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-/*************************************************************************/
-/* rigid_body_bullet.h */
-/*************************************************************************/
-/* 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. */
-/*************************************************************************/
-
-#ifndef RIGID_BODY_BULLET_H
-#define RIGID_BODY_BULLET_H
-
-#include "collision_object_bullet.h"
-#include "space_bullet.h"
-
-#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
-#include <LinearMath/btTransform.h>
-
-class AreaBullet;
-class SpaceBullet;
-class btRigidBody;
-class GodotMotionState;
-class BulletPhysicsDirectBodyState3D;
-
-/// This class could be used in multi thread with few changes but currently
-/// is set 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 BulletPhysicsServer3D and is held by the "singleton" variable of this class
-/// Each time something require it, the body must be set again.
-class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
- GDCLASS(BulletPhysicsDirectBodyState3D, PhysicsDirectBodyState3D);
-
- static BulletPhysicsDirectBodyState3D *singleton;
-
-public:
- /// This class avoid the creation of more object of this class
- static void initSingleton() {
- if (!singleton) {
- singleton = memnew(BulletPhysicsDirectBodyState3D);
- }
- }
-
- static void destroySingleton() {
- memdelete(singleton);
- singleton = nullptr;
- }
-
- static void singleton_setDeltaTime(real_t p_deltaTime) {
- singleton->deltaTime = p_deltaTime;
- }
-
- static BulletPhysicsDirectBodyState3D *get_singleton(RigidBodyBullet *p_body) {
- singleton->body = p_body;
- return singleton;
- }
-
-public:
- RigidBodyBullet *body = nullptr;
- real_t deltaTime = 0.0;
-
-private:
- BulletPhysicsDirectBodyState3D() {}
-
-public:
- virtual Vector3 get_total_gravity() const override;
- virtual real_t get_total_angular_damp() const override;
- virtual real_t get_total_linear_damp() const override;
-
- virtual Vector3 get_center_of_mass() const override;
- virtual Basis get_principal_inertia_axes() const override;
- // get the mass
- virtual real_t get_inverse_mass() const override;
- // get density of this body space
- virtual Vector3 get_inverse_inertia() const override;
- // get density of this body space
- virtual Basis get_inverse_inertia_tensor() const override;
-
- virtual void set_linear_velocity(const Vector3 &p_velocity) override;
- virtual Vector3 get_linear_velocity() const override;
-
- virtual void set_angular_velocity(const Vector3 &p_velocity) override;
- virtual Vector3 get_angular_velocity() const override;
-
- virtual void set_transform(const Transform3D &p_transform) override;
- virtual Transform3D get_transform() const override;
-
- virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override;
-
- virtual void add_central_force(const Vector3 &p_force) override;
- virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
- virtual void add_torque(const Vector3 &p_torque) override;
- virtual void apply_central_impulse(const Vector3 &p_impulse) override;
- virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
- virtual void apply_torque_impulse(const Vector3 &p_impulse) override;
-
- virtual void set_sleep_state(bool p_sleep) override;
- virtual bool is_sleeping() const override;
-
- virtual int get_contact_count() const override;
-
- virtual Vector3 get_contact_local_position(int p_contact_idx) const override;
- virtual Vector3 get_contact_local_normal(int p_contact_idx) const override;
- virtual real_t get_contact_impulse(int p_contact_idx) const override;
- virtual int get_contact_local_shape(int p_contact_idx) const override;
-
- virtual RID get_contact_collider(int p_contact_idx) const override;
- virtual Vector3 get_contact_collider_position(int p_contact_idx) const override;
- virtual ObjectID get_contact_collider_id(int p_contact_idx) const override;
- virtual int get_contact_collider_shape(int p_contact_idx) const override;
- virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override;
-
- virtual real_t get_step() const override { return deltaTime; }
- virtual void integrate_forces() override {
- // Skip the execution of this function
- }
-
- virtual PhysicsDirectSpaceState3D *get_space_state() override;
-};
-
-class RigidBodyBullet : public RigidCollisionObjectBullet {
-public:
- struct CollisionData {
- RigidBodyBullet *otherObject = nullptr;
- int other_object_shape = 0;
- int local_shape = 0;
- Vector3 hitLocalLocation;
