1426cd3b3a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see". Backported from #70885.
491 lines
15 KiB
C++
491 lines
15 KiB
C++
/**************************************************************************/
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/* soft_body_bullet.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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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_bullet.h"
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#include "bullet_types_converter.h"
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#include "bullet_utilities.h"
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#include "scene/3d/soft_body.h"
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#include "space_bullet.h"
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SoftBodyBullet::SoftBodyBullet() :
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CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY),
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bt_soft_body(nullptr),
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isScratched(false),
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simulation_precision(5),
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total_mass(1.),
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linear_stiffness(0.5),
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areaAngular_stiffness(0.5),
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volume_stiffness(0.5),
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pressure_coefficient(0.),
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pose_matching_coefficient(0.),
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damping_coefficient(0.01),
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drag_coefficient(0.) {}
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SoftBodyBullet::~SoftBodyBullet() {
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}
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void SoftBodyBullet::reload_body() {
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if (space) {
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space->remove_soft_body(this);
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space->add_soft_body(this);
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}
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}
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void SoftBodyBullet::set_space(SpaceBullet *p_space) {
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if (space) {
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isScratched = false;
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space->remove_soft_body(this);
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}
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space = p_space;
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if (space) {
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space->add_soft_body(this);
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}
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}
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void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
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void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
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void SoftBodyBullet::update_visual_server(SoftBodyVisualServerHandler *p_visual_server_handler) {
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if (!bt_soft_body) {
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return;
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}
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/// Update visual server vertices
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const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes);
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const int nodes_count = nodes.size();
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const Vector<int> *vs_indices;
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const void *vertex_position;
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const void *vertex_normal;
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for (int vertex_index = 0; vertex_index < nodes_count; ++vertex_index) {
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vertex_position = reinterpret_cast<const void *>(&nodes[vertex_index].m_x);
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vertex_normal = reinterpret_cast<const void *>(&nodes[vertex_index].m_n);
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vs_indices = &indices_table[vertex_index];
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const int vs_indices_size(vs_indices->size());
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for (int x = 0; x < vs_indices_size; ++x) {
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p_visual_server_handler->set_vertex((*vs_indices)[x], vertex_position);
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p_visual_server_handler->set_normal((*vs_indices)[x], vertex_normal);
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}
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}
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/// Generate AABB
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btVector3 aabb_min;
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btVector3 aabb_max;
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bt_soft_body->getAabb(aabb_min, aabb_max);
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btVector3 size(aabb_max - aabb_min);
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AABB aabb;
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B_TO_G(aabb_min, aabb.position);
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B_TO_G(size, aabb.size);
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p_visual_server_handler->set_aabb(aabb);
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}
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void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) {
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destroy_soft_body();
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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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ERR_FAIL_COND(!(soft_mesh->surface_get_format(0) & VS::ARRAY_FORMAT_INDEX));
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Array arrays = soft_mesh->surface_get_arrays(0);
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set_trimesh_body_shape(arrays[VS::ARRAY_INDEX], arrays[VS::ARRAY_VERTEX]);
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}
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void SoftBodyBullet::destroy_soft_body() {
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if (!bt_soft_body) {
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return;
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}
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if (space) {
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/// Remove from world before deletion
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space->remove_soft_body(this);
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}
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destroyBulletCollisionObject();
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bt_soft_body = nullptr;
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}
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void SoftBodyBullet::set_soft_transform(const Transform &p_transform) {
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reset_all_node_positions();
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move_all_nodes(p_transform);
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}
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void SoftBodyBullet::move_all_nodes(const Transform &p_transform) {
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if (!bt_soft_body) {
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return;
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}
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btTransform bt_transf;
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G_TO_B(p_transform, bt_transf);
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bt_soft_body->transform(bt_transf);
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}
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void SoftBodyBullet::set_node_position(int p_node_index, const Vector3 &p_global_position) {
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btVector3 bt_pos;
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G_TO_B(p_global_position, bt_pos);
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set_node_position(p_node_index, bt_pos);
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}
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void SoftBodyBullet::set_node_position(int p_node_index, const btVector3 &p_global_position) {
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if (bt_soft_body) {
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ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
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bt_soft_body->m_nodes[p_node_index].m_q = bt_soft_body->m_nodes[p_node_index].m_x;
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bt_soft_body->m_nodes[p_node_index].m_x = p_global_position;
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}
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}
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void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) const {
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if (bt_soft_body) {
