maxmustermann/godot
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

Implemented Soft body

Browse source 
- Soft Body Physics node
- Soft Body Rendering
- Soft body Editor
- Soft body importer
This commit is contained in:
AndreaCatania 2017-11-21 01:36:32 +01:00 committed by Andrea Catania
parent fbf3ad2841
commit 17ebbfb56d
32 changed files with 2086 additions and 274 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

18
drivers/gles3/rasterizer_storage_gles3.cpp
View file

@ -3229,24 +3229,6 @@ VS::BlendShapeMode RasterizerStorageGLES3::mesh_get_blend_shape_mode(RID p_mesh)
return mesh->blend_shape_mode;
}
uint32_t RasterizerStorageGLES3::mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const {
Mesh *mesh = mesh_owner.getornull(p_mesh);
ERR_FAIL_COND_V(!mesh, 0);
ERR_FAIL_INDEX_V(p_surface, mesh->surfaces.size(), 0);
ERR_FAIL_INDEX_V(p_array_index, VS::ARRAY_MAX, 0);
return mesh->surfaces[p_surface]->attribs[p_array_index].stride;
}
uint32_t RasterizerStorageGLES3::mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const {
Mesh *mesh = mesh_owner.getornull(p_mesh);
ERR_FAIL_COND_V(!mesh, 0);
ERR_FAIL_INDEX_V(p_surface, mesh->surfaces.size(), 0);
ERR_FAIL_INDEX_V(p_array_index, VS::ARRAY_MAX, 0);
return mesh->surfaces[p_surface]->attribs[p_array_index].offset;
}
void RasterizerStorageGLES3::mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector<uint8_t> &p_data) {
Mesh *mesh = mesh_owner.getornull(p_mesh);

2
drivers/gles3/rasterizer_storage_gles3.h
View file

@ -722,8 +722,6 @@ public:
virtual void mesh_set_blend_shape_mode(RID p_mesh, VS::BlendShapeMode p_mode);
virtual VS::BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const;
virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const;
virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const;
virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector<uint8_t> &p_data);
virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material);

56
editor/icons/icon_soft_body.svg Normal file
View file

@ -0,0 +1,56 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="16"
height="16"
version="1.1"
viewBox="0 0 16 16"
id="svg2"
inkscape:version="0.91 r13725"
sodipodi:docname="icon_soft_body.svg">
<metadata
id="metadata14">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
</cc:Work>
</rdf:RDF>
</metadata>
<defs
id="defs12" />
<sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="1920"
inkscape:window-height="1027"
id="namedview10"
showgrid="false"
inkscape:zoom="18.792233"
inkscape:cx="2.8961304"
inkscape:cy="4.3816933"
inkscape:window-x="-8"
inkscape:window-y="-8"
inkscape:window-maximized="1"
inkscape:current-layer="svg2" />
<path
style="opacity:1;fill:#fc9c9c;fill-opacity:0.99607843;fill-rule:nonzero;stroke:none;stroke-width:1.42799997;stroke-linecap:square;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"
d="m 2.3447105,1.6091897 c -0.011911,1.9816766 -1.4168958,3.9344766 0,5.9495986 1.4168957,2.0151221 0,6.6693597 0,6.6693597 l 10.9510055,0 c 0,0 1.780829,-4.4523824 0,-6.489075 -1.780829,-2.0366925 -0.183458,-4.119112 0,-6.1298833 z m 1.8894067,0.7549031 7.4390658,0 c -0.431995,1.5996085 -1.62289,4.0426807 0,5.3749802 1.622888,1.3322996 0,5.887932 0,5.887932 l -7.4390658,0 c 0,0 1.3903413,-4.3680495 0,-5.9780743 -1.3903412,-1.6100247 -0.3951213,-3.7149271 0,-5.2848379 z"
id="rect4142"
inkscape:connector-curvature="0"
sodipodi:nodetypes="czcczcccczcczc" />
</svg>
Side by side

After

Width:  |  Height:  |  Size: 2.2 KiB

1
editor/plugins/spatial_editor_plugin.h
View file

@ -60,6 +60,7 @@ public:
virtual Variant get_handle_value(int p_idx) const;
virtual void set_handle(int p_idx, Camera *p_camera, const Point2 &p_point);
virtual void commit_handle(int p_idx, const Variant &p_restore, bool p_cancel = false);
virtual bool is_gizmo_handle_highlighted(int idx) const { return false; }
virtual bool intersect_frustum(const Camera *p_camera, const Vector<Plane> &p_frustum);
virtual bool intersect_ray(Camera *p_camera, const Point2 &p_point, Vector3 &r_pos, Vector3 &r_normal, int *r_gizmo_handle = NULL, bool p_sec_first = false);

108
editor/spatial_editor_gizmos.cpp
View file

@ -33,6 +33,7 @@
#include "geometry.h"
#include "quick_hull.h"
#include "scene/3d/camera.h"
#include "scene/3d/soft_body.h"
#include "scene/resources/box_shape.h"
#include "scene/resources/capsule_shape.h"
#include "scene/resources/convex_polygon_shape.h"
@ -256,8 +257,12 @@ void EditorSpatialGizmo::add_handles(const Vector<Vector3> &p_handles, bool p_bi
for (int i = 0; i < p_handles.size(); i++) {
Color col(1, 1, 1, 1);
if (is_gizmo_handle_highlighted(i))
col = Color(0, 0, 1, 0.9);
if (SpatialEditor::get_singleton()->get_over_gizmo_handle() != i)
col = Color(0.9, 0.9, 0.9, 0.9);
col.a = 0.8;
w[i] = col;
}
}
@ -1914,6 +1919,100 @@ VehicleWheelSpatialGizmo::VehicleWheelSpatialGizmo(VehicleWheel *p_car_wheel) {
///////////
void SoftBodySpatialGizmo::redraw() {
clear();
if (!soft_body || soft_body->get_mesh().is_null()) {
return;
}
// find mesh
Vector<Vector3> lines;
soft_body->get_mesh()->generate_debug_mesh_lines(lines);
if (!lines.size()) {
return;
}
Vector<Vector3> points;
soft_body->get_mesh()->generate_debug_mesh_indices(points);
soft_body->get_mesh()->clear_cache();
Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape");
Ref<Material> material = create_material("shape_material", gizmo_color);
add_lines(lines, material);
add_collision_segments(lines);
add_handles(points);
}
bool SoftBodySpatialGizmo::intersect_ray(Camera *p_camera, const Point2 &p_point, Vector3 &r_pos, Vector3 &r_normal, int *r_gizmo_handle, bool p_sec_first) {
return EditorSpatialGizmo::intersect_ray(p_camera, p_point, r_pos, r_normal, r_gizmo_handle, p_sec_first);
/* Perform a shape cast but doesn't work with softbody
PhysicsDirectSpaceState *space_state = PhysicsServer::get_singleton()->space_get_direct_state(SceneTree::get_singleton()->get_root()->get_world()->get_space());
if (!physics_sphere_shape.is_valid()) {
physics_sphere_shape = PhysicsServer::get_singleton()->shape_create(PhysicsServer::SHAPE_SPHERE);
real_t radius = 0.02;
PhysicsServer::get_singleton()->shape_set_data(physics_sphere_shape, radius);
}
Vector3 sphere_motion(p_camera->project_ray_normal(p_point));
real_t closest_safe;
real_t closest_unsafe;
PhysicsDirectSpaceState::ShapeRestInfo result;
bool collided = space_state->cast_motion(
physics_sphere_shape,
p_camera->get_transform(),
sphere_motion * Vector3(1000, 1000, 1000),
0.f,
closest_safe,
closest_unsafe,
Set<RID>(),
0xFFFFFFFF,
0xFFFFFFFF,
&result);
if (collided) {
if (result.collider_id == soft_body->get_instance_id()) {
print_line("Collided");
} else {
print_line("Collided but with wrong object: " + itos(result.collider_id));
}
} else {
print_line("Not collided, motion: x: " + rtos(sphere_motion[0]) + " y: " + rtos(sphere_motion[1]) + " z: " + rtos(sphere_motion[2]));
}
return false;
*/
}
void SoftBodySpatialGizmo::commit_handle(int p_idx, const Variant &p_restore, bool p_cancel) {
soft_body->pin_point_toggle(p_idx);
redraw();
}
bool SoftBodySpatialGizmo::is_gizmo_handle_highlighted(int idx) const {
return soft_body->is_point_pinned(idx);
}
SoftBodySpatialGizmo::SoftBodySpatialGizmo(SoftBody *p_soft_physics_body) :
EditorSpatialGizmo(),
soft_body(p_soft_physics_body) {
set_spatial_node(p_soft_physics_body);
}
SoftBodySpatialGizmo::~SoftBodySpatialGizmo() {
//if (!physics_sphere_shape.is_valid()) {
// PhysicsServer::get_singleton()->free(physics_sphere_shape);
//}
}
///////////
String CollisionShapeSpatialGizmo::get_handle_name(int p_idx) const {
Ref<Shape> s = cs->get_shape();
@ -4051,6 +4150,12 @@ Ref<SpatialEditorGizmo> SpatialEditorGizmos::get_gizmo(Spatial *p_spatial) {
return lsg;
}
if (Object::cast_to<SoftBody>(p_spatial)) {
Ref<SoftBodySpatialGizmo> misg = memnew(SoftBodySpatialGizmo(Object::cast_to<SoftBody>(p_spatial)));
return misg;
}
if (Object::cast_to<MeshInstance>(p_spatial)) {
Ref<MeshInstanceSpatialGizmo> misg = memnew(MeshInstanceSpatialGizmo(Object::cast_to<MeshInstance>(p_spatial)));
@ -4081,6 +4186,7 @@ Ref<SpatialEditorGizmo> SpatialEditorGizmos::get_gizmo(Spatial *p_spatial) {
return misg;
}
*/
if (Object::cast_to<CollisionShape>(p_spatial)) {
Ref<CollisionShapeSpatialGizmo> misg = memnew(CollisionShapeSpatialGizmo(Object::cast_to<CollisionShape>(p_spatial)));

17
editor/spatial_editor_gizmos.h
View file

@ -331,6 +331,23 @@ public:
BakedIndirectLightGizmo(BakedLightmap *p_baker = NULL);
};
class SoftBodySpatialGizmo : public EditorSpatialGizmo {
GDCLASS(SoftBodySpatialGizmo, EditorSpatialGizmo);
class SoftBody *soft_body;
//RID physics_sphere_shape; // Used for raycast that doesn't work, in this moment, with softbody
public:
void redraw();
virtual bool intersect_ray(Camera *p_camera, const Point2 &p_point, Vector3 &r_pos, Vector3 &r_normal, int *r_gizmo_handle = NULL, bool p_sec_first = false);
virtual void commit_handle(int p_idx, const Variant &p_restore, bool p_cancel);
virtual bool is_gizmo_handle_highlighted(int idx) const;
SoftBodySpatialGizmo(SoftBody *p_soft_physics_body = NULL);
~SoftBodySpatialGizmo();
};
class CollisionShapeSpatialGizmo : public EditorSpatialGizmo {
GDCLASS(CollisionShapeSpatialGizmo, EditorSpatialGizmo);

