259 lines
13 KiB
C++
259 lines
13 KiB
C++
/*************************************************************************/
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/* space_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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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 SPACE_BULLET_H
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#define SPACE_BULLET_H
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#include "core/variant.h"
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#include "core/vector.h"
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#include "godot_result_callbacks.h"
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#include "rid_bullet.h"
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#include "servers/physics_server.h"
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#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
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#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h>
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#include <LinearMath/btScalar.h>
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#include <LinearMath/btTransform.h>
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#include <LinearMath/btVector3.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 btBroadphaseInterface;
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class btCollisionDispatcher;
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class btConstraintSolver;
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class btDefaultCollisionConfiguration;
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class btDynamicsWorld;
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class btDiscreteDynamicsWorld;
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class btEmptyShape;
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class btGhostPairCallback;
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class btSoftRigidDynamicsWorld;
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struct btSoftBodyWorldInfo;
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class ConstraintBullet;
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class CollisionObjectBullet;
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class RigidBodyBullet;
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class SpaceBullet;
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class SoftBodyBullet;
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class btGjkEpaPenetrationDepthSolver;
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extern ContactAddedCallback gContactAddedCallback;
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class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState {
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GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState);
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private:
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SpaceBullet *space;
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public:
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BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
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virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false);
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virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr);
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/// Returns the list of contacts pairs in this order: Local contact, other body contact
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virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
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};
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class SpaceBullet : public RIDBullet {
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friend class AreaBullet;
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friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
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friend class BulletPhysicsDirectSpaceState;
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public:
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/// IMPORTANT NOTE: These members are public to expose some bullet
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/// physics internal functionalities that are not supported or exposed
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/// through the `PhysicsServer`.
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///
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/// One example is the unofficial module `godot-kinematic-body`:
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/// https://github.com/AndreaCatania/godot-kinematic-body/blob/3.x/kinematic_object_3d.cpp
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///
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/// # How it works
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/// To access these members from a module, the first step is to cast the
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/// `PhysicsServer` to `BulletPhysicsServer`. This step is necessary
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/// to have access to the `space_owner` (which is a storage that holds
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/// the `SpaceBullet` objects).
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/// ```c++
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/// BulletPhysicsServer* bullet_physics_singleton = static_cast<BulletPhysicsServer *>(PhysicsServer::get_singleton());
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/// SpaceBullet* space = bullet_physics_singleton->get_space_owner()->getornull(get_world()->get_space());
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/// ```
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//
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/// Once you have access to the space, you can access the members and
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/// execute bullet physics commands:
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/// ```c++
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/// space->dynamicsWorld->convexSweepTest(
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/// p_shape,
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/// btTransform(btMatrix3x3::getIdentity(), p_position),
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/// btTransform(btMatrix3x3::getIdentity(), p_position + p_motion),
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/// result,
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/// p_margin);
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/// ```
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btBroadphaseInterface *broadphase;
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btDefaultCollisionConfiguration *collisionConfiguration;
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btCollisionDispatcher *dispatcher;
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btConstraintSolver *solver;
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btDiscreteDynamicsWorld *dynamicsWorld;
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btSoftBodyWorldInfo *soft_body_world_info;
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btGhostPairCallback *ghostPairCallback;
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GodotFilterCallback *godotFilterCallback;
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btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver;
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btVoronoiSimplexSolver *gjk_simplex_solver;
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BulletPhysicsDirectSpaceState *direct_access;
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Vector3 gravityDirection;
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real_t gravityMagnitude;
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real_t linear_damp;
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real_t angular_damp;
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Vector<AreaBullet *> areas;
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Vector<Vector3> contactDebug;
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int contactDebugCount;
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real_t delta_time;
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public:
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SpaceBullet();
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virtual ~SpaceBullet();
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void flush_queries();
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real_t get_delta_time() { return delta_time; }
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void step(real_t p_delta_time);
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_FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }
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_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
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_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
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_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
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/// Used to set some parameters to Bullet world
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/// @param p_param:
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/// AREA_PARAM_GRAVITY to set the gravity magnitude of entire world
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/// AREA_PARAM_GRAVITY_VECTOR to set the gravity direction of entire world
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void set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value);
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/// Used to get some parameters to Bullet world
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/// @param p_param:
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/// AREA_PARAM_GRAVITY to get the gravity magnitude of entire world
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/// AREA_PARAM_GRAVITY_VECTOR to get the gravity direction of entire world
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Variant get_param(PhysicsServer::AreaParameter p_param);
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void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value);
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real_t get_param(PhysicsServer::SpaceParameter p_param);
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void add_area(AreaBullet *p_area);
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void remove_area(AreaBullet *p_area);
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void reload_collision_filters(AreaBullet *p_area);
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void add_rigid_body(RigidBodyBullet *p_body);
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void remove_rigid_body_constraints(RigidBodyBullet *p_body);
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void remove_rigid_body(RigidBodyBullet *p_body);
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void reload_collision_filters(RigidBodyBullet *p_body);
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void add_soft_body(SoftBodyBullet *p_body);
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void remove_soft_body(SoftBodyBullet *p_body);
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void reload_collision_filters(SoftBodyBullet *p_body);
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void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false);
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void remove_constraint(ConstraintBullet *p_constraint);
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int get_num_collision_objects() const;
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void remove_all_collision_objects();
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BulletPhysicsDirectSpaceState *get_direct_state();
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void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); }
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_FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); }
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_FORCE_INLINE_ void reset_debug_contact_count() {
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contactDebugCount = 0;
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}
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_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
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if (contactDebugCount < contactDebug.size()) {
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contactDebug.write[contactDebugCount++] = p_contact;
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}
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}
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_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
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_FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; }
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const Vector3 &get_gravity_direction() const { return gravityDirection; }
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real_t get_gravity_magnitude() const { return gravityMagnitude; }
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void update_gravity();
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real_t get_linear_damp() const { return linear_damp; }
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real_t get_angular_damp() const { return angular_damp; }
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bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude = Set<RID>());
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int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, float p_margin);
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private:
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void create_empty_world(bool p_create_soft_world);
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void destroy_world();
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void check_ghost_overlaps();
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void check_body_collision();
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public:
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struct RecoverResult {
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bool hasPenetration;
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btVector3 normal;
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btVector3 pointWorld;
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btScalar penetration_distance; // Negative mean penetration
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int other_compound_shape_index;
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const btCollisionObject *other_collision_object;
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int local_shape_most_recovered;
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RecoverResult() :
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hasPenetration(false),
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normal(0, 0, 0),
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pointWorld(0, 0, 0),
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penetration_distance(1e20),
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other_compound_shape_index(0),
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other_collision_object(nullptr),
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local_shape_most_recovered(0) {}
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};
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private:
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bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr, const Set<RID> &p_exclude = Set<RID>());
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/// This is an API that recover a kinematic object from penetration
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/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
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bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
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/// This is an API that recover a kinematic object from penetration
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/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
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bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
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int add_separation_result(PhysicsServer::SeparationResult *r_results, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const;
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int recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer::SeparationResult *r_results);
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};
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#endif
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