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ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
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B_TO_G(bt_soft_body->m_nodes[p_node_index].m_x, r_position);
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}
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}
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void SoftBodyBullet::get_node_offset(int p_node_index, Vector3 &r_offset) const {
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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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PoolVector<Vector3> vertices(arrays[VS::ARRAY_VERTEX]);
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if (0 <= p_node_index && vertices.size() > p_node_index) {
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r_offset = vertices[p_node_index];
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}
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}
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void SoftBodyBullet::get_node_offset(int p_node_index, btVector3 &r_offset) const {
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Vector3 off;
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get_node_offset(p_node_index, off);
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G_TO_B(off, r_offset);
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}
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void SoftBodyBullet::set_node_mass(int p_node_index, btScalar p_mass) {
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if (0 >= p_mass) {
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pin_node(p_node_index);
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} else {
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unpin_node(p_node_index);
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}
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if (bt_soft_body) {
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ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
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bt_soft_body->setMass(p_node_index, p_mass);
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}
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}
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btScalar SoftBodyBullet::get_node_mass(int p_node_index) const {
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if (bt_soft_body) {
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ERR_FAIL_INDEX_V(p_node_index, bt_soft_body->m_nodes.size(), 1);
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return bt_soft_body->getMass(p_node_index);
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} else {
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return -1 == search_node_pinned(p_node_index) ? 1 : 0;
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}
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}
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void SoftBodyBullet::reset_all_node_mass() {
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if (bt_soft_body) {
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for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
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bt_soft_body->setMass(pinned_nodes[i], 1);
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}
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}
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pinned_nodes.resize(0);
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}
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void SoftBodyBullet::reset_all_node_positions() {
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if (soft_mesh.is_null() || !bt_soft_body) {
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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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PoolVector<Vector3> vs_vertices(arrays[VS::ARRAY_VERTEX]);
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PoolVector<Vector3>::Read vs_vertices_read = vs_vertices.read();
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for (int vertex_index = bt_soft_body->m_nodes.size() - 1; 0 <= vertex_index; --vertex_index) {
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G_TO_B(vs_vertices_read[indices_table[vertex_index][0]], bt_soft_body->m_nodes[vertex_index].m_x);
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bt_soft_body->m_nodes[vertex_index].m_q = bt_soft_body->m_nodes[vertex_index].m_x;
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bt_soft_body->m_nodes[vertex_index].m_v = btVector3(0, 0, 0);
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bt_soft_body->m_nodes[vertex_index].m_f = btVector3(0, 0, 0);
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}
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}
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void SoftBodyBullet::set_activation_state(bool p_active) {
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if (!bt_soft_body) {
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return;
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}
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if (p_active) {
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bt_soft_body->setActivationState(ACTIVE_TAG);
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} else {
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bt_soft_body->setActivationState(WANTS_DEACTIVATION);
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}
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}
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void SoftBodyBullet::set_total_mass(real_t p_val) {
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if (0 >= p_val) {
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p_val = 1;
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}
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total_mass = p_val;
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if (bt_soft_body) {
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bt_soft_body->setTotalMass(total_mass);
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}
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}
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void SoftBodyBullet::set_linear_stiffness(real_t p_val) {
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linear_stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kLST = linear_stiffness;
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}
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}
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void SoftBodyBullet::set_areaAngular_stiffness(real_t p_val) {
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areaAngular_stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kAST = areaAngular_stiffness;
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}
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}
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void SoftBodyBullet::set_volume_stiffness(real_t p_val) {
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volume_stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kVST = volume_stiffness;
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}
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}
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void SoftBodyBullet::set_simulation_precision(int p_val) {
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simulation_precision = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.piterations = simulation_precision;
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bt_soft_body->m_cfg.viterations = simulation_precision;
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bt_soft_body->m_cfg.diterations = simulation_precision;
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bt_soft_body->m_cfg.citerations = simulation_precision;
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}
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}
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void SoftBodyBullet::set_pressure_coefficient(real_t p_val) {
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pressure_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kPR = pressure_coefficient;
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}
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}
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void SoftBodyBullet::set_pose_matching_coefficient(real_t p_val) {
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pose_matching_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
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}
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}
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void SoftBodyBullet::set_damping_coefficient(real_t p_val) {
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damping_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kDP = damping_coefficient;
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}
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}
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void SoftBodyBullet::set_drag_coefficient(real_t p_val) {
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drag_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kDG = drag_coefficient;
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}
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}
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void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices) {
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/// Assert the current soft body is destroyed
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destroy_soft_body();
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/// Parse visual server indices to physical indices.
