1261 lines
36 KiB
C++
1261 lines
36 KiB
C++
/*************************************************************************/
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/* soft_body_3d_sw.cpp */
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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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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 "soft_body_3d_sw.h"
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#include "space_3d_sw.h"
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#include "core/math/geometry_3d.h"
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#include "core/templates/map.h"
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// Based on Bullet soft body.
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///btSoftBody implementation by Nathanael Presson
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SoftBody3DSW::SoftBody3DSW() :
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CollisionObject3DSW(TYPE_SOFT_BODY),
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active_list(this) {
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_set_static(false);
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}
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void SoftBody3DSW::_shapes_changed() {
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}
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void SoftBody3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
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switch (p_state) {
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case PhysicsServer3D::BODY_STATE_TRANSFORM: {
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_set_transform(p_variant);
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_set_inv_transform(get_transform().inverse());
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apply_nodes_transform(get_transform());
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} break;
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case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: {
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// Not supported.
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ERR_FAIL_MSG("Linear velocity is not supported for Soft bodies.");
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} break;
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case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: {
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ERR_FAIL_MSG("Angular velocity is not supported for Soft bodies.");
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} break;
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case PhysicsServer3D::BODY_STATE_SLEEPING: {
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ERR_FAIL_MSG("Sleeping state is not supported for Soft bodies.");
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} break;
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case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
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ERR_FAIL_MSG("Sleeping state is not supported for Soft bodies.");
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} break;
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}
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}
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Variant SoftBody3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
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switch (p_state) {
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case PhysicsServer3D::BODY_STATE_TRANSFORM: {
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return get_transform();
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} break;
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case PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY: {
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ERR_FAIL_V_MSG(Vector3(), "Linear velocity is not supported for Soft bodies.");
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} break;
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case PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY: {
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ERR_FAIL_V_MSG(Vector3(), "Angular velocity is not supported for Soft bodies.");
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return Vector3();
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} break;
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case PhysicsServer3D::BODY_STATE_SLEEPING: {
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ERR_FAIL_V_MSG(false, "Sleeping state is not supported for Soft bodies.");
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} break;
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case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
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ERR_FAIL_V_MSG(false, "Sleeping state is not supported for Soft bodies.");
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} break;
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}
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return Variant();
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}
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void SoftBody3DSW::set_space(Space3DSW *p_space) {
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if (get_space()) {
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get_space()->soft_body_remove_from_active_list(&active_list);
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deinitialize_shape();
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}
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_set_space(p_space);
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if (get_space()) {
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get_space()->soft_body_add_to_active_list(&active_list);
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if (bounds != AABB()) {
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initialize_shape(true);
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}
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}
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}
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void SoftBody3DSW::set_mesh(const Ref<Mesh> &p_mesh) {
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destroy();
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soft_mesh = p_mesh;
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if (soft_mesh.is_null()) {
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return;
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}
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Array arrays = soft_mesh->surface_get_arrays(0);
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ERR_FAIL_COND(!(soft_mesh->surface_get_format(0) & RS::ARRAY_FORMAT_INDEX));
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bool success = create_from_trimesh(arrays[RS::ARRAY_INDEX], arrays[RS::ARRAY_VERTEX]);
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if (!success) {
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destroy();
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soft_mesh = Ref<Mesh>();
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}
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}
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void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
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if (soft_mesh.is_null()) {
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return;
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}
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const uint32_t vertex_count = map_visual_to_physics.size();
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for (uint32_t i = 0; i < vertex_count; ++i) {
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const uint32_t node_index = map_visual_to_physics[i];
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const Node &node = nodes[node_index];
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const Vector3 &vertex_position = node.x;
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const Vector3 &vertex_normal = node.n;
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p_rendering_server_handler->set_vertex(i, &vertex_position);
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p_rendering_server_handler->set_normal(i, &vertex_normal);
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}
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p_rendering_server_handler->set_aabb(bounds);
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}
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void SoftBody3DSW::update_normals() {
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uint32_t i, ni;
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for (i = 0, ni = nodes.size(); i < ni; ++i) {
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nodes[i].n = Vector3();
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}
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for (i = 0, ni = faces.size(); i < ni; ++i) {
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Face &face = faces[i];
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const Vector3 n = vec3_cross(face.n[0]->x - face.n[2]->x, face.n[0]->x - face.n[1]->x);
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face.n[0]->n += n;
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face.n[1]->n += n;
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face.n[2]->n += n;
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face.normal = n;
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face.normal.normalize();
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}
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for (i = 0, ni = nodes.size(); i < ni; ++i) {
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Node &node = nodes[i];
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real_t len = node.n.length();
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if (len > CMP_EPSILON) {
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node.n /= len;
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}
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}
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}
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void SoftBody3DSW::update_bounds() {
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AABB prev_bounds = bounds;
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prev_bounds.grow_by(collision_margin);
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bounds = AABB();
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const uint32_t nodes_count = nodes.size();
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if (nodes_count == 0) {
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deinitialize_shape();
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return;
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}
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bool first = true;
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bool moved = false;
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for (uint32_t node_index = 0; node_index < nodes_count; ++node_index) {
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const Node &node = nodes[node_index];
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if (!prev_bounds.has_point(node.x)) {
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moved = true;
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}
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if (first) {
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bounds.position = node.x;
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first = false;
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} else {
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bounds.expand_to(node.x);
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}
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}
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if (get_space()) {
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initialize_shape(moved);
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}
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}
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void SoftBody3DSW::update_constants() {
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reset_link_rest_lengths();
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update_link_constants();
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update_area();
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}
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void SoftBody3DSW::update_area() {
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int i, ni;
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// Face area.
