summaryrefslogtreecommitdiff
path: root/modules/bullet/soft_body_bullet.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'modules/bullet/soft_body_bullet.cpp')
-rw-r--r--modules/bullet/soft_body_bullet.cpp456
1 files changed, 0 insertions, 456 deletions
diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
deleted file mode 100644
index ea5a059b9e..0000000000
--- a/modules/bullet/soft_body_bullet.cpp
+++ /dev/null
@@ -1,456 +0,0 @@
-/*************************************************************************/
-/* soft_body_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 "soft_body_bullet.h"
-
-#include "bullet_types_converter.h"
-#include "bullet_utilities.h"
-#include "space_bullet.h"
-
-#include "servers/rendering_server.h"
-
-SoftBodyBullet::SoftBodyBullet() :
- CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY) {}
-
-SoftBodyBullet::~SoftBodyBullet() {
-}
-
-void SoftBodyBullet::reload_body() {
- if (space) {
- space->remove_soft_body(this);
- space->add_soft_body(this);
- }
-}
-
-void SoftBodyBullet::set_space(SpaceBullet *p_space) {
- if (space) {
- isScratched = false;
- space->remove_soft_body(this);
- }
-
- space = p_space;
-
- if (space) {
- space->add_soft_body(this);
- }
-}
-
-void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
-
-void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
-
-void SoftBodyBullet::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
- if (!bt_soft_body) {
- return;
- }
-
- /// Update rendering server vertices
- const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes);
- const int nodes_count = nodes.size();
-
- const Vector<int> *vs_indices;
- const void *vertex_position;
- const void *vertex_normal;
-
- for (int vertex_index = 0; vertex_index < nodes_count; ++vertex_index) {
- vertex_position = reinterpret_cast<const void *>(&nodes[vertex_index].m_x);
- vertex_normal = reinterpret_cast<const void *>(&nodes[vertex_index].m_n);
-
- vs_indices = &indices_table[vertex_index];
-
- const int vs_indices_size(vs_indices->size());
- for (int x = 0; x < vs_indices_size; ++x) {
- p_rendering_server_handler->set_vertex((*vs_indices)[x], vertex_position);
- p_rendering_server_handler->set_normal((*vs_indices)[x], vertex_normal);
- }
- }
-
- /// Generate AABB
- btVector3 aabb_min;
- btVector3 aabb_max;
- bt_soft_body->getAabb(aabb_min, aabb_max);
-
- btVector3 size(aabb_max - aabb_min);
-
- AABB aabb;
- B_TO_G(aabb_min, aabb.position);
- B_TO_G(size, aabb.size);
-
- p_rendering_server_handler->set_aabb(aabb);
-}
-
-void SoftBodyBullet::set_soft_mesh(RID p_mesh) {
- destroy_soft_body();
-
- soft_mesh = p_mesh;
-
- if (soft_mesh.is_null()) {
- return;
- }
-
- Array arrays = RenderingServer::get_singleton()->mesh_surface_get_arrays(soft_mesh, 0);
- ERR_FAIL_COND(arrays.is_empty());
-
- bool success = set_trimesh_body_shape(arrays[RS::ARRAY_INDEX], arrays[RS::ARRAY_VERTEX]);
- if (!success) {
- destroy_soft_body();
- }
-}
-
-void SoftBodyBullet::destroy_soft_body() {
- soft_mesh = RID();
-
- if (!bt_soft_body) {
- return;
- }
-
- if (space) {
- /// Remove from world before deletion
- space->remove_soft_body(this);
- }
-
- destroyBulletCollisionObject();
- bt_soft_body = nullptr;
-}
-
-void SoftBodyBullet::set_soft_transform(const Transform3D &p_transform) {
- reset_all_node_positions();
- move_all_nodes(p_transform);
-}
-
-AABB SoftBodyBullet::get_bounds() const {
- if (!bt_soft_body) {
- return AABB();
- }
-
- btVector3 aabb_min;
- btVector3 aabb_max;
- bt_soft_body->getAabb(aabb_min, aabb_max);
-
- btVector3 size(aabb_max - aabb_min);
-
- AABB aabb;
- B_TO_G(aabb_min, aabb.position);
