0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
459 lines
14 KiB
C++
459 lines
14 KiB
C++
/*************************************************************************/
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/* soft_body_bullet.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "soft_body_bullet.h"
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#include "bullet_types_converter.h"
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#include "bullet_utilities.h"
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#include "scene/3d/soft_body_3d.h"
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#include "space_bullet.h"
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SoftBodyBullet::SoftBodyBullet() :
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CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY) {}
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SoftBodyBullet::~SoftBodyBullet() {
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}
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void SoftBodyBullet::reload_body() {
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if (space) {
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space->remove_soft_body(this);
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space->add_soft_body(this);
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}
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}
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void SoftBodyBullet::set_space(SpaceBullet *p_space) {
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if (space) {
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isScratched = false;
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space->remove_soft_body(this);
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}
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space = p_space;
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if (space) {
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space->add_soft_body(this);
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}
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}
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void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
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void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
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void SoftBodyBullet::update_rendering_server(SoftBodyRenderingServerHandler *p_rendering_server_handler) {
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if (!bt_soft_body)
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return;
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/// Update visual server vertices
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const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes);
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const int nodes_count = nodes.size();
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const Vector<int> *vs_indices;
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const void *vertex_position;
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const void *vertex_normal;
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for (int vertex_index = 0; vertex_index < nodes_count; ++vertex_index) {
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vertex_position = reinterpret_cast<const void *>(&nodes[vertex_index].m_x);
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vertex_normal = reinterpret_cast<const void *>(&nodes[vertex_index].m_n);
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vs_indices = &indices_table[vertex_index];
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const int vs_indices_size(vs_indices->size());
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for (int x = 0; x < vs_indices_size; ++x) {
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p_rendering_server_handler->set_vertex((*vs_indices)[x], vertex_position);
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p_rendering_server_handler->set_normal((*vs_indices)[x], vertex_normal);
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}
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}
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/// Generate AABB
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btVector3 aabb_min;
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btVector3 aabb_max;
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bt_soft_body->getAabb(aabb_min, aabb_max);
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btVector3 size(aabb_max - aabb_min);
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AABB aabb;
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B_TO_G(aabb_min, aabb.position);
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B_TO_G(size, aabb.size);
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p_rendering_server_handler->set_aabb(aabb);
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}
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void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) {
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if (p_mesh.is_null())
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soft_mesh.unref();
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else
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soft_mesh = p_mesh;
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if (soft_mesh.is_null()) {
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destroy_soft_body();
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return;
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}
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Array arrays = soft_mesh->surface_get_arrays(0);
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ERR_FAIL_COND(!(soft_mesh->surface_get_format(0) & RS::ARRAY_FORMAT_INDEX));
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set_trimesh_body_shape(arrays[RS::ARRAY_INDEX], arrays[RS::ARRAY_VERTEX]);
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}
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void SoftBodyBullet::destroy_soft_body() {
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if (!bt_soft_body)
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return;
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if (space) {
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/// Remove from world before deletion
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space->remove_soft_body(this);
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}
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destroyBulletCollisionObject();
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bt_soft_body = nullptr;
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}
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void SoftBodyBullet::set_soft_transform(const Transform &p_transform) {
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reset_all_node_positions();
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move_all_nodes(p_transform);
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}
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void SoftBodyBullet::move_all_nodes(const Transform &p_transform) {
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if (!bt_soft_body)
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return;
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btTransform bt_transf;
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G_TO_B(p_transform, bt_transf);
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bt_soft_body->transform(bt_transf);
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}
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void SoftBodyBullet::set_node_position(int p_node_index, const Vector3 &p_global_position) {
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btVector3 bt_pos;
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G_TO_B(p_global_position, bt_pos);
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set_node_position(p_node_index, bt_pos);
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}
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void SoftBodyBullet::set_node_position(int p_node_index, const btVector3 &p_global_position) {
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if (bt_soft_body) {
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bt_soft_body->m_nodes[p_node_index].m_q = bt_soft_body->m_nodes[p_node_index].m_x;
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bt_soft_body->m_nodes[p_node_index].m_x = p_global_position;
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}
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}
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void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) const {
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if (bt_soft_body) {
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B_TO_G(bt_soft_body->m_nodes[p_node_index].m_x, r_position);
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}
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}