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for (i = 0, ni = faces.size(); i < ni; ++i) {
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Face &face = faces[i];
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const Vector3 &x0 = face.n[0]->x;
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const Vector3 &x1 = face.n[1]->x;
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const Vector3 &x2 = face.n[2]->x;
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const Vector3 a = x1 - x0;
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const Vector3 b = x2 - x0;
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const Vector3 cr = vec3_cross(a, b);
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face.ra = cr.length();
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}
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// Node area.
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LocalVector<int> counts;
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counts.resize(nodes.size());
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memset(counts.ptr(), 0, counts.size() * sizeof(int));
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for (i = 0, ni = nodes.size(); i < ni; ++i) {
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nodes[i].area = 0.0;
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}
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for (i = 0, ni = faces.size(); i < ni; ++i) {
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const Face &face = faces[i];
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for (int j = 0; j < 3; ++j) {
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const int index = (int)(face.n[j] - &nodes[0]);
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counts[index]++;
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face.n[j]->area += Math::abs(face.ra);
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}
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}
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for (i = 0, ni = nodes.size(); i < ni; ++i) {
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if (counts[i] > 0) {
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nodes[i].area /= (real_t)counts[i];
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} else {
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nodes[i].area = 0.0;
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}
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}
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}
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void SoftBody3DSW::reset_link_rest_lengths() {
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for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
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Link &link = links[i];
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link.rl = (link.n[0]->x - link.n[1]->x).length();
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link.c1 = link.rl * link.rl;
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}
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}
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void SoftBody3DSW::update_link_constants() {
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real_t inv_linear_stiffness = 1.0 / linear_stiffness;
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for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
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Link &link = links[i];
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link.c0 = (link.n[0]->im + link.n[1]->im) * inv_linear_stiffness;
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}
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}
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void SoftBody3DSW::apply_nodes_transform(const Transform3D &p_transform) {
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if (soft_mesh.is_null()) {
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return;
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}
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uint32_t node_count = nodes.size();
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Vector3 leaf_size = Vector3(collision_margin, collision_margin, collision_margin) * 2.0;
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for (uint32_t node_index = 0; node_index < node_count; ++node_index) {
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Node &node = nodes[node_index];
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node.x = p_transform.xform(node.x);
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node.q = node.x;
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node.v = Vector3();
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node.bv = Vector3();
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AABB node_aabb(node.x, leaf_size);
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node_tree.update(node.leaf, node_aabb);
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}
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face_tree.clear();
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update_normals();
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update_bounds();
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update_constants();
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}
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Vector3 SoftBody3DSW::get_vertex_position(int p_index) const {
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if (soft_mesh.is_null()) {
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return Vector3();
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}
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ERR_FAIL_INDEX_V(p_index, (int)map_visual_to_physics.size(), Vector3());
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uint32_t node_index = map_visual_to_physics[p_index];
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ERR_FAIL_COND_V(node_index >= nodes.size(), Vector3());
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return nodes[node_index].x;
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}
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void SoftBody3DSW::set_vertex_position(int p_index, const Vector3 &p_position) {
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if (soft_mesh.is_null()) {
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return;
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}
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ERR_FAIL_INDEX(p_index, (int)map_visual_to_physics.size());
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uint32_t node_index = map_visual_to_physics[p_index];
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ERR_FAIL_COND(node_index >= nodes.size());
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Node &node = nodes[node_index];
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node.q = node.x;
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node.x = p_position;
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}
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void SoftBody3DSW::pin_vertex(int p_index) {
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if (is_vertex_pinned(p_index)) {
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return;
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}
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pinned_vertices.push_back(p_index);
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if (!soft_mesh.is_null()) {
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ERR_FAIL_INDEX(p_index, (int)map_visual_to_physics.size());
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uint32_t node_index = map_visual_to_physics[p_index];
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ERR_FAIL_COND(node_index >= nodes.size());
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Node &node = nodes[node_index];
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node.im = 0.0;
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}
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}
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void SoftBody3DSW::unpin_vertex(int p_index) {
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uint32_t pinned_count = pinned_vertices.size();
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for (uint32_t i = 0; i < pinned_count; ++i) {
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if (p_index == pinned_vertices[i]) {
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pinned_vertices.remove(i);
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if (!soft_mesh.is_null()) {
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ERR_FAIL_INDEX(p_index, (int)map_visual_to_physics.size());
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uint32_t node_index = map_visual_to_physics[p_index];
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ERR_FAIL_COND(node_index >= nodes.size());
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real_t inv_node_mass = nodes.size() * inv_total_mass;
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Node &node = nodes[node_index];
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node.im = inv_node_mass;
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}
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return;
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}
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}
