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Diffstat (limited to 'modules/bullet/bullet_physics_server.h')
| -rw-r--r-- | modules/bullet/bullet_physics_server.h | 358 |
1 files changed, 358 insertions, 0 deletions
diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h new file mode 100644 index 0000000000..e66e8a5ac1 --- /dev/null +++ b/modules/bullet/bullet_physics_server.h @@ -0,0 +1,358 @@ +/*************************************************************************/ +/* bullet_physics_server.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 BULLET_PHYSICS_SERVER_H +#define BULLET_PHYSICS_SERVER_H + +#include "area_bullet.h" +#include "joint_bullet.h" +#include "rid.h" +#include "rigid_body_bullet.h" +#include "servers/physics_server.h" +#include "shape_bullet.h" +#include "soft_body_bullet.h" +#include "space_bullet.h" + +class BulletPhysicsServer : public PhysicsServer { + GDCLASS(BulletPhysicsServer, PhysicsServer) + + friend class BulletPhysicsDirectSpaceState; + + bool active; + SpaceBullet *activeSpace; + + mutable RID_Owner<SpaceBullet> space_owner; + mutable RID_Owner<ShapeBullet> shape_owner; + mutable RID_Owner<AreaBullet> area_owner; + mutable RID_Owner<RigidBodyBullet> rigid_body_owner; + mutable RID_Owner<SoftBodyBullet> soft_body_owner; + mutable RID_Owner<JointBullet> joint_owner; + +private: + /// This is used when a collision shape is not active, so the bullet compound shapes index are always sync with godot index + static btEmptyShape *emptyShape; + +public: + static btEmptyShape *get_empty_shape(); + +protected: + static void _bind_methods(); + +public: + BulletPhysicsServer(); + ~BulletPhysicsServer(); + + _FORCE_INLINE_ RID_Owner<SpaceBullet> *get_space_owner() { + return &space_owner; + } + _FORCE_INLINE_ RID_Owner<ShapeBullet> *get_shape_owner() { + return &shape_owner; + } + _FORCE_INLINE_ RID_Owner<AreaBullet> *get_area_owner() { + return &area_owner; + } + _FORCE_INLINE_ RID_Owner<RigidBodyBullet> *get_rigid_body_owner() { + return &rigid_body_owner; + } + _FORCE_INLINE_ RID_Owner<SoftBodyBullet> *get_soft_body_owner() { + return &soft_body_owner; + } + _FORCE_INLINE_ RID_Owner<JointBullet> *get_joint_owner() { + return &joint_owner; + } + + /* SHAPE API */ + virtual RID shape_create(ShapeType p_shape); + virtual void shape_set_data(RID p_shape, const Variant &p_data); + virtual ShapeType shape_get_type(RID p_shape) const; + virtual Variant shape_get_data(RID p_shape) const; + + /// Not supported + virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias); + /// Not supported + virtual real_t shape_get_custom_solver_bias(RID p_shape) const; + + /* SPACE API */ + + virtual RID space_create(); + virtual void space_set_active(RID p_space, bool p_active); + virtual bool space_is_active(RID p_space) const; + + /// Not supported + virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value); + /// Not supported + virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const; + + virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space); + + virtual void space_set_debug_contacts(RID p_space, int p_max_contacts); + virtual Vector<Vector3> space_get_contacts(RID p_space) const; + virtual int space_get_contact_count(RID p_space) const; + + /* AREA API */ + + /// Bullet Physics Engine not support "Area", this must be handled by the game developer in another way. + /// Since godot Physics use the concept of area even to define the main world, the API area_set_param is used to set initial physics world information. + /// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console. + /// All other APIs returns a warning message if used + + virtual RID area_create(); + + virtual void area_set_space(RID p_area, RID p_space); + + virtual RID area_get_space(RID p_area) const; + + virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode); + virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const; + + virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform()); + virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape); + virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform); + virtual int area_get_shape_count(RID p_area) const; + virtual RID area_get_shape(RID p_area, int p_shape_idx) const; + virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const; + virtual void area_remove_shape(RID p_area, int p_shape_idx); + virtual void area_clear_shapes(RID p_area); + virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled); + virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID); + virtual ObjectID area_get_object_instance_id(RID p_area) const; + + /// If you pass as p_area the SpaceBullet you can set some parameters as specified below + /// AREA_PARAM_GRAVITY + /// AREA_PARAM_GRAVITY_VECTOR + /// Otherwise you can set area parameters + virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value); + virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const; + + virtual void area_set_transform(RID p_area, const Transform &p_transform); + virtual Transform area_get_transform(RID p_area) const; + + virtual void area_set_collision_mask(RID p_area, uint32_t p_mask); + virtual void area_set_collision_layer(RID p_area, uint32_t p_layer); + + virtual void area_set_monitorable(RID p_area, bool p_monitorable); + virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); + virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); + virtual void area_set_ray_pickable(RID p_area, bool p_enable); + virtual bool area_is_ray_pickable(RID p_area) const; + + /* RIGID BODY API */ + + virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false); + + virtual void body_set_space(RID p_body, RID p_space); + virtual RID body_get_space(RID p_body) const; + + virtual void body_set_mode(RID p_body, BodyMode p_mode); + virtual BodyMode body_get_mode(RID p_body) const; + + virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform()); + // Not supported, Please remove and add new shape + virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape); + virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform); + + virtual int body_get_shape_count(RID p_body) const; + virtual RID body_get_shape(RID p_body, int p_shape_idx) const; + virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const; + + virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled); + + virtual void body_remove_shape(RID p_body, int p_shape_idx); + virtual void