fb4871c919
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
177 lines
8.7 KiB
C++
177 lines
8.7 KiB
C++
/*************************************************************************/
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/* space_bullet.h */
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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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#ifndef SPACE_BULLET_H
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#define SPACE_BULLET_H
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "LinearMath/btScalar.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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#include "core/variant.h"
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#include "core/vector.h"
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#include "godot_result_callbacks.h"
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#include "rid_bullet.h"
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#include "servers/physics_server.h"
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class AreaBullet;
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class btBroadphaseInterface;
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class btCollisionDispatcher;
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class btConstraintSolver;
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class btDefaultCollisionConfiguration;
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class btDynamicsWorld;
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class btDiscreteDynamicsWorld;
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class btEmptyShape;
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class btGhostPairCallback;
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class btSoftRigidDynamicsWorld;
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class btSoftBodyWorldInfo;
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class ConstraintBullet;
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class CollisionObjectBullet;
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class RigidBodyBullet;
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class SpaceBullet;
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class SoftBodyBullet;
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class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState {
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GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState)
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private:
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SpaceBullet *space;
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public:
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BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
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virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false);
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virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL);
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/// Returns the list of contacts pairs in this order: Local contact, other body contact
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virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
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virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
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};
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class SpaceBullet : public RIDBullet {
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private:
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friend class AreaBullet;
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friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
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friend class BulletPhysicsDirectSpaceState;
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btBroadphaseInterface *broadphase;
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btDefaultCollisionConfiguration *collisionConfiguration;
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btCollisionDispatcher *dispatcher;
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btConstraintSolver *solver;
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btDiscreteDynamicsWorld *dynamicsWorld;
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btGhostPairCallback *ghostPairCallback;
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GodotFilterCallback *godotFilterCallback;
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btSoftBodyWorldInfo *soft_body_world_info;
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BulletPhysicsDirectSpaceState *direct_access;
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Vector3 gravityDirection;
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real_t gravityMagnitude;
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Vector<AreaBullet *> areas;
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Vector<Vector3> contactDebug;
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int contactDebugCount;
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public:
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SpaceBullet(bool p_create_soft_world);
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virtual ~SpaceBullet();
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void flush_queries();
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void step(real_t p_delta_time);
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_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
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_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
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_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
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/// Used to set some parameters to Bullet world
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/// @param p_param:
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/// AREA_PARAM_GRAVITY to set the gravity magnitude of entire world
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/// AREA_PARAM_GRAVITY_VECTOR to set the gravity direction of entire world
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void set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value);
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/// Used to get some parameters to Bullet world
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/// @param p_param:
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/// AREA_PARAM_GRAVITY to get the gravity magnitude of entire world
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/// AREA_PARAM_GRAVITY_VECTOR to get the gravity direction of entire world
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Variant get_param(PhysicsServer::AreaParameter p_param);
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void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value);
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real_t get_param(PhysicsServer::SpaceParameter p_param);
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void add_area(AreaBullet *p_area);
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void remove_area(AreaBullet *p_area);
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void reload_collision_filters(AreaBullet *p_area);
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void add_rigid_body(RigidBodyBullet *p_body);
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void remove_rigid_body(RigidBodyBullet *p_body);
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void reload_collision_filters(RigidBodyBullet *p_body);
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void add_soft_body(SoftBodyBullet *p_body);
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void remove_soft_body(SoftBodyBullet *p_body);
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void reload_collision_filters(SoftBodyBullet *p_body);
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void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false);
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void remove_constraint(ConstraintBullet *p_constraint);
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int get_num_collision_objects() const;
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void remove_all_collision_objects();
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BulletPhysicsDirectSpaceState *get_direct_state();
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void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); }
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_FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); }
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_FORCE_INLINE_ void reset_debug_contact_count() {
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contactDebugCount = 0;
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}
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_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
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if (contactDebugCount < contactDebug.size()) contactDebug[contactDebugCount++] = p_contact;
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}
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_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
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_FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; }
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const Vector3 &get_gravity_direction() const { return gravityDirection; }
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real_t get_gravity_magnitude() const { return gravityMagnitude; }
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void update_gravity();
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bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result);
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private:
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void create_empty_world(bool p_create_soft_world);
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void destroy_world();
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void check_ghost_overlaps();
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void check_body_collision();
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bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position);
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};
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#endif
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