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}
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void SoftBody3DSW::unpin_all_vertices() {
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if (!soft_mesh.is_null()) {
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real_t inv_node_mass = nodes.size() * inv_total_mass;
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uint32_t pinned_count = pinned_vertices.size();
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for (uint32_t i = 0; i < pinned_count; ++i) {
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uint32_t vertex_index = pinned_vertices[i];
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ERR_CONTINUE(vertex_index >= map_visual_to_physics.size());
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uint32_t node_index = map_visual_to_physics[vertex_index];
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ERR_CONTINUE(node_index >= nodes.size());
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Node &node = nodes[node_index];
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node.im = inv_node_mass;
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}
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}
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pinned_vertices.clear();
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}
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bool SoftBody3DSW::is_vertex_pinned(int p_index) const {
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uint32_t pinned_count = pinned_vertices.size();
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for (uint32_t i = 0; i < pinned_count; ++i) {
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if (p_index == pinned_vertices[i]) {
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return true;
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}
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}
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return false;
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}
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uint32_t SoftBody3DSW::get_node_count() const {
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return nodes.size();
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}
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real_t SoftBody3DSW::get_node_inv_mass(uint32_t p_node_index) const {
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ERR_FAIL_COND_V(p_node_index >= nodes.size(), 0.0);
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return nodes[p_node_index].im;
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}
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Vector3 SoftBody3DSW::get_node_position(uint32_t p_node_index) const {
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ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
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return nodes[p_node_index].x;
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}
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Vector3 SoftBody3DSW::get_node_velocity(uint32_t p_node_index) const {
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ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
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return nodes[p_node_index].v;
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}
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Vector3 SoftBody3DSW::get_node_biased_velocity(uint32_t p_node_index) const {
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ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
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return nodes[p_node_index].bv;
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}
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void SoftBody3DSW::apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
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ERR_FAIL_COND(p_node_index >= nodes.size());
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Node &node = nodes[p_node_index];
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node.v += p_impulse * node.im;
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}
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void SoftBody3DSW::apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
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ERR_FAIL_COND(p_node_index >= nodes.size());
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Node &node = nodes[p_node_index];
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node.bv += p_impulse * node.im;
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}
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uint32_t SoftBody3DSW::get_face_count() const {
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return faces.size();
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}
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void SoftBody3DSW::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const {
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ERR_FAIL_COND(p_face_index >= faces.size());
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const Face &face = faces[p_face_index];
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r_point_1 = face.n[0]->x;
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r_point_2 = face.n[1]->x;
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r_point_3 = face.n[2]->x;
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}
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Vector3 SoftBody3DSW::get_face_normal(uint32_t p_face_index) const {
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ERR_FAIL_COND_V(p_face_index >= faces.size(), Vector3());
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return faces[p_face_index].normal;
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}
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bool SoftBody3DSW::create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices) {
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uint32_t node_count = 0;
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LocalVector<Vector3> vertices;
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const int visual_vertex_count(p_vertices.size());
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LocalVector<int> triangles;
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const uint32_t triangle_count(p_indices.size() / 3);
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triangles.resize(triangle_count * 3);
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// Merge all overlapping vertices and create a map of physical vertices to visual vertices.
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{
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// Process vertices.
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{
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uint32_t vertex_count = 0;
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Map<Vector3, uint32_t> unique_vertices;
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vertices.resize(visual_vertex_count);
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map_visual_to_physics.resize(visual_vertex_count);
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for (int visual_vertex_index = 0; visual_vertex_index < visual_vertex_count; ++visual_vertex_index) {
|
|
const Vector3 &vertex = p_vertices[visual_vertex_index];
|
|
|
|
Map<Vector3, uint32_t>::Element *e = unique_vertices.find(vertex);
|
|
uint32_t vertex_id;
|
|
if (e) {
|
|
// Already existing.
|
|
vertex_id = e->value();
|
|
} else {
|
|
// Create new one.
|
|
vertex_id = vertex_count++;
|
|
unique_vertices[vertex] = vertex_id;
|
|
vertices[vertex_id] = vertex;
|
|
}
|
|
|
|
map_visual_to_physics[visual_vertex_index] = vertex_id;
|
|
}
|
|
|
|
vertices.resize(vertex_count);
|
|
}
|
|
|
|
// Process triangles.
|
|
{
|
|
for (uint32_t triangle_index = 0; triangle_index < triangle_count; ++triangle_index) {
|
|
for (int i = 0; i < 3; ++i) {
|
|
int visual_index = 3 * triangle_index + i;
|
|
int physics_index = map_visual_to_physics[p_indices[visual_index]];
|
|
triangles[visual_index] = physics_index;
|
|
node_count = MAX((int)node_count, physics_index);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
++node_count;
|
|
|
|
// Create nodes from vertices.
|
|
nodes.resize(node_count);
|
|
real_t inv_node_mass = node_count * inv_total_mass;
|
|
Vector3 leaf_size = Vector3(collision_margin, collision_margin, collision_margin) * 2.0;
|
|
for (uint32_t i = 0; i < node_count; ++i) {
|
|
Node &node = nodes[i];
|
|
node.s = vertices[i];
|
|
node.x = node.s;
|
|
node.q = node.s;
|
|
node.im = inv_node_mass;
|
|
|
|
AABB node_aabb(node.x, leaf_size);
|
|
node.leaf = node_tree.insert(node_aabb, &node);
|
|
|
|
node.index = i;
|
|
}
|
|
|
|
// Create links and faces from triangles.
|
|
LocalVector<bool> chks;
|
|
chks.resize(node_count * node_count);
|
|
memset(chks.ptr(), 0, chks.size() * sizeof(bool));
|
|
|
|
for (uint32_t i = 0; i < triangle_count * 3; i += 3) {
|
|
const int idx[] = { triangles[i], triangles[i + 1], triangles[i + 2] };
|
|
|
|
for (int j = 2, k = 0; k < 3; j = k++) {
|
|
int chk = idx[k] * node_count + idx[j];
|
|
if (!chks[chk]) {
|
|
chks[chk] = true;
|
|
int inv_chk = idx[j] * node_count + idx[k];
|
|
chks[inv_chk] = true;
|
|
|
|
append_link(idx[j], idx[k]);
|
|
}
|
|
}
|
|
|
|
append_face(idx[0], idx[1], idx[2]);
|
|
}
|
|
|
|
// Set pinned nodes.
