fb4871c919
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.
436 lines
13 KiB
C++
436 lines
13 KiB
C++
/*************************************************************************/
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/* shape_bullet.cpp */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "shape_bullet.h"
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#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h"
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#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
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#include "btBulletCollisionCommon.h"
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#include "btRayShape.h"
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#include "bullet_physics_server.h"
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#include "bullet_types_converter.h"
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#include "bullet_utilities.h"
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#include "shape_owner_bullet.h"
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ShapeBullet::ShapeBullet() {}
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ShapeBullet::~ShapeBullet() {}
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btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
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p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
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return p_btShape;
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}
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void ShapeBullet::notifyShapeChanged() {
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for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) {
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static_cast<ShapeOwnerBullet *>(E->key())->on_shape_changed(this);
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}
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}
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void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) {
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Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner);
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if (E) {
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E->get()++;
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} else {
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owners[p_owner] = 1; // add new owner
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}
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}
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void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody) {
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Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner);
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ERR_FAIL_COND(!E);
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E->get()--;
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if (p_permanentlyFromThisBody || 0 >= E->get()) {
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owners.erase(E);
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}
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}
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bool ShapeBullet::is_owner(ShapeOwnerBullet *p_owner) const {
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return owners.has(p_owner);
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}
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const Map<ShapeOwnerBullet *, int> &ShapeBullet::get_owners() const {
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return owners;
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}
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btEmptyShape *ShapeBullet::create_shape_empty() {
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return bulletnew(btEmptyShape);
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}
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btStaticPlaneShape *ShapeBullet::create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant) {
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return bulletnew(btStaticPlaneShape(planeNormal, planeConstant));
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}
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btSphereShape *ShapeBullet::create_shape_sphere(btScalar radius) {
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return bulletnew(btSphereShape(radius));
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}
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btBoxShape *ShapeBullet::create_shape_box(const btVector3 &boxHalfExtents) {
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return bulletnew(btBoxShape(boxHalfExtents));
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}
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btCapsuleShapeZ *ShapeBullet::create_shape_capsule(btScalar radius, btScalar height) {
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return bulletnew(btCapsuleShapeZ(radius, height));
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}
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btConvexPointCloudShape *ShapeBullet::create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling) {
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return bulletnew(btConvexPointCloudShape(&p_vertices[0], p_vertices.size(), p_local_scaling));
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}
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btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling) {
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if (p_mesh_shape) {
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return bulletnew(btScaledBvhTriangleMeshShape(p_mesh_shape, p_local_scaling));
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} else {
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return NULL;
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}
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}
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btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) {
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const btScalar ignoredHeightScale(1);
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const btScalar fieldHeight(500); // Meters
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const int YAxis = 1; // 0=X, 1=Y, 2=Z
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const bool flipQuadEdges = false;
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const void *heightsPtr = p_heights.read().ptr();
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return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges));
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}
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btRayShape *ShapeBullet::create_shape_ray(real_t p_length) {
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return bulletnew(btRayShape(p_length));
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}
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/* PLANE */
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PlaneShapeBullet::PlaneShapeBullet()
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: ShapeBullet() {}
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void PlaneShapeBullet::set_data(const Variant &p_data) {
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setup(p_data);
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}
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Variant PlaneShapeBullet::get_data() const {
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return plane;
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}
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PhysicsServer::ShapeType PlaneShapeBullet::get_type() const {
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return PhysicsServer::SHAPE_PLANE;
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}
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void PlaneShapeBullet::setup(const Plane &p_plane) {
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plane = p_plane;
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notifyShapeChanged();
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}
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btCollisionShape *PlaneShapeBullet::create_bt_shape() {
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btVector3 btPlaneNormal;
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G_TO_B(plane.normal, btPlaneNormal);
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return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
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}
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/* Sphere */
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SphereShapeBullet::SphereShapeBullet()
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: ShapeBullet() {}
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void SphereShapeBullet::set_data(const Variant &p_data) {
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setup(p_data);
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}
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Variant SphereShapeBullet::get_data() const {
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return radius;
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}
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PhysicsServer::ShapeType SphereShapeBullet::get_type() const {
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return PhysicsServer::SHAPE_SPHERE;
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}
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void SphereShapeBullet::setup(real_t p_radius) {
