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Diffstat (limited to 'modules/bullet/shape_bullet.cpp')
| -rw-r--r-- | modules/bullet/shape_bullet.cpp | 595 |
1 files changed, 0 insertions, 595 deletions
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp deleted file mode 100644 index cf6bcb6c85..0000000000 --- a/modules/bullet/shape_bullet.cpp +++ /dev/null @@ -1,595 +0,0 @@ -/*************************************************************************/ -/* shape_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 "shape_bullet.h" - -#include "btRayShape.h" -#include "bullet_physics_server.h" -#include "bullet_types_converter.h" -#include "bullet_utilities.h" -#include "core/config/project_settings.h" -#include "shape_owner_bullet.h" - -#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h> -#include <BulletCollision/CollisionShapes/btConvexPointCloudShape.h> -#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h> -#include <btBulletCollisionCommon.h> - -ShapeBullet::ShapeBullet() {} - -ShapeBullet::~ShapeBullet() {} - -btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge) { - btVector3 s; - G_TO_B(p_implicit_scale, s); - return create_bt_shape(s, p_extra_edge); -} - -btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { - p_btShape->setUserPointer(const_cast<ShapeBullet *>(this)); - p_btShape->setMargin(margin); - return p_btShape; -} - -void ShapeBullet::notifyShapeChanged() { - for (const KeyValue<ShapeOwnerBullet *, int> &E : owners) { - ShapeOwnerBullet *owner = static_cast<ShapeOwnerBullet *>(E.key); - owner->shape_changed(owner->find_shape(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); - if (!E) { - return; - } - 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; -} - -void ShapeBullet::set_margin(real_t p_margin) { - margin = p_margin; - notifyShapeChanged(); -} - -real_t ShapeBullet::get_margin() const { - return margin; -} - -btEmptyShape *ShapeBullet::create_shape_empty() { - return bulletnew(btEmptyShape); -} - -btStaticPlaneShape *ShapeBullet::create_shape_world_boundary(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)); -} - -btCapsuleShape *ShapeBullet::create_shape_capsule(btScalar radius, btScalar height) { - return bulletnew(btCapsuleShape(radius, height)); -} - -btCylinderShape *ShapeBullet::create_shape_cylinder(btScalar radius, btScalar height) { - return bulletnew(btCylinderShape(btVector3(radius, height / 2.0, radius))); -} - -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 nullptr; - } -} - -btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { - const btScalar ignoredHeightScale(1); - const int YAxis = 1; // 0=X, 1=Y, 2=Z - const bool flipQuadEdges = false; - const void *heightsPtr = p_heights.ptr(); - - btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges)); - - // The shape can be created without params when you do PhysicsServer3D.shape_create(PhysicsServer3D.SHAPE_HEIGHTMAP) - if (heightsPtr) { - heightfield->buildAccelerator(16); - } - - return heightfield; -} - -btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) { - btRayShape *r(bulletnew(btRayShape(p_length))); - r->setSlipsOnSlope(p_slips_on_slope); - return r; -} - -/* World boundary */ - -WorldBoundaryShapeBullet::WorldBoundaryShapeBullet() : - ShapeBullet() {} - -void WorldBoundaryShapeBullet::set_data(const Variant &p_data) { - setup(p_data); -} - -Variant WorldBoundaryShapeBullet::get_data() const { - return plane; -} - -PhysicsServer3D::ShapeType WorldBoundaryShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_WORLD_BOUNDARY; -} - -void WorldBoundaryShapeBullet::setup(const Plane &p_plane) { - plane = p_plane; - notifyShapeChanged(); -} - -btCollisionShape *WorldBoundaryShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - btVector3 btPlaneNormal; - G_TO_B(plane.normal, btPlaneNormal); - return prepare(WorldBoundaryShapeBullet::create_shape_world_boundary(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; -} - -PhysicsServer3D::ShapeType SphereShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_SPHERE; -} - -void SphereShapeBullet::setup(real_t p_radius) { - radius = p_radius; - notifyShapeChanged(); -} - -btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_extra_edge)); -} - -/* 