|
|
uint32_t pinned_count = pinned_vertices.size();
|
|
for (uint32_t i = 0; i < pinned_count; ++i) {
|
|
int pinned_vertex = pinned_vertices[i];
|
|
|
|
ERR_CONTINUE(pinned_vertex >= visual_vertex_count);
|
|
uint32_t node_index = map_visual_to_physics[pinned_vertex];
|
|
|
|
ERR_CONTINUE(node_index >= node_count);
|
|
Node &node = nodes[node_index];
|
|
node.im = 0.0;
|
|
}
|
|
|
|
generate_bending_constraints(2);
|
|
reoptimize_link_order();
|
|
|
|
update_constants();
|
|
update_normals();
|
|
update_bounds();
|
|
|
|
return true;
|
|
}
|
|
|
|
void SoftBody3DSW::generate_bending_constraints(int p_distance) {
|
|
uint32_t i, j;
|
|
|
|
if (p_distance > 1) {
|
|
// Build graph.
|
|
const uint32_t n = nodes.size();
|
|
const unsigned inf = (~(unsigned)0) >> 1;
|
|
const uint32_t adj_size = n * n;
|
|
unsigned *adj = memnew_arr(unsigned, adj_size);
|
|
|
|
#define IDX(_x_, _y_) ((_y_)*n + (_x_))
|
|
for (j = 0; j < n; ++j) {
|
|
for (i = 0; i < n; ++i) {
|
|
int idx_ij = j * n + i;
|
|
int idx_ji = i * n + j;
|
|
if (i != j) {
|
|
adj[idx_ij] = adj[idx_ji] = inf;
|
|
} else {
|
|
adj[idx_ij] = adj[idx_ji] = 0;
|
|
}
|
|
}
|
|
}
|
|
for (i = 0; i < links.size(); ++i) {
|
|
const int ia = (int)(links[i].n[0] - &nodes[0]);
|
|
const int ib = (int)(links[i].n[1] - &nodes[0]);
|
|
int idx = ib * n + ia;
|
|
int idx_inv = ia * n + ib;
|
|
adj[idx] = 1;
|
|
adj[idx_inv] = 1;
|
|
}
|
|
|
|
// Special optimized case for distance == 2.
|
|
if (p_distance == 2) {
|
|
LocalVector<LocalVector<int>> node_links;
|
|
|
|
// Build node links.
|
|
node_links.resize(nodes.size());
|
|
|
|
for (i = 0; i < links.size(); ++i) {
|
|
const int ia = (int)(links[i].n[0] - &nodes[0]);
|
|
const int ib = (int)(links[i].n[1] - &nodes[0]);
|
|
if (node_links[ia].find(ib) == -1) {
|
|
node_links[ia].push_back(ib);
|
|
}
|
|
|
|
if (node_links[ib].find(ia) == -1) {
|
|
node_links[ib].push_back(ia);
|
|
}
|
|
}
|
|
for (uint32_t ii = 0; ii < node_links.size(); ii++) {
|
|
for (uint32_t jj = 0; jj < node_links[ii].size(); jj++) {
|
|
int k = node_links[ii][jj];
|
|
for (uint32_t kk = 0; kk < node_links[k].size(); kk++) {
|
|
int l = node_links[k][kk];
|
|
if ((int)ii != l) {
|
|
int idx_ik = k * n + ii;
|
|
int idx_kj = l * n + k;
|
|
const unsigned sum = adj[idx_ik] + adj[idx_kj];
|
|
ERR_FAIL_COND(sum != 2);
|
|
int idx_ij = l * n + ii;
|
|
if (adj[idx_ij] > sum) {
|
|
int idx_ji = l * n + ii;
|
|
adj[idx_ij] = adj[idx_ji] = sum;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
} else {
|
|
// Generic Floyd's algorithm.
|
|
for (uint32_t k = 0; k < n; ++k) {
|
|
for (j = 0; j < n; ++j) {
|
|
for (i = j + 1; i < n; ++i) {
|
|
int idx_ik = k * n + i;
|
|
int idx_kj = j * n + k;
|
|
const unsigned sum = adj[idx_ik] + adj[idx_kj];
|
|
int idx_ij = j * n + i;
|
|
if (adj[idx_ij] > sum) {
|
|
int idx_ji = j * n + i;
|
|
adj[idx_ij] = adj[idx_ji] = sum;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Build links.
|
|
for (j = 0; j < n; ++j) {
|
|
for (i = j + 1; i < n; ++i) {
|
|
int idx_ij = j * n + i;
|
|
if (adj[idx_ij] == (unsigned)p_distance) {
|
|
append_link(i, j);
|
|
}
|
|
}
|
|
}
|
|
memdelete_arr(adj);
|
|
}
|
|
}
|
|
|
|
//===================================================================
|
|
//
|
|
//
|
|
// This function takes in a list of interdependent Links and tries
|
|
// to maximize the distance between calculation
|
|
// of dependent links. This increases the amount of parallelism that can
|
|
// be exploited by out-of-order instruction processors with large but
|
|
// (inevitably) finite instruction windows.
|
|
//
|
|
//===================================================================
|
|
|
|
// A small structure to track lists of dependent link calculations.
|
|
class LinkDeps {
|
|
public:
|
|
int value; // A link calculation that is dependent on this one
|
|
// Positive values = "input A" while negative values = "input B"
|
|
LinkDeps *next; // Next dependence in the list
|
|
};
|
|
typedef LinkDeps *LinkDepsPtr;
|
|
|
|
void SoftBody3DSW::reoptimize_link_order() {
|
|
const int reop_not_dependent = -1;
|
|
const int reop_node_complete = -2;
|
|
|
|
uint32_t i, link_count = links.size(), node_count = nodes.size();
|
|
Link *lr;
|
|
int ar, br;
|
|
Node *node0 = &(nodes[0]);
|
|
Node *node1 = &(nodes[1]);
|
|
LinkDepsPtr link_dep;
|
|
int ready_list_head, ready_list_tail, link_num, link_dep_frees, dep_link;
|
|
|
|
// Allocate temporary buffers.
