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Diffstat (limited to 'modules/bullet/rigid_body_bullet.h')
| -rw-r--r-- | modules/bullet/rigid_body_bullet.h | 302 |
1 files changed, 302 insertions, 0 deletions
diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h new file mode 100644 index 0000000000..ab3c3e58b2 --- /dev/null +++ b/modules/bullet/rigid_body_bullet.h @@ -0,0 +1,302 @@ +/*************************************************************************/ +/* body_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 BODYBULLET_H +#define BODYBULLET_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "LinearMath/btTransform.h" +#include "collision_object_bullet.h" +#include "space_bullet.h" + +class AreaBullet; +class SpaceBullet; +class btRigidBody; +class GodotMotionState; +class BulletPhysicsDirectBodyState; + +/// This class could be used in multi thread with few changes but currently +/// is setted to be only in one single thread. +/// +/// In the system there is only one object at a time that manage all bodies and is +/// created by BulletPhysicsServer and is held by the "singleton" variable of this class +/// Each time something require it, the body must be setted again. +class BulletPhysicsDirectBodyState : public PhysicsDirectBodyState { + GDCLASS(BulletPhysicsDirectBodyState, PhysicsDirectBodyState) + + static BulletPhysicsDirectBodyState *singleton; + +public: + /// This class avoid the creation of more object of this class + static void initSingleton() { + if (!singleton) { + singleton = memnew(BulletPhysicsDirectBodyState); + } + } + + static void destroySingleton() { + memdelete(singleton); + singleton = NULL; + } + + static void singleton_setDeltaTime(real_t p_deltaTime) { + singleton->deltaTime = p_deltaTime; + } + + static BulletPhysicsDirectBodyState *get_singleton(RigidBodyBullet *p_body) { + singleton->body = p_body; + return singleton; + } + +public: + RigidBodyBullet *body; + real_t deltaTime; + +private: + BulletPhysicsDirectBodyState() {} + +public: + virtual Vector3 get_total_gravity() const; + virtual float get_total_angular_damp() const; + virtual float get_total_linear_damp() const; + + virtual Vector3 get_center_of_mass() const; + virtual Basis get_principal_inertia_axes() const; + // get the mass + virtual float get_inverse_mass() const; + // get density of this body space + virtual Vector3 get_inverse_inertia() const; + // get density of this body space + virtual Basis get_inverse_inertia_tensor() const; + + virtual void set_linear_velocity(const Vector3 &p_velocity); + virtual Vector3 get_linear_velocity() const; + + virtual void set_angular_velocity(const Vector3 &p_velocity); + virtual Vector3 get_angular_velocity() const; + + virtual void set_transform(const Transform &p_transform); + virtual Transform get_transform() const; + + virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos); + virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j); + virtual void apply_torque_impulse(const Vector3 &p_j); + + virtual void set_sleep_state(bool p_enable); + virtual bool is_sleeping() const; + + virtual int get_contact_count() const; + + virtual Vector3 get_contact_local_position(int p_contact_idx) const; + virtual Vector3 get_contact_local_normal(int p_contact_idx) const; + virtual int get_contact_local_shape(int p_contact_idx) const; + + virtual RID get_contact_collider(int p_contact_idx) const; + virtual Vector3 get_contact_collider_position(int p_contact_idx) const; + virtual ObjectID get_contact_collider_id(int p_contact_idx) const; + virtual int get_contact_collider_shape(int p_contact_idx) const; + virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const; + + virtual real_t get_step() const { return deltaTime; } + virtual void integrate_forces() { + // Skip the execution of this function + } + + virtual PhysicsDirectSpaceState *get_space_state(); +}; + +class RigidBodyBullet : public RigidCollisionObjectBullet { + +public: + struct CollisionData { + RigidBodyBullet *otherObject; + int other_object_shape; + int local_shape; + Vector3 hitLocalLocation; + Vector3 hitWorldLocation; + Vector3 hitNormal; + }; + + struct ForceIntegrationCallback { + ObjectID id; + StringName method; + Variant udata; + }; + + /// Used to hold shapes + struct KinematicShape { + class btConvexShape *shape; + btTransform