174
modules/bullet/bullet_physics_server.cpp
View file

@ -169,7 +169,7 @@ real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const {
}
RID BulletPhysicsServer::space_create() {
SpaceBullet *space = bulletnew(SpaceBullet(false));
SpaceBullet *space = bulletnew(SpaceBullet);
CreateThenReturnRID(space_owner, space);
}
@ -567,9 +567,6 @@ void BulletPhysicsServer::body_clear_shapes(RID p_body) {
void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {
CollisionObjectBullet *body = get_collisin_object(p_body);
if (!body) {
body = soft_body_owner.get(p_body);
}
ERR_FAIL_COND(!body);
body->set_instance_id(p_ID);
@ -867,6 +864,13 @@ RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) {
CreateThenReturnRID(soft_body_owner, body);
}
void BulletPhysicsServer::soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->update_visual_server(p_visual_server_handler);
}
void BulletPhysicsServer::soft_body_set_space(RID p_body, RID p_space) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
@ -893,11 +897,11 @@ RID BulletPhysicsServer::soft_body_get_space(RID p_body) const {
return space->get_self();
}
void BulletPhysicsServer::soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) {
void BulletPhysicsServer::soft_body_set_mesh(RID p_body, const REF &p_mesh) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_trimesh_body_shape(p_indices, p_vertices, p_triangles_num);
body->set_soft_mesh(p_mesh);
}
void BulletPhysicsServer::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
@ -975,14 +979,16 @@ void BulletPhysicsServer::soft_body_set_transform(RID p_body, const Transform &p
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_transform(p_transform);
body->set_soft_transform(p_transform);
}
Transform BulletPhysicsServer::soft_body_get_transform(RID p_body) const {
Vector3 BulletPhysicsServer::soft_body_get_vertex_position(RID p_body, int vertex_index) const {
const SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, Transform());
Vector3 pos;
ERR_FAIL_COND_V(!body, pos);
return body->get_transform();
body->get_node_position(vertex_index, pos);
return pos;
}
void BulletPhysicsServer::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
@ -997,6 +1003,154 @@ bool BulletPhysicsServer::soft_body_is_ray_pickable(RID p_body) const {
return body->is_ray_pickable();
}
void BulletPhysicsServer::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_simulation_precision(p_simulation_precision);
}
int BulletPhysicsServer::soft_body_get_simulation_precision(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_simulation_precision();
}
void BulletPhysicsServer::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_total_mass(p_total_mass);
}
real_t BulletPhysicsServer::soft_body_get_total_mass(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_total_mass();
}
void BulletPhysicsServer::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_linear_stiffness(p_stiffness);
}
real_t BulletPhysicsServer::soft_body_get_linear_stiffness(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_linear_stiffness();
}
void BulletPhysicsServer::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_areaAngular_stiffness(p_stiffness);
}
real_t BulletPhysicsServer::soft_body_get_areaAngular_stiffness(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_areaAngular_stiffness();
}
void BulletPhysicsServer::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_volume_stiffness(p_stiffness);
}
real_t BulletPhysicsServer::soft_body_get_volume_stiffness(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_volume_stiffness();
}
void BulletPhysicsServer::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_pressure_coefficient(p_pressure_coefficient);
}
real_t BulletPhysicsServer::soft_body_get_pressure_coefficient(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_pressure_coefficient();
}
void BulletPhysicsServer::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
return body->set_pose_matching_coefficient(p_pose_matching_coefficient);
}
real_t BulletPhysicsServer::soft_body_get_pose_matching_coefficient(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_pose_matching_coefficient();
}
void BulletPhysicsServer::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_damping_coefficient(p_damping_coefficient);
}
real_t BulletPhysicsServer::soft_body_get_damping_coefficient(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_damping_coefficient();
}
void BulletPhysicsServer::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_drag_coefficient(p_drag_coefficient);
}
real_t BulletPhysicsServer::soft_body_get_drag_coefficient(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_drag_coefficient();
}
void BulletPhysicsServer::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_node_position(p_point_index, p_global_position);
}
Vector3 BulletPhysicsServer::soft_body_get_point_global_position(RID p_body, int p_point_index) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
Vector3 pos;
body->get_node_position(p_point_index, pos);
return pos;
}
Vector3 BulletPhysicsServer::soft_body_get_point_offset(RID p_body, int p_point_index) const {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, Vector3());
Vector3 res;
body->get_node_offset(p_point_index, res);
return res;
}
void BulletPhysicsServer::soft_body_remove_all_pinned_points(RID p_body) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->reset_all_node_mass();
}
void BulletPhysicsServer::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_node_mass(p_point_index, p_pin ? 0 : 1);
}
bool BulletPhysicsServer::soft_body_is_point_pinned(RID p_body, int p_point_index) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0.f);
return body->get_node_mass(p_point_index);
}
PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const {
JointBullet *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint, JOINT_PIN);

43
modules/bullet/bullet_physics_server.h
View file

@ -262,10 +262,12 @@ public:
virtual RID soft_body_create(bool p_init_sleeping = false);
virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler);
virtual void soft_body_set_space(RID p_body, RID p_space);
virtual RID soft_body_get_space(RID p_body) const;
virtual void soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num);
virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh);
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer);
virtual uint32_t soft_body_get_collision_layer(RID p_body) const;
@ -280,12 +282,49 @@ public:
virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const;
/// Special function. This function has bad performance
virtual void soft_body_set_transform(RID p_body, const Transform &p_transform);
virtual Transform soft_body_get_transform(RID p_body) const;
virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const;
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable);
virtual bool soft_body_is_ray_pickable(RID p_body) const;
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision);
virtual int soft_body_get_simulation_precision(RID p_body);
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass);
virtual real_t soft_body_get_total_mass(RID p_body);
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness);
virtual real_t soft_body_get_linear_stiffness(RID p_body);
virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness);
virtual real_t soft_body_get_areaAngular_stiffness(RID p_body);
virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness);
virtual real_t soft_body_get_volume_stiffness(RID p_body);
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient);
virtual real_t soft_body_get_pressure_coefficient(RID p_body);
virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient);
virtual real_t soft_body_get_pose_matching_coefficient(RID p_body);
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient);
virtual real_t soft_body_get_damping_coefficient(RID p_body);
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient);
virtual real_t soft_body_get_drag_coefficient(RID p_body);
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position);
virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index);
virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const;
virtual void soft_body_remove_all_pinned_points(RID p_body);
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin);
virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index);
/* JOINT API */
virtual JointType joint_get_type(RID p_joint) const;

2
modules/bullet/collision_object_bullet.cpp
View file

@ -111,6 +111,8 @@ void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_coll
void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.insert(p_ignoreCollisionObject->get_self());
if (!bt_collision_object)
return;
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
if (space)
space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());

4
modules/bullet/register_types.cpp
View file

@ -32,6 +32,7 @@
#include "bullet_physics_server.h"
#include "class_db.h"
#include "project_settings.h"
/**
@author AndreaCatania
@ -47,6 +48,9 @@ void register_bullet_types() {
#ifndef _3D_DISABLED
PhysicsServerManager::register_server("Bullet", &_createBulletPhysicsCallback);
PhysicsServerManager::set_default_server("Bullet", 1);
GLOBAL_DEF("physics/3d/active_soft_world", true);
ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/active_soft_world", PropertyInfo(Variant::BOOL, "physics/3d/active_soft_world"));
#endif
}

