godot/modules/bullet/rigid_body_bullet.h
2020-07-10 13:56:54 +01:00

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12 KiB
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/*************************************************************************/
/* rigid_body_bullet.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 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 BODYBULLET_H
#define BODYBULLET_H
#include "collision_object_bullet.h"
#include "space_bullet.h"
#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
#include <LinearMath/btTransform.h>
/**
@author AndreaCatania
*/
class AreaBullet;
class SpaceBullet;
class btRigidBody;
class GodotMotionState;
class BulletPhysicsDirectBodyState3D;
/// This class could be used in multi thread with few changes but currently
/// is set to be only in one single thread.
///
/// In the system there is only one object at a time that manage all bodies and is
/// created by BulletPhysicsServer3D and is held by the "singleton" variable of this class
/// Each time something require it, the body must be set again.
class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
GDCLASS(BulletPhysicsDirectBodyState3D, PhysicsDirectBodyState3D);
static BulletPhysicsDirectBodyState3D *singleton;
public:
/// This class avoid the creation of more object of this class
static void initSingleton() {
if (!singleton) {
singleton = memnew(BulletPhysicsDirectBodyState3D);
}
}
static void destroySingleton() {
memdelete(singleton);
singleton = nullptr;
}
static void singleton_setDeltaTime(real_t p_deltaTime) {
singleton->deltaTime = p_deltaTime;
}
static BulletPhysicsDirectBodyState3D *get_singleton(RigidBodyBullet *p_body) {
singleton->body = p_body;
return singleton;
}
public:
RigidBodyBullet *body;
real_t deltaTime;
private:
BulletPhysicsDirectBodyState3D() {}
public:
virtual Vector3 get_total_gravity() const override;
virtual float get_total_angular_damp() const override;
virtual float get_total_linear_damp() const override;
virtual Vector3 get_center_of_mass() const override;
virtual Basis get_principal_inertia_axes() const override;
// get the mass
virtual float get_inverse_mass() const override;
// get density of this body space
virtual Vector3 get_inverse_inertia() const override;
// get density of this body space
virtual Basis get_inverse_inertia_tensor() const override;
virtual void set_linear_velocity(const Vector3 &p_velocity) override;
virtual Vector3 get_linear_velocity() const override;
virtual void set_angular_velocity(const Vector3 &p_velocity) override;
virtual Vector3 get_angular_velocity() const override;
virtual void set_transform(const Transform &p_transform) override;
virtual Transform get_transform() const override;
virtual void add_central_force(const Vector3 &p_force) override;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void add_torque(const Vector3 &p_torque) override;
virtual void apply_central_impulse(const Vector3 &p_impulse) override;
virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
virtual void apply_torque_impulse(const Vector3 &p_impulse) override;
virtual void set_sleep_state(bool p_sleep) override;
virtual bool is_sleeping() const override;
virtual int get_contact_count() const override;
virtual Vector3 get_contact_local_position(int p_contact_idx) const override;
virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
virtual float get_contact_impulse(int p_contact_idx) const override;
virtual int get_contact_local_shape(int p_contact_idx) const override;
virtual RID get_contact_collider(int p_contact_idx) const override;
virtual Vector3 get_contact_collider_position(int p_contact_idx) const override;
virtual ObjectID get_contact_collider_id(int p_contact_idx) const override;
virtual int get_contact_collider_shape(int p_contact_idx) const override;
virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override;
virtual real_t get_step() const override { return deltaTime; }
virtual void integrate_forces() override {
// Skip the execution of this function
}
virtual PhysicsDirectSpaceState3D *get_space_state() override;
};
class RigidBodyBullet : public RigidCollisionObjectBullet {
public:
struct CollisionData {
RigidBodyBullet *otherObject;
int other_object_shape;
int local_shape;
Vector3 hitLocalLocation;
Vector3 hitWorldLocation;
Vector3 hitNormal;
float appliedImpulse;
};
struct ForceIntegrationCallback {
ObjectID id;
StringName method;
Variant udata;
};
/// Used to hold shapes
struct KinematicShape {
class btConvexShape *shape = nullptr;
btTransform transform;
KinematicShape() {}
bool is_active() const { return shape; }
};
