
void CollisionObjectBullet::ShapeWrapper::release_bt_shape() {
|
|
if (bt_shape != nullptr) {
|
|
shape->destroy_bt_shape(bt_shape);
|
|
bt_shape = nullptr;
|
|
}
|
|
}
|
|
|
|
CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
|
|
RIDBullet(),
|
|
type(p_type) {}
|
|
|
|
CollisionObjectBullet::~CollisionObjectBullet() {
|
|
// Remove all overlapping, notify is not required since godot take care of it
|
|
for (int i = areasOverlapped.size() - 1; 0 <= i; --i) {
|
|
areasOverlapped[i]->remove_overlap(this, /*Notify*/ false);
|
|
}
|
|
|
|
destroyBulletCollisionObject();
|
|
}
|
|
|
|
bool equal(real_t first, real_t second) {
|
|
return Math::abs(first - second) <= 0.001f;
|
|
}
|
|
|
|
void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
|
|
if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
|
|
body_scale = p_new_scale;
|
|
body_scale_changed();
|
|
}
|
|
}
|
|
|
|
btVector3 CollisionObjectBullet::get_bt_body_scale() const {
|
|
btVector3 s;
|
|
G_TO_B(body_scale, s);
|
|
return s;
|
|
}
|
|
|
|
void CollisionObjectBullet::body_scale_changed() {
|
|
force_shape_reset = true;
|
|
}
|
|
|
|
void CollisionObjectBullet::destroyBulletCollisionObject() {
|
|
bulletdelete(bt_collision_object);
|
|
}
|
|
|
|
void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_collisionObject) {
|
|
bt_collision_object = p_collisionObject;
|
|
bt_collision_object->setUserPointer(this);
|
|
bt_collision_object->setUserIndex(type);
|
|
// Force the enabling of collision and avoid problems
|
|
set_collision_enabled(collisionsEnabled);
|
|
p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
}
|
|
|
|
void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
|
|
exceptions.insert(p_ignoreCollisionObject->get_self());
|
|
if (!bt_collision_object) {
|
|
return;
|
|
}
|
|
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
|
|
if (space) {
|
|
space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
|
|
}
|
|
}
|
|
|
|
void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
|
|
exceptions.erase(p_ignoreCollisionObject->get_self());
|
|
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false);
|
|
if (space) {
|
|
space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
|
|
}
|
|
}
|
|
|
|
bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
|
|
return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
|
|
}
|
|
|
|
void CollisionObjectBullet::prepare_object_for_dispatch() {
|
|
if (need_body_reload) {
|
|
do_reload_body();
|
|
need_body_reload = false;
|
|
}
|
|
}
|
|
|
|
void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
|
|
collisionsEnabled = p_enabled;
|
|
if (collisionsEnabled) {
|
|
bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE));
|
|
} else {
|
|
bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
|
|
}
|
|
}
|
|
|
|
bool CollisionObjectBullet::is_collisions_response_enabled() {
|
|
return collisionsEnabled;
|
|
}
|
|
|
|
void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) {
|
|
areasOverlapped.push_back(p_area);
|
|
}
|
|
|
|
void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) {
|
|
areasOverlapped.erase(p_area);
|
|
}
|
|
|
|
void CollisionObjectBullet::set_godot_object_flags(int flags) {
|
|
bt_collision_object->setUserIndex2(flags);
|
|
}
|
|
|
|
int CollisionObjectBullet::get_godot_object_flags() const {
|
|
return bt_collision_object->getUserIndex2();
|
|
}
|
|
|
|
void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
|
|
set_body_scale(p_global_transform.basis.get_scale_abs());
|
|
|
|
btTransform bt_transform;
|
|
G_TO_B(p_global_transform, bt_transform);
|
|
UNSCALE_BT_BASIS(bt_transform);
|
|
|
|
set_transform__bullet(bt_transform);
|
|
}
|
|
|
|
Transform CollisionObjectBullet::get_transform() const {
|
|
Transform t;
|
|
B_TO_G(get_transform__bullet(), t);
|
|
t.basis.scale(body_scale);
|
|
return t;
|
|
}
|
|
|
|
void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) {
|
|
bt_collision_object->setWorldTransform(p_global_transform);
|
|
notify_transform_changed();
|
|
}
|
|
|
|
const btTransform &CollisionObjectBullet::get_transform__bullet() const {
|
|
return bt_collision_object->getWorldTransform();
|
|
}
|
|
|
|
void CollisionObjectBullet::notify_transform_changed() {
|
|
isTransformChanged = true;
|
|
}
|
|
|
|
RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
|
|
remove_all_shapes(true, true);
|
|
if (mainShape && mainShape->isCompound()) {
|
|
bulletdelete(mainShape);
|
|
}
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform, bool p_disabled) {
|
|
shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled));
|
|
p_shape->add_owner(this);
|
|
reload_shapes();
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
|
|
ShapeWrapper &shp = shapes.write[p_index];
|
|
shp.shape->remove_owner(this);
|
|
p_shape->add_owner(this);
|
|
shp.shape = p_shape;
|
|
reload_shapes();
|
|
}
|
|
|
|
int RigidCollisionObjectBullet::get_shape_count() const {
|
|
return shapes.size();
|
|
}
|
|
|
|
ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const {
|
|
return shapes[p_index].shape;
|
|
}
|
|
|
|
btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
|
|
return shapes[p_index].bt_shape;
|
|
}
|
|
|
|
int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const {
|
|
const int size = shapes.size();
|
|
for (int i = 0; i < size; ++i) {
|
|
if (shapes[i].shape == p_shape) {
|
|
return i;
|
|
}
|
|
}
|
|
return -1;
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
|
|
// Remove the shape, all the times it appears
|
|
// Reverse order required for delete.