512
modules/bullet/soft_body_bullet.cpp
View file

@ -32,42 +32,24 @@
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "scene/3d/immediate_geometry.h"
#include "scene/3d/soft_body.h"
#include "space_bullet.h"
/**
@author AndreaCatania
*/
SoftBodyBullet::SoftBodyBullet() :
CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY),
mass(1),
total_mass(1),
simulation_precision(5),
stiffness(0.5f),
pressure_coefficient(50),
damping_coefficient(0.005),
drag_coefficient(0.005),
linear_stiffness(0.5),
areaAngular_stiffness(0.5),
volume_stiffness(0.5),
pressure_coefficient(0.),
pose_matching_coefficient(0.),
damping_coefficient(0.01),
drag_coefficient(0.),
bt_soft_body(NULL),
soft_shape_type(SOFT_SHAPETYPE_NONE),
isScratched(false),
soft_body_shape_data(NULL) {
test_geometry = memnew(ImmediateGeometry);
red_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial));
red_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
red_mat->set_line_width(20.0);
red_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true);
red_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
red_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true);
red_mat->set_albedo(Color(1, 0, 0, 1));
test_geometry->set_material_override(red_mat);
test_is_in_scene = false;
}
isScratched(false) {}
SoftBodyBullet::~SoftBodyBullet() {
bulletdelete(soft_body_shape_data);
}
void SoftBodyBullet::reload_body() {
@ -80,8 +62,6 @@ void SoftBodyBullet::reload_body() {
void SoftBodyBullet::set_space(SpaceBullet *p_space) {
if (space) {
isScratched = false;
// Remove this object from the physics world
space->remove_soft_body(this);
}
@ -90,86 +70,181 @@ void SoftBodyBullet::set_space(SpaceBullet *p_space) {
if (space) {
space->add_soft_body(this);
}
reload_soft_body();
}
void SoftBodyBullet::dispatch_callbacks() {
if (!bt_soft_body) {
void SoftBodyBullet::dispatch_callbacks() {}
void SoftBodyBullet::on_collision_filters_change() {}
void SoftBodyBullet::on_collision_checker_start() {}
void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
void SoftBodyBullet::update_visual_server(SoftBodyVisualServerHandler *p_visual_server_handler) {
if (!bt_soft_body)
return;
/// Update visual server vertices
const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes);
const int nodes_count = nodes.size();
Vector<int> *vs_indices;
const void *vertex_position;
const void *vertex_normal;
for (int vertex_index = 0; vertex_index < nodes_count; ++vertex_index) {
vertex_position = reinterpret_cast<const void *>(&nodes[vertex_index].m_x);
vertex_normal = reinterpret_cast<const void *>(&nodes[vertex_index].m_n);
vs_indices = &indices_table[vertex_index];
const int vs_indices_size(vs_indices->size());
for (int x = 0; x < vs_indices_size; ++x) {
p_visual_server_handler->set_vertex((*vs_indices)[x], vertex_position);
p_visual_server_handler->set_normal((*vs_indices)[x], vertex_normal);
}
}
/// Generate AABB
btVector3 aabb_min;
btVector3 aabb_max;
bt_soft_body->getAabb(aabb_min, aabb_max);
btVector3 size(aabb_max - aabb_min);
AABB aabb;
B_TO_G(aabb_min, aabb.position);
B_TO_G(size, aabb.size);
p_visual_server_handler->set_aabb(aabb);
}
void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) {
if (p_mesh.is_null() || !p_mesh->surface_is_softbody_friendly(0))
soft_mesh.unref();
else
soft_mesh = p_mesh;
if (soft_mesh.is_null()) {
destroy_soft_body();
return;
}
if (!test_is_in_scene) {
test_is_in_scene = true;
SceneTree::get_singleton()->get_current_scene()->add_child(test_geometry);
Array arrays = soft_mesh->surface_get_arrays(0);
ERR_FAIL_COND(!(soft_mesh->surface_get_format(0) & VS::ARRAY_FORMAT_INDEX));
set_trimesh_body_shape(arrays[VS::ARRAY_INDEX], arrays[VS::ARRAY_VERTEX]);
}
void SoftBodyBullet::destroy_soft_body() {
if (!bt_soft_body)
return;
if (space) {
/// Remove from world before deletion
space->remove_soft_body(this);
}
test_geometry->clear();
test_geometry->begin(Mesh::PRIMITIVE_LINES, NULL);
bool first = true;
Vector3 pos;
for (int i = 0; i < bt_soft_body->m_nodes.size(); ++i) {
const btSoftBody::Node &n = bt_soft_body->m_nodes[i];
B_TO_G(n.m_x, pos);
test_geometry->add_vertex(pos);
if (!first) {
test_geometry->add_vertex(pos);
} else {
first = false;
destroyBulletCollisionObject();
bt_soft_body = NULL;
}
void SoftBodyBullet::set_soft_transform(const Transform &p_transform) {
reset_all_node_positions();
move_all_nodes(p_transform);
}
void SoftBodyBullet::move_all_nodes(const Transform &p_transform) {
if (!bt_soft_body)
return;
btTransform bt_transf;
G_TO_B(p_transform, bt_transf);
bt_soft_body->transform(bt_transf);
}
void SoftBodyBullet::set_node_position(int p_node_index, const Vector3 &p_global_position) {
btVector3 bt_pos;
G_TO_B(p_global_position, bt_pos);
set_node_position(p_node_index, bt_pos);
}
void SoftBodyBullet::set_node_position(int p_node_index, const btVector3 &p_global_position) {
if (bt_soft_body) {
bt_soft_body->m_nodes[p_node_index].m_x = p_global_position;
}
}
void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) const {
if (bt_soft_body) {
B_TO_G(bt_soft_body->m_nodes[p_node_index].m_x, r_position);
}
}
void SoftBodyBullet::get_node_offset(int p_node_index, Vector3 &r_offset) const {
if (soft_mesh.is_null())
return;
Array arrays = soft_mesh->surface_get_arrays(0);
PoolVector<Vector3> vertices(arrays[VS::ARRAY_VERTEX]);
if (0 <= p_node_index && vertices.size() > p_node_index) {
r_offset = vertices[p_node_index];
}
}
void SoftBodyBullet::get_node_offset(int p_node_index, btVector3 &r_offset) const {
Vector3 off;
get_node_offset(p_node_index, off);
G_TO_B(off, r_offset);
}
void SoftBodyBullet::set_node_mass(int node_index, btScalar p_mass) {
if (0 >= p_mass) {
pin_node(node_index);
} else {
unpin_node(node_index);
}
if (bt_soft_body) {
bt_soft_body->setMass(node_index, p_mass);
}
}
btScalar SoftBodyBullet::get_node_mass(int node_index) const {
if (bt_soft_body) {
return bt_soft_body->getMass(node_index);
} else {
return -1 == search_node_pinned(node_index) ? 1 : 0;
}
}
void SoftBodyBullet::reset_all_node_mass() {
if (bt_soft_body) {
for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
bt_soft_body->setMass(pinned_nodes[i], 1);
}
}
test_geometry->end();
pinned_nodes.resize(0);
}
void SoftBodyBullet::on_collision_filters_change() {
}
void SoftBodyBullet::reset_all_node_positions() {
if (soft_mesh.is_null())
return;
void SoftBodyBullet::on_collision_checker_start() {
}
Array arrays = soft_mesh->surface_get_arrays(0);
PoolVector<Vector3> vs_vertices(arrays[VS::ARRAY_VERTEX]);
PoolVector<Vector3>::Read vs_vertices_read = vs_vertices.read();
void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {
}
for (int vertex_index = bt_soft_body->m_nodes.size() - 1; 0 <= vertex_index; --vertex_index) {
void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {
}
G_TO_B(vs_vertices_read[indices_table[vertex_index][0]], bt_soft_body->m_nodes[vertex_index].m_x);
void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) {
TrimeshSoftShapeData *shape_data = bulletnew(TrimeshSoftShapeData);
shape_data->m_triangles_indices = p_indices;
shape_data->m_vertices = p_vertices;
shape_data->m_triangles_num = p_triangles_num;
set_body_shape_data(shape_data, SOFT_SHAPE_TYPE_TRIMESH);
reload_soft_body();
}
void SoftBodyBullet::set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type) {
bulletdelete(soft_body_shape_data);
soft_body_shape_data = p_soft_shape_data;
soft_shape_type = p_type;
}
void SoftBodyBullet::set_transform(const Transform &p_transform) {
transform = p_transform;
if (bt_soft_body) {
// TODO the softbody set new transform considering the current transform as center of world
// like if it's local transform, so I must fix this by setting nwe transform considering the old
btTransform bt_trans;
G_TO_B(transform, bt_trans);
//bt_soft_body->transform(bt_trans);
}
}
const Transform &SoftBodyBullet::get_transform() const {
return transform;
}
void SoftBodyBullet::get_first_node_origin(btVector3 &p_out_origin) const {
if (bt_soft_body && bt_soft_body->m_nodes.size()) {
p_out_origin = bt_soft_body->m_nodes[0].m_x;
} else {
p_out_origin.setZero();
bt_soft_body->m_nodes[vertex_index].m_q = bt_soft_body->m_nodes[vertex_index].m_x;
bt_soft_body->m_nodes[vertex_index].m_v = btVector3(0, 0, 0);
bt_soft_body->m_nodes[vertex_index].m_f = btVector3(0, 0, 0);
}
}
@ -181,22 +256,34 @@ void SoftBodyBullet::set_activation_state(bool p_active) {
}
}
void SoftBodyBullet::set_mass(real_t p_val) {
void SoftBodyBullet::set_total_mass(real_t p_val) {
if (0 >= p_val) {
p_val = 1;
}
mass = p_val;
total_mass = p_val;
if (bt_soft_body) {
bt_soft_body->setTotalMass(mass);
bt_soft_body->setTotalMass(total_mass);
}
}
void SoftBodyBullet::set_stiffness(real_t p_val) {
stiffness = p_val;
void SoftBodyBullet::set_linear_stiffness(real_t p_val) {
linear_stiffness = p_val;
if (bt_soft_body) {
mat0->m_kAST = stiffness;
mat0->m_kLST = stiffness;
mat0->m_kVST = stiffness;
mat0->m_kLST = linear_stiffness;
}
}
void SoftBodyBullet::set_areaAngular_stiffness(real_t p_val) {
areaAngular_stiffness = p_val;
if (bt_soft_body) {
mat0->m_kAST = areaAngular_stiffness;
}
}
void SoftBodyBullet::set_volume_stiffness(real_t p_val) {
volume_stiffness = p_val;
if (bt_soft_body) {
mat0->m_kVST = volume_stiffness;
}
}
@ -204,6 +291,9 @@ void SoftBodyBullet::set_simulation_precision(int p_val) {
simulation_precision = p_val;
if (bt_soft_body) {
bt_soft_body->m_cfg.piterations = simulation_precision;
bt_soft_body->m_cfg.viterations = simulation_precision;
bt_soft_body->m_cfg.diterations = simulation_precision;
bt_soft_body->m_cfg.citerations = simulation_precision;
}
}
@ -214,6 +304,13 @@ void SoftBodyBullet::set_pressure_coefficient(real_t p_val) {
}
}
void SoftBodyBullet::set_pose_matching_coefficient(real_t p_val) {
pose_matching_coefficient = p_val;
if (bt_soft_body) {
bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
}
}
void SoftBodyBullet::set_damping_coefficient(real_t p_val) {
damping_coefficient = p_val;
if (bt_soft_body) {
@ -228,89 +325,156 @@ void SoftBodyBullet::set_drag_coefficient(real_t p_val) {
}
}
void SoftBodyBullet::reload_soft_body() {
void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices) {
/// Assert the current soft body is destroyed
destroy_soft_body();
create_soft_body();
if (bt_soft_body) {
/// Parse visual server indices to physical indices.
/// Merge all overlapping vertices and create a map of physical vertices to visual server
// TODO the softbody set new transform considering the current transform as center of world
// like if it's local transform, so I must fix this by setting nwe transform considering the old
btTransform bt_trans;
G_TO_B(transform, bt_trans);
bt_soft_body->transform(bt_trans);
{
/// 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
Vector<int> vs_indices_to_physics_table;
bt_soft_body->generateBendingConstraints(2, mat0);
mat0->m_kAST = stiffness;
mat0->m_kLST = stiffness;
mat0->m_kVST = stiffness;
{ // Map vertices
indices_table.resize(0);
bt_soft_body->m_cfg.piterations = simulation_precision;
bt_soft_body->m_cfg.kDP = damping_coefficient;
bt_soft_body->m_cfg.kDG = drag_coefficient;
bt_soft_body->m_cfg.kPR = pressure_coefficient;
bt_soft_body->setTotalMass(mass);
int index = 0;
Map<Vector3, int> unique_vertices;
const int vs_vertices_size(p_vertices.size());
PoolVector<Vector3>::Read p_vertices_read = p_vertices.read();
for (int vs_vertex_index = 0; vs_vertex_index < vs_vertices_size; ++vs_vertex_index) {
Map<Vector3, int>::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]);
int vertex_id;
if (e) {
// Already rxisting
vertex_id = e->value();
} else {
// Create new one
unique_vertices[p_vertices_read[vs_vertex_index]] = vertex_id = index++;
indices_table.push_back(Vector<int>());
}
indices_table[vertex_id].push_back(vs_vertex_index);
vs_indices_to_physics_table.push_back(vertex_id);
}
}
const int indices_map_size(indices_table.size());
Vector<btScalar> bt_vertices;
{ // Parse vertices to bullet
bt_vertices.resize(indices_map_size * 3);
PoolVector<Vector3>::Read p_vertices_read = p_vertices.read();
for (int i = 0; i < indices_map_size; ++i) {
bt_vertices[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
bt_vertices[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
bt_vertices[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
}
}
Vector<int> bt_triangles;
const int triangles_size(p_indices.size() / 3);
{ // Parse indices
bt_triangles.resize(triangles_size * 3);
PoolVector<int>::Read p_indices_read = p_indices.read();
for (int i = 0; i < triangles_size; ++i) {
bt_triangles[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
bt_triangles[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
bt_triangles[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
}
}
btSoftBodyWorldInfo fake_world_info;
bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(fake_world_info, &bt_vertices[0], &bt_triangles[0], triangles_size, false);
setup_soft_body();
}
}
void SoftBodyBullet::setup_soft_body() {
if (!bt_soft_body)
return;
// Soft body setup
setupBulletCollisionObject(bt_soft_body);
bt_soft_body->m_worldInfo = NULL; // Remove fake world info
bt_soft_body->getCollisionShape()->setMargin(0.01);
bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
// Space setup
if (space) {
// TODO remove this please
space->add_soft_body(this);
}
}
void SoftBodyBullet::create_soft_body() {
if (!space || !soft_body_shape_data) {
return;
}
ERR_FAIL_COND(!space->is_using_soft_world());
switch (soft_shape_type) {
case SOFT_SHAPE_TYPE_TRIMESH: {
TrimeshSoftShapeData *trimesh_data = static_cast<TrimeshSoftShapeData *>(soft_body_shape_data);
Vector<int> indices;
Vector<btScalar> vertices;
int i;
const int indices_size = trimesh_data->m_triangles_indices.size();
const int vertices_size = trimesh_data->m_vertices.size();
indices.resize(indices_size);
vertices.resize(vertices_size * 3);
PoolVector<int>::Read i_r = trimesh_data->m_triangles_indices.read();
for (i = 0; i < indices_size; ++i) {
indices[i] = i_r[i];
}
i_r = PoolVector<int>::Read();
PoolVector<Vector3>::Read f_r = trimesh_data->m_vertices.read();
for (int j = i = 0; i < vertices_size; ++i, j += 3) {
vertices[j + 0] = f_r[i][0];
vertices[j + 1] = f_r[i][1];
vertices[j + 2] = f_r[i][2];
}
f_r = PoolVector<Vector3>::Read();
bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(*space->get_soft_body_world_info(), vertices.ptr(), indices.ptr(), trimesh_data->m_triangles_num);
} break;
default:
ERR_PRINT("Shape type not supported");
return;
}
setupBulletCollisionObject(bt_soft_body);
bt_soft_body->getCollisionShape()->setMargin(0.001f);
bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
mat0 = bt_soft_body->appendMaterial();
// Assign soft body data
bt_soft_body->generateBendingConstraints(2, mat0);
mat0->m_kLST = linear_stiffness;
mat0->m_kAST = areaAngular_stiffness;
mat0->m_kVST = volume_stiffness;
// Clusters allow to have Soft vs Soft collision but doesn't work well right now
//bt_soft_body->m_cfg.kSRHR_CL = 1;// Soft vs rigid hardness [0,1] (cluster only)
//bt_soft_body->m_cfg.kSKHR_CL = 1;// Soft vs kinematic hardness [0,1] (cluster only)
//bt_soft_body->m_cfg.kSSHR_CL = 1;// Soft vs soft hardness [0,1] (cluster only)
//bt_soft_body->m_cfg.kSR_SPLT_CL = 1; // Soft vs rigid impulse split [0,1] (cluster only)
//bt_soft_body->m_cfg.kSK_SPLT_CL = 1; // Soft vs kinematic impulse split [0,1] (cluster only)
//bt_soft_body->m_cfg.kSS_SPLT_CL = 1; // Soft vs Soft impulse split [0,1] (cluster only)
//bt_soft_body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS + btSoftBody::fCollision::VF_SS;
//bt_soft_body->generateClusters(64);
bt_soft_body->m_cfg.piterations = simulation_precision;
bt_soft_body->m_cfg.viterations = simulation_precision;
bt_soft_body->m_cfg.diterations = simulation_precision;
bt_soft_body->m_cfg.citerations = simulation_precision;
bt_soft_body->m_cfg.kDP = damping_coefficient;
bt_soft_body->m_cfg.kDG = drag_coefficient;
bt_soft_body->m_cfg.kPR = pressure_coefficient;
bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
bt_soft_body->setTotalMass(total_mass);
btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body);
bt_soft_body->updateBounds();
// Set pinned nodes
for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
bt_soft_body->setMass(pinned_nodes[i], 0);
}
}
void SoftBodyBullet::destroy_soft_body() {
if (space) {
/// This step is required to assert that the body is not into the world during deletion
/// This step is required since to change the body shape the body must be re-created.
/// Here is handled the case when the body is assigned into a world and the body
/// shape is changed.
space->remove_soft_body(this);
void SoftBodyBullet::pin_node(int p_node_index) {
if (-1 == search_node_pinned(p_node_index)) {
pinned_nodes.push_back(p_node_index);
}
destroyBulletCollisionObject();
bt_soft_body = NULL;
}
void SoftBodyBullet::unpin_node(int p_node_index) {
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;
}

