diff options
Diffstat (limited to 'modules')
96 files changed, 13236 insertions, 2036 deletions
diff --git a/modules/bullet/SCsub b/modules/bullet/SCsub new file mode 100644 index 0000000000..7a37cca130 --- /dev/null +++ b/modules/bullet/SCsub @@ -0,0 +1,191 @@ +#!/usr/bin/env python + +Import('env') + +# build only version 2 +# Bullet 2.87 +bullet_src__2_x = [ + # BulletCollision + "BulletCollision/BroadphaseCollision/btAxisSweep3.cpp" + , "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp" + , "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp" + , "BulletCollision/BroadphaseCollision/btDbvt.cpp" + , "BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp" + , "BulletCollision/BroadphaseCollision/btDispatcher.cpp" + , "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp" + , "BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp" + , "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp" + , "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp" + , "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp" + , "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp" + , "BulletCollision/CollisionDispatch/btCollisionObject.cpp" + , "BulletCollision/CollisionDispatch/btCollisionWorld.cpp" + , "BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp" + , "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp" + , "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btGhostObject.cpp" + , "BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp" + , "BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp" + , "BulletCollision/CollisionDispatch/btManifoldResult.cpp" + , "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp" + , "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp" + , "BulletCollision/CollisionDispatch/btUnionFind.cpp" + , "BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp" + , "BulletCollision/CollisionShapes/btBoxShape.cpp" + , "BulletCollision/CollisionShapes/btBox2dShape.cpp" + , "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp" + , "BulletCollision/CollisionShapes/btCapsuleShape.cpp" + , "BulletCollision/CollisionShapes/btCollisionShape.cpp" + , "BulletCollision/CollisionShapes/btCompoundShape.cpp" + , "BulletCollision/CollisionShapes/btConcaveShape.cpp" + , "BulletCollision/CollisionShapes/btConeShape.cpp" + , "BulletCollision/CollisionShapes/btConvexHullShape.cpp" + , "BulletCollision/CollisionShapes/btConvexInternalShape.cpp" + , "BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp" + , "BulletCollision/CollisionShapes/btConvexPolyhedron.cpp" + , "BulletCollision/CollisionShapes/btConvexShape.cpp" + , "BulletCollision/CollisionShapes/btConvex2dShape.cpp" + , "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp" + , "BulletCollision/CollisionShapes/btCylinderShape.cpp" + , "BulletCollision/CollisionShapes/btEmptyShape.cpp" + , "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp" + , "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp" + , "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp" + , "BulletCollision/CollisionShapes/btMultiSphereShape.cpp" + , "BulletCollision/CollisionShapes/btOptimizedBvh.cpp" + , "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp" + , "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp" + , "BulletCollision/CollisionShapes/btShapeHull.cpp" + , "BulletCollision/CollisionShapes/btSphereShape.cpp" + , "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp" + , "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp" + , "BulletCollision/CollisionShapes/btTetrahedronShape.cpp" + , "BulletCollision/CollisionShapes/btTriangleBuffer.cpp" + , "BulletCollision/CollisionShapes/btTriangleCallback.cpp" + , "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp" + , "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp" + , "BulletCollision/CollisionShapes/btTriangleMesh.cpp" + , "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp" + , "BulletCollision/CollisionShapes/btUniformScalingShape.cpp" + , "BulletCollision/Gimpact/btContactProcessing.cpp" + , "BulletCollision/Gimpact/btGenericPoolAllocator.cpp" + , "BulletCollision/Gimpact/btGImpactBvh.cpp" + , "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp" + , "BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp" + , "BulletCollision/Gimpact/btGImpactShape.cpp" + , "BulletCollision/Gimpact/btTriangleShapeEx.cpp" + , "BulletCollision/Gimpact/gim_box_set.cpp" + , "BulletCollision/Gimpact/gim_contact.cpp" + , "BulletCollision/Gimpact/gim_memory.cpp" + , "BulletCollision/Gimpact/gim_tri_collision.cpp" + , "