body_clear_shapes(RID p_body); + + // Used for Rigid and Soft Bodies + virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID); + virtual uint32_t body_get_object_instance_id(RID p_body) const; + + virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable); + virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const; + + virtual void body_set_collision_layer(RID p_body, uint32_t p_layer); + virtual uint32_t body_get_collision_layer(RID p_body) const; + + virtual void body_set_collision_mask(RID p_body, uint32_t p_mask); + virtual uint32_t body_get_collision_mask(RID p_body) const; + + /// This is not supported by physics server + virtual void body_set_user_flags(RID p_body, uint32_t p_flags); + /// This is not supported by physics server + virtual uint32_t body_get_user_flags(RID p_body) const; + + virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value); + virtual float body_get_param(RID p_body, BodyParameter p_param) const; + + virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); + virtual Variant body_get_state(RID p_body, BodyState p_state) const; + + virtual void body_set_applied_force(RID p_body, const Vector3 &p_force); + virtual Vector3 body_get_applied_force(RID p_body) const; + + virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque); + virtual Vector3 body_get_applied_torque(RID p_body) const; + + virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse); + virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); + virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); + + virtual void body_set_axis_lock(RID p_body, BodyAxisLock p_lock); + virtual BodyAxisLock body_get_axis_lock(RID p_body) const; + + virtual void body_add_collision_exception(RID p_body, RID p_body_b); + virtual void body_remove_collision_exception(RID p_body, RID p_body_b); + virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); + + virtual void body_set_max_contacts_reported(RID p_body, int p_contacts); + virtual int body_get_max_contacts_reported(RID p_body) const; + + virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_treshold); + virtual float body_get_contacts_reported_depth_threshold(RID p_body) const; + + virtual void body_set_omit_force_integration(RID p_body, bool p_omit); + virtual bool body_is_omitting_force_integration(RID p_body) const; + + virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()); + + virtual void body_set_ray_pickable(RID p_body, bool p_enable); + virtual bool body_is_ray_pickable(RID p_body) const; + + // this function only works on physics process, errors and returns null otherwise + virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body); + + virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin = 0.001, MotionResult *r_result = NULL); + + /* SOFT BODY API */ + + virtual RID soft_body_create(bool p_init_sleeping = false); + + virtual void soft_body_set_space(RID p_body, RID p_space); + virtual RID soft_body_get_space(RID p_body) const; + + virtual void soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num); + + virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer); + virtual uint32_t soft_body_get_collision_layer(RID p_body) const; + + virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask); + virtual uint32_t soft_body_get_collision_mask(RID p_body) const; + + virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b); + virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b); + virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); + + virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); + virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const; + + virtual void soft_body_set_transform(RID p_body, const Transform &p_transform); + virtual Transform soft_body_get_transform(RID p_body) const; + + virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable); + virtual bool soft_body_is_ray_pickable(RID p_body) const; + + /* JOINT API */ + + virtual JointType joint_get_type(RID p_joint) const; + + virtual void joint_set_solver_priority(RID p_joint, int p_priority); + virtual int joint_get_solver_priority(RID p_joint) const; + + virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B); + + virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value); + virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const; + + virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A); + virtual Vector3 pin_joint_get_local_a(RID p_joint) const; + + virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B); + virtual Vector3 pin_joint_get_local_b(RID p_joint) const; + + virtual RID joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B); + virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B); + + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value); + virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const; + + virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value); + virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const; + + /// Reference frame is A + virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + + virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value); + virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const; + + /// Reference frame is A + virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + + virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value); + virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const; + + /// Reference frame is A + virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + + virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value); + virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param); + + virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable); + virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag); + + /* MISC */ + + virtual void free(RID p_rid); + + virtual void set_active(bool p_active) { + active = p_active; + } + + static bool singleton_isActive() { + return static_cast<BulletPhysicsServer *>(get_singleton())->active; + } + + bool isActive() { + return active; + } + + virtual void init(); + virtual void step(float p_deltaTime); + virtual void sync(); + virtual void flush_queries(); + virtual void finish(); + + virtual int get_process_info(ProcessInfo p_info); + + CollisionObjectBullet *get_collisin_object(RID p_object) const; + RigidCollisionObjectBullet *get_rigid_collisin_object(RID p_object) const; + + /// Internal APIs +public: +}; + +#endif |