103
modules/bullet/soft_body_bullet.h
View file

@ -40,7 +40,10 @@
#define x11_None 0L
#endif
#include <BulletSoftBody/btSoftBodyHelpers.h>
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "collision_object_bullet.h"
#include "scene/resources/mesh.h"
#include "servers/physics_server.h"
#ifdef x11_None
/// This is required to re add the macro None defined by x11 compiler
@ -52,39 +55,34 @@
@author AndreaCatania
*/
struct SoftShapeData {};
struct TrimeshSoftShapeData : public SoftShapeData {
PoolVector<int> m_triangles_indices;
PoolVector<Vector3> m_vertices;
int m_triangles_num;
};
class SoftBodyBullet : public CollisionObjectBullet {
public:
enum SoftShapeType {
SOFT_SHAPETYPE_NONE = 0,
SOFT_SHAPE_TYPE_TRIMESH
};
private:
btSoftBody *bt_soft_body;
Vector<Vector<int> > indices_table;
btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
SoftShapeType soft_shape_type;
bool isScratched;
SoftShapeData *soft_body_shape_data;
Ref<Mesh> soft_mesh;
Transform transform;
int simulation_precision;
real_t mass;
real_t stiffness; // [0,1]
real_t total_mass;
real_t linear_stiffness; // [0,1]
real_t areaAngular_stiffness; // [0,1]
real_t volume_stiffness; // [0,1]
real_t pressure_coefficient; // [-inf,+inf]
real_t pose_matching_coefficient; // [0,1]
real_t damping_coefficient; // [0,1]
real_t drag_coefficient; // [0,1]
Vector<int> pinned_nodes;
class ImmediateGeometry *test_geometry; // TODO remove this please
Ref<SpatialMaterial> red_mat; // TODO remove this please
bool test_is_in_scene; // TODO remove this please
// Other property to add
//btScalar kVC; // Volume conversation coefficient [0,+inf]
//btScalar kDF; // Dynamic friction coefficient [0,1]
//btScalar kMT; // Pose matching coefficient [0,1]
//btScalar kCHR; // Rigid contacts hardness [0,1]
//btScalar kKHR; // Kinetic contacts hardness [0,1]
//btScalar kSHR; // Soft contacts hardness [0,1]
public:
SoftBodyBullet();
@ -101,39 +99,64 @@ public:
_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
void set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num);
void set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type);
void update_visual_server(class SoftBodyVisualServerHandler *p_visual_server_handler);
void set_transform(const Transform &p_transform);
/// This function doesn't return the exact COM transform.
/// It returns the origin only of first node (vertice) of current soft body
/// ---
/// The soft body doesn't have a fixed center of mass, but is a group of nodes (vertices)
/// that each has its own position in the world.
/// For this reason return the correct COM is not so simple and must be calculate
/// Check this to improve this function http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=8803
const Transform &get_transform() const;
void get_first_node_origin(btVector3 &p_out_origin) const;
void set_soft_mesh(const Ref<Mesh> &p_mesh);
void destroy_soft_body();
// Special function. This function has bad performance
void set_soft_transform(const Transform &p_transform);
void move_all_nodes(const Transform &p_transform);
void set_node_position(int node_index, const Vector3 &p_global_position);
void set_node_position(int node_index, const btVector3 &p_global_position);
void get_node_position(int node_index, Vector3 &r_position) const;
// Heavy function, Please cache this info
void get_node_offset(int node_index, Vector3 &r_offset) const;
// Heavy function, Please cache this info
void get_node_offset(int node_index, btVector3 &r_offset) const;
void set_node_mass(int node_index, btScalar p_mass);
btScalar get_node_mass(int node_index) const;
void reset_all_node_mass();
void reset_all_node_positions();
void set_activation_state(bool p_active);
void set_mass(real_t p_val);
_FORCE_INLINE_ real_t get_mass() const { return mass; }
void set_stiffness(real_t p_val);
_FORCE_INLINE_ real_t get_stiffness() const { return stiffness; }
void set_total_mass(real_t p_val);
_FORCE_INLINE_ real_t get_total_mass() const { return total_mass; }
void set_linear_stiffness(real_t p_val);
_FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
void set_areaAngular_stiffness(real_t p_val);
_FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; }
void set_volume_stiffness(real_t p_val);
_FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; }
void set_simulation_precision(int p_val);
_FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; }
void set_pressure_coefficient(real_t p_val);
_FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; }
void set_pose_matching_coefficient(real_t p_val);
_FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_coefficient; }
void set_damping_coefficient(real_t p_val);
_FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; }
void set_drag_coefficient(real_t p_val);
_FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; }
private:
void reload_soft_body();
void create_soft_body();
void destroy_soft_body();
void set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices);
void setup_soft_body();
void pin_node(int p_node_index);
void unpin_node(int p_node_index);
int search_node_pinned(int p_node_index) const;
};
#endif // SOFT_BODY_BULLET_H

8
modules/bullet/space_bullet.cpp
View file

@ -36,6 +36,7 @@
#include "constraint_bullet.h"
#include "godot_collision_configuration.h"
#include "godot_collision_dispatcher.h"
#include "project_settings.h"
#include "rigid_body_bullet.h"
#include "servers/physics_server.h"
#include "soft_body_bullet.h"
@ -325,7 +326,7 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_
}
}
SpaceBullet::SpaceBullet(bool p_create_soft_world) :
SpaceBullet::SpaceBullet() :
broadphase(NULL),
dispatcher(NULL),
solver(NULL),
@ -338,7 +339,7 @@ SpaceBullet::SpaceBullet(bool p_create_soft_world) :
gravityMagnitude(10),
contactDebugCount(0) {
create_empty_world(p_create_soft_world);
create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true));
direct_access = memnew(BulletPhysicsDirectSpaceState(this));
}
@ -355,6 +356,7 @@ void SpaceBullet::flush_queries() {
}
void SpaceBullet::step(real_t p_delta_time) {
delta_time = p_delta_time;
dynamicsWorld->stepSimulation(p_delta_time, 0, 0);
}
@ -483,6 +485,7 @@ void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) {
void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) {
if (is_using_soft_world()) {
if (p_body->get_bt_soft_body()) {
p_body->get_bt_soft_body()->m_worldInfo = get_soft_body_world_info();
static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->addSoftBody(p_body->get_bt_soft_body(), p_body->get_collision_layer(), p_body->get_collision_mask());
}
} else {
@ -494,6 +497,7 @@ void SpaceBullet::remove_soft_body(SoftBodyBullet *p_body) {
if (is_using_soft_world()) {
if (p_body->get_bt_soft_body()) {
static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->removeSoftBody(p_body->get_bt_soft_body());
p_body->get_bt_soft_body()->m_worldInfo = NULL;
}
}
}

6
modules/bullet/space_bullet.h
View file

@ -84,7 +84,7 @@ public:
};
class SpaceBullet : public RIDBullet {
private:
friend class AreaBullet;
friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
friend class BulletPhysicsDirectSpaceState;
@ -109,12 +109,14 @@ private:
Vector<Vector3> contactDebug;
int contactDebugCount;
real_t delta_time;
public:
SpaceBullet(bool p_create_soft_world);
SpaceBullet();
virtual ~SpaceBullet();
void flush_queries();
real_t get_delta_time() { return delta_time; }
void step(real_t p_delta_time);
_FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }

1
scene/3d/collision_object.h
View file

@ -39,6 +39,7 @@ class CollisionObject : public Spatial {
GDCLASS(CollisionObject, Spatial);
bool area;
RID rid;
struct ShapeData {

1
scene/3d/collision_shape.h
View file

@ -49,6 +49,7 @@ class CollisionShape : public Spatial {
void resource_changed(RES res);
bool disabled;
protected:
void _create_debug_shape();
void _update_in_shape_owner(bool p_xform_only = false);

1
scene/3d/mesh_instance.cpp
View file

@ -36,6 +36,7 @@
#include "scene/resources/material.h"
#include "scene/scene_string_names.h"
#include "skeleton.h"
bool MeshInstance::_set(const StringName &p_name, const Variant &p_value) {
//this is not _too_ bad performance wise, really. it only arrives here if the property was not set anywhere else.

1
scene/3d/mesh_instance.h
View file

@ -41,6 +41,7 @@ class MeshInstance : public GeometryInstance {
GDCLASS(MeshInstance, GeometryInstance);
protected:
Ref<Mesh> mesh;
NodePath skeleton_path;

20
scene/3d/physics_body.cpp
View file

@ -122,23 +122,23 @@ bool PhysicsBody::get_collision_layer_bit(int p_bit) const {
void PhysicsBody::add_collision_exception_with(Node *p_node) {
ERR_FAIL_NULL(p_node);
PhysicsBody *physics_body = Object::cast_to<PhysicsBody>(p_node);
if (!physics_body) {
ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
CollisionObject *collision_object = Object::cast_to<CollisionObject>(p_node);
if (!collision_object) {
ERR_EXPLAIN("Collision exception only works between two CollisionObject");
}
ERR_FAIL_COND(!physics_body);
PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), physics_body->get_rid());
ERR_FAIL_COND(!collision_object);
PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid());
}
void PhysicsBody::remove_collision_exception_with(Node *p_node) {
ERR_FAIL_NULL(p_node);
PhysicsBody *physics_body = Object::cast_to<PhysicsBody>(p_node);
if (!physics_body) {
ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
CollisionObject *collision_object = Object::cast_to<CollisionObject>(p_node);
if (!collision_object) {
ERR_EXPLAIN("Collision exception only works between two CollisionObject");
}
ERR_FAIL_COND(!physics_body);
PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), physics_body->get_rid());
ERR_FAIL_COND(!collision_object);
PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
}
void PhysicsBody::_set_layers(uint32_t p_mask) {