|
|
int *node_written_at = memnew_arr(int, node_count + 1); // What link calculation produced this node's current values?
|
|
int *link_dep_A = memnew_arr(int, link_count); // Link calculation input is dependent upon prior calculation #N
|
|
int *link_dep_B = memnew_arr(int, link_count);
|
|
int *ready_list = memnew_arr(int, link_count); // List of ready-to-process link calculations (# of links, maximum)
|
|
LinkDeps *link_dep_free_list = memnew_arr(LinkDeps, 2 * link_count); // Dependent-on-me list elements (2x# of links, maximum)
|
|
LinkDepsPtr *link_dep_list_starts = memnew_arr(LinkDepsPtr, link_count); // Start nodes of dependent-on-me lists, one for each link
|
|
|
|
// Copy the original, unsorted links to a side buffer.
|
|
Link *link_buffer = memnew_arr(Link, link_count);
|
|
memcpy(link_buffer, &(links[0]), sizeof(Link) * link_count);
|
|
|
|
// Clear out the node setup and ready list.
|
|
for (i = 0; i < node_count + 1; i++) {
|
|
node_written_at[i] = reop_not_dependent;
|
|
}
|
|
for (i = 0; i < link_count; i++) {
|
|
link_dep_list_starts[i] = nullptr;
|
|
}
|
|
ready_list_head = ready_list_tail = link_dep_frees = 0;
|
|
|
|
// Initial link analysis to set up data structures.
|
|
for (i = 0; i < link_count; i++) {
|
|
// Note which prior link calculations we are dependent upon & build up dependence lists.
|
|
lr = &(links[i]);
|
|
ar = (lr->n[0] - node0) / (node1 - node0);
|
|
br = (lr->n[1] - node0) / (node1 - node0);
|
|
if (node_written_at[ar] > reop_not_dependent) {
|
|
link_dep_A[i] = node_written_at[ar];
|
|
link_dep = &link_dep_free_list[link_dep_frees++];
|
|
link_dep->value = i;
|
|
link_dep->next = link_dep_list_starts[node_written_at[ar]];
|
|
link_dep_list_starts[node_written_at[ar]] = link_dep;
|
|
} else {
|
|
link_dep_A[i] = reop_not_dependent;
|
|
}
|
|
if (node_written_at[br] > reop_not_dependent) {
|
|
link_dep_B[i] = node_written_at[br];
|
|
link_dep = &link_dep_free_list[link_dep_frees++];
|
|
link_dep->value = -(int)(i + 1);
|
|
link_dep->next = link_dep_list_starts[node_written_at[br]];
|
|
link_dep_list_starts[node_written_at[br]] = link_dep;
|
|
} else {
|
|
link_dep_B[i] = reop_not_dependent;
|
|
}
|
|
|
|
// Add this link to the initial ready list, if it is not dependent on any other links.
|
|
if ((link_dep_A[i] == reop_not_dependent) && (link_dep_B[i] == reop_not_dependent)) {
|
|
ready_list[ready_list_tail++] = i;
|
|
link_dep_A[i] = link_dep_B[i] = reop_node_complete; // Probably not needed now.
|
|
}
|
|
|
|
// Update the nodes to mark which ones are calculated by this link.
|
|
node_written_at[ar] = node_written_at[br] = i;
|
|
}
|
|
|
|
// Process the ready list and create the sorted list of links:
|
|
// -- By treating the ready list as a queue, we maximize the distance between any
|
|
// inter-dependent node calculations.
|
|
// -- All other (non-related) nodes in the ready list will automatically be inserted
|
|
// in between each set of inter-dependent link calculations by this loop.
|
|
i = 0;
|
|
while (ready_list_head != ready_list_tail) {
|
|
// Use ready list to select the next link to process.
|
|
link_num = ready_list[ready_list_head++];
|
|
// Copy the next-to-calculate link back into the original link array.
|
|
links[i++] = link_buffer[link_num];
|
|
|
|
// Free up any link inputs that are dependent on this one.
|
|
link_dep = link_dep_list_starts[link_num];
|
|
while (link_dep) {
|
|
dep_link = link_dep->value;
|
|
if (dep_link >= 0) {
|
|
link_dep_A[dep_link] = reop_not_dependent;
|
|
} else {
|
|
dep_link = -dep_link - 1;
|
|
link_dep_B[dep_link] = reop_not_dependent;
|
|
}
|
|
// Add this dependent link calculation to the ready list if *both* inputs are clear.
|
|
if ((link_dep_A[dep_link] == reop_not_dependent) && (link_dep_B[dep_link] == reop_not_dependent)) {
|
|
ready_list[ready_list_tail++] = dep_link;
|
|
link_dep_A[dep_link] = link_dep_B[dep_link] = reop_node_complete; // Probably not needed now.
|
|
}
|
|
link_dep = link_dep->next;
|
|
}
|
|
}
|
|
|
|
// Delete the temporary buffers.
