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Diffstat (limited to 'modules/bullet/shape_bullet.cpp')
| -rw-r--r-- | modules/bullet/shape_bullet.cpp | 435 |
1 files changed, 435 insertions, 0 deletions
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp new file mode 100644 index 0000000000..49150484d9 --- /dev/null +++ b/modules/bullet/shape_bullet.cpp @@ -0,0 +1,435 @@ +/*************************************************************************/ +/* shape_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "shape_bullet.h" +#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h" +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" +#include "btBulletCollisionCommon.h" +#include "btRayShape.h" +#include "bullet_physics_server.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "shape_owner_bullet.h" + +ShapeBullet::ShapeBullet() {} + +ShapeBullet::~ShapeBullet() {} + +btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { + p_btShape->setUserPointer(const_cast<ShapeBullet *>(this)); + return p_btShape; +} + +void ShapeBullet::notifyShapeChanged() { + for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) { + static_cast<ShapeOwnerBullet *>(E->key())->on_shape_changed(this); + } +} + +void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) { + Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner); + if (E) { + E->get()++; + } else { + owners[p_owner] = 1; // add new owner + } +} + +void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody) { + Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner); + ERR_FAIL_COND(!E); + E->get()--; + if (p_permanentlyFromThisBody || 0 >= E->get()) { + owners.erase(E); + } +} + +bool ShapeBullet::is_owner(ShapeOwnerBullet *p_owner) const { + + return owners.has(p_owner); +} + +const Map<ShapeOwnerBullet *, int> &ShapeBullet::get_owners() const { + return owners; +} + +btEmptyShape *ShapeBullet::create_shape_empty() { + return bulletnew(btEmptyShape); +} + +btStaticPlaneShape *ShapeBullet::create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant) { + return bulletnew(btStaticPlaneShape(planeNormal, planeConstant)); +} + +btSphereShape *ShapeBullet::create_shape_sphere(btScalar radius) { + return bulletnew(btSphereShape(radius)); +} + +btBoxShape *ShapeBullet::create_shape_box(const btVector3 &boxHalfExtents) { + return bulletnew(btBoxShape(boxHalfExtents)); +} + +btCapsuleShapeZ *ShapeBullet::create_shape_capsule(btScalar radius, btScalar height) { + return bulletnew(btCapsuleShapeZ(radius, height)); +} + +btConvexPointCloudShape *ShapeBullet::create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling) { + return bulletnew(btConvexPointCloudShape(&p_vertices[0], p_vertices.size(), p_local_scaling)); +} + +btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling) { + if (p_mesh_shape) { + return bulletnew(btScaledBvhTriangleMeshShape(p_mesh_shape, p_local_scaling)); + } else { + return NULL; + } +} + +btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) { + const btScalar ignoredHeightScale(1); + const btScalar fieldHeight(500); // Meters + const int YAxis = 1; // 0=X, 1=Y, 2=Z + const bool flipQuadEdges = false; + const void *heightsPtr = p_heights.read().ptr(); + + return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges)); +} + +btRayShape *ShapeBullet::create_shape_ray(real_t p_length) { + return bulletnew(btRayShape(p_length)); +} + +/* PLANE */ + +PlaneShapeBullet::PlaneShapeBullet() + : ShapeBullet() {} + +void PlaneShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant PlaneShapeBullet::get_data() const { + return plane; +} + +PhysicsServer::ShapeType PlaneShapeBullet::get_type() const { + return PhysicsServer::SHAPE_PLANE; +} + +void PlaneShapeBullet::setup(const Plane &p_plane) { + plane = p_plane; + notifyShapeChanged(); +} + +btCollisionShape *PlaneShapeBullet::create_bt_shape() { + btVector3 btPlaneNormal; + G_TO_B(plane.normal, btPlaneNormal); + return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d)); +} + +/* Sphere */ + +SphereShapeBullet::SphereShapeBullet() + : ShapeBullet() {} + +void SphereShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant SphereShapeBullet::get_data() const { + return radius; +} + +PhysicsServer::ShapeType SphereShapeBullet::get_type() const { + return PhysicsServer::SHAPE_SPHERE; +} + +void SphereShapeBullet::setup(real_t p_radius) { + radius = p_radius; + notifyShapeChanged(); +} + +btCollisionShape *SphereShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_sphere(radius)); +} + +/* Box */ +BoxShapeBullet::BoxShapeBullet() + : ShapeBullet() {} + +void BoxShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant BoxShapeBullet::get_data() const { + Vector3 g_half_extents; + B_TO_G(half_extents, g_half_extents); + return g_half_extents; +} + +PhysicsServer::ShapeType BoxShapeBullet::get_type() const { + return PhysicsServer::SHAPE_BOX; +} + +void BoxShapeBullet::setup(const Vector3 &p_half_extents) { + G_TO_B(p_half_extents, half_extents); + notifyShapeChanged(); +} + +btCollisionShape *BoxShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_box(half_extents)); +} + +/* Capsule */ + +CapsuleShapeBullet::CapsuleShapeBullet() + : ShapeBullet() {} + +void CapsuleShapeBullet::set_data(const Variant &p_data) { + Dictionary d = p_data; + ERR_FAIL_COND(!d.has("radius")); + ERR_FAIL_COND(!d.has("height")); + setup(d["height"], d["radius"]); +} + +Variant CapsuleShapeBullet::get_data() const { + Dictionary d; + d["radius"] = radius; + d["height"] = height; + return