f101349225
When synchronizing KinematicBody motion with moving the platform using direct body state, only the linear velocity was taken into account. This change exposes velocity at local point in direct body state and uses it in move_and_slide to get the proper velocity that includes rotations.
335 lines
11 KiB
C++
335 lines
11 KiB
C++
/*************************************************************************/
|
|
/* rigid_body_bullet.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 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 BulletPhysicsDirectBodyState;
|
|
|
|
/// 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 BulletPhysicsServer and is held by the "singleton" variable of this class
|
|
/// Each time something require it, the body must be set again.
|
|
class BulletPhysicsDirectBodyState : public PhysicsDirectBodyState {
|
|
GDCLASS(BulletPhysicsDirectBodyState, PhysicsDirectBodyState);
|
|
|
|
static BulletPhysicsDirectBodyState *singleton;
|
|
|
|
public:
|
|
/// This class avoid the creation of more object of this class
|
|
static void initSingleton() {
|
|
if (!singleton) {
|
|
singleton = memnew(BulletPhysicsDirectBodyState);
|
|
}
|
|
}
|
|
|
|
static void destroySingleton() {
|
|
memdelete(singleton);
|
|
singleton = nullptr;
|
|
}
|
|
|
|
static void singleton_setDeltaTime(real_t p_deltaTime) {
|
|
singleton->deltaTime = p_deltaTime;
|
|
}
|
|
|
|
static BulletPhysicsDirectBodyState *get_singleton(RigidBodyBullet *p_body) {
|
|
singleton->body = p_body;
|
|
return singleton;
|
|
}
|
|
|
|
public:
|
|
RigidBodyBullet *body;
|
|
real_t deltaTime;
|
|
|
|
private:
|
|
BulletPhysicsDirectBodyState() {}
|
|
|
|
public:
|
|
virtual Vector3 get_total_gravity() const;
|
|
virtual float get_total_angular_damp() const;
|
|
virtual float get_total_linear_damp() const;
|
|
|
|
virtual Vector3 get_center_of_mass() const;
|
|
virtual Basis get_principal_inertia_axes() const;
|
|
// get the mass
|
|
virtual float get_inverse_mass() const;
|
|
// get density of this body space
|
|
virtual Vector3 get_inverse_inertia() const;
|
|
// get density of this body space
|
|
virtual Basis get_inverse_inertia_tensor() const;
|
|
|
|
virtual void set_linear_velocity(const Vector3 &p_velocity);
|
|
virtual Vector3 get_linear_velocity() const;
|
|
|
|
virtual void set_angular_velocity(const Vector3 &p_velocity);
|
|
virtual Vector3 get_angular_velocity() const;
|
|
|
|
virtual void set_transform(const Transform &p_transform);
|
|
virtual Transform get_transform() const;
|
|
|
|
virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const;
|
|
|
|
virtual void add_central_force(const Vector3 &p_force);
|
|
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
|
|
virtual void add_torque(const Vector3 &p_torque);
|
|
virtual void apply_central_impulse(const Vector3 &p_impulse);
|
|
virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
|
|
virtual void apply_torque_impulse(const Vector3 &p_impulse);
|
|
|
|
virtual void set_sleep_state(bool p_enable);
|
|
virtual bool is_sleeping() const;
|
|
|
|
virtual int get_contact_count() const;
|
|
|
|
virtual Vector3 get_contact_local_position(int p_contact_idx) const;
|
|
virtual Vector3 get_contact_local_normal(int p_contact_idx) const;
|
|
virtual float get_contact_impulse(int p_contact_idx) const;
|
|
virtual int get_contact_local_shape(int p_contact_idx) const;
|
|
|
|
virtual RID get_contact_collider(int p_contact_idx) const;
|
|
virtual Vector3 get_contact_collider_position(int p_contact_idx) const;
|
|
virtual ObjectID get_contact_collider_id(int p_contact_idx) const;
|
|
virtual int get_contact_collider_shape(int p_contact_idx) const;
|
|
virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const;
|
|
|
|
virtual real_t get_step() const { return deltaTime; }
|
|
virtual void integrate_forces() {
|
|
// Skip the execution of this function
|
|
}
|
|
|
|
virtual PhysicsDirectSpaceState *get_space_state();
|
|
};
|
|
|
|
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;
|
|
btTransform transform;
|
|
|
|
KinematicShape() :
|
|
shape(nullptr) {}
|
|
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 BulletPhysicsDirectBodyState;
|
|
|
|
// This is required only for Kinematic movement
|
|
KinematicUtilities *kinematic_utilities;
|
|
|
|
PhysicsServer::BodyMode mode;
|
|
GodotMotionState *godotMotionState;
|
|
btRigidBody *btBody;
|
|
uint16_t locked_axis;
|
|
real_t mass;
|
|
real_t gravity_scale;
|
|
real_t linearDamp;
|
|
real_t angularDamp;
|
|
bool can_sleep;
|
|
bool omit_forces_integration;
|
|
bool can_integrate_forces;
|
|
|
|
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;
|
|
int collisionsCount;
|
|
int prev_collision_count;
|
|
|
|
Vector<AreaBullet *> areasWhereIam;
|
|
// these parameters are used to avoid vector resize
|
|
int maxAreasWhereIam;
|
|
int areaWhereIamCount;
|
|
// Used to know if the area is used as gravity point
|
|
int countGravityPointSpaces;
|
|
bool isScratchedSpaceOverrideModificator;
|
|
|
|
bool previousActiveState; // Last check state
|
|
|
|
ForceIntegrationCallback *force_integration_callback;
|
|
|
|
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 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 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(PhysicsServer::BodyParameter p_param, real_t);
|
|
real_t get_param(PhysicsServer::BodyParameter p_param) const;
|
|
|
|
void set_mode(PhysicsServer::BodyMode p_mode);
|
|
PhysicsServer::BodyMode get_mode() const;
|
|
|
|
void set_state(PhysicsServer::BodyState p_state, const Variant &p_variant);
|
|
Variant get_state(PhysicsServer::BodyState p_state) const;
|
|
|
|
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
|
|
void apply_central_impulse(const Vector3 &p_impulse);
|
|
void apply_torque_impulse(const Vector3 &p_impulse);
|
|
|
|
void apply_force(const Vector3 &p_force, const Vector3 &p_pos);
|
|
void apply_central_force(const Vector3 &p_force);
|
|
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(PhysicsServer::BodyAxis p_axis, bool lock);
|
|
bool is_axis_locked(PhysicsServer::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 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
|