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Diffstat (limited to 'modules/bullet/collision_object_bullet.cpp')
| -rw-r--r-- | modules/bullet/collision_object_bullet.cpp | 396 |
1 files changed, 0 insertions, 396 deletions
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp deleted file mode 100644 index bc8e1a0718..0000000000 --- a/modules/bullet/collision_object_bullet.cpp +++ /dev/null @@ -1,396 +0,0 @@ -/*************************************************************************/ -/* collision_object_bullet.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2022 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. */ -/*************************************************************************/ - -#include "collision_object_bullet.h" - -#include "area_bullet.h" -#include "bullet_physics_server.h" -#include "bullet_types_converter.h" -#include "bullet_utilities.h" -#include "shape_bullet.h" -#include "space_bullet.h" - -#include <btBulletCollisionCommon.h> - -// We enable dynamic AABB tree so that we can actually perform a broadphase on bodies with compound collision shapes. -// This is crucial for the performance of kinematic bodies and for bodies with transforming shapes. -#define enableDynamicAabbTree true - -CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {} - -void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform3D &p_transform) { - G_TO_B(p_transform.get_basis().get_scale_abs(), scale); - G_TO_B(p_transform, transform); - UNSCALE_BT_BASIS(transform); -} - -void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) { - transform = p_transform; -} - -btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const { - if (shape->get_type() == PhysicsServer3D::SHAPE_HEIGHTMAP) { - const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now - btTransform adjusted_transform; - - // Bullet centers our heightmap: - // https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33 - // This is really counter intuitive so we're adjusting for it - - adjusted_transform.setIdentity(); - adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0)); - adjusted_transform *= transform; - - return adjusted_transform; - } else { - return transform; - } -} - -void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) { - if (!bt_shape) { - if (active) { - bt_shape = shape->create_bt_shape(scale * body_scale); - } else { - bt_shape = ShapeBullet::create_shape_empty(); - } - } -} - -CollisionObjectBullet::CollisionObjectBullet(Type p_type) : - RIDBullet(), - type(p_type) {} - -CollisionObjectBullet::~CollisionObjectBullet() { - for (int i = 0; i < areasOverlapped.size(); i++) { - areasOverlapped[i]->remove_object_overlaps(this); - } - destroyBulletCollisionObject(); -} - -bool equal(real_t first, real_t second) { - return Math::abs(first - second) <= 0.001f; -} - -void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) { - if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) { - body_scale = p_new_scale; - body_scale_changed(); - } -} - -btVector3 CollisionObjectBullet::get_bt_body_scale() const { - btVector3 s; - G_TO_B(body_scale, s); - return s; -} - -void CollisionObjectBullet::body_scale_changed() { - force_shape_reset = true; -} - -void CollisionObjectBullet::destroyBulletCollisionObject() { - bulletdelete(bt_collision_object); -} - -void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_collisionObject) { - bt_collision_object = p_collisionObject; - bt_collision_object->setUserPointer(this); - bt_collision_object->setUserIndex(type); - // Force the enabling of collision and avoid problems - set_collision_enabled(collisionsEnabled); - p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK); -} - -void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { - exceptions.insert(p_ignoreCollisionObject->get_self()); - if (!bt_collision_object) { - return; - } - bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true); - if (space) { - space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher()); - } -} - -void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { - exceptions.erase(p_ignoreCollisionObject->get_self()); - if (!bt_collision_object) { - return; - } - bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false); - if (space) { - space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher()); - } -} - -bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const { - return exceptions.has(p_otherCollisionObject->get_self()); -} - -void CollisionObjectBullet::set_collision_enabled(bool p_enabled) { - collisionsEnabled = p_enabled; - if (!bt_collision_object) { - return; - } - if (collisionsEnabled) { - bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE)); - } else { - bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE); - } -} - -bool CollisionObjectBullet::is_collisions_response_enabled() { - return collisionsEnabled; -} - -void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) { - if (areasOverlapped.find(p_area) == -1) { - areasOverlapped.push_back(p_area); - } -} - -void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) { - areasOverlapped.erase(p_area); -} - -void CollisionObjectBullet::set_godot_object_flags(int flags) { - bt_collision_object->setUserIndex2(flags); - updated = true; -} - -int CollisionObjectBullet::get_godot_object_flags() const { - return bt_collision_object->getUserIndex2(); -} - -void CollisionObjectBullet::set_transform(const Transform3D &p_global_transform) { - set_body_scale(p_global_transform.basis.get_scale_abs()); - - btTransform bt_transform; - G_TO_B(p_global_transform, bt_transform); - UNSCALE_BT_BASIS(bt_transform); - - set_transform__bullet(bt_transform); -} - -Transform3D CollisionObjectBullet::get_transform() const { - Transform3D t; - B_TO_G(get_transform__bullet(), t); - t.basis.scale(body_scale); - return t; -} - -void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) { - bt_collision_object->setWorldTransform(p_global_transform); - notify_transform_changed(); -} - -const btTransform &CollisionObjectBullet::get_transform__bullet() const { - return bt_collision_object->getWorldTransform(); -} - -void CollisionObjectBullet::notify_transform_changed() { - updated = true; -} - -RigidCollisionObjectBullet::~RigidCollisionObjectBullet() { - remove_all_shapes(true, true); - if (mainShape && mainShape->isCompound()) { - bulletdelete(mainShape); - } -} - -void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform3D &p_transform, bool p_disabled) { - shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled)); - p_shape->add_owner(this); - reload_shapes(); -} - -void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) { - ShapeWrapper &shp = shapes.write[p_index]; - shp.shape->remove_owner(this); - p_shape->add_owner(this); - shp.shape = p_shape; - reload_shapes(); -} - -int RigidCollisionObjectBullet::get_shape_count() const { - return shapes.size(); -} - -ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const { - return shapes[p_index].shape; -} - -btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const { - return shapes[p_index].bt_shape; -} - -int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const { - const int size = shapes.size(); - for (int i = 0; i < size; ++i) { - if (shapes[i].shape == p_shape) { - return i; - } - } - return -1; -} - -void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) { - // Remove the shape, all the times it appears - // Reverse order required for delete. - for (int i = shapes.size() - 1; 0 <= i; --i) { - if (p_shape == shapes[i].shape) { - internal_shape_destroy(i); - shapes.remove_at(i); - } - } - reload_shapes(); -} - -void RigidCollisionObjectBullet::remove_shape_full(int p_index) { - ERR_FAIL_INDEX(p_index, get_shape_count()); - internal_shape_destroy(p_index); - shapes.remove_at(p_index); - reload_shapes(); -} - -void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody, bool p_force_not_reload) { - // Reverse order required for delete. - for (int i = shapes.size() - 1; 0 <= i; --i) { - internal_shape_destroy(i, p_permanentlyFromThisBody); - } - shapes.clear(); - if (!p_force_not_reload) { - reload_shapes(); - } -} - -void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform3D &p_transform) { - ERR_FAIL_INDEX(p_index, get_shape_count()); - - shapes.write[p_index].set_transform(p_transform); - shape_changed(p_index); -} - -const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const { - return shapes[p_index].transform; -} - -Transform3D RigidCollisionObjectBullet::get_shape_transform(int p_index) const { - Transform3D trs; - B_TO_G(shapes[p_index].transform, trs); - return trs; -} - -void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) { - if (shapes[p_index].active != p_disabled) { - return; - } - shapes.write[p_index].active = !p_disabled; - shape_changed(p_index); -} - -bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) { - return !shapes[p_index].active; -} - -void RigidCollisionObjectBullet::shape_changed(int p_shape_index) { - ShapeWrapper &shp = shapes.write[p_shape_index]; - if (shp.bt_shape == mainShape) { - mainShape = nullptr; - } - bulletdelete(shp.bt_shape); - reload_shapes(); -} - -void RigidCollisionObjectBullet::reload_shapes() { - if (mainShape && mainShape->isCompound()) { - // Destroy compound - bulletdelete(mainShape); - } - - mainShape = nullptr; - - ShapeWrapper *shpWrapper; - const int shape_count = shapes.size(); - - // Reset shape if required - if (force_shape_reset) { - for (int i(0); i < shape_count; ++i) { - shpWrapper = &shapes.write[i]; - bulletdelete(shpWrapper->bt_shape); - } - force_shape_reset = false; - } - - const btVector3 body_scale(get_bt_body_scale()); - - // Try to optimize by not using compound - if (1 == shape_count) { - shpWrapper = &shapes.write[0]; - btTransform transform = shpWrapper->get_adjusted_transform(); - if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) { - shpWrapper->claim_bt_shape(body_scale); - mainShape = shpWrapper->bt_shape; - main_shape_changed(); - return; - } - } - - // Optimization not possible use a compound shape - btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count)); - - for (int i(0); i < shape_count; ++i) { - shpWrapper = &shapes.write[i]; - shpWrapper->claim_bt_shape(body_scale); - btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform()); - scaled_shape_transform.getOrigin() *= body_scale; - compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape); - } - - compoundShape->recalculateLocalAabb(); - mainShape = compoundShape; - main_shape_changed(); -} - -void RigidCollisionObjectBullet::body_scale_changed() { - CollisionObjectBullet::body_scale_changed(); - reload_shapes(); -} - -void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) { - ShapeWrapper &shp = shapes.write[p_index]; - shp.shape->remove_owner(this, p_permanentlyFromThisBody); - if (shp.bt_shape == mainShape) { - mainShape = nullptr; - } - bulletdelete(shp.bt_shape); -} |