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void SoftBodyBullet::get_node_offset(int p_node_index, Vector3 &r_offset) const {
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if (soft_mesh.is_null())
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return;
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Array arrays = soft_mesh->surface_get_arrays(0);
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Vector<Vector3> vertices(arrays[RS::ARRAY_VERTEX]);
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if (0 <= p_node_index && vertices.size() > p_node_index) {
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r_offset = vertices[p_node_index];
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}
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}
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void SoftBodyBullet::get_node_offset(int p_node_index, btVector3 &r_offset) const {
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Vector3 off;
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get_node_offset(p_node_index, off);
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G_TO_B(off, r_offset);
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}
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void SoftBodyBullet::set_node_mass(int node_index, btScalar p_mass) {
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if (0 >= p_mass) {
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pin_node(node_index);
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} else {
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unpin_node(node_index);
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}
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if (bt_soft_body) {
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bt_soft_body->setMass(node_index, p_mass);
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}
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}
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btScalar SoftBodyBullet::get_node_mass(int node_index) const {
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if (bt_soft_body) {
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return bt_soft_body->getMass(node_index);
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} else {
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return -1 == search_node_pinned(node_index) ? 1 : 0;
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}
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}
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void SoftBodyBullet::reset_all_node_mass() {
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if (bt_soft_body) {
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for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
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bt_soft_body->setMass(pinned_nodes[i], 1);
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}
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}
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pinned_nodes.resize(0);
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}
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void SoftBodyBullet::reset_all_node_positions() {
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if (soft_mesh.is_null())
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return;
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Array arrays = soft_mesh->surface_get_arrays(0);
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Vector<Vector3> vs_vertices(arrays[RS::ARRAY_VERTEX]);
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const Vector3 *vs_vertices_read = vs_vertices.ptr();
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for (int vertex_index = bt_soft_body->m_nodes.size() - 1; 0 <= vertex_index; --vertex_index) {
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G_TO_B(vs_vertices_read[indices_table[vertex_index][0]], bt_soft_body->m_nodes[vertex_index].m_x);
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bt_soft_body->m_nodes[vertex_index].m_q = bt_soft_body->m_nodes[vertex_index].m_x;
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bt_soft_body->m_nodes[vertex_index].m_v = btVector3(0, 0, 0);
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bt_soft_body->m_nodes[vertex_index].m_f = btVector3(0, 0, 0);
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}
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}
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void SoftBodyBullet::set_activation_state(bool p_active) {
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if (p_active) {
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bt_soft_body->setActivationState(ACTIVE_TAG);
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} else {
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bt_soft_body->setActivationState(WANTS_DEACTIVATION);
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}
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}
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void SoftBodyBullet::set_total_mass(real_t p_val) {
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if (0 >= p_val) {
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p_val = 1;
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}
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total_mass = p_val;
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if (bt_soft_body) {
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bt_soft_body->setTotalMass(total_mass);
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}
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}
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void SoftBodyBullet::set_linear_stiffness(real_t p_val) {
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linear_stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kLST = linear_stiffness;
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}
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}
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void SoftBodyBullet::set_areaAngular_stiffness(real_t p_val) {
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areaAngular_stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kAST = areaAngular_stiffness;
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}
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}
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void SoftBodyBullet::set_volume_stiffness(real_t p_val) {
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volume_stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kVST = volume_stiffness;
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}
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}
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void SoftBodyBullet::set_simulation_precision(int p_val) {
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simulation_precision = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.piterations = simulation_precision;
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bt_soft_body->m_cfg.viterations = simulation_precision;
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bt_soft_body->m_cfg.diterations = simulation_precision;
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bt_soft_body->m_cfg.citerations = simulation_precision;
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}
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}
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void SoftBodyBullet::set_pressure_coefficient(real_t p_val) {
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pressure_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kPR = pressure_coefficient;
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}
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}
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void SoftBodyBullet::set_pose_matching_coefficient(real_t p_val) {
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pose_matching_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
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}
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}
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void SoftBodyBullet::set_damping_coefficient(real_t p_val) {
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damping_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kDP = damping_coefficient;
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}
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}
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void SoftBodyBullet::set_drag_coefficient(real_t p_val) {
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drag_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kDG = drag_coefficient;
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}
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}
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void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices) {
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/// Assert the current soft body is destroyed
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destroy_soft_body();
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/// Parse visual server indices to physical indices.
