334 lines
12 KiB
C++
334 lines
12 KiB
C++
/*************************************************************************/
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/* rigid_body_bullet.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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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#ifndef BODYBULLET_H
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#define BODYBULLET_H
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#include "collision_object_bullet.h"
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#include "space_bullet.h"
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#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
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#include <LinearMath/btTransform.h>
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/**
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@author AndreaCatania
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*/
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class AreaBullet;
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class SpaceBullet;
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class btRigidBody;
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class GodotMotionState;
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class BulletPhysicsDirectBodyState3D;
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/// This class could be used in multi thread with few changes but currently
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/// is set to be only in one single thread.
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///
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/// In the system there is only one object at a time that manage all bodies and is
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/// created by BulletPhysicsServer3D and is held by the "singleton" variable of this class
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/// Each time something require it, the body must be set again.
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class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
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GDCLASS(BulletPhysicsDirectBodyState3D, PhysicsDirectBodyState3D);
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static BulletPhysicsDirectBodyState3D *singleton;
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public:
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/// This class avoid the creation of more object of this class
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static void initSingleton() {
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if (!singleton) {
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singleton = memnew(BulletPhysicsDirectBodyState3D);
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}
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}
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static void destroySingleton() {
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memdelete(singleton);
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singleton = nullptr;
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}
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static void singleton_setDeltaTime(real_t p_deltaTime) {
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singleton->deltaTime = p_deltaTime;
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}
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static BulletPhysicsDirectBodyState3D *get_singleton(RigidBodyBullet *p_body) {
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singleton->body = p_body;
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return singleton;
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}
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public:
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RigidBodyBullet *body;
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real_t deltaTime;
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private:
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BulletPhysicsDirectBodyState3D() {}
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public:
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virtual Vector3 get_total_gravity() const override;
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virtual float get_total_angular_damp() const override;
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virtual float get_total_linear_damp() const override;
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virtual Vector3 get_center_of_mass() const override;
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virtual Basis get_principal_inertia_axes() const override;
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// get the mass
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virtual float get_inverse_mass() const override;
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// get density of this body space
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virtual Vector3 get_inverse_inertia() const override;
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// get density of this body space
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virtual Basis get_inverse_inertia_tensor() const override;
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virtual void set_linear_velocity(const Vector3 &p_velocity) override;
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virtual Vector3 get_linear_velocity() const override;
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virtual void set_angular_velocity(const Vector3 &p_velocity) override;
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virtual Vector3 get_angular_velocity() const override;
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virtual void set_transform(const Transform &p_transform) override;
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virtual Transform get_transform() const override;
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virtual void add_central_force(const Vector3 &p_force) override;
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virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
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virtual void add_torque(const Vector3 &p_torque) override;
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virtual void apply_central_impulse(const Vector3 &p_impulse) override;
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virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
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virtual void apply_torque_impulse(const Vector3 &p_impulse) override;
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virtual void set_sleep_state(bool p_sleep) override;
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virtual bool is_sleeping() const override;
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virtual int get_contact_count() const override;
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virtual Vector3 get_contact_local_position(int p_contact_idx) const override;
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virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
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virtual float get_contact_impulse(int p_contact_idx) const override;
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virtual int get_contact_local_shape(int p_contact_idx) const override;
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virtual RID get_contact_collider(int p_contact_idx) const override;
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virtual Vector3 get_contact_collider_position(int p_contact_idx) const override;
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virtual ObjectID get_contact_collider_id(int p_contact_idx) const override;
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virtual int get_contact_collider_shape(int p_contact_idx) const override;
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virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override;
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virtual real_t get_step() const override { return deltaTime; }
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virtual void integrate_forces() override {
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// Skip the execution of this function
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}
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virtual PhysicsDirectSpaceState3D *get_space_state() override;
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};
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class RigidBodyBullet : public RigidCollisionObjectBullet {
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public:
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struct CollisionData {
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RigidBodyBullet *otherObject;
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int other_object_shape;
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int local_shape;
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Vector3 hitLocalLocation;
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Vector3 hitWorldLocation;
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Vector3 hitNormal;
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float appliedImpulse;
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};
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struct ForceIntegrationCallback {
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ObjectID id;
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StringName method;
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Variant udata;
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};
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/// Used to hold shapes
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struct KinematicShape {
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class btConvexShape *shape = nullptr;
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btTransform transform;
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KinematicShape() {}
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bool is_active() const { return shape; }
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};
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struct KinematicUtilities {
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RigidBodyBullet *owner;
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btScalar safe_margin;
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Vector<KinematicShape> shapes;
