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.
304 lines
9.7 KiB
C++
304 lines
9.7 KiB
C++
/*************************************************************************/
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/* soft_body_bullet.cpp */
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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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#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 "space_bullet.h"
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#include "scene/3d/immediate_geometry.h"
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SoftBodyBullet::SoftBodyBullet()
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: CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY), mass(1), simulation_precision(5), stiffness(0.5f), pressure_coefficient(50), damping_coefficient(0.005), drag_coefficient(0.005), bt_soft_body(NULL), soft_shape_type(SOFT_SHAPETYPE_NONE), isScratched(false), soft_body_shape_data(NULL) {
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test_geometry = memnew(ImmediateGeometry);
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red_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial));
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red_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
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red_mat->set_line_width(20.0);
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red_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true);
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red_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
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red_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true);
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red_mat->set_albedo(Color(1, 0, 0, 1));
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test_geometry->set_material_override(red_mat);
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test_is_in_scene = false;
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}
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SoftBodyBullet::~SoftBodyBullet() {
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bulletdelete(soft_body_shape_data);
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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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// Remove this object from the physics world
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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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reload_soft_body();
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}
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void SoftBodyBullet::dispatch_callbacks() {
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if (!bt_soft_body) {
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return;
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}
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if (!test_is_in_scene) {
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test_is_in_scene = true;
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SceneTree::get_singleton()->get_current_scene()->add_child(test_geometry);
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}
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test_geometry->clear();
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test_geometry->begin(Mesh::PRIMITIVE_LINES, NULL);
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bool first = true;
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Vector3 pos;
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for (int i = 0; i < bt_soft_body->m_nodes.size(); ++i) {
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const btSoftBody::Node &n = bt_soft_body->m_nodes[i];
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B_TO_G(n.m_x, pos);
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test_geometry->add_vertex(pos);
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if (!first) {
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test_geometry->add_vertex(pos);
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} else {
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first = false;
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}
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}
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test_geometry->end();
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}
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void SoftBodyBullet::on_collision_filters_change() {
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}
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void SoftBodyBullet::on_collision_checker_start() {
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}
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void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {
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}
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void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {
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}
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void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) {
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TrimeshSoftShapeData *shape_data = bulletnew(TrimeshSoftShapeData);
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shape_data->m_triangles_indices = p_indices;
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shape_data->m_vertices = p_vertices;
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shape_data->m_triangles_num = p_triangles_num;
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set_body_shape_data(shape_data, SOFT_SHAPE_TYPE_TRIMESH);
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reload_soft_body();
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}
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void SoftBodyBullet::set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type) {
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bulletdelete(soft_body_shape_data);
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soft_body_shape_data = p_soft_shape_data;
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soft_shape_type = p_type;
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}
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void SoftBodyBullet::set_transform(const Transform &p_transform) {
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transform = p_transform;
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if (bt_soft_body) {
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// TODO the softbody set new transform considering the current transform as center of world
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// like if it's local transform, so I must fix this by setting nwe transform considering the old
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btTransform bt_trans;
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G_TO_B(transform, bt_trans);
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//bt_soft_body->transform(bt_trans);
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}
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}
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const Transform &SoftBodyBullet::get_transform() const {
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return transform;
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}
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void SoftBodyBullet::get_first_node_origin(btVector3 &p_out_origin) const {
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if (bt_soft_body && bt_soft_body->m_nodes.size()) {
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p_out_origin = bt_soft_body->m_nodes[0].m_x;
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} else {
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p_out_origin.setZero();
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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_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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mass = p_val;
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if (bt_soft_body) {
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bt_soft_body->setTotalMass(mass);
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}
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}
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void SoftBodyBullet::set_stiffness(real_t p_val) {
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stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kAST = stiffness;
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mat0->m_kLST = stiffness;
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mat0->m_kVST = 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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}
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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_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::reload_soft_body() {
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destroy_soft_body();
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create_soft_body();
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if (bt_soft_body) {
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// TODO the softbody set new transform considering the current transform as center of world
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// like if it's local transform, so I must fix this by setting nwe transform considering the old
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btTransform bt_trans;
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G_TO_B(transform, bt_trans);
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bt_soft_body->transform(bt_trans);
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bt_soft_body->generateBendingConstraints(2, mat0);
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mat0->m_kAST = stiffness;
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mat0->m_kLST = stiffness;
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mat0->m_kVST = stiffness;
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bt_soft_body->m_cfg.piterations = 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->setTotalMass(mass);
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}
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if (space) {
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// TODO remove this please
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space->add_soft_body(this);
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}
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}
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void SoftBodyBullet::create_soft_body() {
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if (!space || !soft_body_shape_data) {
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return;
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}
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ERR_FAIL_COND(!space->is_using_soft_world());
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switch (soft_shape_type) {
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case SOFT_SHAPE_TYPE_TRIMESH: {
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TrimeshSoftShapeData *trimesh_data = static_cast<TrimeshSoftShapeData *>(soft_body_shape_data);
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Vector<int> indices;
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Vector<btScalar> vertices;
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int i;
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const int indices_size = trimesh_data->m_triangles_indices.size();
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const int vertices_size = trimesh_data->m_vertices.size();
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indices.resize(indices_size);
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vertices.resize(vertices_size * 3);
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PoolVector<int>::Read i_r = trimesh_data->m_triangles_indices.read();
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for (i = 0; i < indices_size; ++i) {
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indices[i] = i_r[i];
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}
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i_r = PoolVector<int>::Read();
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PoolVector<Vector3>::Read f_r = trimesh_data->m_vertices.read();
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for (int j = i = 0; i < vertices_size; ++i, j += 3) {
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vertices[j + 0] = f_r[i][0];
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vertices[j + 1] = f_r[i][1];
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vertices[j + 2] = f_r[i][2];
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}
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f_r = PoolVector<Vector3>::Read();
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bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(*space->get_soft_body_world_info(), vertices.ptr(), indices.ptr(), trimesh_data->m_triangles_num);
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} break;
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default:
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ERR_PRINT("Shape type not supported");
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return;
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}
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setupBulletCollisionObject(bt_soft_body);
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bt_soft_body->getCollisionShape()->setMargin(0.001f);
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bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
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mat0 = bt_soft_body->appendMaterial();
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}
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void SoftBodyBullet::destroy_soft_body() {
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if (space) {
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/// This step is required to assert that the body is not into the world during deletion
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/// This step is required since to change the body shape the body must be re-created.
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/// Here is handled the case when the body is assigned into a world and the body
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/// shape is changed.
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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 = NULL;
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}
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