740
scene/3d/soft_body.cpp Normal file
View file

@ -0,0 +1,740 @@
/*************************************************************************/
/* soft_physics_body.cpp */
/* Author: AndreaCatania */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "soft_body.h"
#include "os/os.h"
#include "scene/3d/collision_object.h"
#include "scene/3d/skeleton.h"
#include "servers/physics_server.h"
SoftBodyVisualServerHandler::SoftBodyVisualServerHandler() {}
void SoftBodyVisualServerHandler::prepare(RID p_mesh, int p_surface) {
clear();
ERR_FAIL_COND(!p_mesh.is_valid());
mesh = p_mesh;
surface = p_surface;
const uint32_t surface_format = VS::get_singleton()->mesh_surface_get_format(mesh, surface);
const int surface_vertex_len = VS::get_singleton()->mesh_surface_get_array_len(mesh, p_surface);
const int surface_index_len = VS::get_singleton()->mesh_surface_get_array_index_len(mesh, p_surface);
uint32_t surface_offsets[VS::ARRAY_MAX];
buffer = VS::get_singleton()->mesh_surface_get_array(mesh, surface);
stride = VS::get_singleton()->mesh_surface_make_offsets_from_format(surface_format, surface_vertex_len, surface_index_len, surface_offsets);
offset_vertices = surface_offsets[VS::ARRAY_VERTEX];
offset_normal = surface_offsets[VS::ARRAY_NORMAL];
}
void SoftBodyVisualServerHandler::clear() {
if (mesh.is_valid()) {
buffer.resize(0);
}
mesh = RID();
}
void SoftBodyVisualServerHandler::open() {
write_buffer = buffer.write();
}
void SoftBodyVisualServerHandler::close() {
write_buffer = PoolVector<uint8_t>::Write();
}
void SoftBodyVisualServerHandler::commit_changes() {
VS::get_singleton()->mesh_surface_update_region(mesh, surface, 0, buffer);
}
void SoftBodyVisualServerHandler::set_vertex(int p_vertex_id, const void *p_vector3) {
copymem(&write_buffer[p_vertex_id * stride + offset_vertices], p_vector3, sizeof(float) * 3);
}
void SoftBodyVisualServerHandler::set_normal(int p_vertex_id, const void *p_vector3) {
copymem(&write_buffer[p_vertex_id * stride + offset_normal], p_vector3, sizeof(float) * 3);
}
void SoftBodyVisualServerHandler::set_aabb(const AABB &p_aabb) {
VS::get_singleton()->mesh_set_custom_aabb(mesh, p_aabb);
}
SoftBody::PinnedPoint::PinnedPoint() :
point_index(-1),
spatial_attachment(NULL) {
}
SoftBody::PinnedPoint::PinnedPoint(const PinnedPoint &obj_tocopy) {
point_index = obj_tocopy.point_index;
spatial_attachment_path = obj_tocopy.spatial_attachment_path;
spatial_attachment = obj_tocopy.spatial_attachment;
vertex_offset_transform = obj_tocopy.vertex_offset_transform;
}
void SoftBody::_update_pickable() {
if (!is_inside_tree())
return;
bool pickable = ray_pickable && is_inside_tree() && is_visible_in_tree();
PhysicsServer::get_singleton()->soft_body_set_ray_pickable(physics_rid, pickable);
}
bool SoftBody::_set(const StringName &p_name, const Variant &p_value) {
String name = p_name;
String which = name.get_slicec('/', 0);
if ("pinned_points" == which) {
return _set_property_pinned_points_indices(p_value);
} else if ("attachments" == which) {
int idx = name.get_slicec('/', 1).to_int();
String what = name.get_slicec('/', 2);
return _set_property_pinned_points_attachment(idx, what, p_value);
}
return false;
}
bool SoftBody::_get(const StringName &p_name, Variant &r_ret) const {
String name = p_name;
String which = name.get_slicec('/', 0);
if ("pinned_points" == which) {
Array arr_ret;
const int pinned_points_indices_size = pinned_points_indices.size();
PoolVector<PinnedPoint>::Read r = pinned_points_indices.read();
arr_ret.resize(pinned_points_indices_size);
for (int i = 0; i < pinned_points_indices_size; ++i) {
arr_ret[i] = r[i].point_index;
}
r_ret = arr_ret;
return true;
} else if ("attachments" == which) {
int idx = name.get_slicec('/', 1).to_int();
String what = name.get_slicec('/', 2);
return _get_property_pinned_points(idx, what, r_ret);
}
return false;
}
void SoftBody::_get_property_list(List<PropertyInfo> *p_list) const {
const int pinned_points_indices_size = pinned_points_indices.size();
p_list->push_back(PropertyInfo(Variant::POOL_INT_ARRAY, "pinned_points"));
for (int i = 0; i < pinned_points_indices_size; ++i) {
p_list->push_back(PropertyInfo(Variant::INT, "attachments/" + itos(i) + "/point_index"));
p_list->push_back(PropertyInfo(Variant::NODE_PATH, "attachments/" + itos(i) + "/spatial_attachment_path"));
}
}
bool SoftBody::_set_property_pinned_points_indices(const Array &p_indices) {
const int p_indices_size = p_indices.size();
{ // Remove the pined points on physics server that will be removed by resize
PoolVector<PinnedPoint>::Read r = pinned_points_indices.read();
if (p_indices_size < pinned_points_indices.size()) {
for (int i = pinned_points_indices.size() - 1; i >= p_indices_size; --i) {
pin_point(r[i].point_index, false);
}
}
}
pinned_points_indices.resize(p_indices_size);
PoolVector<PinnedPoint>::Write w = pinned_points_indices.write();
int point_index;
for (int i = 0; i < p_indices_size; ++i) {
point_index = p_indices.get(i);
if (w[i].point_index != point_index) {
if (-1 != w[i].point_index)
pin_point(w[i].point_index, false);
w[i].point_index = point_index;
pin_point(w[i].point_index, true);
}
}
return true;
}
bool SoftBody::_set_property_pinned_points_attachment(int p_item, const String &p_what, const Variant &p_value) {
if (pinned_points_indices.size() <= p_item) {
return false;
}
if ("spatial_attachment_path" == p_what) {
PoolVector<PinnedPoint>::Write w = pinned_points_indices.write();
pin_point(w[p_item].point_index, true, p_value);
} else {
return false;
}
return true;
}
bool SoftBody::_get_property_pinned_points(int p_item, const String &p_what, Variant &r_ret) const {
if (pinned_points_indices.size() <= p_item) {
return false;
}
PoolVector<PinnedPoint>::Read r = pinned_points_indices.read();
if ("point_index" == p_what) {
r_ret = r[p_item].point_index;
} else if ("spatial_attachment_path" == p_what) {
r_ret = r[p_item].spatial_attachment_path;
} else {
return false;
}
return true;
}
void SoftBody::_changed_callback(Object *p_changed, const char *p_prop) {
#ifdef TOOLS_ENABLED
if (p_changed == this) {
update_configuration_warning();
}
#endif
}
void SoftBody::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_WORLD: {
if (Engine::get_singleton()->is_editor_hint())
add_change_receptor(this);
RID space = get_world()->get_space();
PhysicsServer::get_singleton()->soft_body_set_space(physics_rid, space);
PhysicsServer::get_singleton()->soft_body_set_transform(physics_rid, get_global_transform());
update_physics_server();
} break;
case NOTIFICATION_READY: {
if (!parent_collision_ignore.is_empty())
add_collision_exception_with(get_node(parent_collision_ignore));
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
if (!simulation_started) {
PhysicsServer::get_singleton()->soft_body_set_transform(physics_rid, get_global_transform());
_update_cache_pin_points_datas();
// Submit bone attachment
const int pinned_points_indices_size = pinned_points_indices.size();
PoolVector<PinnedPoint>::Read r = pinned_points_indices.read();
for (int i = 0; i < pinned_points_indices_size; ++i) {
if (!r[i].spatial_attachment) {
// Use soft body position to update the point position
PhysicsServer::get_singleton()->soft_body_move_point(physics_rid, r[i].point_index, (get_global_transform() * r[i].vertex_offset_transform).origin);
} else {
PhysicsServer::get_singleton()->soft_body_move_point(physics_rid, r[i].point_index, (r[i].spatial_attachment->get_global_transform() * r[i].vertex_offset_transform).origin);
}
}
}
} break;
case NOTIFICATION_VISIBILITY_CHANGED: {
_update_pickable();
} break;
case NOTIFICATION_EXIT_WORLD: {
PhysicsServer::get_singleton()->soft_body_set_space(physics_rid, RID());
} break;
}
#ifdef TOOLS_ENABLED
if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) {
if (Engine::get_singleton()->is_editor_hint()) {
update_configuration_warning();
}
}
#endif
}
void SoftBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("_draw_soft_mesh"), &SoftBody::_draw_soft_mesh);
ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &SoftBody::set_collision_mask);
ClassDB::bind_method(D_METHOD("get_collision_mask"), &SoftBody::get_collision_mask);
ClassDB::bind_method(D_METHOD("set_collision_layer", "collision_layer"), &SoftBody::set_collision_layer);
ClassDB::bind_method(D_METHOD("get_collision_layer"), &SoftBody::get_collision_layer);
ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &SoftBody::set_collision_mask_bit);
ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &SoftBody::get_collision_mask_bit);
ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &SoftBody::set_collision_layer_bit);
ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &SoftBody::get_collision_layer_bit);
ClassDB::bind_method(D_METHOD("set_parent_collision_ignore", "parent_collision_ignore"), &SoftBody::set_parent_collision_ignore);
ClassDB::bind_method(D_METHOD("get_parent_collision_ignore"), &SoftBody::get_parent_collision_ignore);
ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &SoftBody::add_collision_exception_with);
ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &SoftBody::remove_collision_exception_with);
ClassDB::bind_method(D_METHOD("set_simulation_precision", "simulation_precision"), &SoftBody::set_simulation_precision);
ClassDB::bind_method(D_METHOD("get_simulation_precision"), &SoftBody::get_simulation_precision);
ClassDB::bind_method(D_METHOD("set_total_mass", "mass"), &SoftBody::set_total_mass);
ClassDB::bind_method(D_METHOD("get_total_mass"), &SoftBody::get_total_mass);
ClassDB::bind_method(D_METHOD("set_linear_stiffness", "linear_stiffness"), &SoftBody::set_linear_stiffness);
ClassDB::bind_method(D_METHOD("get_linear_stiffness"), &SoftBody::get_linear_stiffness);
ClassDB::bind_method(D_METHOD("set_areaAngular_stiffness", "areaAngular_stiffness"), &SoftBody::set_areaAngular_stiffness);
ClassDB::bind_method(D_METHOD("get_areaAngular_stiffness"), &SoftBody::get_areaAngular_stiffness);
ClassDB::bind_method(D_METHOD("set_volume_stiffness", "volume_stiffness"), &SoftBody::set_volume_stiffness);
ClassDB::bind_method(D_METHOD("get_volume_stiffness"), &SoftBody::get_volume_stiffness);
ClassDB::bind_method(D_METHOD("set_pressure_coefficient", "pressure_coefficient"), &SoftBody::set_pressure_coefficient);
ClassDB::bind_method(D_METHOD("get_pressure_coefficient"), &SoftBody::get_pressure_coefficient);
ClassDB::bind_method(D_METHOD("set_pose_matching_coefficient", "pose_matching_coefficient"), &SoftBody::set_pose_matching_coefficient);
ClassDB::bind_method(D_METHOD("get_pose_matching_coefficient"), &SoftBody::get_pose_matching_coefficient);
ClassDB::bind_method(D_METHOD("set_damping_coefficient", "damping_coefficient"), &SoftBody::set_damping_coefficient);
ClassDB::bind_method(D_METHOD("get_damping_coefficient"), &SoftBody::get_damping_coefficient);
ClassDB::bind_method(D_METHOD("set_drag_coefficient", "drag_coefficient"), &SoftBody::set_drag_coefficient);
ClassDB::bind_method(D_METHOD("get_drag_coefficient"), &SoftBody::get_drag_coefficient);
ClassDB::bind_method(D_METHOD("set_ray_pickable", "ray_pickable"), &SoftBody::set_ray_pickable);
ClassDB::bind_method(D_METHOD("is_ray_pickable"), &SoftBody::is_ray_pickable);
ADD_GROUP("Collision", "collision_");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "parent_collision_ignore", PROPERTY_HINT_PROPERTY_OF_VARIANT_TYPE, "Parent collision object"), "set_parent_collision_ignore", "get_parent_collision_ignore");
ADD_PROPERTY(PropertyInfo(Variant::INT, "simulation_precision", PROPERTY_HINT_RANGE, "1,100,1"), "set_simulation_precision", "get_simulation_precision");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "total_mass", PROPERTY_HINT_RANGE, "0.01,10000,1"), "set_total_mass", "get_total_mass");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "linear_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_linear_stiffness", "get_linear_stiffness");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "areaAngular_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_areaAngular_stiffness", "get_areaAngular_stiffness");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "volume_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_volume_stiffness", "get_volume_stiffness");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "pressure_coefficient"), "set_pressure_coefficient", "get_pressure_coefficient");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "damping_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_damping_coefficient", "get_damping_coefficient");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "drag_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_drag_coefficient", "get_drag_coefficient");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "pose_matching_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_pose_matching_coefficient", "get_pose_matching_coefficient");
