466 lines
14 KiB
C++
466 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) 2007-2021 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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#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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}
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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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}
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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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}
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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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}
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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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}
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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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}
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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_angular_stiffness(real_t p_val) {
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angular_stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kAST = angular_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 existing
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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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}
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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 = angular_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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