|
|
memdelete_arr(node_written_at);
|
|
memdelete_arr(link_dep_A);
|
|
memdelete_arr(link_dep_B);
|
|
memdelete_arr(ready_list);
|
|
memdelete_arr(link_dep_free_list);
|
|
memdelete_arr(link_dep_list_starts);
|
|
memdelete_arr(link_buffer);
|
|
}
|
|
|
|
void SoftBody3DSW::append_link(uint32_t p_node1, uint32_t p_node2) {
|
|
if (p_node1 == p_node2) {
|
|
return;
|
|
}
|
|
|
|
Node *node1 = &nodes[p_node1];
|
|
Node *node2 = &nodes[p_node2];
|
|
|
|
Link link;
|
|
link.n[0] = node1;
|
|
link.n[1] = node2;
|
|
link.rl = (node1->x - node2->x).length();
|
|
|
|
links.push_back(link);
|
|
}
|
|
|
|
void SoftBody3DSW::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3) {
|
|
if (p_node1 == p_node2) {
|
|
return;
|
|
}
|
|
if (p_node1 == p_node3) {
|
|
return;
|
|
}
|
|
if (p_node2 == p_node3) {
|
|
return;
|
|
}
|
|
|
|
Node *node1 = &nodes[p_node1];
|
|
Node *node2 = &nodes[p_node2];
|
|
Node *node3 = &nodes[p_node3];
|
|
|
|
Face face;
|
|
face.n[0] = node1;
|
|
face.n[1] = node2;
|
|
face.n[2] = node3;
|
|
|
|
face.index = faces.size();
|
|
|
|
faces.push_back(face);
|
|
}
|
|
|
|
void SoftBody3DSW::set_iteration_count(int p_val) {
|
|
iteration_count = p_val;
|
|
}
|
|
|
|
void SoftBody3DSW::set_total_mass(real_t p_val) {
|
|
ERR_FAIL_COND(p_val < 0.0);
|
|
|
|
inv_total_mass = 1.0 / p_val;
|
|
real_t mass_factor = total_mass * inv_total_mass;
|
|
total_mass = p_val;
|
|
|
|
uint32_t node_count = nodes.size();
|
|
for (uint32_t node_index = 0; node_index < node_count; ++node_index) {
|
|
Node &node = nodes[node_index];
|
|
node.im *= mass_factor;
|
|
}
|
|
|
|
update_constants();
|
|
}
|
|
|
|
void SoftBody3DSW::set_collision_margin(real_t p_val) {
|
|
collision_margin = p_val;
|
|
}
|
|
|
|
void SoftBody3DSW::set_linear_stiffness(real_t p_val) {
|
|
linear_stiffness = p_val;
|
|
}
|
|
|
|
void SoftBody3DSW::set_pressure_coefficient(real_t p_val) {
|
|
pressure_coefficient = p_val;
|
|
}
|
|
|
|
void SoftBody3DSW::set_damping_coefficient(real_t p_val) {
|
|
damping_coefficient = p_val;
|
|
}
|
|
|
|
void SoftBody3DSW::set_drag_coefficient(real_t p_val) {
|
|
drag_coefficient = p_val;
|
|
}
|
|
|
|
void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) {
|
|
for (uint32_t i = 0, ni = nodes.size(); i < ni; ++i) {
|
|
Node &node = nodes[i];
|
|
if (node.im > 0) {
|
|
node.v += p_velocity;
|
|
}
|
|
}
|
|
}
|
|
|
|
void SoftBody3DSW::apply_forces() {
|
|
if (pressure_coefficient < CMP_EPSILON) {
|
|
return;
|
|
}
|
|
|
|
if (nodes.is_empty()) {
|
|
return;
|
|
}
|
|
|
|
uint32_t i, ni;
|
|
|
|
// Calculate volume.
|
|
real_t volume = 0.0;
|
|
const Vector3 &org = nodes[0].x;
|
|
for (i = 0, ni = faces.size(); i < ni; ++i) {
|
|
const Face &face = faces[i];
|
|
volume += vec3_dot(face.n[0]->x - org, vec3_cross(face.n[1]->x - org, face.n[2]->x - org));
|
|
}
|
|
volume /= 6.0;
|
|
|
|
// Apply per node forces.
|
|
real_t ivolumetp = 1.0 / Math::abs(volume) * pressure_coefficient;
|
|
for (i = 0, ni = nodes.size(); i < ni; ++i) {
|
|
Node &node = nodes[i];
|
|
if (node.im > 0) {
|
|
node.f += node.n * (node.area * ivolumetp);
|
|
}
|
|
}
|
|
}
|
|
|
|
void SoftBody3DSW::_compute_area_gravity(const Area3DSW *p_area) {
|
|
if (p_area->is_gravity_point()) {
|
|
if (p_area->get_gravity_distance_scale() > 0) {
|
|
Vector3 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin();
|
|
gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2));
|
|
} else {
|
|
gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity();
|
|
}
|
|
} else {
|
|
gravity += p_area->get_gravity_vector() * p_area->get_gravity();
|
|
}
|
|
}
|
|
|
|
void SoftBody3DSW::predict_motion(real_t p_delta) {
|
|
const real_t inv_delta = 1.0 / p_delta;
|
|
|
|
ERR_FAIL_COND(!get_space());
|
|
|
|
Area3DSW *def_area = get_space()->get_default_area();
|
|
ERR_FAIL_COND(!def_area);
|
|
gravity = def_area->get_gravity_vector() * def_area->get_gravity();
|
|
|
|
int ac = areas.size();
|
|
bool stopped = false;
|
|
|
|
if (ac) {
|
|
areas.sort();
|
|
const AreaCMP *aa = &areas[0];
|
|
for (int i = ac - 1; i >= 0 && !stopped; i--) {
|
|
PhysicsServer3D::AreaSpaceOverrideMode mode = aa[i].area->get_space_override_mode();
|
|
switch (mode) {
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE:
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: {
|
|
_compute_area_gravity(aa[i].area);
|
|
stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE;
|
|
} break;
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE:
|
|
case PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: {
|
|
gravity = Vector3(0, 0, 0);
|
|
_compute_area_gravity(aa[i].area);
|
|
stopped = mode == PhysicsServer3D::AREA_SPACE_OVERRIDE_REPLACE;
|
|
} break;
|
|
default: {
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Apply forces.