- B_TO_G(size, aabb.size);
-
- return aabb;
-}
-
-void SoftBodyBullet::move_all_nodes(const Transform3D &p_transform) {
- if (!bt_soft_body) {
- return;
- }
- btTransform bt_transf;
- G_TO_B(p_transform, bt_transf);
- bt_soft_body->transform(bt_transf);
-}
-
-void SoftBodyBullet::set_node_position(int p_node_index, const Vector3 &p_global_position) {
- btVector3 bt_pos;
- G_TO_B(p_global_position, bt_pos);
- set_node_position(p_node_index, bt_pos);
-}
-
-void SoftBodyBullet::set_node_position(int p_node_index, const btVector3 &p_global_position) {
- if (bt_soft_body) {
- bt_soft_body->m_nodes[p_node_index].m_q = bt_soft_body->m_nodes[p_node_index].m_x;
- bt_soft_body->m_nodes[p_node_index].m_x = p_global_position;
- }
-}
-
-void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) const {
- if (bt_soft_body) {
- B_TO_G(bt_soft_body->m_nodes[p_node_index].m_x, r_position);
- }
-}
-
-void SoftBodyBullet::set_node_mass(int p_node_index, btScalar p_mass) {
- if (0 >= p_mass) {
- pin_node(p_node_index);
- } else {
- unpin_node(p_node_index);
- }
- if (bt_soft_body) {
- ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
- bt_soft_body->setMass(p_node_index, p_mass);
- }
-}
-
-btScalar SoftBodyBullet::get_node_mass(int p_node_index) const {
- if (bt_soft_body) {
- ERR_FAIL_INDEX_V(p_node_index, bt_soft_body->m_nodes.size(), 1);
- return bt_soft_body->getMass(p_node_index);
- } else {
- return -1 == search_node_pinned(p_node_index) ? 1 : 0;
- }
-}
-
-void SoftBodyBullet::reset_all_node_mass() {
- if (bt_soft_body) {
- for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
- bt_soft_body->setMass(pinned_nodes[i], 1);
- }
- }
- pinned_nodes.resize(0);
-}
-
-void SoftBodyBullet::reset_all_node_positions() {
- 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;
- bt_soft_body->m_nodes[vertex_index].m_v = btVector3(0, 0, 0);
- bt_soft_body->m_nodes[vertex_index].m_f = btVector3(0, 0, 0);
- }
-}
-
-void SoftBodyBullet::set_activation_state(bool p_active) {
- if (p_active) {
- bt_soft_body->setActivationState(ACTIVE_TAG);
- } else {
- bt_soft_body->setActivationState(WANTS_DEACTIVATION);
- }
-}
-
-void SoftBodyBullet::set_total_mass(real_t p_val) {
- if (0 >= p_val) {
- p_val = 1;
- }
- total_mass = p_val;
- if (bt_soft_body) {
- bt_soft_body->setTotalMass(total_mass);
- }
-}
-
-void SoftBodyBullet::set_linear_stiffness(real_t p_val) {
- linear_stiffness = p_val;
- if (bt_soft_body) {
- mat0->m_kLST = linear_stiffness;
- }
-}
-
-void SoftBodyBullet::set_simulation_precision(int p_val) {
- simulation_precision = p_val;
- if (bt_soft_body) {
- bt_soft_body->m_cfg.piterations = simulation_precision;
- bt_soft_body->m_cfg.viterations = simulation_precision;
- bt_soft_body->m_cfg.diterations = simulation_precision;
- bt_soft_body->m_cfg.citerations = simulation_precision;
- }
-}
-
-void SoftBodyBullet::set_pressure_coefficient(real_t p_val) {
- pressure_coefficient = p_val;
- if (bt_soft_body) {
- bt_soft_body->m_cfg.kPR = pressure_coefficient;
- }
-}
-
-void SoftBodyBullet::set_damping_coefficient(real_t p_val) {
- damping_coefficient = p_val;
- if (bt_soft_body) {
- bt_soft_body->m_cfg.kDP = damping_coefficient;
- }
-}
-
-void SoftBodyBullet::set_drag_coefficient(real_t p_val) {
- drag_coefficient = p_val;
- if (bt_soft_body) {
- bt_soft_body->m_cfg.kDG = drag_coefficient;
- }
-}
-
-bool SoftBodyBullet::set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices) {
- ERR_FAIL_COND_V(p_indices.is_empty(), false);
- ERR_FAIL_COND_V(p_vertices.is_empty(), false);
-
- /// Parse rendering server indices to physical indices.
