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Diffstat (limited to 'modules/bullet/space_bullet.h')
| -rw-r--r-- | modules/bullet/space_bullet.h | 223 |
1 files changed, 0 insertions, 223 deletions
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h deleted file mode 100644 index cf8549030d..0000000000 --- a/modules/bullet/space_bullet.h +++ /dev/null @@ -1,223 +0,0 @@ -/*************************************************************************/ -/* space_bullet.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 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 SPACE_BULLET_H -#define SPACE_BULLET_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" - -#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h> -#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h> -#include <LinearMath/btScalar.h> -#include <LinearMath/btTransform.h> -#include <LinearMath/btVector3.h> - -/** - @author AndreaCatania -*/ - -class AreaBullet; -class btBroadphaseInterface; -class btCollisionDispatcher; -class btConstraintSolver; -class btDefaultCollisionConfiguration; -class btDynamicsWorld; -class btDiscreteDynamicsWorld; -class btEmptyShape; -class btGhostPairCallback; -class btSoftRigidDynamicsWorld; -struct btSoftBodyWorldInfo; -class ConstraintBullet; -class CollisionObjectBullet; -class RigidBodyBullet; -class SpaceBullet; -class SoftBodyBullet; -class btGjkEpaPenetrationDepthSolver; - -extern ContactAddedCallback gContactAddedCallback; - -class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState3D { - GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState3D); - -private: - SpaceBullet *space; - -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 = UINT32_MAX, 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 = UINT32_MAX, 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 Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, 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 Transform3D &p_shape_xform, real_t 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 = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, 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 = 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 = nullptr; - btVoronoiSimplexSolver *gjk_simplex_solver = nullptr; - - BulletPhysicsDirectSpaceState *direct_access; - Vector3 gravityDirection = Vector3(0, -1, 0); - real_t gravityMagnitude = 10.0; - - real_t linear_damp = 0.0; - real_t angular_damp = 0.0; - - Vector<AreaBullet *> areas; - - Vector<Vector3> contactDebug; - int contactDebugCount = 0; - real_t delta_time = 0.; - -public: - SpaceBullet(); - virtual ~SpaceBullet(); - - void flush_queries(); - real_t get_delta_time() { return delta_time; } - void step(real_t p_delta_time); - - _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 - /// @param p_param: - /// AREA_PARAM_GRAVITY to set the gravity magnitude of entire world - /// AREA_PARAM_GRAVITY_VECTOR to set the gravity direction of entire world - void set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value); - /// Used to get some parameters to Bullet world - /// @param p_param: - /// AREA_PARAM_GRAVITY to get the gravity magnitude of entire world - /// AREA_PARAM_GRAVITY_VECTOR to get the gravity direction of entire world - Variant get_param(PhysicsServer3D::AreaParameter p_param); - - void set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value); - real_t get_param(PhysicsServer3D::SpaceParameter p_param); - - void add_area(AreaBullet *p_area); - void remove_area(AreaBullet *p_area); - void reload_collision_filters(AreaBullet *p_area); - - void add_rigid_body(RigidBodyBullet *p_body); - void remove_rigid_body_constraints(RigidBodyBullet *p_body); - void remove_rigid_body(RigidBodyBullet *p_body); - void reload_collision_filters(RigidBodyBullet *p_body); - - void add_soft_body(SoftBodyBullet *p_body); - void remove_soft_body(SoftBodyBullet *p_body); - void reload_collision_filters(SoftBodyBullet *p_body); - - void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false); - void remove_constraint(ConstraintBullet *p_constraint); - - int get_num_collision_objects() const; - void remove_all_collision_objects(); - - BulletPhysicsDirectSpaceState *get_direct_state(); - - void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); } - _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.is_empty(); } - _FORCE_INLINE_ void reset_debug_contact_count() { - contactDebugCount = 0; - } - _FORCE_INLINE_ void add_debug_contact(const Vector3 &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; } - - const Vector3 &get_gravity_direction() const { return gravityDirection; } - real_t get_gravity_magnitude() const { return gravityMagnitude; } - - 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 Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude = Set<RID>()); - int test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin); - -private: - void create_empty_world(bool p_create_soft_world); - void destroy_world(); - void check_ghost_overlaps(); - void check_body_collision(); - - struct RecoverResult { - 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, const Set<RID> &p_exclude = Set<RID>()); - /// This is an API that recover a kinematic object from penetration - /// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions - bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr); - /// This is an API that recover a kinematic object from penetration - /// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm - bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr); - - int add_separation_result(PhysicsServer3D::SeparationResult *r_results, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const; - int recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results); -}; -#endif |