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp" + , "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp" + , "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp" + , "BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp" + , "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp" + , "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp" + , "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp" + , "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp" + , "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp" + , "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp" + , "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp" + , "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp" + + # BulletDynamics + , "BulletDynamics/Character/btKinematicCharacterController.cpp" + , "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btContactConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btFixedConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btGearConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp" + , "BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp" + , "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp" + , "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp" + , "BulletDynamics/ConstraintSolver/btSliderConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp" + , "BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp" + , "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp" + , "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp" + , "BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp" + , "BulletDynamics/Dynamics/btRigidBody.cpp" + , "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp" + #, "BulletDynamics/Dynamics/Bullet-C-API.cpp" + , "BulletDynamics/Vehicle/btRaycastVehicle.cpp" + , "BulletDynamics/Vehicle/btWheelInfo.cpp" + , "BulletDynamics/Featherstone/btMultiBody.cpp" + , "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp" + , "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp" + , "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp" + , "BulletDynamics/Featherstone/btMultiBodyConstraint.cpp" + , "BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp" + , "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp" + , "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp" + , "BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp" + , "BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp" + , "BulletDynamics/MLCPSolvers/btDantzigLCP.cpp" + , "BulletDynamics/MLCPSolvers/btMLCPSolver.cpp" + , "BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp" + + # BulletInverseDynamics + , "BulletInverseDynamics/IDMath.cpp" + , "BulletInverseDynamics/MultiBodyTree.cpp" + , "BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp" + , "BulletInverseDynamics/details/MultiBodyTreeImpl.cpp" + + # BulletSoftBody + , "BulletSoftBody/btSoftBody.cpp" + , "BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp" + , "BulletSoftBody/btSoftBodyHelpers.cpp" + , "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp" + , "BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp" + , "BulletSoftBody/btSoftRigidDynamicsWorld.cpp" + , "BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp" + , "BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp" + , "BulletSoftBody/btDefaultSoftBodySolver.cpp" + + # clew + , "clew/clew.c" + + # LinearMath + , "LinearMath/btAlignedAllocator.cpp" + , "LinearMath/btConvexHull.cpp" + , "LinearMath/btConvexHullComputer.cpp" + , "LinearMath/btGeometryUtil.cpp" + , "LinearMath/btPolarDecomposition.cpp" + , "LinearMath/btQuickprof.cpp" + , "LinearMath/btSerializer.cpp" + , "LinearMath/btSerializer64.cpp" + , "LinearMath/btThreads.cpp" + , "LinearMath/btVector3.cpp" + ] + +thirdparty_dir = "#thirdparty/bullet/" +thirdparty_src = thirdparty_dir + "src/" + +bullet_sources = [thirdparty_src + file for file in bullet_src__2_x] + +# include headers +env.Append(CPPPATH=[thirdparty_src]) + +env.add_source_files(env.modules_sources, bullet_sources) + +# Godot source files +env.add_source_files(env.modules_sources, "*.cpp") + +Export('env') diff --git a/modules/bullet/SCsub_with_lib b/modules/bullet/SCsub_with_lib new file mode 100644 index 0000000000..b362a686ff --- /dev/null +++ b/modules/bullet/SCsub_with_lib @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +Import('env') + +thirdparty_dir = "#thirdparty/bullet/" +thirdparty_lib = thirdparty_dir + "Win64/lib/" + +bullet_libs = [ + "Bullet2FileLoader", + "Bullet3Collision", + "Bullet3Common", + "Bullet3Dynamics", + "Bullet3Geometry", + "Bullet3OpenCL_clew", + "BulletCollision", + "BulletDynamics", + "BulletInverseDynamics", + "BulletSoftBody", + "LinearMath" + ] + +thirdparty_src = thirdparty_dir + "src/" +# include headers +env.Append(CPPPATH=[thirdparty_src]) + +# lib +env.Append(LIBPATH=[thirdparty_dir + "/Win64/lib/"]) + +bullet_libs = [file+'.lib' for file in bullet_libs] +# LIBS doesn't work in windows +env.Append(LINKFLAGS=bullet_libs) + +env.add_source_files(env.modules_sources, "*.cpp") diff --git a/modules/bullet/area_bullet.cpp b/modules/bullet/area_bullet.cpp new file mode 100644 index 0000000000..54024b4f90 --- /dev/null +++ b/modules/bullet/area_bullet.cpp @@ -0,0 +1,284 @@ +/*************************************************************************/ +/* area_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "area_bullet.h" +#include "BulletCollision/CollisionDispatch/btGhostObject.h" +#include "btBulletCollisionCommon.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "collision_object_bullet.h" +#include "space_bullet.h" + +AreaBullet::AreaBullet() + : RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_AREA), + monitorable(true), + isScratched(false), + spOv_mode(PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED), + spOv_gravityPoint(false), + spOv_gravityPointDistanceScale(0), + spOv_gravityPointAttenuation(1), + spOv_gravityVec(0, -1, 0), + spOv_gravityMag(10), + spOv_linearDump(0.1), + spOv_angularDump(1), + spOv_priority(0) { + + btGhost = bulletnew(btGhostObject); + btGhost->setCollisionShape(compoundShape); + setupBulletCollisionObject(btGhost); + /// Collision objects with a callback still have collision response with dynamic rigid bodies. + /// In order to use collision objects as trigger, you have to disable the collision response. + set_collision_enabled(false); + + for (int i = 0; i < 5; ++i) + call_event_res_ptr[i] = &call_event_res[i]; +} + +AreaBullet::~AreaBullet() { + remove_all_overlapping_instantly(); +} + +void AreaBullet::dispatch_callbacks() { + if (!isScratched) + return; + isScratched = false; + + // Reverse order because I've to remove EXIT objects + for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { + OverlappingObjectData &otherObj = overlappingObjects[i]; + + switch (otherObj.state) { + case OVERLAP_STATE_ENTER: + otherObj.state = OVERLAP_STATE_INSIDE; + call_event(otherObj.object, PhysicsServer::AREA_BODY_ADDED); + otherObj.object->on_enter_area(this); + break; + case OVERLAP_STATE_EXIT: + call_event(otherObj.object, PhysicsServer::AREA_BODY_REMOVED); + otherObj.object->on_exit_area(this); + overlappingObjects.remove(i); // Remove after callback + break; + } + } +} + +void AreaBullet::call_event(CollisionObjectBullet *p_otherObject, PhysicsServer::AreaBodyStatus p_status) { + + InOutEventCallback &event = eventsCallbacks[static_cast<int>(p_otherObject->getType())]; + Object *areaGodoObject = ObjectDB::get_instance(event.event_callback_id); + + if (!areaGodoObject) { + event.event_callback_id = 0; + return; + } + + call_event_res[0] = p_status; + call_event_res[1] = p_otherObject->get_self(); // Other body + call_event_res[2] = p_otherObject->get_instance_id(); // instance ID + call_event_res[3] = 0; // other_body_shape ID + call_event_res[4] = 0; // self_shape ID + + Variant::CallError outResp; + areaGodoObject->call(event.event_callback_method, (const Variant **)call_event_res_ptr, 5, outResp); +} + +void AreaBullet::scratch() { + if (isScratched) + return; + isScratched = true; +} + +void AreaBullet::remove_all_overlapping_instantly() { + CollisionObjectBullet *supportObject; + for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { + supportObject = overlappingObjects[i].object; + call_event(supportObject, PhysicsServer::AREA_BODY_REMOVED); + supportObject->on_exit_area(this); + } + overlappingObjects.clear(); +} + +void AreaBullet::remove_overlapping_instantly(CollisionObjectBullet *p_object) { + CollisionObjectBullet *supportObject; + for (int i = overlappingObjects.size() - 1; 0 <= i; --i) { + supportObject = overlappingObjects[i].object; + if (supportObject == p_object) { + call_event(supportObject, PhysicsServer::AREA_BODY_REMOVED); + supportObject->on_exit_area(this); + overlappingObjects.remove(i); + break; + } + } +} + +int AreaBullet::find_overlapping_object(CollisionObjectBullet *p_colObj) { + const int size = overlappingObjects.size(); + for (int i = 0; i < size; ++i) { + if (overlappingObjects[i].object == p_colObj) { + return i; + } + } + return -1; +} + +void AreaBullet::set_monitorable(bool p_monitorable) { + monitorable = p_monitorable; +} + +bool