178 lines
8.8 KiB
C++
178 lines
8.8 KiB
C++
/*************************************************************************/
|
|
/* space_bullet.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 SPACE_BULLET_H
|
|
#define SPACE_BULLET_H
|
|
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
|
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
|
|
#include "LinearMath/btScalar.h"
|
|
#include "LinearMath/btTransform.h"
|
|
#include "LinearMath/btVector3.h"
|
|
#include "core/variant.h"
|
|
#include "core/vector.h"
|
|
#include "godot_result_callbacks.h"
|
|
#include "rid_bullet.h"
|
|
#include "servers/physics_server.h"
|
|
|
|
class AreaBullet;
|
|
class btBroadphaseInterface;
|
|
class btCollisionDispatcher;
|
|
class btConstraintSolver;
|
|
class btDefaultCollisionConfiguration;
|
|
class btDynamicsWorld;
|
|
class btDiscreteDynamicsWorld;
|
|
class btEmptyShape;
|
|
class btGhostPairCallback;
|
|
class btSoftRigidDynamicsWorld;
|
|
class btSoftBodyWorldInfo;
|
|
class ConstraintBullet;
|
|
class CollisionObjectBullet;
|
|
class RigidBodyBullet;
|
|
class SpaceBullet;
|
|
class SoftBodyBullet;
|
|
|
|
class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState {
|
|
GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState)
|
|
private:
|
|
SpaceBullet *space;
|
|
|
|
public:
|
|
BulletPhysicsDirectSpaceState(SpaceBullet *p_space);
|
|
|
|
virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
|
|
virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false);
|
|
virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
|
|
virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL);
|
|
/// Returns the list of contacts pairs in this order: Local contact, other body contact
|
|
virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
|
|
virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
|
|
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;
|
|
};
|
|
|
|
class SpaceBullet : public RIDBullet {
|
|
private:
|
|
friend class AreaBullet;
|
|
friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
|
|
friend class BulletPhysicsDirectSpaceState;
|
|
|
|
btBroadphaseInterface *broadphase;
|
|
btDefaultCollisionConfiguration *collisionConfiguration;
|
|
btCollisionDispatcher *dispatcher;
|
|
btConstraintSolver *solver;
|
|
btDiscreteDynamicsWorld *dynamicsWorld;
|
|
btGhostPairCallback *ghostPairCallback;
|
|
GodotFilterCallback *godotFilterCallback;
|
|
btSoftBodyWorldInfo *soft_body_world_info;
|
|
|
|
BulletPhysicsDirectSpaceState *direct_access;
|
|
Vector3 gravityDirection;
|
|
real_t gravityMagnitude;
|
|
|
|
Vector<AreaBullet *> areas;
|
|
|
|
Vector<Vector3> contactDebug;
|
|
int contactDebugCount;
|
|
|
|
public:
|
|
SpaceBullet(bool p_create_soft_world);
|
|
virtual ~SpaceBullet();
|
|
|
|
void flush_queries();
|
|
void step(real_t p_delta_time);
|
|
|
|
_FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; }
|
|
_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; }
|
|
_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; }
|
|
_FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; }
|
|
|
|
/// Used to set some parameters to Bullet world
|
|
/// @param p_param:
|
|
/// AREA_PARAM_GRAVITY to set the gravity magnitude of entire world
|
|
/// AREA_PARAM_GRAVITY_VECTOR to set the gravity direction of entire world
|
|
void set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value);
|
|
/// Used to get some parameters to Bullet world
|
|
/// @param p_param:
|
|
/// AREA_PARAM_GRAVITY to get the gravity magnitude of entire world
|
|
/// AREA_PARAM_GRAVITY_VECTOR to get the gravity direction of entire world
|
|
Variant get_param(PhysicsServer::AreaParameter p_param);
|
|
|
|
void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value);
|
|
real_t get_param(PhysicsServer::SpaceParameter p_param);
|
|
|
|
void add_area(AreaBullet *p_area);
|
|
void remove_area(AreaBullet *p_area);
|
|
void reload_collision_filters(AreaBullet *p_area);
|
|
|
|
void add_rigid_body(RigidBodyBullet *p_body);
|
|
void remove_rigid_body(RigidBodyBullet *p_body);
|
|
void reload_collision_filters(RigidBodyBullet *p_body);
|
|
|
|
void add_soft_body(SoftBodyBullet *p_body);
|
|
void remove_soft_body(SoftBodyBullet *p_body);
|
|
void reload_collision_filters(SoftBodyBullet *p_body);
|
|
|
|
void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false);
|
|
void remove_constraint(ConstraintBullet *p_constraint);
|
|
|
|
int get_num_collision_objects() const;
|
|
void remove_all_collision_objects();
|
|
|
|
BulletPhysicsDirectSpaceState *get_direct_state();
|
|
|
|
void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); }
|
|
_FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); }
|
|
_FORCE_INLINE_ void reset_debug_contact_count() {
|
|
contactDebugCount = 0;
|
|
}
|
|
_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
|
|
if (contactDebugCount < contactDebug.size()) contactDebug[contactDebugCount++] = p_contact;
|
|
}
|
|
_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; }
|
|
_FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; }
|
|
|
|
const Vector3 &get_gravity_direction() const { return gravityDirection; }
|
|
real_t get_gravity_magnitude() const { return gravityMagnitude; }
|
|
|
|
void update_gravity();
|
|
|
|
bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result);
|
|
|
|
private:
|
|
void create_empty_world(bool p_create_soft_world);
|
|
void destroy_world();
|
|
void check_ghost_overlaps();
|
|
void check_body_collision();
|
|
|
|
bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position);
|
|
};
|
|
#endif
|