- Vector3 hitWorldLocation;
- Vector3 hitNormal;
- real_t appliedImpulse = 0.0;
- };
-
- struct ForceIntegrationCallback {
- Callable callable;
- Variant udata;
- };
-
- /// Used to hold shapes
- struct KinematicShape {
- class btConvexShape *shape = nullptr;
- btTransform transform;
-
- KinematicShape() {}
- bool is_active() const { return shape; }
- };
-
- struct KinematicUtilities {
- RigidBodyBullet *owner = nullptr;
- 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 BulletPhysicsDirectBodyState3D;
-
- // This is required only for Kinematic movement
- KinematicUtilities *kinematic_utilities = nullptr;
-
- PhysicsServer3D::BodyMode mode;
- GodotMotionState *godotMotionState;
- btRigidBody *btBody;
- uint16_t locked_axis = 0;
- real_t mass = 1.0;
- real_t gravity_scale = 1.0;
- real_t linearDamp = 0.0;
- real_t angularDamp = 0.0;
- bool can_sleep = true;
- bool omit_forces_integration = false;
- bool can_integrate_forces = false;
-
- Vector<CollisionData> collisions;
- Vector<RigidBodyBullet *> collision_traces_1;
- Vector<RigidBodyBullet *> collision_traces_2;
- Vector<RigidBodyBullet *> *prev_collision_traces;
- Vector<RigidBodyBullet *> *curr_collision_traces;
-
- // these parameters are used to avoid vector resize
- int maxCollisionsDetection = 0;
- int collisionsCount = 0;
- int prev_collision_count = 0;
-
- Vector<AreaBullet *> areasWhereIam;
- // these parameters are used to avoid vector resize
- int maxAreasWhereIam = 10;
- int areaWhereIamCount = 0;
- // Used to know if the area is used as gravity point
- int countGravityPointSpaces = 0;
- bool isScratchedSpaceOverrideModificator = false;
-
- bool previousActiveState = true; // Last check state
-
- ForceIntegrationCallback *force_integration_callback = nullptr;
-
-public:
- RigidBodyBullet();
- ~RigidBodyBullet();
-
- void init_kinematic_utilities();
- void destroy_kinematic_utilities();
- _FORCE_INLINE_ KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }
-
- _FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }
-
- virtual void main_shape_changed();
- virtual void reload_body();
- virtual void set_space(SpaceBullet *p_space);
-
- virtual void dispatch_callbacks();
- void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
- void scratch_space_override_modificator();
-
- virtual void on_collision_filters_change();
- virtual void on_collision_checker_start();
- virtual void on_collision_checker_end();
-
- void set_max_collisions_detection(int p_maxCollisionsDetection) {
- ERR_FAIL_COND(0 > p_maxCollisionsDetection);
-
- maxCollisionsDetection = p_maxCollisionsDetection;
-
- collisions.resize(p_maxCollisionsDetection);
- collision_traces_1.resize(p_maxCollisionsDetection);
- collision_traces_2.resize(p_maxCollisionsDetection);
-
- collisionsCount = 0;
- prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
- }
- 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, const real_t &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
- bool was_colliding(RigidBodyBullet *p_other_object);
-
- void set_activation_state(bool p_active);
- bool is_active() const;
-
- void set_omit_forces_integration(bool p_omit);
- _FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }
-
- void set_param(PhysicsServer3D::BodyParameter p_param, real_t);
- real_t get_param(PhysicsServer3D::BodyParameter p_param) const;
-
- void set_mode(PhysicsServer3D::BodyMode p_mode);
- PhysicsServer3D::BodyMode get_mode() const;
-
- void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
- Variant get_state(PhysicsServer3D::BodyState p_state) const;
-
- void apply_central_impulse(const Vector3 &p_impulse);
- void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
- void apply_torque_impulse(const Vector3 &p_impulse);
-
- void apply_central_force(const Vector3 &p_force);
- void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
- void apply_torque(const Vector3 &p_torque);
-
- 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(PhysicsServer3D::BodyAxis p_axis, bool lock);
- bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const;
- void reload_axis_lock();
-
- /// Doc:
- /// https://web.archive.org/web/20180404091446/https://www.bulletphysics.org/mediawiki-1.5.8/index.php/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 reload_shapes();
-
- 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();
-
- virtual void notify_transform_changed();
-
-private:
- void _internal_set_mass(real_t p_mass);
-};
-
-#endif // RIGID_BODY_BULLET_H
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