- /// Merge all overlapping vertices and create a map of physical vertices to rendering server
-
- {
- /// This is the map of rendering server indices to physics indices (So it's the inverse of idices_map), Thanks to it I don't need make a heavy search in the indices_map
- Vector<int> vs_indices_to_physics_table;
-
- { // Map vertices
- indices_table.resize(0);
-
- int index = 0;
- Map<Vector3, int> unique_vertices;
-
- const int vs_vertices_size(p_vertices.size());
-
- 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) {
- // Already existing
- vertex_id = e->value();
- } else {
- // Create new one
- unique_vertices[p_vertices_read[vs_vertex_index]] = vertex_id = index++;
- indices_table.push_back(Vector<int>());
- }
-
- indices_table.write[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;
-
- { // Parse vertices to bullet
-
- bt_vertices.resize(indices_map_size * 3);
- 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;
- }
- }
-
- Vector<int> bt_triangles;
- const int triangles_size(p_indices.size() / 3);
-
- { // Parse indices
-
- bt_triangles.resize(triangles_size * 3);
-
- 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]];
- }
- }
-
- btSoftBodyWorldInfo fake_world_info;
- bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(fake_world_info, &bt_vertices[0], &bt_triangles[0], triangles_size, false);
- setup_soft_body();
- }
-
- return true;
-}
-
-void SoftBodyBullet::setup_soft_body() {
- if (!bt_soft_body) {
- return;
- }
-
- // Soft body setup
- setupBulletCollisionObject(bt_soft_body);
- bt_soft_body->m_worldInfo = nullptr; // Remove fake world info
- bt_soft_body->getCollisionShape()->setMargin(0.01);
- bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
-
- // Space setup
- if (space) {
- space->add_soft_body(this);
- }
-
- mat0 = bt_soft_body->appendMaterial();
-
- // Assign soft body data
- bt_soft_body->generateBendingConstraints(2, mat0);
-
- mat0->m_kLST = linear_stiffness;
-
- // Clusters allow to have Soft vs Soft collision but doesn't work well right now
-
- //bt_soft_body->m_cfg.kSRHR_CL = 1;// Soft vs rigid hardness [0,1] (cluster only)
- //bt_soft_body->m_cfg.kSKHR_CL = 1;// Soft vs kinematic hardness [0,1] (cluster only)
- //bt_soft_body->m_cfg.kSSHR_CL = 1;// Soft vs soft hardness [0,1] (cluster only)
- //bt_soft_body->m_cfg.kSR_SPLT_CL = 1; // Soft vs rigid impulse split [0,1] (cluster only)
- //bt_soft_body->m_cfg.kSK_SPLT_CL = 1; // Soft vs kinematic impulse split [0,1] (cluster only)
- //bt_soft_body->m_cfg.kSS_SPLT_CL = 1; // Soft vs Soft impulse split [0,1] (cluster only)
- //bt_soft_body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS + btSoftBody::fCollision::VF_SS;
- //bt_soft_body->generateClusters(64);
-
- bt_soft_body->m_cfg.piterations = simulation_precision;
- bt_soft_body->m_cfg.viterations = simulation_precision;
- bt_soft_body->m_cfg.diterations = simulation_precision;
- bt_soft_body->m_cfg.citerations = simulation_precision;
- bt_soft_body->m_cfg.kDP = damping_coefficient;
- bt_soft_body->m_cfg.kDG = drag_coefficient;
- bt_soft_body->m_cfg.kPR = pressure_coefficient;
- bt_soft_body->setTotalMass(total_mass);
-
- btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body);
- bt_soft_body->updateBounds();
-
- // Set pinned nodes
- for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
- const int node_index = pinned_nodes[i];
- ERR_CONTINUE(0 > node_index || bt_soft_body->m_nodes.size() <= node_index);
- bt_soft_body->setMass(node_index, 0);
- }
-}
-
-void SoftBodyBullet::pin_node(int p_node_index) {
- if (bt_soft_body) {
- ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
- }
- if (-1 == search_node_pinned(p_node_index)) {
- pinned_nodes.push_back(p_node_index);
- }
-}
-
-void SoftBodyBullet::unpin_node(int p_node_index) {
- if (bt_soft_body) {
- ERR_FAIL_INDEX(p_node_index, bt_soft_body->m_nodes.size());
- }
- const int id = search_node_pinned(p_node_index);
- if (-1 != id) {
- pinned_nodes.remove_at(id);
- }
-}
-
-int SoftBodyBullet::search_node_pinned(int p_node_index) const {
- for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
- if (p_node_index == pinned_nodes[i]) {
- return i;
- }
- }
- return -1;
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-01 05:28:55 +0000