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