transform; + + KinematicShape() + : shape(NULL) {} + const bool is_active() const { return shape; } + }; + + struct KinematicUtilities { + RigidBodyBullet *owner; + btScalar safe_margin; + Vector<KinematicShape> shapes; + + KinematicUtilities(RigidBodyBullet *p_owner); + ~KinematicUtilities(); + + void setSafeMargin(btScalar p_margin); + /// Used to set the default shape to ghost + void copyAllOwnerShapes(); + + private: + void just_delete_shapes(int new_size); + }; + +private: + friend class BulletPhysicsDirectBodyState; + + // This is required only for Kinematic movement + KinematicUtilities *kinematic_utilities; + + PhysicsServer::BodyMode mode; + PhysicsServer::BodyAxisLock axis_lock; + GodotMotionState *godotMotionState; + btRigidBody *btBody; + real_t mass; + real_t gravity_scale; + real_t linearDamp; + real_t angularDamp; + bool can_sleep; + + Vector<CollisionData> collisions; + // these parameters are used to avoid vector resize + int maxCollisionsDetection; + int collisionsCount; + + Vector<AreaBullet *> areasWhereIam; + // these parameters are used to avoid vector resize + int maxAreasWhereIam; + int areaWhereIamCount; + // Used to know if the area is used as gravity point + int countGravityPointSpaces; + bool isScratchedSpaceOverrideModificator; + + bool isTransformChanged; + + ForceIntegrationCallback *force_integration_callback; + +public: + RigidBodyBullet(); + ~RigidBodyBullet(); + + void init_kinematic_utilities(); + void destroy_kinematic_utilities(); + _FORCE_INLINE_ class KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; } + + _FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; } + + virtual void reload_body(); + virtual void set_space(SpaceBullet *p_space); + + virtual void dispatch_callbacks(); + void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); + void scratch(); + void scratch_space_override_modificator(); + + virtual void on_collision_filters_change(); + virtual void on_collision_checker_start(); + void set_max_collisions_detection(int p_maxCollisionsDetection) { + maxCollisionsDetection = p_maxCollisionsDetection; + collisions.resize(p_maxCollisionsDetection); + collisionsCount = 0; + } + int get_max_collisions_detection() { + return maxCollisionsDetection; + } + + bool can_add_collision() { return collisionsCount < maxCollisionsDetection; } + bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, int p_other_shape_index, int p_local_shape_index); + + void assert_no_constraints(); + + void set_activation_state(bool p_active); + bool is_active() const; + + void set_param(PhysicsServer::BodyParameter p_param, real_t); + real_t get_param(PhysicsServer::BodyParameter p_param) const; + + void set_mode(PhysicsServer::BodyMode p_mode); + PhysicsServer::BodyMode get_mode() const; + + void set_state(PhysicsServer::BodyState p_state, const Variant &p_variant); + Variant get_state(PhysicsServer::BodyState p_state) const; + + void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse); + void apply_central_impulse(const Vector3 &p_force); + void apply_torque_impulse(const Vector3 &p_impulse); + + void apply_force(const Vector3 &p_force, const Vector3 &p_pos); + void apply_central_force(const Vector3 &p_force); + void apply_torque(const Vector3 &p_force); + + void set_applied_force(const Vector3 &p_force); + Vector3 get_applied_force() const; + void set_applied_torque(const Vector3 &p_torque); + Vector3 get_applied_torque() const; + + void set_axis_lock(PhysicsServer::BodyAxisLock p_lock); + PhysicsServer::BodyAxisLock get_axis_lock() const; + + /// Doc: + /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping + void set_continuous_collision_detection(bool p_enable); + bool is_continuous_collision_detection_enabled() const; + + void set_linear_velocity(const Vector3 &p_velocity); + Vector3 get_linear_velocity() const; + + void set_angular_velocity(const Vector3 &p_velocity); + Vector3 get_angular_velocity() const; + + virtual void set_transform__bullet(const btTransform &p_global_transform); + virtual const btTransform &get_transform__bullet() const; + + virtual void on_shapes_changed(); + + virtual void on_enter_area(AreaBullet *p_area); + virtual void on_exit_area(AreaBullet *p_area); + void reload_space_override_modificator(); + + /// Kinematic + void reload_kinematic_shapes(); + +private: + void _internal_set_mass(real_t p_mass); +}; + +#endif |