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/// Merge all overlapping vertices and create a map of physical vertices to visual server
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{
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/// This is the map of visual server indices to physics indices (So it's the inverse of idices_map), Thanks to it I don't need make a heavy search in the indices_map
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Vector<int> vs_indices_to_physics_table;
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{ // Map vertices
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indices_table.resize(0);
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int index = 0;
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Map<Vector3, int> unique_vertices;
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const int vs_vertices_size(p_vertices.size());
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PoolVector<Vector3>::Read p_vertices_read = p_vertices.read();
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for (int vs_vertex_index = 0; vs_vertex_index < vs_vertices_size; ++vs_vertex_index) {
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Map<Vector3, int>::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]);
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int vertex_id;
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if (e) {
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// Already rxisting
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vertex_id = e->value();
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} else {
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// Create new one
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unique_vertices[p_vertices_read[vs_vertex_index]] = vertex_id = index++;
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indices_table.push_back(Vector<int>());
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}
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indices_table.write[vertex_id].push_back(vs_vertex_index);
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vs_indices_to_physics_table.push_back(vertex_id);
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}
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}
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const int indices_map_size(indices_table.size());
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Vector<btScalar> bt_vertices;
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{ // Parse vertices to bullet
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bt_vertices.resize(indices_map_size * 3);
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PoolVector<Vector3>::Read p_vertices_read = p_vertices.read();
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for (int i = 0; i < indices_map_size; ++i) {
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bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
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bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
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bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
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}
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}
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Vector<int> bt_triangles;
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const int triangles_size(p_indices.size() / 3);
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{ // Parse indices
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bt_triangles.resize(triangles_size * 3);
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PoolVector<int>::Read p_indices_read = p_indices.read();
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for (int i = 0; i < triangles_size; ++i) {
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bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
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bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
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bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
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}
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}
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btSoftBodyWorldInfo fake_world_info;
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bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(fake_world_info, &bt_vertices[0], &bt_triangles[0], triangles_size, false);
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setup_soft_body();
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}
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}
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void SoftBodyBullet::setup_soft_body() {
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if (!bt_soft_body) {
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return;
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}
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// Soft body setup
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setupBulletCollisionObject(bt_soft_body);
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bt_soft_body->m_worldInfo = nullptr; // Remove fake world info
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bt_soft_body->getCollisionShape()->setMargin(0.01);
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bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
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// Space setup
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if (space) {
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space->add_soft_body(this);
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}
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mat0 = bt_soft_body->appendMaterial();
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// Assign soft body data
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bt_soft_body->generateBendingConstraints(2, mat0);
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mat0->m_kLST = linear_stiffness;
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mat0->m_kAST = areaAngular_stiffness;
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mat0->m_kVST = volume_stiffness;
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// Clusters allow to have Soft vs Soft collision but doesn't work well right now
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//bt_soft_body->m_cfg.kSRHR_CL = 1;// Soft vs rigid hardness [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSKHR_CL = 1;// Soft vs kinematic hardness [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSSHR_CL = 1;// Soft vs soft hardness [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSR_SPLT_CL = 1; // Soft vs rigid impulse split [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSK_SPLT_CL = 1; // Soft vs kinematic impulse split [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSS_SPLT_CL = 1; // Soft vs Soft impulse split [0,1] (cluster only)
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//bt_soft_body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS + btSoftBody::fCollision::VF_SS;
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//bt_soft_body->generateClusters(64);
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bt_soft_body->m_cfg.piterations = simulation_precision;
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bt_soft_body->m_cfg.viterations = simulation_precision;
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bt_soft_body->m_cfg.diterations = simulation_precision;
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bt_soft_body->m_cfg.citerations = simulation_precision;
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bt_soft_body->m_cfg.kDP = damping_coefficient;
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bt_soft_body->m_cfg.kDG = drag_coefficient;
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bt_soft_body->m_cfg.kPR = pressure_coefficient;
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bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
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bt_soft_body->setTotalMass(total_mass);
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btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body);
|
|
bt_soft_body->updateBounds();
|
|
|
|
// Set pinned nodes
|
|
for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
|
|
const int node_index = pinned_nodes[i];
|
|
ERR_CONTINUE(0 > node_index || bt_soft_body->m_nodes.size() <= node_index);
|
|
bt_soft_body->setMass(node_index, 0);
|
|
}
|
|
}
|
|
|
|
void SoftBodyBullet::pin_node(int p_node_index) {
|
|
if (bt_soft_body) {
|
|
ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
|
|
}
|
|
if (-1 == search_node_pinned(p_node_index)) {
|
|
pinned_nodes.push_back(p_node_index);
|
|
}
|
|
}
|
|
|
|
void SoftBodyBullet::unpin_node(int p_node_index) {
|
|
if (bt_soft_body) {
|
|
ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
|
|
}
|
|
const int id = search_node_pinned(p_node_index);
|
|
if (-1 != id) {
|
|
pinned_nodes.remove(id);
|
|
}
|
|
}
|
|
|
|
int SoftBodyBullet::search_node_pinned(int p_node_index) const {
|
|
for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
|
|
if (p_node_index == pinned_nodes[i]) {
|
|
return i;
|
|
}
|
|
}
|
|
return -1;
|
|
}
|