}
String SoftBody::get_configuration_warning() const {
String warning = MeshInstance::get_configuration_warning();
if (get_mesh().is_null()) {
if (!warning.empty())
warning += "\n\n";
warning += TTR("This body will be ignored until you set a mesh");
}
Transform t = get_transform();
if ((ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(0).length() - 1.0) > 0.05)) {
if (!warning.empty())
warning += "\n\n";
warning += TTR("Size changes to SoftBody will be overriden by the physics engine when running.\nChange the size in children collision shapes instead.");
}
return warning;
}
void SoftBody::_draw_soft_mesh() {
if (get_mesh().is_null())
return;
if (!visual_server_handler.is_ready()) {
visual_server_handler.prepare(get_mesh()->get_rid(), 0);
/// Necessary in order to render the mesh correctly (Soft body nodes are in global space)
simulation_started = true;
call_deferred("set_as_toplevel", true);
call_deferred("set_transform", Transform());
}
visual_server_handler.open();
PhysicsServer::get_singleton()->soft_body_update_visual_server(physics_rid, &visual_server_handler);
visual_server_handler.close();
visual_server_handler.commit_changes();
}
void SoftBody::update_physics_server() {
if (Engine::get_singleton()->is_editor_hint())
return;
if (get_mesh().is_valid()) {
become_mesh_owner();
PhysicsServer::get_singleton()->soft_body_set_mesh(physics_rid, get_mesh());
VS::get_singleton()->connect("frame_pre_draw", this, "_draw_soft_mesh");
} else {
PhysicsServer::get_singleton()->soft_body_set_mesh(physics_rid, NULL);
VS::get_singleton()->disconnect("frame_pre_draw", this, "_draw_soft_mesh");
}
}
void SoftBody::become_mesh_owner() {
if (mesh.is_null())
return;
if (!mesh_owner) {
mesh_owner = true;
ERR_FAIL_COND(!mesh->get_surface_count());
// Get current mesh array and create new mesh array with necessary flag for softbody
Array surface_arrays = mesh->surface_get_arrays(0);
Array surface_blend_arrays = mesh->surface_get_blend_shape_arrays(0);
uint32_t surface_format = mesh->surface_get_format(0);
surface_format &= ~(Mesh::ARRAY_COMPRESS_VERTEX | Mesh::ARRAY_COMPRESS_NORMAL);
surface_format |= Mesh::ARRAY_FLAG_USE_DYNAMIC_UPDATE;
Ref<ArrayMesh> soft_mesh;
soft_mesh.instance();
soft_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, surface_arrays, surface_blend_arrays, surface_format);
set_mesh(soft_mesh);
Vector<Ref<Material> > copy_materials;
copy_materials.append_array(materials);
for (int i = copy_materials.size() - 1; 0 <= i; --i) {
set_surface_material(i, copy_materials[i]);
}
}
}
void SoftBody::set_collision_mask(uint32_t p_mask) {
collision_mask = p_mask;
PhysicsServer::get_singleton()->soft_body_set_collision_mask(physics_rid, p_mask);
}
uint32_t SoftBody::get_collision_mask() const {
return collision_mask;
}
void SoftBody::set_collision_layer(uint32_t p_layer) {
collision_layer = p_layer;
PhysicsServer::get_singleton()->soft_body_set_collision_layer(physics_rid, p_layer);
}
uint32_t SoftBody::get_collision_layer() const {
return collision_layer;
}
void SoftBody::set_collision_mask_bit(int p_bit, bool p_value) {
uint32_t mask = get_collision_mask();
if (p_value)
mask |= 1 << p_bit;
else
mask &= ~(1 << p_bit);
set_collision_mask(mask);
}
bool SoftBody::get_collision_mask_bit(int p_bit) const {
return get_collision_mask() & (1 << p_bit);
}
void SoftBody::set_collision_layer_bit(int p_bit, bool p_value) {
uint32_t layer = get_collision_layer();
if (p_value)
layer |= 1 << p_bit;
else
layer &= ~(1 << p_bit);
set_collision_layer(layer);
}
bool SoftBody::get_collision_layer_bit(int p_bit) const {
return get_collision_layer() & (1 << p_bit);
}
void SoftBody::set_parent_collision_ignore(const NodePath &p_parent_collision_ignore) {
parent_collision_ignore = p_parent_collision_ignore;
}
const NodePath &SoftBody::get_parent_collision_ignore() const {
return parent_collision_ignore;
}
void SoftBody::set_pinned_points_indices(PoolVector<SoftBody::PinnedPoint> p_pinned_points_indices) {
pinned_points_indices = p_pinned_points_indices;
PoolVector<PinnedPoint>::Read w = pinned_points_indices.read();
for (int i = pinned_points_indices.size() - 1; 0 <= i; --i) {
pin_point(p_pinned_points_indices[i].point_index, true);
}
}
PoolVector<SoftBody::PinnedPoint> SoftBody::get_pinned_points_indices() {
return pinned_points_indices;
}
void SoftBody::add_collision_exception_with(Node *p_node) {
ERR_FAIL_NULL(p_node);
CollisionObject *collision_object = Object::cast_to<CollisionObject>(p_node);
if (!collision_object) {
ERR_EXPLAIN("Collision exception only works between two CollisionObject");
}
ERR_FAIL_COND(!collision_object);
PhysicsServer::get_singleton()->soft_body_add_collision_exception(physics_rid, collision_object->get_rid());
}
void SoftBody::remove_collision_exception_with(Node *p_node) {
ERR_FAIL_NULL(p_node);
CollisionObject *collision_object = Object::cast_to<CollisionObject>(p_node);
if (!collision_object) {
ERR_EXPLAIN("Collision exception only works between two CollisionObject");
}
ERR_FAIL_COND(!collision_object);
PhysicsServer::get_singleton()->soft_body_remove_collision_exception(physics_rid, collision_object->get_rid());
}
int SoftBody::get_simulation_precision() {
return PhysicsServer::get_singleton()->soft_body_get_simulation_precision(physics_rid);
}
void SoftBody::set_simulation_precision(int p_simulation_precision) {
PhysicsServer::get_singleton()->soft_body_set_simulation_precision(physics_rid, p_simulation_precision);
}
real_t SoftBody::get_total_mass() {
return PhysicsServer::get_singleton()->soft_body_get_total_mass(physics_rid);
}
void SoftBody::set_total_mass(real_t p_total_mass) {
PhysicsServer::get_singleton()->soft_body_set_total_mass(physics_rid, p_total_mass);
}
void SoftBody::set_linear_stiffness(real_t p_linear_stiffness) {
PhysicsServer::get_singleton()->soft_body_set_linear_stiffness(physics_rid, p_linear_stiffness);
}
real_t SoftBody::get_linear_stiffness() {
return PhysicsServer::get_singleton()->soft_body_get_linear_stiffness(physics_rid);
}
void SoftBody::set_areaAngular_stiffness(real_t p_areaAngular_stiffness) {
PhysicsServer::get_singleton()->soft_body_set_areaAngular_stiffness(physics_rid, p_areaAngular_stiffness);
}
real_t SoftBody::get_areaAngular_stiffness() {
return PhysicsServer::get_singleton()->soft_body_get_areaAngular_stiffness(physics_rid);
}
void SoftBody::set_volume_stiffness(real_t p_volume_stiffness) {
PhysicsServer::get_singleton()->soft_body_set_volume_stiffness(physics_rid, p_volume_stiffness);
}
real_t SoftBody::get_volume_stiffness() {
return PhysicsServer::get_singleton()->soft_body_get_volume_stiffness(physics_rid);
}
real_t SoftBody::get_pressure_coefficient() {
return PhysicsServer::get_singleton()->soft_body_get_pressure_coefficient(physics_rid);
}
void SoftBody::set_pose_matching_coefficient(real_t p_pose_matching_coefficient) {
PhysicsServer::get_singleton()->soft_body_set_pose_matching_coefficient(physics_rid, p_pose_matching_coefficient);
}
real_t SoftBody::get_pose_matching_coefficient() {
return PhysicsServer::get_singleton()->soft_body_get_pose_matching_coefficient(physics_rid);
}
void SoftBody::set_pressure_coefficient(real_t p_pressure_coefficient) {
PhysicsServer::get_singleton()->soft_body_set_pressure_coefficient(physics_rid, p_pressure_coefficient);
}
real_t SoftBody::get_damping_coefficient() {
return PhysicsServer::get_singleton()->soft_body_get_damping_coefficient(physics_rid);
}
void SoftBody::set_damping_coefficient(real_t p_damping_coefficient) {
PhysicsServer::get_singleton()->soft_body_set_damping_coefficient(physics_rid, p_damping_coefficient);
}
real_t SoftBody::get_drag_coefficient() {
return PhysicsServer::get_singleton()->soft_body_get_drag_coefficient(physics_rid);
}
void SoftBody::set_drag_coefficient(real_t p_drag_coefficient) {
PhysicsServer::get_singleton()->soft_body_set_drag_coefficient(physics_rid, p_drag_coefficient);
}
Vector3 SoftBody::get_point_transform(int p_point_index) {
return PhysicsServer::get_singleton()->soft_body_get_point_global_position(physics_rid, p_point_index);
}
void SoftBody::pin_point_toggle(int p_point_index) {
pin_point(p_point_index, !(-1 != _has_pinned_point(p_point_index)));
}
void SoftBody::pin_point(int p_point_index, bool pin, const NodePath &p_spatial_attachment_path) {
_pin_point_on_physics_server(p_point_index, pin);
if (pin) {
_add_pinned_point(p_point_index, p_spatial_attachment_path);
} else {
_remove_pinned_point(p_point_index);
}
}
bool SoftBody::is_point_pinned(int p_point_index) const {
return -1 != _has_pinned_point(p_point_index);
}
void SoftBody::set_ray_pickable(bool p_ray_pickable) {
ray_pickable = p_ray_pickable;
_update_pickable();
}
bool SoftBody::is_ray_pickable() const {
return ray_pickable;
}
SoftBody::SoftBody() :
MeshInstance(),
physics_rid(PhysicsServer::get_singleton()->soft_body_create()),
mesh_owner(false),
collision_mask(1),
collision_layer(1),
simulation_started(false),
pinned_points_cache_dirty(true) {
PhysicsServer::get_singleton()->body_attach_object_instance_id(physics_rid, get_instance_id());
}
SoftBody::~SoftBody() {
}
void SoftBody::reset_softbody_pin() {
PhysicsServer::get_singleton()->soft_body_remove_all_pinned_points(physics_rid);
PoolVector<PinnedPoint>::Read pps = pinned_points_indices.read();
for (int i = pinned_points_indices.size() - 1; 0 < i; --i) {
PhysicsServer::get_singleton()->soft_body_pin_point(physics_rid, pps[i].point_index, true);
}
}
void SoftBody::_update_cache_pin_points_datas() {
if (pinned_points_cache_dirty) {
pinned_points_cache_dirty = false;
PoolVector<PinnedPoint>::Write w = pinned_points_indices.write();
for (int i = pinned_points_indices.size() - 1; 0 <= i; --i) {
if (!w[i].spatial_attachment_path.is_empty()) {
w[i].spatial_attachment = Object::cast_to<Spatial>(get_node(w[i].spatial_attachment_path));
if (w[i].spatial_attachment) {
Transform point_global_transform(get_global_transform());
point_global_transform.translate(PhysicsServer::get_singleton()->soft_body_get_point_offset(physics_rid, w[i].point_index));
// Local transform relative to spatial attachment node
w[i].vertex_offset_transform = w[i].spatial_attachment->get_global_transform().affine_inverse() * point_global_transform;
continue;
} else {
ERR_PRINTS("The node with path: " + String(w[i].spatial_attachment_path) + " was not found or is not a spatial node.");
}
}
// Local transform relative to Soft body
w[i].vertex_offset_transform.origin = PhysicsServer::get_singleton()->soft_body_get_point_offset(physics_rid, w[i].point_index);
w[i].vertex_offset_transform.basis = Basis();
}
}
}
void SoftBody::_pin_point_on_physics_server(int p_point_index, bool pin) {
PhysicsServer::get_singleton()->soft_body_pin_point(physics_rid, p_point_index, pin);
}
void SoftBody::_add_pinned_point(int p_point_index, const NodePath &p_spatial_attachment_path) {
SoftBody::PinnedPoint *pinned_point;
if (-1 == _get_pinned_point(p_point_index, pinned_point)) {
// Create new
PinnedPoint pp;
pp.point_index = p_point_index;
pp.spatial_attachment_path = p_spatial_attachment_path;
pinned_points_indices.push_back(pp);
} else {
// Update
pinned_point->point_index = p_point_index;
pinned_point->spatial_attachment_path = p_spatial_attachment_path;
}
}
void SoftBody::_remove_pinned_point(int p_point_index) {
const int id(_has_pinned_point(p_point_index));
if (-1 != id) {
pinned_points_indices.remove(id);
}
}
int SoftBody::_get_pinned_point(int p_point_index, SoftBody::PinnedPoint *&r_point) const {
const int id = _has_pinned_point(p_point_index);
if (-1 == id) {
r_point = NULL;
return -1;
} else {
r_point = const_cast<SoftBody::PinnedPoint *>(&pinned_points_indices.read()[id]);
return id;
}
}
int SoftBody::_has_pinned_point(int p_point_index) const {
PoolVector<PinnedPoint>::Read r = pinned_points_indices.read();
for (int i = pinned_points_indices.size() - 1; 0 <= i; --i) {
if (p_point_index == r[i].point_index) {
return i;
}
}
return -1;
}