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radius = p_radius;
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notifyShapeChanged();
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}
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btCollisionShape *SphereShapeBullet::create_bt_shape() {
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return prepare(ShapeBullet::create_shape_sphere(radius));
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}
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/* Box */
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BoxShapeBullet::BoxShapeBullet()
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: ShapeBullet() {}
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void BoxShapeBullet::set_data(const Variant &p_data) {
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setup(p_data);
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}
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Variant BoxShapeBullet::get_data() const {
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Vector3 g_half_extents;
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B_TO_G(half_extents, g_half_extents);
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return g_half_extents;
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}
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PhysicsServer::ShapeType BoxShapeBullet::get_type() const {
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return PhysicsServer::SHAPE_BOX;
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}
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void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
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G_TO_B(p_half_extents, half_extents);
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notifyShapeChanged();
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}
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btCollisionShape *BoxShapeBullet::create_bt_shape() {
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return prepare(ShapeBullet::create_shape_box(half_extents));
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}
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/* Capsule */
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CapsuleShapeBullet::CapsuleShapeBullet()
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: ShapeBullet() {}
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void CapsuleShapeBullet::set_data(const Variant &p_data) {
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Dictionary d = p_data;
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ERR_FAIL_COND(!d.has("radius"));
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ERR_FAIL_COND(!d.has("height"));
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setup(d["height"], d["radius"]);
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}
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Variant CapsuleShapeBullet::get_data() const {
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Dictionary d;
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d["radius"] = radius;
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d["height"] = height;
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return d;
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}
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PhysicsServer::ShapeType CapsuleShapeBullet::get_type() const {
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return PhysicsServer::SHAPE_CAPSULE;
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}
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void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
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radius = p_radius;
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height = p_height;
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notifyShapeChanged();
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}
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btCollisionShape *CapsuleShapeBullet::create_bt_shape() {
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return prepare(ShapeBullet::create_shape_capsule(radius, height));
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}
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/* Convex polygon */
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ConvexPolygonShapeBullet::ConvexPolygonShapeBullet()
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: ShapeBullet() {}
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void ConvexPolygonShapeBullet::set_data(const Variant &p_data) {
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setup(p_data);
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}
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void ConvexPolygonShapeBullet::get_vertices(Vector<Vector3> &out_vertices) {
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const int n_of_vertices = vertices.size();
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out_vertices.resize(n_of_vertices);
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for (int i = n_of_vertices - 1; 0 <= i; --i) {
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B_TO_G(vertices[i], out_vertices[i]);
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}
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}
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Variant ConvexPolygonShapeBullet::get_data() const {
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ConvexPolygonShapeBullet *variable_self = const_cast<ConvexPolygonShapeBullet *>(this);
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Vector<Vector3> out_vertices;
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variable_self->get_vertices(out_vertices);
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return out_vertices;
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}
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PhysicsServer::ShapeType ConvexPolygonShapeBullet::get_type() const {
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return PhysicsServer::SHAPE_CONVEX_POLYGON;
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}
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void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
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// Make a copy of verticies
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const int n_of_vertices = p_vertices.size();
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vertices.resize(n_of_vertices);
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for (int i = n_of_vertices - 1; 0 <= i; --i) {
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G_TO_B(p_vertices[i], vertices[i]);
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}
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notifyShapeChanged();
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}
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btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape() {
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return prepare(ShapeBullet::create_shape_convex(vertices));
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}
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/* Concave polygon */
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ConcavePolygonShapeBullet::ConcavePolygonShapeBullet()
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: ShapeBullet(), meshShape(NULL) {}
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ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() {
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if (meshShape) {
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delete meshShape->getMeshInterface();
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delete meshShape;
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}
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faces = PoolVector<Vector3>();
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}
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void ConcavePolygonShapeBullet::set_data(const Variant &p_data) {
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setup(p_data);
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}
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Variant ConcavePolygonShapeBullet::get_data() const {
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return faces;
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}
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PhysicsServer::ShapeType ConcavePolygonShapeBullet::get_type() const {
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return PhysicsServer::SHAPE_CONCAVE_POLYGON;
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}
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void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
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faces = p_faces;
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if (meshShape) {
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/// Clear previous created shape
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delete meshShape->getMeshInterface();
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bulletdelete(meshShape);
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}
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int src_face_count = faces.size();
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if (0 < src_face_count) {
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btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh);
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// It counts the faces and assert the array contains the correct number of vertices.