AreaBullet::is_monitoring() const { + return get_godot_object_flags() & GOF_IS_MONITORING_AREA; +} + +void AreaBullet::reload_body() { + if (space) { + space->remove_area(this); + space->add_area(this); + } +} + +void AreaBullet::set_space(SpaceBullet *p_space) { + // Clear the old space if there is one + if (space) { + isScratched = false; + + // Remove this object form the physics world + space->remove_area(this); + } + + space = p_space; + + if (space) { + space->add_area(this); + } +} + +void AreaBullet::on_collision_filters_change() { + if (space) { + space->reload_collision_filters(this); + } +} + +void AreaBullet::add_overlap(CollisionObjectBullet *p_otherObject) { + scratch(); + overlappingObjects.push_back(OverlappingObjectData(p_otherObject, OVERLAP_STATE_ENTER)); + p_otherObject->notify_new_overlap(this); +} + +void AreaBullet::put_overlap_as_exit(int p_index) { + scratch(); + overlappingObjects[p_index].state = OVERLAP_STATE_EXIT; +} + +void AreaBullet::put_overlap_as_inside(int p_index) { + // This check is required to be sure this body was inside + if (OVERLAP_STATE_DIRTY == overlappingObjects[p_index].state) { + overlappingObjects[p_index].state = OVERLAP_STATE_INSIDE; + } +} + +void AreaBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value) { + switch (p_param) { + case PhysicsServer::AREA_PARAM_GRAVITY: + set_spOv_gravityMag(p_value); + break; + case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR: + set_spOv_gravityVec(p_value); + break; + case PhysicsServer::AREA_PARAM_LINEAR_DAMP: + set_spOv_linearDump(p_value); + break; + case PhysicsServer::AREA_PARAM_ANGULAR_DAMP: + set_spOv_angularDump(p_value); + break; + case PhysicsServer::AREA_PARAM_PRIORITY: + set_spOv_priority(p_value); + break; + case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT: + set_spOv_gravityPoint(p_value); + break; + case PhysicsServer::AREA_PARAM_GRAVITY_DISTANCE_SCALE: + set_spOv_gravityPointDistanceScale(p_value); + break; + case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION: + set_spOv_gravityPointAttenuation(p_value); + break; + default: + print_line("The Bullet areas dosn't suppot this param: " + itos(p_param)); + } +} + +Variant AreaBullet::get_param(PhysicsServer::AreaParameter p_param) const { + switch (p_param) { + case PhysicsServer::AREA_PARAM_GRAVITY: + return spOv_gravityMag; + case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR: + return spOv_gravityVec; + case PhysicsServer::AREA_PARAM_LINEAR_DAMP: + return spOv_linearDump; + case PhysicsServer::AREA_PARAM_ANGULAR_DAMP: + return spOv_angularDump; + case PhysicsServer::AREA_PARAM_PRIORITY: + return spOv_priority; + case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT: + return spOv_gravityPoint; + case PhysicsServer::AREA_PARAM_GRAVITY_DISTANCE_SCALE: + return spOv_gravityPointDistanceScale; + case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION: + return spOv_gravityPointAttenuation; + default: + print_line("The Bullet areas dosn't suppot this param: " + itos(p_param)); + return Variant(); + } +} + +void AreaBullet::set_event_callback(Type p_callbackObjectType, ObjectID p_id, const StringName &p_method) { + InOutEventCallback &ev = eventsCallbacks[static_cast<int>(p_callbackObjectType)]; + ev.event_callback_id = p_id; + ev.event_callback_method = p_method; + + /// Set if monitoring + if (eventsCallbacks[0].event_callback_id || eventsCallbacks[1].event_callback_id) { + set_godot_object_flags(get_godot_object_flags() | GOF_IS_MONITORING_AREA); + } else { + set_godot_object_flags(get_godot_object_flags() & (~GOF_IS_MONITORING_AREA)); + } +} + +bool AreaBullet::has_event_callback(Type p_callbackObjectType) { + return eventsCallbacks[static_cast<int>(p_callbackObjectType)].event_callback_id; +} + +void AreaBullet::on_enter_area(AreaBullet *p_area) { +} + +void AreaBullet::on_exit_area(AreaBullet *p_area) { + CollisionObjectBullet::on_exit_area(p_area); +} diff --git a/modules/bullet/area_bullet.h b/modules/bullet/area_bullet.h new file mode 100644 index 0000000000..f6e3b7e902 --- /dev/null +++ b/modules/bullet/area_bullet.h @@ -0,0 +1,169 @@ +/*************************************************************************/ +/* area_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 AREABULLET_H +#define AREABULLET_H + +#include "collision_object_bullet.h" +#include "core/vector.h" +#include "servers/physics_server.h" +#include "space_bullet.h" + +class btGhostObject; + +class AreaBullet : public RigidCollisionObjectBullet { + friend void SpaceBullet::check_ghost_overlaps(); + +public: + struct InOutEventCallback { + ObjectID event_callback_id; + StringName event_callback_method; + + InOutEventCallback() + : event_callback_id(0) {} + }; + + enum OverlapState { + OVERLAP_STATE_DIRTY = 0, // Mark processed overlaps + OVERLAP_STATE_INSIDE, // Mark old overlap + OVERLAP_STATE_ENTER, // Mark just enter overlap + OVERLAP_STATE_EXIT // Mark ended overlaps + }; + + struct OverlappingObjectData { + CollisionObjectBullet *object; + OverlapState state; + + OverlappingObjectData() + : object(NULL), state(OVERLAP_STATE_ENTER) {} + OverlappingObjectData(CollisionObjectBullet *p_object, OverlapState p_state) + : object(p_object), state(p_state) {} + OverlappingObjectData(const OverlappingObjectData &other) { + operator=(other); + } + void operator=(const OverlappingObjectData &other) { + object = other.object; + state = other.state; + } + }; + +private: + // These are used by function callEvent. Instead to create this each call I create if one time. + Variant call_event_res[5]; + Variant *call_event_res_ptr[5]; + + btGhostObject *btGhost; + Vector<OverlappingObjectData> overlappingObjects; + bool monitorable; + + PhysicsServer::AreaSpaceOverrideMode spOv_mode; + bool spOv_gravityPoint; + real_t spOv_gravityPointDistanceScale; + real_t spOv_gravityPointAttenuation; + Vector3 spOv_gravityVec; + real_t spOv_gravityMag; + real_t spOv_linearDump; + real_t spOv_angularDump; + int spOv_priority; + + bool isScratched; + + InOutEventCallback eventsCallbacks[2]; + +public: + AreaBullet(); + ~AreaBullet(); + + _FORCE_INLINE_ btGhostObject *get_bt_ghost() const { return btGhost; } + int find_overlapping_object(CollisionObjectBullet *p_colObj); + + void set_monitorable(bool p_monitorable); + _FORCE_INLINE_ bool is_monitorable() const { return monitorable; } + + bool is_monitoring() const; + + _FORCE_INLINE_ void set_spOv_mode(PhysicsServer::AreaSpaceOverrideMode p_mode) { spOv_mode = p_mode; } + _FORCE_INLINE_ PhysicsServer::AreaSpaceOverrideMode get_spOv_mode() { return spOv_mode; } + + _FORCE_INLINE_ void set_spOv_gravityPoint(bool p_isGP) { spOv_gravityPoint = p_isGP; } + _FORCE_INLINE_ bool is_spOv_gravityPoint() { return spOv_gravityPoint; } + + _FORCE_INLINE_ void set_spOv_gravityPointDistanceScale(real_t p_GPDS) { spOv_gravityPointDistanceScale = p_GPDS; } + _FORCE_INLINE_ real_t get_spOv_gravityPointDistanceScale() { return spOv_gravityPointDistanceScale; } + + _FORCE_INLINE_ void set_spOv_gravityPointAttenuation(real_t p_GPA) { spOv_gravityPointAttenuation = p_GPA; } + _FORCE_INLINE_ real_t get_spOv_gravityPointAttenuation() { return spOv_gravityPointAttenuation; } + + _FORCE_INLINE_ void set_spOv_gravityVec(Vector3 p_vec) { spOv_gravityVec = p_vec; } + _FORCE_INLINE_ const Vector3 &get_spOv_gravityVec() const { return spOv_gravityVec; } + + _FORCE_INLINE_ void set_spOv_gravityMag(real_t p_gravityMag) { spOv_gravityMag = p_gravityMag; } + _FORCE_INLINE_ real_t get_spOv_gravityMag() { return spOv_gravityMag; } + + _FORCE_INLINE_ void set_spOv_linearDump(real_t p_linearDump) { spOv_linearDump = p_linearDump; } + _FORCE_INLINE_ real_t get_spOv_linearDamp() { return spOv_linearDump; } + + _FORCE_INLINE_ void set_spOv_angularDump(real_t p_angularDump) { spOv_angularDump = p_angularDump; } + _FORCE_INLINE_ real_t get_spOv_angularDamp() { return spOv_angularDump; } + + _FORCE_INLINE_ void set_spOv_priority(int p_priority) { spOv_priority = p_priority; } + _FORCE_INLINE_ int get_spOv_priority() { return spOv_priority; } + + virtual void reload_body(); + virtual void set_space(SpaceBullet *p_space); + + virtual void dispatch_callbacks(); + void call_event(CollisionObjectBullet *p_otherObject, PhysicsServer::AreaBodyStatus p_status); + void set_on_state_change(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); + void scratch(); + + void remove_all_overlapping_instantly(); + // Dispatch the callbacks and removes from overlapping list + void remove_overlapping_instantly(CollisionObjectBullet *p_object); + + virtual void on_collision_filters_change(); + virtual void on_collision_checker_start() {} + + void add_overlap(CollisionObjectBullet *p_otherObject); + void put_overlap_as_exit(int p_index); + void put_overlap_as_inside(int p_index); + + void set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value); + Variant get_param(PhysicsServer::AreaParameter p_param) const; + + void set_event_callback(Type p_callbackObjectType, ObjectID p_id, const StringName &p_method); + bool has_event_callback(Type p_callbackObjectType); + + virtual void on_enter_area(AreaBullet *p_area); + virtual void on_exit_area(AreaBullet *p_area); +}; + +#endif diff --git a/modules/bullet/btRayShape.cpp b/modules/bullet/btRayShape.cpp new file mode 100644 index 0000000000..ac95faaac6 --- /dev/null +++ b/modules/bullet/btRayShape.cpp @@ -0,0 +1,94 @@ +/*************************************************************************/ +/* btRayShape.