|
|
add_velocity(gravity * p_delta);
|
|
apply_forces();
|
|
|
|
// Avoid soft body from 'exploding' so use some upper threshold of maximum motion
|
|
// that a node can travel per frame.
|
|
const real_t max_displacement = 1000.0;
|
|
real_t clamp_delta_v = max_displacement * inv_delta;
|
|
|
|
// Integrate.
|
|
uint32_t i, ni;
|
|
for (i = 0, ni = nodes.size(); i < ni; ++i) {
|
|
Node &node = nodes[i];
|
|
node.q = node.x;
|
|
Vector3 delta_v = node.f * node.im * p_delta;
|
|
for (int c = 0; c < 3; c++) {
|
|
delta_v[c] = CLAMP(delta_v[c], -clamp_delta_v, clamp_delta_v);
|
|
}
|
|
node.v += delta_v;
|
|
node.x += node.v * p_delta;
|
|
node.f = Vector3();
|
|
}
|
|
|
|
// Bounds and tree update.
|
|
update_bounds();
|
|
|
|
// Node tree update.
|
|
for (i = 0, ni = nodes.size(); i < ni; ++i) {
|
|
const Node &node = nodes[i];
|
|
|
|
AABB node_aabb(node.x, Vector3());
|
|
node_aabb.expand_to(node.x + node.v * p_delta);
|
|
node_aabb.grow_by(collision_margin);
|
|
|
|
node_tree.update(node.leaf, node_aabb);
|
|
}
|
|
|
|
// Face tree update.
|
|
if (!face_tree.is_empty()) {
|
|
update_face_tree(p_delta);
|
|
}
|
|
|
|
// Optimize node tree.
|
|
node_tree.optimize_incremental(1);
|
|
face_tree.optimize_incremental(1);
|
|
}
|
|
|
|
void SoftBody3DSW::solve_constraints(real_t p_delta) {
|
|
const real_t inv_delta = 1.0 / p_delta;
|
|
|
|
uint32_t i, ni;
|
|
|
|
for (i = 0, ni = links.size(); i < ni; ++i) {
|
|
Link &link = links[i];
|
|
link.c3 = link.n[1]->q - link.n[0]->q;
|
|
link.c2 = 1 / (link.c3.length_squared() * link.c0);
|
|
}
|
|
|
|
// Solve velocities.
|
|
for (i = 0, ni = nodes.size(); i < ni; ++i) {
|
|
Node &node = nodes[i];
|
|
node.x = node.q + node.v * p_delta;
|
|
}
|
|
|
|
// Solve positions.
|
|
for (int isolve = 0; isolve < iteration_count; ++isolve) {
|
|
const real_t ti = isolve / (real_t)iteration_count;
|
|
solve_links(1.0, ti);
|
|
}
|
|
const real_t vc = (1.0 - damping_coefficient) * inv_delta;
|
|
for (i = 0, ni = nodes.size(); i < ni; ++i) {
|
|
Node &node = nodes[i];
|
|
|
|
node.x += node.bv * p_delta;
|
|
node.bv = Vector3();
|
|
|
|
node.v = (node.x - node.q) * vc;
|
|
|
|
node.q = node.x;
|
|
}
|
|
|
|
update_normals();
|
|
}
|
|
|
|
void SoftBody3DSW::solve_links(real_t kst, real_t ti) {
|
|
for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
|
|
Link &link = links[i];
|
|
if (link.c0 > 0) {
|
|
Node &node_a = *link.n[0];
|
|
Node &node_b = *link.n[1];
|
|
const Vector3 del = node_b.x - node_a.x;
|
|
const real_t len = del.length_squared();
|
|
if (link.c1 + len > CMP_EPSILON) {
|
|
const real_t k = ((link.c1 - len) / (link.c0 * (link.c1 + len))) * kst;
|
|
node_a.x -= del * (k * node_a.im);
|
|
node_b.x += del * (k * node_b.im);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
struct AABBQueryResult {
|
|
const SoftBody3DSW *soft_body = nullptr;
|
|
void *userdata = nullptr;
|
|
SoftBody3DSW::QueryResultCallback result_callback = nullptr;
|
|
|
|
_FORCE_INLINE_ bool operator()(void *p_data) {
|
|
return result_callback(soft_body->get_node_index(p_data), userdata);
|
|
};
|
|
};
|
|
|
|
void SoftBody3DSW::query_aabb(const AABB &p_aabb, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) {
|
|
AABBQueryResult query_result;
|
|
query_result.soft_body = this;
|
|
query_result.result_callback = p_result_callback;
|
|
query_result.userdata = p_userdata;
|
|
|
|
node_tree.aabb_query(p_aabb, query_result);
|
|
}
|
|
|
|
struct RayQueryResult {
|
|
const SoftBody3DSW *soft_body = nullptr;
|
|
void *userdata = nullptr;
|
|
SoftBody3DSW::QueryResultCallback result_callback = nullptr;
|
|
|
|
_FORCE_INLINE_ bool operator()(void *p_data) {
|
|
return result_callback(soft_body->get_face_index(p_data), userdata);
|
|
};
|
|
};
|
|
|
|
void SoftBody3DSW::query_ray(const Vector3 &p_from, const Vector3 &p_to, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) {
|
|
if (face_tree.is_empty()) {
|
|
initialize_face_tree();
|
|
}
|
|
|
|
RayQueryResult query_result;
|
|
query_result.soft_body = this;
|
|
query_result.result_callback = p_result_callback;
|
|
query_result.userdata = p_userdata;
|
|
|
|
