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Diffstat (limited to 'modules/bullet/soft_body_bullet.cpp')
-rw-r--r--modules/bullet/soft_body_bullet.cpp66
1 files changed, 29 insertions, 37 deletions
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index 236bdc7c8a..ee48b3c5f0 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -36,23 +36,12 @@
#include "space_bullet.h"
SoftBodyBullet::SoftBodyBullet() :
- CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY),
- bt_soft_body(nullptr),
- isScratched(false),
- simulation_precision(5),
- total_mass(1.),
- linear_stiffness(0.5),
- areaAngular_stiffness(0.5),
- volume_stiffness(0.5),
- pressure_coefficient(0.),
- pose_matching_coefficient(0.),
- damping_coefficient(0.01),
- drag_coefficient(0.) {}
+ CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY) {}
SoftBodyBullet::~SoftBodyBullet() {
}
-void SoftBodyBullet::reload_body() {
+void SoftBodyBullet::do_reload_body() {
if (space) {
space->remove_soft_body(this);
space->add_soft_body(this);
@@ -62,13 +51,15 @@ void SoftBodyBullet::reload_body() {
void SoftBodyBullet::set_space(SpaceBullet *p_space) {
if (space) {
isScratched = false;
+ space->unregister_collision_object(this);
space->remove_soft_body(this);
}
space = p_space;
if (space) {
- space->add_soft_body(this);
+ space->register_collision_object(this);
+ reload_body();
}
}
@@ -77,8 +68,9 @@ void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
void SoftBodyBullet::update_rendering_server(SoftBodyRenderingServerHandler *p_rendering_server_handler) {
- if (!bt_soft_body)
+ if (!bt_soft_body) {
return;
+ }
/// Update visual server vertices
const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes);
@@ -116,14 +108,13 @@ void SoftBodyBullet::update_rendering_server(SoftBodyRenderingServerHandler *p_r
}
void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) {
-
- if (p_mesh.is_null())
+ if (p_mesh.is_null()) {
soft_mesh.unref();
- else
+ } else {
soft_mesh = p_mesh;
+ }
if (soft_mesh.is_null()) {
-
destroy_soft_body();
return;
}
@@ -134,9 +125,9 @@ void SoftBodyBullet::set_soft_mesh(const Ref<Mesh> &p_mesh) {
}
void SoftBodyBullet::destroy_soft_body() {
-
- if (!bt_soft_body)
+ if (!bt_soft_body) {
return;
+ }
if (space) {
/// Remove from world before deletion
@@ -153,8 +144,9 @@ void SoftBodyBullet::set_soft_transform(const Transform &p_transform) {
}
void SoftBodyBullet::move_all_nodes(const Transform &p_transform) {
- if (!bt_soft_body)
+ if (!bt_soft_body) {
return;
+ }
btTransform bt_transf;
G_TO_B(p_transform, bt_transf);
bt_soft_body->transform(bt_transf);
@@ -180,8 +172,9 @@ void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) co
}
void SoftBodyBullet::get_node_offset(int p_node_index, Vector3 &r_offset) const {
- if (soft_mesh.is_null())
+ if (soft_mesh.is_null()) {
return;
+ }
Array arrays = soft_mesh->surface_get_arrays(0);
Vector<Vector3> vertices(arrays[RS::ARRAY_VERTEX]);
@@ -226,15 +219,15 @@ void SoftBodyBullet::reset_all_node_mass() {
}
void SoftBodyBullet::reset_all_node_positions() {
- if (soft_mesh.is_null())
+ if (soft_mesh.is_null()) {
return;
+ }
Array arrays = soft_mesh->surface_get_arrays(0);
Vector<Vector3> vs_vertices(arrays[RS::ARRAY_VERTEX]);
const Vector3 *vs_vertices_read = vs_vertices.ptr();
for (int vertex_index = bt_soft_body->m_nodes.size() - 1; 0 <= vertex_index; --vertex_index) {
-
G_TO_B(vs_vertices_read[indices_table[vertex_index][0]], bt_soft_body->m_nodes[vertex_index].m_x);
bt_soft_body->m_nodes[vertex_index].m_q = bt_soft_body->m_nodes[vertex_index].m_x;
@@ -342,7 +335,6 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
const Vector3 *p_vertices_read = p_vertices.ptr();
for (int vs_vertex_index = 0; vs_vertex_index < vs_vertices_size; ++vs_vertex_index) {
-
Map<Vector3, int>::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]);
int vertex_id;
if (e) {
@@ -354,14 +346,14 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
indices_table.push_back(Vector<int>());
}
- indices_table.write[vertex_id].push_back(vs_vertex_index);
+ indices_table[vertex_id].push_back(vs_vertex_index);
vs_indices_to_physics_table.push_back(vertex_id);
}
}
const int indices_map_size(indices_table.size());
- Vector<btScalar> bt_vertices;
+ LocalVector<btScalar> bt_vertices;
{ // Parse vertices to bullet
@@ -369,13 +361,13 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
const Vector3 *p_vertices_read = p_vertices.ptr();
for (int i = 0; i < indices_map_size; ++i) {
- bt_vertices.write[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
- bt_vertices.write[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
- bt_vertices.write[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
+ bt_vertices[3 * i + 0] = p_vertices_read[indices_table[i][0]].x;
+ bt_vertices[3 * i + 1] = p_vertices_read[indices_table[i][0]].y;
+ bt_vertices[3 * i + 2] = p_vertices_read[indices_table[i][0]].z;
}
}
- Vector<int> bt_triangles;
+ LocalVector<int> bt_triangles;
const int triangles_size(p_indices.size() / 3);
{ // Parse indices
@@ -385,9 +377,9 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
const int *p_indices_read = p_indices.ptr();
for (int i = 0; i < triangles_size; ++i) {
- bt_triangles.write[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
- bt_triangles.write[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
- bt_triangles.write[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
+ bt_triangles[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]];
+ bt_triangles[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]];
+ bt_triangles[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]];
}
}
@@ -398,9 +390,9 @@ void SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector
}
void SoftBodyBullet::setup_soft_body() {
-
- if (!bt_soft_body)
+ if (!bt_soft_body) {
return;
+ }
// Soft body setup
setupBulletCollisionObject(bt_soft_body);
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-25 03:54:10 +0000