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. */ +/*************************************************************************/ + +#include "btRayShape.h" +#include "LinearMath/btAabbUtil2.h" +#include "math/math_funcs.h" + +btRayShape::btRayShape(btScalar length) + : btConvexInternalShape(), + m_shapeAxis(0, 0, 1) { + m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE; + setLength(length); +} + +btRayShape::~btRayShape() { +} + +void btRayShape::setLength(btScalar p_length) { + + m_length = p_length; + reload_cache(); +} + +btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const { + return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin); +} + +btVector3 btRayShape::localGetSupportingVertexWithoutMargin(const btVector3 &vec) const { + if (vec.z() > 0) + return m_shapeAxis * m_cacheScaledLength; + else + return btVector3(0, 0, 0); +} + +void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const { + for (int i = 0; i < numVectors; ++i) { + supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]); + } +} + +void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const { +#define MARGIN_BROADPHASE 0.1 + btVector3 localAabbMin(0, 0, 0); + btVector3 localAabbMax(m_shapeAxis * m_length); + btTransformAabb(localAabbMin, localAabbMax, MARGIN_BROADPHASE, t, aabbMin, aabbMax); +} + +void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const { + inertia.setZero(); +} + +int btRayShape::getNumPreferredPenetrationDirections() const { + return 0; +} + +void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const { + penetrationVector.setZero(); +} + +void btRayShape::reload_cache() { + + m_cacheScaledLength = m_length * m_localScaling[2] + m_collisionMargin; + + m_cacheSupportPoint.setIdentity(); + m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength); +} diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h new file mode 100644 index 0000000000..1b63fb477c --- /dev/null +++ b/modules/bullet/btRayShape.h @@ -0,0 +1,87 @@ +/*************************************************************************/ +/* btRayShape.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. */ +/*************************************************************************/ + +/// IMPORTANT The class name and filename was created by following Bullet writing rules for an easy (eventually ) porting to bullet +/// This shape is a custom shape that is not present to Bullet physics engine +#ifndef BTRAYSHAPE_H +#define BTRAYSHAPE_H + +#include "BulletCollision/CollisionShapes/btConvexInternalShape.h" + +/// Ray shape around z axis +ATTRIBUTE_ALIGNED16(class) +btRayShape : public btConvexInternalShape { + + btScalar m_length; + /// The default axis is the z + btVector3 m_shapeAxis; + + btTransform m_cacheSupportPoint; + btScalar m_cacheScaledLength; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btRayShape(btScalar length); + virtual ~btRayShape(); + + void setLength(btScalar p_length); + btScalar getLength() const { return m_length; } + + const btTransform &getSupportPoint() const { return m_cacheSupportPoint; } + const btScalar &getScaledLength() const { return m_cacheScaledLength; } + + virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const; +#ifndef __SPU__ + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const; +#endif //#ifndef __SPU__ + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const; + + ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. + virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const; + +#ifndef __SPU__ + virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const; + + virtual const char *getName() const { + return "RayZ"; + } +#endif //__SPU__ + + virtual int getNumPreferredPenetrationDirections() const; + virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const; + +private: + void reload_cache(); +}; + +#endif // BTRAYSHAPE_H diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp new file mode 100644 index 0000000000..96875924a5 --- /dev/null +++ b/modules/bullet/bullet_physics_server.cpp @@ -0,0 +1,1342 @@ +/*************************************************************************/ +/* bullet_physics_server.