fb4871c919
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
226 lines
7.4 KiB
C++
226 lines
7.4 KiB
C++
/*************************************************************************/
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/* shape_bullet.h */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 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 "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btScalar.h"
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#include "LinearMath/btVector3.h"
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#include "core/variant.h"
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#include "geometry.h"
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#include "rid_bullet.h"
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#include "servers/physics_server.h"
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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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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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virtual btCollisionShape *create_bt_shape() = 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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/// 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 PhysicsServer::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_plane(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 btCapsuleShapeZ *create_shape_capsule(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(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
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static class btRayShape *create_shape_ray(real_t p_length);
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};
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class PlaneShapeBullet : public ShapeBullet {
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Plane plane;
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public:
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PlaneShapeBullet();
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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 PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape();
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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 PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape();
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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 PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape();
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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 PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape();
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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 PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape();
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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;
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public:
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PoolVector<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 PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape();
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private:
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void setup(PoolVector<Vector3> p_faces);
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};
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class HeightMapShapeBullet : public ShapeBullet {
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public:
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PoolVector<real_t> heights;
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int width;
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int depth;
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real_t cell_size;
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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 PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape();
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private:
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void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
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};
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class RayShapeBullet : public ShapeBullet {
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public:
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real_t length;
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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 PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape();
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private:
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void setup(real_t p_length);
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};
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#endif
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