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Diffstat (limited to 'modules/bullet/soft_body_bullet.h')
| -rw-r--r-- | modules/bullet/soft_body_bullet.h | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h new file mode 100644 index 0000000000..9ee7cd76d3 --- /dev/null +++ b/modules/bullet/soft_body_bullet.h @@ -0,0 +1,136 @@ +/*************************************************************************/ +/* soft_body_bullet.h */ +/* 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. */ +/*************************************************************************/ + +#ifndef SOFT_BODY_BULLET_H +#define SOFT_BODY_BULLET_H + +#ifdef None +/// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet +#undef None +#define x11_None 0L +#endif + +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "collision_object_bullet.h" + +#ifdef x11_None +/// This is required to re add the macro None defined by x11 compiler +#undef x11_None +#define None 0L +#endif + +#include "scene/resources/material.h" // TODO remove thsi please + +struct SoftShapeData {}; +struct TrimeshSoftShapeData : public SoftShapeData { + PoolVector<int> m_triangles_indices; + PoolVector<Vector3> m_vertices; + int m_triangles_num; +}; + +class SoftBodyBullet : public CollisionObjectBullet { +public: + enum SoftShapeType { + SOFT_SHAPETYPE_NONE = 0, + SOFT_SHAPE_TYPE_TRIMESH + }; + +private: + btSoftBody *bt_soft_body; + btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody + SoftShapeType soft_shape_type; + bool isScratched; + + SoftShapeData *soft_body_shape_data; + + Transform transform; + int simulation_precision; + real_t mass; + real_t stiffness; // [0,1] + real_t pressure_coefficient; // [-inf,+inf] + real_t damping_coefficient; // [0,1] + real_t drag_coefficient; // [0,1] + + class ImmediateGeometry *test_geometry; // TODO remove this please + Ref<SpatialMaterial> red_mat; // TODO remove this please + bool test_is_in_scene; // TODO remove this please + +public: + SoftBodyBullet(); + ~SoftBodyBullet(); + + virtual void reload_body(); + virtual void set_space(SpaceBullet *p_space); + + virtual void dispatch_callbacks(); + virtual void on_collision_filters_change(); + virtual void on_collision_checker_start(); + virtual void on_enter_area(AreaBullet *p_area); + virtual void on_exit_area(AreaBullet *p_area); + + _FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; } + + void set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num); + void set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type); + + void set_transform(const Transform &p_transform); + /// This function doesn't return the exact COM transform. + /// It returns the origin only of first node (vertice) of current soft body + /// --- + /// The soft body doesn't have a fixed center of mass, but is a group of nodes (vertices) + /// that each has its own position in the world. + /// For this reason return the correct COM is not so simple and must be calculate + /// Check this to improve this function http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=8803 + const Transform &get_transform() const; + void get_first_node_origin(btVector3 &p_out_origin) const; + + void set_activation_state(bool p_active); + + void set_mass(real_t p_val); + _FORCE_INLINE_ real_t get_mass() const { return mass; } + void set_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_stiffness() const { return stiffness; } + void set_simulation_precision(int p_val); + _FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; } + void set_pressure_coefficient(real_t p_val); + _FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; } + void set_damping_coefficient(real_t p_val); + _FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; } + void set_drag_coefficient(real_t p_val); + _FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; } + +private: + void reload_soft_body(); + void create_soft_body(); + void destroy_soft_body(); +}; + +#endif // SOFT_BODY_BULLET_H |