d; +} + +PhysicsServer::ShapeType CapsuleShapeBullet::get_type() const { + return PhysicsServer::SHAPE_CAPSULE; +} + +void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) { + radius = p_radius; + height = p_height; + notifyShapeChanged(); +} + +btCollisionShape *CapsuleShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_capsule(radius, height)); +} + +/* Convex polygon */ + +ConvexPolygonShapeBullet::ConvexPolygonShapeBullet() + : ShapeBullet() {} + +void ConvexPolygonShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +void ConvexPolygonShapeBullet::get_vertices(Vector<Vector3> &out_vertices) { + const int n_of_vertices = vertices.size(); + out_vertices.resize(n_of_vertices); + for (int i = n_of_vertices - 1; 0 <= i; --i) { + B_TO_G(vertices[i], out_vertices[i]); + } +} + +Variant ConvexPolygonShapeBullet::get_data() const { + ConvexPolygonShapeBullet *variable_self = const_cast<ConvexPolygonShapeBullet *>(this); + Vector<Vector3> out_vertices; + variable_self->get_vertices(out_vertices); + return out_vertices; +} + +PhysicsServer::ShapeType ConvexPolygonShapeBullet::get_type() const { + return PhysicsServer::SHAPE_CONVEX_POLYGON; +} + +void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) { + // Make a copy of verticies + const int n_of_vertices = p_vertices.size(); + vertices.resize(n_of_vertices); + for (int i = n_of_vertices - 1; 0 <= i; --i) { + G_TO_B(p_vertices[i], vertices[i]); + } + notifyShapeChanged(); +} + +btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_convex(vertices)); +} + +/* Concave polygon */ + +ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() + : ShapeBullet(), meshShape(NULL) {} + +ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() { + if (meshShape) { + delete meshShape->getMeshInterface(); + delete meshShape; + } + faces = PoolVector<Vector3>(); +} + +void ConcavePolygonShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant ConcavePolygonShapeBullet::get_data() const { + return faces; +} + +PhysicsServer::ShapeType ConcavePolygonShapeBullet::get_type() const { + return PhysicsServer::SHAPE_CONCAVE_POLYGON; +} + +void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) { + faces = p_faces; + if (meshShape) { + /// Clear previous created shape + delete meshShape->getMeshInterface(); + bulletdelete(meshShape); + } + int src_face_count = faces.size(); + if (0 < src_face_count) { + + btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh); + + // It counts the faces and assert the array contains the correct number of vertices. + ERR_FAIL_COND(src_face_count % 3); + src_face_count /= 3; + PoolVector<Vector3>::Read r = p_faces.read(); + const Vector3 *facesr = r.ptr(); + + btVector3 supVec_0; + btVector3 supVec_1; + btVector3 supVec_2; + for (int i = 0; i < src_face_count; ++i) { + G_TO_B(facesr[i * 3], supVec_0); + G_TO_B(facesr[i * 3 + 1], supVec_1); + G_TO_B(facesr[i * 3 + 2], supVec_2); + + shapeInterface->addTriangle(supVec_0, supVec_1, supVec_2); + } + + const bool useQuantizedAabbCompression = true; + + meshShape = bulletnew(btBvhTriangleMeshShape(shapeInterface, useQuantizedAabbCompression)); + } else { + meshShape = NULL; + ERR_PRINT("The faces count are 0, the mesh shape cannot be created"); + } + notifyShapeChanged(); +} + +btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape() { + btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape); + if (!cs) { + // This is necessary since if 0 faces the creation of concave return NULL + cs = ShapeBullet::create_shape_empty(); + } + return prepare(cs); +} + +/* Height map shape */ + +HeightMapShapeBullet::HeightMapShapeBullet() + : ShapeBullet() {} + +void HeightMapShapeBullet::set_data(const Variant &p_data) { + ERR_FAIL_COND(p_data.get_type() != Variant::DICTIONARY); + Dictionary d = p_data; + ERR_FAIL_COND(!d.has("width")); + ERR_FAIL_COND(!d.has("depth")); + ERR_FAIL_COND(!d.has("cell_size")); + ERR_FAIL_COND(!d.has("heights")); + + int l_width = d["width"]; + int l_depth = d["depth"]; + real_t l_cell_size = d["cell_size"]; + PoolVector<real_t> l_heights = d["heights"]; + + ERR_FAIL_COND(l_width <= 0); + ERR_FAIL_COND(l_depth <= 0); + ERR_FAIL_COND(l_cell_size <= CMP_EPSILON); + ERR_FAIL_COND(l_heights.size() != (width * depth)); + setup(heights, width, depth, cell_size); +} + +Variant HeightMapShapeBullet::get_data() const { + ERR_FAIL_V(Variant()); +} + +PhysicsServer::ShapeType HeightMapShapeBullet::get_type() const { + return PhysicsServer::SHAPE_HEIGHTMAP; +} + +void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) { + { // Copy + const int heights_size = p_heights.size(); + heights.resize(heights_size); + PoolVector<real_t>::Read p_heights_r = p_heights.read(); + PoolVector<real_t>::Write heights_w = heights.write(); + for (int i = heights_size - 1; 0 <= i; --i) { + heights_w[i] = p_heights_r[i]; + } + } + width = p_width; + depth = p_depth; + cell_size = p_cell_size; + notifyShapeChanged(); +} + +btCollisionShape *HeightMapShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size)); +} + +/* Ray shape */ +RayShapeBullet::RayShapeBullet() + : ShapeBullet(), length(1) {} + +void RayShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant RayShapeBullet::get_data() const { + return length; +} + +PhysicsServer::ShapeType RayShapeBullet::get_type() const { + return PhysicsServer::SHAPE_RAY; +} + +void RayShapeBullet::setup(real_t p_length) { + length = p_length; + notifyShapeChanged(); +} + +btCollisionShape *RayShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_ray(length)); +} |