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/// Merge all overlapping vertices and create a map of physical vertices to visual server
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{
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/// This is the map of visual server indices to physics indices (So it's the inverse of idices_map), Thanks to it I don't need make a heavy search in the indices_map
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Vector<int> vs_indices_to_physics_table;
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{ // Map vertices
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indices_table.resize(0);
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int index = 0;
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Map<Vector3, int> unique_vertices;
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const int vs_vertices_size(p_vertices.size());
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const Vector3 *p_vertices_read = p_vertices.ptr();
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for (int vs_vertex_index = 0; vs_vertex_index < vs_vertices_size; ++vs_vertex_index) {
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Map<Vector3, int>::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]);
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int vertex_id;
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if (e) {
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// Already rxisting
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vertex_id = e->value();
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} else {
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// Create new one
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unique_vertices[p_vertices_read[vs_vertex_index]] = vertex_id = index++;
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indices_table.push_back(Vector<int>());
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}
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indices_table.write[vertex_id].push_back(vs_vertex_index);
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vs_indices_to_physics_table.push_back(vertex_id);
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}
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}
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const int indices_map_size(indices_table.size());
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Vector<btScalar> bt_vertices;
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{ // Parse vertices to bullet
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bt_vertices.resize(indices_map_size * 3);
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const Vector3 *p_vertices_read = p_vertices.ptr();
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for (int i = 0; i < indices_map_size; ++i) {
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bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
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bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
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bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
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}
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}
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Vector<int> bt_triangles;
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const int triangles_size(p_indices.size() / 3);
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{ // Parse indices
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bt_triangles.resize(triangles_size * 3);
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const int *p_indices_read = p_indices.ptr();
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for (int i = 0; i < triangles_size; ++i) {
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bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
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bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
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bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
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}
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}
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btSoftBodyWorldInfo fake_world_info;
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bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(fake_world_info, &bt_vertices[0], &bt_triangles[0], triangles_size, false);
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setup_soft_body();
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}
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}
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void SoftBodyBullet::setup_soft_body() {
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if (!bt_soft_body)
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return;
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// Soft body setup
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setupBulletCollisionObject(bt_soft_body);
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bt_soft_body->m_worldInfo = nullptr; // Remove fake world info
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bt_soft_body->getCollisionShape()->setMargin(0.01);
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bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
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// Space setup
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if (space) {
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space->add_soft_body(this);
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}
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mat0 = bt_soft_body->appendMaterial();
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// Assign soft body data
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bt_soft_body->generateBendingConstraints(2, mat0);
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mat0->m_kLST = linear_stiffness;
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mat0->m_kAST = areaAngular_stiffness;
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mat0->m_kVST = volume_stiffness;
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// Clusters allow to have Soft vs Soft collision but doesn't work well right now
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//bt_soft_body->m_cfg.kSRHR_CL = 1;// Soft vs rigid hardness [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSKHR_CL = 1;// Soft vs kinematic hardness [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSSHR_CL = 1;// Soft vs soft hardness [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSR_SPLT_CL = 1; // Soft vs rigid impulse split [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSK_SPLT_CL = 1; // Soft vs kinematic impulse split [0,1] (cluster only)
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//bt_soft_body->m_cfg.kSS_SPLT_CL = 1; // Soft vs Soft impulse split [0,1] (cluster only)
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//bt_soft_body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS + btSoftBody::fCollision::VF_SS;
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//bt_soft_body->generateClusters(64);
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bt_soft_body->m_cfg.piterations = simulation_precision;
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bt_soft_body->m_cfg.viterations = simulation_precision;
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bt_soft_body->m_cfg.diterations = simulation_precision;
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bt_soft_body->m_cfg.citerations = simulation_precision;
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bt_soft_body->m_cfg.kDP = damping_coefficient;
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bt_soft_body->m_cfg.kDG = drag_coefficient;
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bt_soft_body->m_cfg.kPR = pressure_coefficient;
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bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
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bt_soft_body->setTotalMass(total_mass);
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btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body);
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bt_soft_body->updateBounds();
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// Set pinned nodes
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for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
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bt_soft_body->setMass(pinned_nodes[i], 0);
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}
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}
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void SoftBodyBullet::pin_node(int p_node_index) {
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if (-1 == search_node_pinned(p_node_index)) {
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pinned_nodes.push_back(p_node_index);
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}
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}
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void SoftBodyBullet::unpin_node(int p_node_index) {
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const int id = search_node_pinned(p_node_index);
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if (-1 != id) {
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pinned_nodes.remove(id);
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}
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}
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int SoftBodyBullet::search_node_pinned(int p_node_index) const {
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for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
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if (p_node_index == pinned_nodes[i]) {
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return i;
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}
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}
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return -1;
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}
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