248 lines
8.9 KiB
C++
248 lines
8.9 KiB
C++
/*************************************************************************/
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/* shape_bullet.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef SHAPE_BULLET_H
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#define SHAPE_BULLET_H
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#include "core/math/geometry_3d.h"
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#include "core/variant/variant.h"
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#include "rid_bullet.h"
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#include "servers/physics_server_3d.h"
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#include <LinearMath/btAlignedObjectArray.h>
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#include <LinearMath/btScalar.h>
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#include <LinearMath/btVector3.h>
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/**
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@author AndreaCatania
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*/
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class ShapeBullet;
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class btCollisionShape;
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class ShapeOwnerBullet;
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class btBvhTriangleMeshShape;
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class ShapeBullet : public RIDBullet {
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Map<ShapeOwnerBullet *, int> owners;
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real_t margin = 0.04;
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protected:
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/// return self
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btCollisionShape *prepare(btCollisionShape *p_btShape) const;
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void notifyShapeChanged();
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public:
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ShapeBullet();
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virtual ~ShapeBullet();
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btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
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void add_owner(ShapeOwnerBullet *p_owner);
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void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
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bool is_owner(ShapeOwnerBullet *p_owner) const;
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const Map<ShapeOwnerBullet *, int> &get_owners() const;
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void set_margin(real_t p_margin);
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real_t get_margin() const;
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/// Setup the shape
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virtual void set_data(const Variant &p_data) = 0;
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virtual Variant get_data() const = 0;
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virtual PhysicsServer3D::ShapeType get_type() const = 0;
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public:
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static class btEmptyShape *create_shape_empty();
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static class btStaticPlaneShape *create_shape_world_boundary(const btVector3 &planeNormal, btScalar planeConstant);
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static class btSphereShape *create_shape_sphere(btScalar radius);
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static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents);
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static class btCapsuleShape *create_shape_capsule(btScalar radius, btScalar height);
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static class btCylinderShape *create_shape_cylinder(btScalar radius, btScalar height);
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/// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface();
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static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
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static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
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static class btHeightfieldTerrainShape *create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
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static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
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};
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class WorldBoundaryShapeBullet : public ShapeBullet {
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Plane plane;
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public:
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WorldBoundaryShapeBullet();
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(const Plane &p_plane);
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};
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class SphereShapeBullet : public ShapeBullet {
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real_t radius;
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public:
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SphereShapeBullet();
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_FORCE_INLINE_ real_t get_radius() { return radius; }
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(real_t p_radius);
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};
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class BoxShapeBullet : public ShapeBullet {
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btVector3 half_extents;
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public:
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BoxShapeBullet();
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_FORCE_INLINE_ const btVector3 &get_half_extents() { return half_extents; }
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(const Vector3 &p_half_extents);
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};
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class CapsuleShapeBullet : public ShapeBullet {
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real_t height;
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real_t radius;
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public:
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CapsuleShapeBullet();
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_FORCE_INLINE_ real_t get_height() { return height; }
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_FORCE_INLINE_ real_t get_radius() { return radius; }
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(real_t p_height, real_t p_radius);
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};
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class CylinderShapeBullet : public ShapeBullet {
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real_t height;
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real_t radius;
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public:
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CylinderShapeBullet();
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_FORCE_INLINE_ real_t get_height() { return height; }
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_FORCE_INLINE_ real_t get_radius() { return radius; }
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
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private:
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void setup(real_t p_height, real_t p_radius);
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};
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class ConvexPolygonShapeBullet : public ShapeBullet {
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public:
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btAlignedObjectArray<btVector3> vertices;
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ConvexPolygonShapeBullet();
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virtual void set_data(const Variant &p_data);
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void get_vertices(Vector<Vector3> &out_vertices);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(const Vector<Vector3> &p_vertices);
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};
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class ConcavePolygonShapeBullet : public ShapeBullet {
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class btBvhTriangleMeshShape *meshShape = nullptr;
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public:
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Vector<Vector3> faces;
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ConcavePolygonShapeBullet();
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virtual ~ConcavePolygonShapeBullet();
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(Vector<Vector3> p_faces);
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};
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class HeightMapShapeBullet : public ShapeBullet {
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public:
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Vector<float> heights;
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int width = 0;
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int depth = 0;
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real_t min_height = 0.0;
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real_t max_height = 0.0;
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HeightMapShapeBullet();
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
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};
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class RayShapeBullet : public ShapeBullet {
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public:
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real_t length = 1.0;
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bool slips_on_slope = false;
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RayShapeBullet();
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer3D::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(real_t p_length, bool p_slips_on_slope);
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};
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#endif
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