197
scene/3d/soft_body.h Normal file
View file

@ -0,0 +1,197 @@
/*************************************************************************/
/* soft_physics_body.h */
/* Author: AndreaCatania */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SOFT_PHYSICS_BODY_H
#define SOFT_PHYSICS_BODY_H
#include "scene/3d/mesh_instance.h"
class SoftBody;
class SoftBodyVisualServerHandler {
friend class SoftBody;
RID mesh;
int surface;
PoolVector<uint8_t> buffer;
uint32_t stride;
uint32_t offset_vertices;
uint32_t offset_normal;
PoolVector<uint8_t>::Write write_buffer;
private:
SoftBodyVisualServerHandler();
bool is_ready() { return mesh.is_valid(); }
void prepare(RID p_mesh_rid, int p_surface);
void clear();
void open();
void close();
void commit_changes();
public:
void set_vertex(int p_vertex_id, const void *p_vector3);
void set_normal(int p_vertex_id, const void *p_vector3);
void set_aabb(const AABB &p_aabb);
};
class SoftBody : public MeshInstance {
GDCLASS(SoftBody, MeshInstance);
public:
struct PinnedPoint {
int point_index;
NodePath spatial_attachment_path;
Spatial *spatial_attachment; // Cache
/// This is the offset from the soft body to point or attachment to point
/// Depend if the spatial_attachment_node is NULL or not
Transform vertex_offset_transform; // Cache
PinnedPoint();
PinnedPoint(const PinnedPoint &obj_tocopy);
};
private:
SoftBodyVisualServerHandler visual_server_handler;
RID physics_rid;
bool mesh_owner;
uint32_t collision_mask;
uint32_t collision_layer;
NodePath parent_collision_ignore;
PoolVector<PinnedPoint> pinned_points_indices;
bool simulation_started;
bool pinned_points_cache_dirty;
Ref<ArrayMesh> debug_mesh_cache;
class MeshInstance *debug_mesh;
bool capture_input_on_drag;
bool ray_pickable;
void _update_pickable();
protected:
bool _set(const StringName &p_name, const Variant &p_value);
bool _get(const StringName &p_name, Variant &r_ret) const;
void _get_property_list(List<PropertyInfo> *p_list) const;
bool _set_property_pinned_points_indices(const Array &p_indices);
bool _set_property_pinned_points_attachment(int p_item, const String &p_what, const Variant &p_value);
bool _get_property_pinned_points(int p_item, const String &p_what, Variant &r_ret) const;
virtual void _changed_callback(Object *p_changed, const char *p_prop);
void _notification(int p_what);
static void _bind_methods();
virtual String get_configuration_warning() const;
protected:
void _draw_soft_mesh();
public:
void update_physics_server();
void become_mesh_owner();
void set_collision_mask(uint32_t p_mask);
uint32_t get_collision_mask() const;
void set_collision_layer(uint32_t p_layer);
uint32_t get_collision_layer() const;
void set_collision_mask_bit(int p_bit, bool p_value);
bool get_collision_mask_bit(int p_bit) const;
void set_collision_layer_bit(int p_bit, bool p_value);
bool get_collision_layer_bit(int p_bit) const;
void set_parent_collision_ignore(const NodePath &p_parent_collision_ignore);
const NodePath &get_parent_collision_ignore() const;
void set_pinned_points_indices(PoolVector<PinnedPoint> p_pinned_points_indices);
PoolVector<PinnedPoint> get_pinned_points_indices();
void set_simulation_precision(int p_simulation_precision);
int get_simulation_precision();
void set_total_mass(real_t p_total_mass);
real_t get_total_mass();
void set_linear_stiffness(real_t p_linear_stiffness);
real_t get_linear_stiffness();
void set_areaAngular_stiffness(real_t p_areaAngular_stiffness);
real_t get_areaAngular_stiffness();
void set_volume_stiffness(real_t p_volume_stiffness);
real_t get_volume_stiffness();
void set_pressure_coefficient(real_t p_pressure_coefficient);
real_t get_pressure_coefficient();
void set_pose_matching_coefficient(real_t p_pose_matching_coefficient);
real_t get_pose_matching_coefficient();
void set_damping_coefficient(real_t p_damping_coefficient);
real_t get_damping_coefficient();
void set_drag_coefficient(real_t p_drag_coefficient);
real_t get_drag_coefficient();
void add_collision_exception_with(Node *p_node);
void remove_collision_exception_with(Node *p_node);
Vector3 get_point_transform(int p_point_index);
void pin_point_toggle(int p_point_index);
void pin_point(int p_point_index, bool pin, const NodePath &p_spatial_attachment_path = NodePath());
bool is_point_pinned(int p_point_index) const;
void set_ray_pickable(bool p_ray_pickable);
bool is_ray_pickable() const;
SoftBody();
~SoftBody();
private:
void reset_softbody_pin();
void _update_cache_pin_points_datas();
void _pin_point_on_physics_server(int p_point_index, bool pin);
void _add_pinned_point(int p_point_index, const NodePath &p_spatial_attachment_path);
void _remove_pinned_point(int p_point_index);
int _get_pinned_point(int p_point_index, PinnedPoint *&r_point) const;
int _has_pinned_point(int p_point_index) const;
};
#endif // SOFT_PHYSICS_BODY_H

2
scene/register_scene_types.cpp
View file

@ -199,6 +199,7 @@
#include "scene/3d/remote_transform.h"
#include "scene/3d/room_instance.h"
#include "scene/3d/skeleton.h"
#include "scene/3d/soft_body.h"
#include "scene/3d/sprite_3d.h"
#include "scene/3d/vehicle_body.h"
#include "scene/3d/visibility_notifier.h"
@ -428,6 +429,7 @@ void register_scene_types() {
ClassDB::register_class<KinematicCollision>();
ClassDB::register_class<KinematicBody>();
ClassDB::register_class<PhysicalBone>();
ClassDB::register_class<SoftBody>();
ClassDB::register_class<VehicleBody>();
ClassDB::register_class<VehicleWheel>();

53
scene/resources/mesh.cpp
View file

@ -40,7 +40,6 @@
void Mesh::_clear_triangle_mesh() const {
triangle_mesh.unref();
;
}
Ref<TriangleMesh> Mesh::generate_triangle_mesh() const {
@ -110,6 +109,54 @@ Ref<TriangleMesh> Mesh::generate_triangle_mesh() const {
return triangle_mesh;
}
void Mesh::generate_debug_mesh_lines(Vector<Vector3> &r_lines) {
Ref<TriangleMesh> tm = generate_triangle_mesh();
if (tm.is_null())
return;
PoolVector<int> triangle_indices;
tm->get_indices(&triangle_indices);
const int triangles_num = tm->get_triangles().size();
PoolVector<Vector3> vertices = tm->get_vertices();
r_lines.resize(tm->get_triangles().size() * 6); // 3 lines x 2 points each line
PoolVector<int>::Read ind_r = triangle_indices.read();
PoolVector<Vector3>::Read ver_r = vertices.read();
for (int j = 0, x = 0, i = 0; i < triangles_num; j += 6, x += 3, ++i) {
// Triangle line 1
r_lines[j + 0] = ver_r[ind_r[x + 0]];
r_lines[j + 1] = ver_r[ind_r[x + 1]];
// Triangle line 2
r_lines[j + 2] = ver_r[ind_r[x + 1]];
r_lines[j + 3] = ver_r[ind_r[x + 2]];
// Triangle line 3
r_lines[j + 4] = ver_r[ind_r[x + 2]];
r_lines[j + 5] = ver_r[ind_r[x + 0]];
}
}
void Mesh::generate_debug_mesh_indices(Vector<Vector3> &r_points) {
Ref<TriangleMesh> tm = generate_triangle_mesh();
if (tm.is_null())
return;
PoolVector<Vector3> vertices = tm->get_vertices();
int vertices_size = vertices.size();
r_points.resize(vertices_size);
for (int i = 0; i < vertices_size; ++i) {
r_points[i] = vertices[i];
}
}
bool Mesh::surface_is_softbody_friendly(int p_idx) const {
const uint32_t surface_format = surface_get_format(p_idx);
return (surface_format & Mesh::ARRAY_FLAG_USE_DYNAMIC_UPDATE && (!(surface_format & Mesh::ARRAY_COMPRESS_VERTEX)) && (!(surface_format & Mesh::ARRAY_COMPRESS_NORMAL)));
}
PoolVector<Face3> Mesh::get_faces() const {
Ref<TriangleMesh> tm = generate_triangle_mesh();
@ -484,6 +531,10 @@ void Mesh::_bind_methods() {
BIND_ENUM_CONSTANT(ARRAY_MAX);
}
void Mesh::clear_cache() {
_clear_triangle_mesh();
}
Mesh::Mesh() {
}

4
scene/resources/mesh.h
View file

@ -123,6 +123,7 @@ public:
virtual int get_surface_count() const = 0;
virtual int surface_get_array_len(int p_idx) const = 0;
virtual int surface_get_array_index_len(int p_idx) const = 0;
virtual bool surface_is_softbody_friendly(int p_idx) const;
virtual Array surface_get_arrays(int p_surface) const = 0;
virtual Array surface_get_blend_shape_arrays(int p_surface) const = 0;
virtual uint32_t surface_get_format(int p_idx) const = 0;
@ -133,6 +134,8 @@ public:
PoolVector<Face3> get_faces() const;
Ref<TriangleMesh> generate_triangle_mesh() const;
void generate_debug_mesh_lines(Vector<Vector3> &r_lines);
void generate_debug_mesh_indices(Vector<Vector3> &r_points);
Ref<Shape> create_trimesh_shape() const;
Ref<Shape> create_convex_shape() const;
@ -143,6 +146,7 @@ public:
void set_lightmap_size_hint(const Vector2 &p_size);
Size2 get_lightmap_size_hint() const;
void clear_cache();
Mesh();
};

1
scene/resources/surface_tool.cpp
View file

@ -421,6 +421,7 @@ Ref<ArrayMesh> SurfaceTool::commit(const Ref<ArrayMesh> &p_existing, uint32_t p_
Array a = commit_to_arrays();
mesh->add_surface_from_arrays(primitive, a, Array(), p_flags);
if (material.is_valid())
mesh->surface_set_material(surface, material);

66
servers/physics/physics_server_sw.h
View file

@ -234,6 +234,72 @@ public:
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
/* SOFT BODY */
virtual RID soft_body_create(bool p_init_sleeping = false) { return RID(); }
virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) {}
virtual void soft_body_set_space(RID p_body, RID p_space) {}
virtual RID soft_body_get_space(RID p_body) const { return RID(); }
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {}
virtual uint32_t soft_body_get_collision_layer(RID p_body) const { return 0; }
virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {}
virtual uint32_t soft_body_get_collision_mask(RID p_body) const { return 0; }
virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) {}
virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) {}
virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {}
virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {}
virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const { return Variant(); }
virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) {}
virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const { return Vector3(); }
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) {}
virtual bool soft_body_is_ray_pickable(RID p_body) const { return false; }
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {}
virtual int soft_body_get_simulation_precision(RID p_body) { return 0; }
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) {}
virtual real_t soft_body_get_total_mass(RID p_body) { return 0.; }
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {}
virtual real_t soft_body_get_linear_stiffness(RID p_body) { return 0.; }
virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {}
virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) { return 0.; }
virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {}
virtual real_t soft_body_get_volume_stiffness(RID p_body) { return 0.; }
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {}
virtual real_t soft_body_get_pressure_coefficient(RID p_body) { return 0.; }
virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {}
virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) { return 0.; }
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {}
virtual real_t soft_body_get_damping_coefficient(RID p_body) { return 0.; }
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {}
virtual real_t soft_body_get_drag_coefficient(RID p_body) { return 0.; }
virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) {}
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {}
virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) { return Vector3(); }
virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const { return Vector3(); }
virtual void soft_body_remove_all_pinned_points(RID p_body) {}
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {}
virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) { return 0; }
/* JOINT API */
virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);