|
|
for (int i = shapes.size() - 1; 0 <= i; --i) {
|
|
if (p_shape == shapes[i].shape) {
|
|
internal_shape_destroy(i);
|
|
shapes.remove(i);
|
|
}
|
|
}
|
|
reload_shapes();
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
|
|
ERR_FAIL_INDEX(p_index, get_shape_count());
|
|
internal_shape_destroy(p_index);
|
|
shapes.remove(p_index);
|
|
reload_shapes();
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody, bool p_force_not_reload) {
|
|
// Reverse order required for delete.
|
|
for (int i = shapes.size() - 1; 0 <= i; --i) {
|
|
internal_shape_destroy(i, p_permanentlyFromThisBody);
|
|
}
|
|
shapes.clear();
|
|
if (!p_force_not_reload) {
|
|
reload_shapes();
|
|
}
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
|
|
ERR_FAIL_INDEX(p_index, get_shape_count());
|
|
|
|
shapes.write[p_index].set_transform(p_transform);
|
|
shape_changed(p_index);
|
|
}
|
|
|
|
const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
|
|
return shapes[p_index].transform;
|
|
}
|
|
|
|
Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
|
|
Transform trs;
|
|
B_TO_G(shapes[p_index].transform, trs);
|
|
return trs;
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
|
|
if (shapes[p_index].active != p_disabled) {
|
|
return;
|
|
}
|
|
shapes.write[p_index].active = !p_disabled;
|
|
shape_changed(p_index);
|
|
}
|
|
|
|
bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
|
|
return !shapes[p_index].active;
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::prepare_object_for_dispatch() {
|
|
if (need_shape_reload) {
|
|
do_reload_shapes();
|
|
need_shape_reload = false;
|
|
}
|
|
CollisionObjectBullet::prepare_object_for_dispatch();
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
|
|
ShapeWrapper &shp = shapes.write[p_shape_index];
|
|
if (shp.bt_shape == mainShape) {
|
|
mainShape = nullptr;
|
|
}
|
|
shp.release_bt_shape();
|
|
reload_shapes();
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::reload_shapes() {
|
|
need_shape_reload = true;
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::do_reload_shapes() {
|
|
if (mainShape && mainShape->isCompound()) {
|
|
// Destroy compound
|
|
bulletdelete(mainShape);
|
|
}
|
|
|
|
mainShape = nullptr;
|
|
|
|
const int shape_count = shapes.size();
|
|
ShapeWrapper *shapes_ptr = shapes.ptrw();
|
|
|
|
// Reset all shapes if required
|
|
if (force_shape_reset) {
|
|
for (int i(0); i < shape_count; ++i) {
|
|
shapes_ptr[i].release_bt_shape();
|
|
}
|
|
force_shape_reset = false;
|
|
}
|
|
|
|
const btVector3 body_scale(get_bt_body_scale());
|
|
|
|
if (1 == shape_count) {
|
|
// Is it possible to optimize by not using compound?
|
|
btTransform transform = shapes_ptr[0].get_adjusted_transform();
|
|
if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
|
|
shapes_ptr[0].claim_bt_shape(body_scale);
|
|
mainShape = shapes_ptr[0].bt_shape;
|
|
main_shape_changed();
|
|
// Nothing more to do
|
|
return;
|
|
}
|
|
}
|
|
|
|
// Optimization not possible use a compound shape.
|
|
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
|
|
|
|
for (int i(0); i < shape_count; ++i) {
|
|
shapes_ptr[i].claim_bt_shape(body_scale);
|
|
btTransform scaled_shape_transform(shapes_ptr[i].get_adjusted_transform());
|
|
scaled_shape_transform.getOrigin() *= body_scale;
|
|
compoundShape->addChildShape(scaled_shape_transform, shapes_ptr[i].bt_shape);
|
|
}
|
|
|
|
compoundShape->recalculateLocalAabb();
|
|
mainShape = compoundShape;
|
|
main_shape_changed();
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::body_scale_changed() {
|
|
CollisionObjectBullet::body_scale_changed();
|
|
reload_shapes();
|
|
}
|
|
|
|
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
|
|
ShapeWrapper &shp = shapes.write[p_index];
|
|
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
|
|
if (shp.bt_shape == mainShape) {
|
|
mainShape = nullptr;
|
|
}
|
|
shp.release_bt_shape();
|
|
}
|