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-rw-r--r--modules/bullet/bullet_physics_server.cpp230
1 files changed, 218 insertions, 12 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 6246a295ec..70f70e7e5f 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -113,6 +113,10 @@ RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
shape = bulletnew(CapsuleShapeBullet);
} break;
+ case SHAPE_CYLINDER: {
+
+ shape = bulletnew(CylinderShapeBullet);
+ } break;
case SHAPE_CONVEX_POLYGON: {
shape = bulletnew(ConvexPolygonShapeBullet);
@@ -159,13 +163,25 @@ Variant BulletPhysicsServer::shape_get_data(RID p_shape) const {
return shape->get_data();
}
+void BulletPhysicsServer::shape_set_margin(RID p_shape, real_t p_margin) {
+ ShapeBullet *shape = shape_owner.get(p_shape);
+ ERR_FAIL_COND(!shape);
+ shape->set_margin(p_margin);
+}
+
+real_t BulletPhysicsServer::shape_get_margin(RID p_shape) const {
+ ShapeBullet *shape = shape_owner.get(p_shape);
+ ERR_FAIL_COND_V(!shape, 0.0);
+ return shape->get_margin();
+}
+
real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const {
//WARN_PRINT("Bias not supported by Bullet physics engine");
return 0.;
}
RID BulletPhysicsServer::space_create() {
- SpaceBullet *space = bulletnew(SpaceBullet(false));
+ SpaceBullet *space = bulletnew(SpaceBullet);
CreateThenReturnRID(space_owner, space);
}
@@ -563,9 +579,6 @@ void BulletPhysicsServer::body_clear_shapes(RID p_body) {
void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {
CollisionObjectBullet *body = get_collisin_object(p_body);
- if (!body) {
- body = soft_body_owner.get(p_body);
- }
ERR_FAIL_COND(!body);
body->set_instance_id(p_ID);
@@ -706,6 +719,34 @@ Vector3 BulletPhysicsServer::body_get_applied_torque(RID p_body) const {
return body->get_applied_torque();
}
+void BulletPhysicsServer::body_add_central_force(RID p_body, const Vector3 &p_force) {
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->apply_central_force(p_force);
+}
+
+void BulletPhysicsServer::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->apply_force(p_force, p_pos);
+}
+
+void BulletPhysicsServer::body_add_torque(RID p_body, const Vector3 &p_torque) {
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->apply_torque(p_torque);
+}
+
+void BulletPhysicsServer::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->apply_central_impulse(p_impulse);
+}
+
void BulletPhysicsServer::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND(!body);
@@ -832,12 +873,20 @@ PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) {
return BulletPhysicsDirectBodyState::get_singleton(body);
}
-bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result) {
+bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
RigidBodyBullet *body = rigid_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
- return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result);
+ return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes);
+}
+
+int BulletPhysicsServer::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+ RigidBodyBullet *body = rigid_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+ ERR_FAIL_COND_V(!body->get_space(), 0);
+
+ return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) {
@@ -849,6 +898,13 @@ RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) {
CreateThenReturnRID(soft_body_owner, body);
}
+void BulletPhysicsServer::soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->update_visual_server(p_visual_server_handler);
+}
+
void BulletPhysicsServer::soft_body_set_space(RID p_body, RID p_space) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
@@ -875,11 +931,11 @@ RID BulletPhysicsServer::soft_body_get_space(RID p_body) const {
return space->get_self();
}
-void BulletPhysicsServer::soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) {
+void BulletPhysicsServer::soft_body_set_mesh(RID p_body, const REF &p_mesh) {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
- body->set_trimesh_body_shape(p_indices, p_vertices, p_triangles_num);
+ body->set_soft_mesh(p_mesh);
}
void BulletPhysicsServer::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
@@ -957,14 +1013,16 @@ void BulletPhysicsServer::soft_body_set_transform(RID p_body, const Transform &p
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND(!body);
- body->set_transform(p_transform);
+ body->set_soft_transform(p_transform);
}
