Bullet physics engine implementation

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.

1 files changed, 234 insertions, 0 deletions

diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
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+++ b/modules/bullet/collision_object_bullet.h
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+/*************************************************************************/
+/*  collision_object_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 COLLISION_OBJECT_BULLET_H
+#define COLLISION_OBJECT_BULLET_H
+
+#include "LinearMath/btTransform.h"
+#include "core/vset.h"
+#include "object.h"
+#include "shape_owner_bullet.h"
+#include "transform.h"
+#include "vector3.h"
+
+class AreaBullet;
+class ShapeBullet;
+class btCollisionObject;
+class btCompoundShape;
+class btCollisionShape;
+class SpaceBullet;
+
+class CollisionObjectBullet : public RIDBullet {
+public:
+	enum GodotObjectFlags {
+		GOF_IS_MONITORING_AREA = 1 << 0
+		// FLAG2 = 1 << 1,
+		// FLAG3 = 1 << 2,
+		// FLAG4 = 1 << 3,
+		// FLAG5 = 1 << 4,
+		// FLAG6 = 1 << 5
+		// etc..
+	};
+	enum Type {
+		TYPE_AREA = 0,
+		TYPE_RIGID_BODY,
+		TYPE_SOFT_BODY,
+		TYPE_KINEMATIC_GHOST_BODY
+	};
+
+	struct ShapeWrapper {
+		ShapeBullet *shape;
+		btCollisionShape *bt_shape;
+		btTransform transform;
+		bool active;
+
+		ShapeWrapper()
+			: shape(NULL), bt_shape(NULL), active(true) {}
+
+		ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active)
+			: shape(p_shape), bt_shape(NULL), active(p_active) {
+			set_transform(p_transform);
+		}
+
+		ShapeWrapper(ShapeBullet *p_shape, const Transform &p_transform, bool p_active)
+			: shape(p_shape), bt_shape(NULL), active(p_active) {
+			set_transform(p_transform);
+		}
+		~ShapeWrapper();
+
+		ShapeWrapper(const ShapeWrapper &otherShape) {
+			operator=(otherShape);
+		}
+
+		void operator=(const ShapeWrapper &otherShape) {
+			shape = otherShape.shape;
+			bt_shape = otherShape.bt_shape;
+			transform = otherShape.transform;
+			active = otherShape.active;
+		}
+
+		void set_transform(const Transform &p_transform);
+		void set_transform(const btTransform &p_transform);
+	};
+
+protected:
+	Type type;
+	ObjectID instance_id;
+	uint32_t collisionLayer;
+	uint32_t collisionMask;
+	bool collisionsEnabled;
+	bool m_isStatic;
+	bool ray_pickable;
+	btCollisionObject *bt_collision_object;
+	btVector3 body_scale;
+	SpaceBullet *space;
+
+	VSet<RID> exceptions;
+
+	/// This array is used to know all areas where this Object is overlapped in
+	/// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea)
+	/// This array is used mainly to know which area hold the pointer of this object
+	Vector<AreaBullet *> areasOverlapped;
+
+public:
+	CollisionObjectBullet(Type p_type);
+	virtual ~CollisionObjectBullet();
+
+	Type getType() { return type; }
+
+protected:
+	void destroyBulletCollisionObject();
+	void setupBulletCollisionObject(btCollisionObject *p_collisionObject);
+
+public:
+	_FORCE_INLINE_ btCollisionObject *get_bt_collision_object() { return bt_collision_object; }
+
+	_FORCE_INLINE_ void set_instance_id(const ObjectID &p_instance_id) { instance_id = p_instance_id; }
+	_FORCE_INLINE_ ObjectID get_instance_id() const { return instance_id; }
+
+	_FORCE_INLINE_ bool is_static() const { return m_isStatic; }
+
+	_FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; }
+	_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
+
+	void set_body_scale(const Vector3 &p_new_scale);
+	virtual void on_body_scale_changed();
+
+	void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
+	void remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject);
+	bool has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const;
+	_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
+
+	_FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) {
+		collisionLayer = p_layer;
+		on_collision_filters_change();
+	}
+	_FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; }
+
+	_FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) {
+		collisionMask = p_mask;
+		on_collision_filters_change();
+	}
+	_FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; }
+
+	virtual void on_collision_filters_change() = 0;
+
+	_FORCE_INLINE_ bool test_collision_mask(CollisionObjectBullet *p_other) const {
+		return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask;
+	}
+
+	virtual void reload_body() = 0;
+	virtual void set_space(SpaceBullet *p_space) = 0;
+	_FORCE_INLINE_ SpaceBullet *get_space() const { return space; }
+	/// This is an event that is called when a collision checker starts
+	virtual void on_collision_checker_start() = 0;
+
+	virtual void dispatch_callbacks() = 0;
+
+	void set_collision_enabled(bool p_enabled);
+	bool is_collisions_response_enabled();
+
+	void notify_new_overlap(AreaBullet *p_area);
+	virtual void on_enter_area(AreaBullet *p_area) = 0;
+	virtual void on_exit_area(AreaBullet *p_area);
+
+	/// GodotObjectFlags
+	void set_godot_object_flags(int flags);
+	int get_godot_object_flags() const;
+
+	void set_transform(const Transform &p_global_transform);
+	Transform get_transform() const;
+	virtual void set_transform__bullet(const btTransform &p_global_transform);
+	virtual const btTransform &get_transform__bullet() const;
+};
+
+class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet {
+protected:
+	/// This is required to combine some shapes together.
+	/// Since Godot allow to have multiple shapes for each body with custom relative location,
+	/// each body will attach the shapes using this class even if there is only one shape.
+	btCompoundShape *compoundShape;
+	Vector<ShapeWrapper> shapes;
+
+public:
+	RigidCollisionObjectBullet(Type p_type);
+	~RigidCollisionObjectBullet();
+
+	_FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; }
+
+	/// This is used to set new shape or replace existing
+	//virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0;
+	void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform());
+	void set_shape(int p_index, ShapeBullet *p_shape);
+	void set_shape_transform(int p_index, const Transform &p_transform);
+	virtual void remove_shape(ShapeBullet *p_shape);
+	void remove_shape(int p_index);
+	void remove_all_shapes(bool p_permanentlyFromThisBody = false);
+
+	virtual void on_shape_changed(const ShapeBullet *const p_shape);
+	virtual void on_shapes_changed();
+
+	_FORCE_INLINE_ btCompoundShape *get_compound_shape() const { return compoundShape; }
+	int get_shape_count() const;
+	ShapeBullet *get_shape(int p_index) const;
+	btCollisionShape *get_bt_shape(int p_index) const;
+	Transform get_shape_transform(int p_index) const;
+
+	void set_shape_disabled(int p_index, bool p_disabled);
+	bool is_shape_disabled(int p_index);
+
+	virtual void on_body_scale_changed();
+
+private:
+	void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false);
+};
+
+#endif