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; -} - -PhysicsServer3D::ShapeType BoxShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_BOX; -} - -void BoxShapeBullet::setup(const Vector3 &p_half_extents) { - G_TO_B(p_half_extents, half_extents); - notifyShapeChanged(); -} - -btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_extra_edge, p_extra_edge, p_extra_edge))); -} - -/* 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; -} - -PhysicsServer3D::ShapeType CapsuleShapeBullet::get_type() const { - return PhysicsServer3D::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(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_extra_edge, height * p_implicit_scale[1])); -} - -/* Cylinder */ - -CylinderShapeBullet::CylinderShapeBullet() : - ShapeBullet() {} - -void CylinderShapeBullet::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 CylinderShapeBullet::get_data() const { - Dictionary d; - d["radius"] = radius; - d["height"] = height; - return d; -} - -PhysicsServer3D::ShapeType CylinderShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_CYLINDER; -} - -void CylinderShapeBullet::setup(real_t p_height, real_t p_radius) { - radius = p_radius; - height = p_height; - notifyShapeChanged(); -} - -btCollisionShape *CylinderShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { - return prepare(ShapeBullet::create_shape_cylinder(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin)); -} - -/* 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.write[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; -} - -PhysicsServer3D::ShapeType ConvexPolygonShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_CONVEX_POLYGON; -} - -void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) { - // Make a copy of vertices - 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(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - if (!vertices.size()) { - // This is necessary since 0 vertices - return prepare(ShapeBullet::create_shape_empty()); - } - btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices)); - cs->setLocalScaling(p_implicit_scale); - prepare(cs); - return cs; -} - -/* Concave polygon */ - -ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() : - ShapeBullet() {} - -ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() { - if (meshShape) { - delete meshShape->getMeshInterface(); - delete meshShape->getTriangleInfoMap(); - bulletdelete(meshShape); - } - faces = Vector<Vector3>(); -} - -void ConcavePolygonShapeBullet::set_data(const Variant &p_data) { - Dictionary d = p_data; - ERR_FAIL_COND(!d.has("faces")); - - setup(d["faces"]); -} - -Variant ConcavePolygonShapeBullet::get_data() const { - Dictionary d; - d["faces"] = faces; - - return d; -} - -PhysicsServer3D::ShapeType ConcavePolygonShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_CONCAVE_POLYGON; -} - -void ConcavePolygonShapeBullet::setup(Vector<Vector3> p_faces) { - faces = p_faces; - if (meshShape) { - /// Clear previous created shape - delete meshShape->getMeshInterface(); - delete meshShape->getTriangleInfoMap(); - bulletdelete(meshShape); - } - int src_face_count = faces.size(); - if (0 < src_face_count) { - // It counts the faces and assert the array contains the correct number of vertices. - ERR_FAIL_COND(src_face_count % 3); - - btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh); - src_face_count /= 3; - const Vector3 *r = p_faces.ptr(); - const Vector3 *facesr = r; - - btVector3 supVec_0; - btVector3 supVec_1; - btVector3 supVec_2; - for (int i = 0; i < src_face_count; ++i) { - G_TO_B(facesr[i * 3 + 0], supVec_0); - G_TO_B(facesr[i * 3 + 1], supVec_1); - G_TO_B(facesr[i * 3 + 2], supVec_2); - - // Inverted from standard godot otherwise btGenerateInternalEdgeInfo generates wrong edge info - shapeInterface->addTriangle(supVec_2, supVec_1, supVec_0); - } - - const bool useQuantizedAabbCompression = true; - - meshShape = bulletnew(btBvhTriangleMeshShape(shapeInterface, useQuantizedAabbCompression)); - - if (GLOBAL_GET("physics/3d/smooth_trimesh_collision")) { - btTriangleInfoMap *triangleInfoMap = new btTriangleInfoMap(); - btGenerateInternalEdgeInfo(meshShape, triangleInfoMap); - } - } else { - meshShape = nullptr; - ERR_PRINT("The faces count are 0, the mesh shape cannot be created"); - } - notifyShapeChanged(); -} - -btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - 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(); - } - cs->setLocalScaling(p_implicit_scale); - prepare(cs); - cs->setMargin(0); - return 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("heights")); - - real_t l_min_height = 0.0; - real_t l_max_height = 0.0; - - // If specified, min and max height will be used as precomputed values - if (d.has("min_height")) { - l_min_height = d["min_height"]; - } - if (d.has("max_height")) { - l_max_height = d["max_height"]; - } - - ERR_FAIL_COND(l_min_height > l_max_height); - - int l_width = d["width"]; - int l_depth = d["depth"]; - - ERR_FAIL_COND_MSG(l_width < 2, "Map width must be at least 2."); - ERR_FAIL_COND_MSG(l_depth < 2, "Map depth must be at least 2."); - - Vector<float> l_heights; - Variant l_heights_v = d["heights"]; - - if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) { - // Ready-to-use heights can be passed - - l_heights = l_heights_v; - - } else if (l_heights_v.get_type() == Variant::OBJECT) { - // If an image is passed, we have to convert it to a format Bullet supports. - // this would be expensive to do with a script, so it's nice to have it here. - - Ref<Image> l_image = l_heights_v; - ERR_FAIL_COND(l_image.is_null()); - - // Float is the only common format between Godot and Bullet that can be used for decent collision. - // (Int16 would be nice too but we still don't have it) - // We could convert here automatically but it's better to not be intrusive and let the caller do it if necessary. - ERR_FAIL_COND(l_image->get_format() != Image::FORMAT_RF); - - PackedByteArray im_data = l_image->get_data(); - - l_heights.resize(l_image->get_width() * l_image->get_height()); - - float *w = l_heights.ptrw(); - const uint8_t *r = im_data.ptr(); - float *rp = (float *)r; - // At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be. - - for (int i = 0; i < l_heights.size(); ++i) { - w[i] = rp[i]; - } - - } else { - ERR_FAIL_MSG("Expected PackedFloat32Array or float Image."); - } - - ERR_FAIL_COND(l_width <= 0); - ERR_FAIL_COND(l_depth <= 0); - ERR_FAIL_COND(l_heights.size() != (l_width * l_depth)); - - // Compute min and max heights if not specified. - if (!d.has("min_height") && !d.has("max_height")) { - const float *r = l_heights.ptr(); - int heights_size = l_heights.size(); - - for (int i = 0; i < heights_size; ++i) { - float h = r[i]; - - if (h < l_min_height) { - l_min_height = h; - } else if (h > l_max_height) { - l_max_height = h; - } - } - } - - setup(l_heights, l_width, l_depth, l_min_height, l_max_height); -} - -Variant HeightMapShapeBullet::get_data() const { - ERR_FAIL_V(Variant()); -} - -PhysicsServer3D::ShapeType HeightMapShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_HEIGHTMAP; -} - -void HeightMapShapeBullet::setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { - // TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes - - // If this array is resized outside of here, it should be preserved due to CoW - heights = p_heights; - - width = p_width; - depth = p_depth; - min_height = p_min_height; - max_height = p_max_height; - notifyShapeChanged(); -} - -btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height)); - cs->setLocalScaling(p_implicit_scale); - prepare(cs); - return cs; -} - -/* Ray shape */ -RayShapeBullet::RayShapeBullet() : - ShapeBullet() {} - -void RayShapeBullet::set_data(const Variant &p_data) { - Dictionary d = p_data; - setup(d["length"], d["slips_on_slope"]); -} - -Variant RayShapeBullet::get_data() const { - Dictionary d; - d["length"] = length; - d["slips_on_slope"] = slips_on_slope; - return d; -} - -PhysicsServer3D::ShapeType RayShapeBullet::get_type() const { - return PhysicsServer3D::SHAPE_RAY; -} - -void RayShapeBullet::setup(real_t p_length, bool p_slips_on_slope) { - length = p_length; - slips_on_slope = p_slips_on_slope; - notifyShapeChanged(); -} - -btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge) { - return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_extra_edge, slips_on_slope)); -} |