-Transform BulletPhysicsServer::soft_body_get_transform(RID p_body) const {
+Vector3 BulletPhysicsServer::soft_body_get_vertex_position(RID p_body, int vertex_index) const {
const SoftBodyBullet *body = soft_body_owner.get(p_body);
- ERR_FAIL_COND_V(!body, Transform());
+ Vector3 pos;
+ ERR_FAIL_COND_V(!body, pos);
- return body->get_transform();
+ body->get_node_position(vertex_index, pos);
+ return pos;
}
void BulletPhysicsServer::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
@@ -979,6 +1037,154 @@ bool BulletPhysicsServer::soft_body_is_ray_pickable(RID p_body) const {
return body->is_ray_pickable();
}
+void BulletPhysicsServer::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_simulation_precision(p_simulation_precision);
+}
+
+int BulletPhysicsServer::soft_body_get_simulation_precision(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_simulation_precision();
+}
+
+void BulletPhysicsServer::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_total_mass(p_total_mass);
+}
+
+real_t BulletPhysicsServer::soft_body_get_total_mass(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_total_mass();
+}
+
+void BulletPhysicsServer::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_linear_stiffness(p_stiffness);
+}
+
+real_t BulletPhysicsServer::soft_body_get_linear_stiffness(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_linear_stiffness();
+}
+
+void BulletPhysicsServer::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_areaAngular_stiffness(p_stiffness);
+}
+
+real_t BulletPhysicsServer::soft_body_get_areaAngular_stiffness(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_areaAngular_stiffness();
+}
+
+void BulletPhysicsServer::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_volume_stiffness(p_stiffness);
+}
+
+real_t BulletPhysicsServer::soft_body_get_volume_stiffness(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_volume_stiffness();
+}
+
+void BulletPhysicsServer::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_pressure_coefficient(p_pressure_coefficient);
+}
+
+real_t BulletPhysicsServer::soft_body_get_pressure_coefficient(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_pressure_coefficient();
+}
+
+void BulletPhysicsServer::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ return body->set_pose_matching_coefficient(p_pose_matching_coefficient);
+}
+
+real_t BulletPhysicsServer::soft_body_get_pose_matching_coefficient(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_pose_matching_coefficient();
+}
+
+void BulletPhysicsServer::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_damping_coefficient(p_damping_coefficient);
+}
+
+real_t BulletPhysicsServer::soft_body_get_damping_coefficient(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_damping_coefficient();
+}
+
+void BulletPhysicsServer::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_drag_coefficient(p_drag_coefficient);
+}
+
+real_t BulletPhysicsServer::soft_body_get_drag_coefficient(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_drag_coefficient();
+}
+
+void BulletPhysicsServer::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_node_position(p_point_index, p_global_position);
+}
+
+Vector3 BulletPhysicsServer::soft_body_get_point_global_position(RID p_body, int p_point_index) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
+ Vector3 pos;
+ body->get_node_position(p_point_index, pos);
+ return pos;
+}
+
+Vector3 BulletPhysicsServer::soft_body_get_point_offset(RID p_body, int p_point_index) const {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, Vector3());
+ Vector3 res;
+ body->get_node_offset(p_point_index, res);
+ return res;
+}
+
+void BulletPhysicsServer::soft_body_remove_all_pinned_points(RID p_body) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->reset_all_node_mass();
+}
+
+void BulletPhysicsServer::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_node_mass(p_point_index, p_pin ? 0 : 1);
+}
+
+bool BulletPhysicsServer::soft_body_is_point_pinned(RID p_body, int p_point_index) {
+ SoftBodyBullet *body = soft_body_owner.get(p_body);
+ ERR_FAIL_COND_V(!body, 0.f);
+ return body->get_node_mass(p_point_index);
+}
+
PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const {
JointBullet *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint, JOINT_PIN);
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-16 22:19:59 +0000