diff options
Diffstat (limited to 'modules/bullet/space_bullet.h')
| -rw-r--r-- | modules/bullet/space_bullet.h | 87 |
1 files changed, 45 insertions, 42 deletions
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index f9a8c063fd..e362f27d39 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -31,8 +31,8 @@ #ifndef SPACE_BULLET_H #define SPACE_BULLET_H -#include "core/variant.h" -#include "core/vector.h" +#include "core/templates/vector.h" +#include "core/variant/variant.h" #include "godot_result_callbacks.h" #include "rid_bullet.h" #include "servers/physics_server_3d.h" @@ -76,43 +76,45 @@ private: public: BulletPhysicsDirectSpaceState(SpaceBullet *p_space); - virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); - virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false); - virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr); + virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override; + virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; /// Returns the list of contacts pairs in this order: Local contact, other body contact - virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); - virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const; + virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override; }; class SpaceBullet : public RIDBullet { - friend class AreaBullet; friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep); friend class BulletPhysicsDirectSpaceState; - btBroadphaseInterface *broadphase; - btDefaultCollisionConfiguration *collisionConfiguration; - btCollisionDispatcher *dispatcher; - btConstraintSolver *solver; - btDiscreteDynamicsWorld *dynamicsWorld; - btSoftBodyWorldInfo *soft_body_world_info; - btGhostPairCallback *ghostPairCallback; - GodotFilterCallback *godotFilterCallback; + btBroadphaseInterface *broadphase = nullptr; + btDefaultCollisionConfiguration *collisionConfiguration = nullptr; + btCollisionDispatcher *dispatcher = nullptr; + btConstraintSolver *solver = nullptr; + btDiscreteDynamicsWorld *dynamicsWorld = nullptr; + btSoftBodyWorldInfo *soft_body_world_info = nullptr; + btGhostPairCallback *ghostPairCallback = nullptr; + GodotFilterCallback *godotFilterCallback = nullptr; btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver; btVoronoiSimplexSolver *gjk_simplex_solver; BulletPhysicsDirectSpaceState *direct_access; - Vector3 gravityDirection; - real_t gravityMagnitude; + Vector3 gravityDirection = Vector3(0, -1, 0); + real_t gravityMagnitude = 10; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; Vector<AreaBullet *> areas; Vector<Vector3> contactDebug; - int contactDebugCount; - real_t delta_time; + int contactDebugCount = 0; + real_t delta_time = 0.; public: SpaceBullet(); @@ -122,9 +124,12 @@ public: real_t get_delta_time() { return delta_time; } void step(real_t p_delta_time); - _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; } - _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; } - _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; } + _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() const { return broadphase; } + _FORCE_INLINE_ btDefaultCollisionConfiguration *get_collision_configuration() const { return collisionConfiguration; } + _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() const { return dispatcher; } + _FORCE_INLINE_ btConstraintSolver *get_solver() const { return solver; } + _FORCE_INLINE_ btDiscreteDynamicsWorld *get_dynamic_world() const { return dynamicsWorld; } + _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() const { return soft_body_world_info; } _FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; } /// Used to set some parameters to Bullet world @@ -167,7 +172,9 @@ public: contactDebugCount = 0; } _FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) { - if (contactDebugCount < contactDebug.size()) contactDebug.write[contactDebugCount++] = p_contact; + if (contactDebugCount < contactDebug.size()) { + contactDebug.write[contactDebugCount++] = p_contact; + } } _FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; } _FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; } @@ -177,6 +184,9 @@ public: void update_gravity(); + real_t get_linear_damp() const { return linear_damp; } + real_t get_angular_damp() const { return angular_damp; } + bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float p_margin); @@ -187,22 +197,15 @@ private: void check_body_collision(); struct RecoverResult { - bool hasPenetration; - btVector3 normal; - btVector3 pointWorld; - btScalar penetration_distance; // Negative mean penetration - int other_compound_shape_index; - const btCollisionObject *other_collision_object; - int local_shape_most_recovered; - - RecoverResult() : - hasPenetration(false), - normal(0, 0, 0), - pointWorld(0, 0, 0), - penetration_distance(1e20), - other_compound_shape_index(0), - other_collision_object(nullptr), - local_shape_most_recovered(0) {} + bool hasPenetration = false; + btVector3 normal = btVector3(0, 0, 0); + btVector3 pointWorld = btVector3(0, 0, 0); + btScalar penetration_distance = 1e20; // Negative mean penetration + int other_compound_shape_index = 0; + const btCollisionObject *other_collision_object = nullptr; + int local_shape_most_recovered = 0; + + RecoverResult() {} }; bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr); |