diff options
Diffstat (limited to 'modules/bullet/soft_body_bullet.h')
| -rw-r--r-- | modules/bullet/soft_body_bullet.h | 103 |
1 files changed, 63 insertions, 40 deletions
diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index 9895643b84..c775193584 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -40,7 +40,10 @@ #define x11_None 0L #endif -#include <BulletSoftBody/btSoftBodyHelpers.h> +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "collision_object_bullet.h" +#include "scene/resources/mesh.h" +#include "servers/physics_server.h" #ifdef x11_None /// This is required to re add the macro None defined by x11 compiler @@ -52,39 +55,34 @@ @author AndreaCatania */ -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; + Vector<Vector<int> > indices_table; btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody - SoftShapeType soft_shape_type; bool isScratched; - SoftShapeData *soft_body_shape_data; + Ref<Mesh> soft_mesh; - Transform transform; int simulation_precision; - real_t mass; - real_t stiffness; // [0,1] + real_t total_mass; + real_t linear_stiffness; // [0,1] + real_t areaAngular_stiffness; // [0,1] + real_t volume_stiffness; // [0,1] real_t pressure_coefficient; // [-inf,+inf] + real_t pose_matching_coefficient; // [0,1] real_t damping_coefficient; // [0,1] real_t drag_coefficient; // [0,1] + Vector<int> pinned_nodes; - 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 + // Other property to add + //btScalar kVC; // Volume conversation coefficient [0,+inf] + //btScalar kDF; // Dynamic friction coefficient [0,1] + //btScalar kMT; // Pose matching coefficient [0,1] + //btScalar kCHR; // Rigid contacts hardness [0,1] + //btScalar kKHR; // Kinetic contacts hardness [0,1] + //btScalar kSHR; // Soft contacts hardness [0,1] public: SoftBodyBullet(); @@ -101,39 +99,64 @@ public: _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 update_visual_server(class SoftBodyVisualServerHandler *p_visual_server_handler); - 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_soft_mesh(const Ref<Mesh> &p_mesh); + void destroy_soft_body(); + + // Special function. This function has bad performance + void set_soft_transform(const Transform &p_transform); + + void move_all_nodes(const Transform &p_transform); + void set_node_position(int node_index, const Vector3 &p_global_position); + void set_node_position(int node_index, const btVector3 &p_global_position); + void get_node_position(int node_index, Vector3 &r_position) const; + // Heavy function, Please cache this info + void get_node_offset(int node_index, Vector3 &r_offset) const; + // Heavy function, Please cache this info + void get_node_offset(int node_index, btVector3 &r_offset) const; + + void set_node_mass(int node_index, btScalar p_mass); + btScalar get_node_mass(int node_index) const; + void reset_all_node_mass(); + void reset_all_node_positions(); 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_total_mass(real_t p_val); + _FORCE_INLINE_ real_t get_total_mass() const { return total_mass; } + + void set_linear_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; } + + void set_areaAngular_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; } + + void set_volume_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_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_pose_matching_coefficient(real_t p_val); + _FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_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(); + void set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices); + void setup_soft_body(); + + void pin_node(int p_node_index); + void unpin_node(int p_node_index); + int search_node_pinned(int p_node_index) const; }; #endif // SOFT_BODY_BULLET_H |