66
servers/physics_server.h
View file

@ -490,6 +490,72 @@ public:
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL) = 0;
/* SOFT BODY */
virtual RID soft_body_create(bool p_init_sleeping = false) = 0;
virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) = 0;
virtual void soft_body_set_space(RID p_body, RID p_space) = 0;
virtual RID soft_body_get_space(RID p_body) const = 0;
virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) = 0;
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) = 0;
virtual uint32_t soft_body_get_collision_layer(RID p_body) const = 0;
virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
virtual uint32_t soft_body_get_collision_mask(RID p_body) const = 0;
virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) = 0;
virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) = 0;
virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0;
virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0;
virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const = 0;
virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) = 0;
virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const = 0;
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0;
virtual bool soft_body_is_ray_pickable(RID p_body) const = 0;
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) = 0;
virtual int soft_body_get_simulation_precision(RID p_body) = 0;
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) = 0;
virtual real_t soft_body_get_total_mass(RID p_body) = 0;
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) = 0;
virtual real_t soft_body_get_linear_stiffness(RID p_body) = 0;
virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) = 0;
virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) = 0;
virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) = 0;
virtual real_t soft_body_get_volume_stiffness(RID p_body) = 0;
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) = 0;
virtual real_t soft_body_get_pressure_coefficient(RID p_body) = 0;
virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) = 0;
virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) = 0;
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) = 0;
virtual real_t soft_body_get_damping_coefficient(RID p_body) = 0;
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) = 0;
virtual real_t soft_body_get_drag_coefficient(RID p_body) = 0;
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) = 0;
virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) = 0;
virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const = 0;
virtual void soft_body_remove_all_pinned_points(RID p_body) = 0;
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) = 0;
virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) = 0;
/* JOINT API */
enum JointType {

2
servers/visual/rasterizer.h
View file

@ -252,8 +252,6 @@ public:
virtual void mesh_set_blend_shape_mode(RID p_mesh, VS::BlendShapeMode p_mode) = 0;
virtual VS::BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const = 0;
virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0;
virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0;
virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector<uint8_t> &p_data) = 0;
virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material) = 0;

3
servers/visual/visual_server_raster.h
View file

@ -97,7 +97,6 @@ public:
#define DISPLAY_CHANGED \
changes++;
#endif
// print_line(String("CHANGED: ") + __FUNCTION__);
#define BIND0R(m_r, m_name) \
m_r m_name() { return BINDBASE->m_name(); }
@ -219,8 +218,6 @@ public:
BIND2(mesh_set_blend_shape_mode, RID, BlendShapeMode)
BIND1RC(BlendShapeMode, mesh_get_blend_shape_mode, RID)
BIND3RC(uint32_t, mesh_surface_get_stride_in_array, RID, int, int)
BIND3RC(uint32_t, mesh_surface_get_offset_in_array, RID, int, int)
BIND4(mesh_surface_update_region, RID, int, int, const PoolVector<uint8_t> &)
BIND3(mesh_surface_set_material, RID, int, RID)

4
servers/visual/visual_server_wrap_mt.h
View file

@ -64,7 +64,7 @@ class VisualServerWrapMT : public VisualServer {
int pool_max_size;
//#define DEBUG_SYNC
//#define DEBUG_SYNC
static VisualServerWrapMT *singleton_mt;
@ -152,8 +152,6 @@ public:
FUNC2(mesh_set_blend_shape_mode, RID, BlendShapeMode)
FUNC1RC(BlendShapeMode, mesh_get_blend_shape_mode, RID)
FUNC3RC(uint32_t, mesh_surface_get_stride_in_array, RID, int, int)
FUNC3RC(uint32_t, mesh_surface_get_offset_in_array, RID, int, int)
FUNC4(mesh_surface_update_region, RID, int, int, const PoolVector<uint8_t> &)
FUNC3(mesh_surface_set_material, RID, int, RID)

138
servers/visual_server.cpp
View file

@ -795,6 +795,140 @@ Error VisualServer::_surface_set_data(Array p_arrays, uint32_t p_format, uint32_
return OK;
}
uint32_t VisualServer::mesh_surface_get_format_offset(uint32_t p_format, int p_vertex_len, int p_index_len, int p_array_index) const {
uint32_t offsets[ARRAY_MAX];
mesh_surface_make_offsets_from_format(p_format, p_vertex_len, p_index_len, offsets);
return offsets[p_array_index];
}
uint32_t VisualServer::mesh_surface_get_format_stride(uint32_t p_format, int p_vertex_len, int p_index_len) const {
uint32_t offsets[ARRAY_MAX];
return mesh_surface_make_offsets_from_format(p_format, p_vertex_len, p_index_len, offsets);
}
uint32_t VisualServer::mesh_surface_make_offsets_from_format(uint32_t p_format, int p_vertex_len, int p_index_len, uint32_t *r_offsets) const {
int total_elem_size = 0;
for (int i = 0; i < VS::ARRAY_MAX; i++) {
r_offsets[i] = 0; //reset
if (!(p_format & (1 << i))) // no array
continue;
int elem_size = 0;
switch (i) {
case VS::ARRAY_VERTEX: {
if (p_format & ARRAY_FLAG_USE_2D_VERTICES) {
elem_size = 2;
} else {
elem_size = 3;
}
if (p_format & ARRAY_COMPRESS_VERTEX) {
elem_size *= sizeof(int16_t);
} else {
elem_size *= sizeof(float);
}
if (elem_size == 6) {
elem_size = 8;
}
} break;
case VS::ARRAY_NORMAL: {
if (p_format & ARRAY_COMPRESS_NORMAL) {
elem_size = sizeof(uint32_t);
} else {
elem_size = sizeof(float) * 3;
}
} break;
case VS::ARRAY_TANGENT: {
if (p_format & ARRAY_COMPRESS_TANGENT) {
elem_size = sizeof(uint32_t);
} else {
elem_size = sizeof(float) * 4;
}
} break;
case VS::ARRAY_COLOR: {
if (p_format & ARRAY_COMPRESS_COLOR) {
elem_size = sizeof(uint32_t);
} else {
elem_size = sizeof(float) * 4;
}
} break;
case VS::ARRAY_TEX_UV: {
if (p_format & ARRAY_COMPRESS_TEX_UV) {
elem_size = sizeof(uint32_t);
} else {
elem_size = sizeof(float) * 2;
}
} break;
case VS::ARRAY_TEX_UV2: {
if (p_format & ARRAY_COMPRESS_TEX_UV2) {
elem_size = sizeof(uint32_t);
} else {
elem_size = sizeof(float) * 2;
}
} break;
case VS::ARRAY_WEIGHTS: {
if (p_format & ARRAY_COMPRESS_WEIGHTS) {
elem_size = sizeof(uint16_t) * 4;
} else {
elem_size = sizeof(float) * 4;
}
} break;
case VS::ARRAY_BONES: {
if (p_format & ARRAY_FLAG_USE_16_BIT_BONES) {
elem_size = sizeof(uint16_t) * 4;
} else {
elem_size = sizeof(uint32_t);
}
} break;
case VS::ARRAY_INDEX: {
if (p_index_len <= 0) {
ERR_PRINT("index_array_len==NO_INDEX_ARRAY");
break;
}
/* determine whether using 16 or 32 bits indices */
if (p_vertex_len >= (1 << 16)) {
elem_size = 4;
} else {
elem_size = 2;
}
r_offsets[i] = elem_size;
continue;
} break;
default: {
ERR_FAIL_V(0);
}
}
r_offsets[i] = total_elem_size;
total_elem_size += elem_size;
}
return total_elem_size;
}
void VisualServer::mesh_add_surface_from_arrays(RID p_mesh, PrimitiveType p_primitive, const Array &p_arrays, const Array &p_blend_shapes, uint32_t p_compress_format) {
ERR_FAIL_INDEX(p_primitive, VS::PRIMITIVE_MAX);
@ -1564,13 +1698,13 @@ void VisualServer::_bind_methods() {
ClassDB::bind_method(D_METHOD("material_set_next_pass", "material", "next_material"), &VisualServer::material_set_next_pass);
ClassDB::bind_method(D_METHOD("mesh_create"), &VisualServer::mesh_create);
ClassDB::bind_method(D_METHOD("mesh_surface_get_format_offset", "format", "vertex_len", "index_len", "array_index"), &VisualServer::mesh_surface_get_format_offset);
ClassDB::bind_method(D_METHOD("mesh_surface_get_format_stride", "format", "vertex_len", "index_len"), &VisualServer::mesh_surface_get_format_stride);
ClassDB::bind_method(D_METHOD("mesh_add_surface_from_arrays", "mesh", "primtive", "arrays", "blend_shapes", "compress_format"), &VisualServer::mesh_add_surface_from_arrays, DEFVAL(Array()), DEFVAL(ARRAY_COMPRESS_DEFAULT));
ClassDB::bind_method(D_METHOD("mesh_set_blend_shape_count", "mesh", "amount"), &VisualServer::mesh_set_blend_shape_count);
ClassDB::bind_method(D_METHOD("mesh_get_blend_shape_count", "mesh"), &VisualServer::mesh_get_blend_shape_count);
ClassDB::bind_method(D_METHOD("mesh_set_blend_shape_mode", "mesh", "mode"), &VisualServer::mesh_set_blend_shape_mode);
ClassDB::bind_method(D_METHOD("mesh_get_blend_shape_mode", "mesh"), &VisualServer::mesh_get_blend_shape_mode);
ClassDB::bind_method(D_METHOD("mesh_surface_get_stride_in_array", "mesh", "surface", "array_index"), &VisualServer::mesh_surface_get_stride_in_array);
ClassDB::bind_method(D_METHOD("mesh_surface_get_offset_in_array", "mesh", "surface", "array_index"), &VisualServer::mesh_surface_get_offset_in_array);
ClassDB::bind_method(D_METHOD("mesh_surface_update_region", "mesh", "surface", "offset", "data"), &VisualServer::mesh_surface_update_region);
ClassDB::bind_method(D_METHOD("mesh_surface_set_material", "mesh", "surface", "material"), &VisualServer::mesh_surface_set_material);
ClassDB::bind_method(D_METHOD("mesh_surface_get_material", "mesh", "surface"), &VisualServer::mesh_surface_get_material);

6
servers/visual_server.h
View file

@ -251,6 +251,10 @@ public:
virtual RID mesh_create() = 0;
virtual uint32_t mesh_surface_get_format_offset(uint32_t p_format, int p_vertex_len, int p_index_len, int p_array_index) const;
virtual uint32_t mesh_surface_get_format_stride(uint32_t p_format, int p_vertex_len, int p_index_len) const;
/// Returns stride
virtual uint32_t mesh_surface_make_offsets_from_format(uint32_t p_format, int p_vertex_len, int p_index_len, uint32_t *r_offsets) const;
virtual void mesh_add_surface_from_arrays(RID p_mesh, PrimitiveType p_primitive, const Array &p_arrays, const Array &p_blend_shapes = Array(), uint32_t p_compress_format = ARRAY_COMPRESS_DEFAULT);
virtual void mesh_add_surface(RID p_mesh, uint32_t p_format, PrimitiveType p_primitive, const PoolVector<uint8_t> &p_array, int p_vertex_count, const PoolVector<uint8_t> &p_index_array, int p_index_count, const AABB &p_aabb, const Vector<PoolVector<uint8_t> > &p_blend_shapes = Vector<PoolVector<uint8_t> >(), const Vector<AABB> &p_bone_aabbs = Vector<AABB>()) = 0;
@ -265,8 +269,6 @@ public:
virtual void mesh_set_blend_shape_mode(RID p_mesh, BlendShapeMode p_mode) = 0;
virtual BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const = 0;
virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0;
virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0;
virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector<uint8_t> &p_data) = 0;
virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material) = 0;