struct KinematicUtilities {
RigidBodyBullet *owner;
btScalar safe_margin;
Vector<KinematicShape> shapes;
KinematicUtilities(RigidBodyBullet *p_owner);
~KinematicUtilities();
void setSafeMargin(btScalar p_margin);
/// Used to set the default shape to ghost
void copyAllOwnerShapes();
private:
void just_delete_shapes(int new_size);
};
private:
friend class BulletPhysicsDirectBodyState3D;
// This is required only for Kinematic movement
KinematicUtilities *kinematic_utilities = nullptr;
PhysicsServer3D::BodyMode mode;
GodotMotionState *godotMotionState;
btRigidBody *btBody;
uint16_t locked_axis = 0;
real_t mass = 1;
real_t gravity_scale = 1;
real_t linearDamp = 0;
real_t angularDamp = 0;
bool can_sleep = true;
bool omit_forces_integration = false;
bool can_integrate_forces = false;
Vector<CollisionData> collisions;
Vector<RigidBodyBullet *> collision_traces_1;
Vector<RigidBodyBullet *> collision_traces_2;
Vector<RigidBodyBullet *> *prev_collision_traces;
Vector<RigidBodyBullet *> *curr_collision_traces;
// these parameters are used to avoid vector resize
int maxCollisionsDetection = 0;
int collisionsCount = 0;
int prev_collision_count = 0;
Vector<AreaBullet *> areasWhereIam;
// these parameters are used to avoid vector resize
int maxAreasWhereIam = 10;
int areaWhereIamCount = 0;
// Used to know if the area is used as gravity point
int countGravityPointSpaces = 0;
bool isScratchedSpaceOverrideModificator = false;
bool previousActiveState = true; // Last check state
ForceIntegrationCallback *force_integration_callback = nullptr;
public:
RigidBodyBullet();
~RigidBodyBullet();
void init_kinematic_utilities();
void destroy_kinematic_utilities();
_FORCE_INLINE_ KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }
_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
virtual void main_shape_changed();
virtual void do_reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks();
void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
void scratch_space_override_modificator();
virtual void on_collision_filters_change();
virtual void on_collision_checker_start();
virtual void on_collision_checker_end();
void set_max_collisions_detection(int p_maxCollisionsDetection) {
ERR_FAIL_COND(0 > p_maxCollisionsDetection);
maxCollisionsDetection = p_maxCollisionsDetection;
collisions.resize(p_maxCollisionsDetection);
collision_traces_1.resize(p_maxCollisionsDetection);
collision_traces_2.resize(p_maxCollisionsDetection);
collisionsCount = 0;
prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
}
int get_max_collisions_detection() {
return maxCollisionsDetection;
}
bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
bool was_colliding(RigidBodyBullet *p_other_object);
void assert_no_constraints();
void set_activation_state(bool p_active);
bool is_active() const;
void set_omit_forces_integration(bool p_omit);
_FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }
void set_param(PhysicsServer3D::BodyParameter p_param, real_t);
real_t get_param(PhysicsServer3D::BodyParameter p_param) const;
void set_mode(PhysicsServer3D::BodyMode p_mode);
PhysicsServer3D::BodyMode get_mode() const;
void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
Variant get_state(PhysicsServer3D::BodyState p_state) const;
void apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
void apply_torque_impulse(const Vector3 &p_impulse);
void apply_central_force(const Vector3 &p_force);
void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
void apply_torque(const Vector3 &p_torque);
void set_applied_force(const Vector3 &p_force);
Vector3 get_applied_force() const;
void set_applied_torque(const Vector3 &p_torque);
Vector3 get_applied_torque() const;
void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock);
bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const;
void reload_axis_lock();
/// Doc:
/// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
void set_continuous_collision_detection(bool p_enable);
bool is_continuous_collision_detection_enabled() const;
void set_linear_velocity(const Vector3 &p_velocity);
Vector3 get_linear_velocity() const;
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const;
virtual void set_transform__bullet(const btTransform &p_global_transform);
virtual const btTransform &get_transform__bullet() const;
virtual void do_reload_shapes();
virtual void on_enter_area(AreaBullet *p_area);
virtual void on_exit_area(AreaBullet *p_area);
void reload_space_override_modificator();
/// Kinematic
void reload_kinematic_shapes();
virtual void notify_transform_changed();
private:
void _internal_set_mass(real_t p_mass);
};
#endif