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "bullet_physics_server.h" +#include "LinearMath/btVector3.h" +#include "bullet_utilities.h" +#include "class_db.h" +#include "cone_twist_joint_bullet.h" +#include "core/error_macros.h" +#include "core/ustring.h" +#include "generic_6dof_joint_bullet.h" +#include "hinge_joint_bullet.h" +#include "pin_joint_bullet.h" +#include "shape_bullet.h" +#include "slider_joint_bullet.h" +#include <assert.h> + +#define CreateThenReturnRID(owner, ridData) \ + RID rid = owner.make_rid(ridData); \ + ridData->set_self(rid); \ + ridData->_set_physics_server(this); \ + return rid; + +// <--------------- Joint creation asserts +/// Assert the body is assigned to a space +#define JointAssertSpace(body, bIndex, ret) \ + if (!body->get_space()) { \ + ERR_PRINTS("Before create a joint the Body" + String(bIndex) + " must be added to a space!"); \ + return ret; \ + } + +/// Assert the two bodies of joint are in the same space +#define JointAssertSameSpace(bodyA, bodyB, ret) \ + if (bodyA->get_space() != bodyB->get_space()) { \ + ERR_PRINT("In order to create a joint the Body_A and Body_B must be in the same space!"); \ + return RID(); \ + } + +#define AddJointToSpace(body, joint, disableCollisionsBetweenLinkedBodies) \ + body->get_space()->add_constraint(joint, disableCollisionsBetweenLinkedBodies); +// <--------------- Joint creation asserts + +btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty()); + +btEmptyShape *BulletPhysicsServer::get_empty_shape() { + return emptyShape; +} + +void BulletPhysicsServer::_bind_methods() { + //ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer::DoTest); +} + +BulletPhysicsServer::BulletPhysicsServer() + : PhysicsServer(), + active(true), + active_spaces_count(0) {} + +BulletPhysicsServer::~BulletPhysicsServer() {} + +RID BulletPhysicsServer::shape_create(ShapeType p_shape) { + ShapeBullet *shape = NULL; + + switch (p_shape) { + case SHAPE_PLANE: { + + shape = bulletnew(PlaneShapeBullet); + } break; + case SHAPE_SPHERE: { + + shape = bulletnew(SphereShapeBullet); + } break; + case SHAPE_BOX: { + + shape = bulletnew(BoxShapeBullet); + } break; + case SHAPE_CAPSULE: { + + shape = bulletnew(CapsuleShapeBullet); + } break; + case SHAPE_CONVEX_POLYGON: { + + shape = bulletnew(ConvexPolygonShapeBullet); + } break; + case SHAPE_CONCAVE_POLYGON: { + + shape = bulletnew(ConcavePolygonShapeBullet); + } break; + case SHAPE_HEIGHTMAP: { + + shape = bulletnew(HeightMapShapeBullet); + } break; + case SHAPE_RAY: { + shape = bulletnew(RayShapeBullet); + } break; + case SHAPE_CUSTOM: + defaul: + ERR_FAIL_V(RID()); + break; + } + + CreateThenReturnRID(shape_owner, shape) +} + +void BulletPhysicsServer::shape_set_data(RID p_shape, const Variant &p_data) { + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + shape->set_data(p_data); +} + +void BulletPhysicsServer::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { + //WARN_PRINT("Bias not supported by Bullet physics engine"); +} + +PhysicsServer::ShapeType BulletPhysicsServer::shape_get_type(RID p_shape) const { + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, PhysicsServer::SHAPE_CUSTOM); + return shape->get_type(); +} + +Variant BulletPhysicsServer::shape_get_data(RID p_shape) const { + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, Variant()); + return shape->get_data(); +} + +real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const { + //WARN_PRINT("Bias not supported by Bullet physics engine"); + return 0.; +} + +RID BulletPhysicsServer::space_create() { + SpaceBullet *space = bulletnew(SpaceBullet(false)); + CreateThenReturnRID(space_owner, space); +} + +void BulletPhysicsServer::space_set_active(RID p_space, bool p_active) { + + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + + if (space_is_active(p_space) == p_active) { + return; + } + + if (p_active) { + ++active_spaces_count; + active_spaces.push_back(space); + } else { + --active_spaces_count; + active_spaces.erase(space); + } +} + +bool BulletPhysicsServer::space_is_active(RID p_space) const { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, false); + + return -1 != active_spaces.find(space); +} + +void BulletPhysicsServer::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + space->set_param(p_param, p_value); +} + +real_t BulletPhysicsServer::space_get_param(RID p_space, SpaceParameter p_param) const { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, 0); + return space->get_param(p_param); +} + +PhysicsDirectSpaceState *BulletPhysicsServer::space_get_direct_state(RID p_space) { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, NULL); + + return space->get_direct_state(); +} + +void BulletPhysicsServer::space_set_debug_contacts(RID