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ERR_FAIL_COND(src_face_count % 3);
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src_face_count /= 3;
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PoolVector<Vector3>::Read r = p_faces.read();
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const Vector3 *facesr = r.ptr();
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btVector3 supVec_0;
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btVector3 supVec_1;
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btVector3 supVec_2;
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for (int i = 0; i < src_face_count; ++i) {
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G_TO_B(facesr[i * 3], supVec_0);
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G_TO_B(facesr[i * 3 + 1], supVec_1);
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G_TO_B(facesr[i * 3 + 2], supVec_2);
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shapeInterface->addTriangle(supVec_0, supVec_1, supVec_2);
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}
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const bool useQuantizedAabbCompression = true;
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meshShape = bulletnew(btBvhTriangleMeshShape(shapeInterface, useQuantizedAabbCompression));
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} else {
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meshShape = NULL;
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ERR_PRINT("The faces count are 0, the mesh shape cannot be created");
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}
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notifyShapeChanged();
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}
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btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape() {
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btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
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if (!cs) {
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// This is necessary since if 0 faces the creation of concave return NULL
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cs = ShapeBullet::create_shape_empty();
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}
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return prepare(cs);
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}
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/* Height map shape */
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HeightMapShapeBullet::HeightMapShapeBullet()
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: ShapeBullet() {}
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void HeightMapShapeBullet::set_data(const Variant &p_data) {
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ERR_FAIL_COND(p_data.get_type() != Variant::DICTIONARY);
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Dictionary d = p_data;
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ERR_FAIL_COND(!d.has("width"));
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ERR_FAIL_COND(!d.has("depth"));
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ERR_FAIL_COND(!d.has("cell_size"));
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ERR_FAIL_COND(!d.has("heights"));
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int l_width = d["width"];
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int l_depth = d["depth"];
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real_t l_cell_size = d["cell_size"];
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PoolVector<real_t> l_heights = d["heights"];
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ERR_FAIL_COND(l_width <= 0);
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ERR_FAIL_COND(l_depth <= 0);
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ERR_FAIL_COND(l_cell_size <= CMP_EPSILON);
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ERR_FAIL_COND(l_heights.size() != (width * depth));
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setup(heights, width, depth, cell_size);
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}
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Variant HeightMapShapeBullet::get_data() const {
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ERR_FAIL_V(Variant());
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}
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PhysicsServer::ShapeType HeightMapShapeBullet::get_type() const {
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return PhysicsServer::SHAPE_HEIGHTMAP;
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}
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void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) {
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{ // Copy
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const int heights_size = p_heights.size();
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heights.resize(heights_size);
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PoolVector<real_t>::Read p_heights_r = p_heights.read();
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PoolVector<real_t>::Write heights_w = heights.write();
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for (int i = heights_size - 1; 0 <= i; --i) {
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heights_w[i] = p_heights_r[i];
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}
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}
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width = p_width;
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depth = p_depth;
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cell_size = p_cell_size;
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notifyShapeChanged();
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}
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btCollisionShape *HeightMapShapeBullet::create_bt_shape() {
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return prepare(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size));
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}
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/* Ray shape */
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RayShapeBullet::RayShapeBullet()
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: ShapeBullet(), length(1) {}
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void RayShapeBullet::set_data(const Variant &p_data) {
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setup(p_data);
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}
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Variant RayShapeBullet::get_data() const {
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return length;
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}
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PhysicsServer::ShapeType RayShapeBullet::get_type() const {
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return PhysicsServer::SHAPE_RAY;
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}
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void RayShapeBullet::setup(real_t p_length) {
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length = p_length;
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notifyShapeChanged();
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}
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btCollisionShape *RayShapeBullet::create_bt_shape() {
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return prepare(ShapeBullet::create_shape_ray(length));
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}
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