face_tree.ray_query(p_from, p_to, query_result);
|
|
}
|
|
|
|
void SoftBody3DSW::initialize_face_tree() {
|
|
face_tree.clear();
|
|
for (uint32_t i = 0; i < faces.size(); ++i) {
|
|
Face &face = faces[i];
|
|
|
|
AABB face_aabb;
|
|
|
|
face_aabb.position = face.n[0]->x;
|
|
face_aabb.expand_to(face.n[1]->x);
|
|
face_aabb.expand_to(face.n[2]->x);
|
|
|
|
face_aabb.grow_by(collision_margin);
|
|
|
|
face.leaf = face_tree.insert(face_aabb, &face);
|
|
}
|
|
}
|
|
|
|
void SoftBody3DSW::update_face_tree(real_t p_delta) {
|
|
for (uint32_t i = 0; i < faces.size(); ++i) {
|
|
const Face &face = faces[i];
|
|
|
|
AABB face_aabb;
|
|
|
|
const Node *node0 = face.n[0];
|
|
face_aabb.position = node0->x;
|
|
face_aabb.expand_to(node0->x + node0->v * p_delta);
|
|
|
|
const Node *node1 = face.n[1];
|
|
face_aabb.expand_to(node1->x);
|
|
face_aabb.expand_to(node1->x + node1->v * p_delta);
|
|
|
|
const Node *node2 = face.n[2];
|
|
face_aabb.expand_to(node2->x);
|
|
face_aabb.expand_to(node2->x + node2->v * p_delta);
|
|
|
|
face_aabb.grow_by(collision_margin);
|
|
|
|
face_tree.update(face.leaf, face_aabb);
|
|
}
|
|
}
|
|
|
|
void SoftBody3DSW::initialize_shape(bool p_force_move) {
|
|
if (get_shape_count() == 0) {
|
|
SoftBodyShape3DSW *soft_body_shape = memnew(SoftBodyShape3DSW(this));
|
|
add_shape(soft_body_shape);
|
|
} else if (p_force_move) {
|
|
SoftBodyShape3DSW *soft_body_shape = static_cast<SoftBodyShape3DSW *>(get_shape(0));
|
|
soft_body_shape->update_bounds();
|
|
}
|
|
}
|
|
|
|
void SoftBody3DSW::deinitialize_shape() {
|
|
if (get_shape_count() > 0) {
|
|
Shape3DSW *shape = get_shape(0);
|
|
remove_shape(shape);
|
|
memdelete(shape);
|
|
}
|
|
}
|
|
|
|
void SoftBody3DSW::destroy() {
|
|
map_visual_to_physics.clear();
|
|
|
|
node_tree.clear();
|
|
face_tree.clear();
|
|
|
|
nodes.clear();
|
|
links.clear();
|
|
faces.clear();
|
|
|
|
bounds = AABB();
|
|
deinitialize_shape();
|
|
}
|
|
|
|
void SoftBodyShape3DSW::update_bounds() {
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
AABB collision_aabb = soft_body->get_bounds();
|
|
collision_aabb.grow_by(soft_body->get_collision_margin());
|
|
configure(collision_aabb);
|
|
}
|
|
|
|
SoftBodyShape3DSW::SoftBodyShape3DSW(SoftBody3DSW *p_soft_body) {
|
|
soft_body = p_soft_body;
|
|
update_bounds();
|
|
}
|
|
|
|
struct _SoftBodyIntersectSegmentInfo {
|
|
const SoftBody3DSW *soft_body = nullptr;
|
|
Vector3 from;
|
|
Vector3 dir;
|
|
Vector3 hit_position;
|
|
uint32_t hit_face_index = -1;
|
|
real_t hit_dist_sq = INFINITY;
|
|
|
|
static bool process_hit(uint32_t p_face_index, void *p_userdata) {
|
|
_SoftBodyIntersectSegmentInfo &query_info = *(_SoftBodyIntersectSegmentInfo *)(p_userdata);
|
|
|
|
Vector3 points[3];
|
|
query_info.soft_body->get_face_points(p_face_index, points[0], points[1], points[2]);
|
|
|
|
Vector3 result;
|
|
if (Geometry3D::ray_intersects_triangle(query_info.from, query_info.dir, points[0], points[1], points[2], &result)) {
|
|
real_t dist_sq = query_info.from.distance_squared_to(result);
|
|
if (dist_sq < query_info.hit_dist_sq) {
|
|
query_info.hit_dist_sq = dist_sq;
|
|
query_info.hit_position = result;
|
|
query_info.hit_face_index = p_face_index;
|
|
}
|
|
}
|
|
|
|
// Continue with the query.
|
|
return false;
|
|
}
|
|
};
|
|
|
|
bool SoftBodyShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const {
|
|
_SoftBodyIntersectSegmentInfo query_info;
|
|
query_info.soft_body = soft_body;
|
|
query_info.from = p_begin;
|
|
query_info.dir = (p_end - p_begin).normalized();
|
|
|
|
soft_body->query_ray(p_begin, p_end, _SoftBodyIntersectSegmentInfo::process_hit, &query_info);
|
|
|
|
if (query_info.hit_dist_sq != INFINITY) {
|
|
r_result = query_info.hit_position;
|
|
r_normal = soft_body->get_face_normal(query_info.hit_face_index);
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool SoftBodyShape3DSW::intersect_point(const Vector3 &p_point) const {
|
|
return false;
|
|
}
|
|
|
|
Vector3 SoftBodyShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
|
|
ERR_FAIL_V_MSG(Vector3(), "Get closest point is not supported for soft bodies.");
|
|
}
|