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KinematicUtilities(RigidBodyBullet *p_owner);
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~KinematicUtilities();
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void setSafeMargin(btScalar p_margin);
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/// Used to set the default shape to ghost
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void copyAllOwnerShapes();
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private:
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void just_delete_shapes(int new_size);
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};
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private:
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friend class BulletPhysicsDirectBodyState3D;
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// This is required only for Kinematic movement
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KinematicUtilities *kinematic_utilities = nullptr;
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PhysicsServer3D::BodyMode mode;
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GodotMotionState *godotMotionState;
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btRigidBody *btBody;
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uint16_t locked_axis = 0;
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real_t mass = 1;
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real_t gravity_scale = 1;
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real_t linearDamp = 0;
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real_t angularDamp = 0;
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bool can_sleep = true;
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bool omit_forces_integration = false;
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bool can_integrate_forces = false;
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Vector<CollisionData> collisions;
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Vector<RigidBodyBullet *> collision_traces_1;
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Vector<RigidBodyBullet *> collision_traces_2;
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Vector<RigidBodyBullet *> *prev_collision_traces;
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Vector<RigidBodyBullet *> *curr_collision_traces;
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// these parameters are used to avoid vector resize
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int maxCollisionsDetection = 0;
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int collisionsCount = 0;
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int prev_collision_count = 0;
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Vector<AreaBullet *> areasWhereIam;
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// these parameters are used to avoid vector resize
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int maxAreasWhereIam = 10;
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int areaWhereIamCount = 0;
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// Used to know if the area is used as gravity point
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int countGravityPointSpaces = 0;
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bool isScratchedSpaceOverrideModificator = false;
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bool previousActiveState = true; // Last check state
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ForceIntegrationCallback *force_integration_callback = nullptr;
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public:
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RigidBodyBullet();
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~RigidBodyBullet();
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void init_kinematic_utilities();
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void destroy_kinematic_utilities();
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_FORCE_INLINE_ KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }
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_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
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virtual void main_shape_changed();
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virtual void do_reload_body();
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virtual void set_space(SpaceBullet *p_space);
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virtual void dispatch_callbacks();
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void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
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void scratch_space_override_modificator();
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virtual void on_collision_filters_change();
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virtual void on_collision_checker_start();
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virtual void on_collision_checker_end();
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void set_max_collisions_detection(int p_maxCollisionsDetection) {
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ERR_FAIL_COND(0 > p_maxCollisionsDetection);
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maxCollisionsDetection = p_maxCollisionsDetection;
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collisions.resize(p_maxCollisionsDetection);
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collision_traces_1.resize(p_maxCollisionsDetection);
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collision_traces_2.resize(p_maxCollisionsDetection);
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collisionsCount = 0;
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prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
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}
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int get_max_collisions_detection() {
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return maxCollisionsDetection;
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}
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bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
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bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
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bool was_colliding(RigidBodyBullet *p_other_object);
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void assert_no_constraints();
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void set_activation_state(bool p_active);
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bool is_active() const;
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void set_omit_forces_integration(bool p_omit);
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_FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }
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void set_param(PhysicsServer3D::BodyParameter p_param, real_t);
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real_t get_param(PhysicsServer3D::BodyParameter p_param) const;
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void set_mode(PhysicsServer3D::BodyMode p_mode);
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PhysicsServer3D::BodyMode get_mode() const;
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void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
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Variant get_state(PhysicsServer3D::BodyState p_state) const;
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
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void apply_torque_impulse(const Vector3 &p_impulse);
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void apply_central_force(const Vector3 &p_force);
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void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
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void apply_torque(const Vector3 &p_torque);
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void set_applied_force(const Vector3 &p_force);
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Vector3 get_applied_force() const;
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void set_applied_torque(const Vector3 &p_torque);
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Vector3 get_applied_torque() const;
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void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock);
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bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const;
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void reload_axis_lock();
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/// Doc:
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/// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
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void set_continuous_collision_detection(bool p_enable);
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bool is_continuous_collision_detection_enabled() const;
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void set_linear_velocity(const Vector3 &p_velocity);
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Vector3 get_linear_velocity() const;
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void set_angular_velocity(const Vector3 &p_velocity);
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Vector3 get_angular_velocity() const;
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virtual void set_transform__bullet(const btTransform &p_global_transform);
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virtual const btTransform &get_transform__bullet() const;
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virtual void do_reload_shapes();
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virtual void on_enter_area(AreaBullet *p_area);
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virtual void on_exit_area(AreaBullet *p_area);
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void reload_space_override_modificator();
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/// Kinematic
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void reload_kinematic_shapes();
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virtual void notify_transform_changed();
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private:
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void _internal_set_mass(real_t p_mass);
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};
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#endif
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