p_space, int p_max_contacts) { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + + space->set_debug_contacts(p_max_contacts); +} + +Vector<Vector3> BulletPhysicsServer::space_get_contacts(RID p_space) const { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, Vector<Vector3>()); + + return space->get_debug_contacts(); +} + +int BulletPhysicsServer::space_get_contact_count(RID p_space) const { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, 0); + + return space->get_debug_contact_count(); +} + +RID BulletPhysicsServer::area_create() { + AreaBullet *area = bulletnew(AreaBullet); + area->set_collision_layer(1); + area->set_collision_mask(1); + CreateThenReturnRID(area_owner, area) +} + +void BulletPhysicsServer::area_set_space(RID p_area, RID p_space) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + SpaceBullet *space = NULL; + if (p_space.is_valid()) { + space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + } + area->set_space(space); +} + +RID BulletPhysicsServer::area_get_space(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + return area->get_space()->get_self(); +} + +void BulletPhysicsServer::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area) + + area->set_spOv_mode(p_mode); +} + +PhysicsServer::AreaSpaceOverrideMode BulletPhysicsServer::area_get_space_override_mode(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED); + + return area->get_spOv_mode(); +} + +void BulletPhysicsServer::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + + area->add_shape(shape, p_transform); +} + +void BulletPhysicsServer::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + + area->set_shape(p_shape_idx, shape); +} + +void BulletPhysicsServer::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_shape_transform(p_shape_idx, p_transform); +} + +int BulletPhysicsServer::area_get_shape_count(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, 0); + + return area->get_shape_count(); +} + +RID BulletPhysicsServer::area_get_shape(RID p_area, int p_shape_idx) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, RID()); + + return area->get_shape(p_shape_idx)->get_self(); +} + +Transform BulletPhysicsServer::area_get_shape_transform(RID p_area, int p_shape_idx) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, Transform()); + + return area->get_shape_transform(p_shape_idx); +} + +void BulletPhysicsServer::area_remove_shape(RID p_area, int p_shape_idx) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + return area->remove_shape(p_shape_idx); +} + +void BulletPhysicsServer::area_clear_shapes(RID p_area) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + for (int i = area->get_shape_count(); 0 < i; --i) + area->remove_shape(0); +} + +void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_shape_disabled(p_shape_idx, p_disabled); +} + +void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_ID) { + if (space_owner.owns(p_area)) { + return; + } + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_instance_id(p_ID); +} + +ObjectID BulletPhysicsServer::area_get_object_instance_id(RID p_area) const { + if (space_owner.owns(p_area)) { + return 0; + } + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, ObjectID()); + return area->get_instance_id(); +} + +void BulletPhysicsServer::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { + if (space_owner.owns(p_area)) { + SpaceBullet *space = space_owner.get(p_area); + if (space) { + space->set_param(p_param, p_value); + } + } else { + + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_param(p_param, p_value); + } +} + +Variant BulletPhysicsServer::area_get_param(RID p_area, AreaParameter p_param) const { + if (space_owner.owns(p_area)) { + SpaceBullet *space = space_owner.get(p_area); + return space->get_param(p_param); + } else { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, Variant()); + + return area->get_param(p_param); + } +} + +void BulletPhysicsServer::area_set_transform(RID p_area, const Transform &p_transform) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_transform(p_transform); +} + +Transform BulletPhysicsServer::area_get_transform(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, Transform()); + return area->get_transform(); +} + +void BulletPhysicsServer::area_set_collision_mask(RID p_area, uint32_t p_mask) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_collision_mask(p_mask); +} + +void BulletPhysicsServer::area_set_collision_layer(RID p_area, uint32_t p_layer) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_collision_layer(p_layer); +} + +void BulletPhysicsServer::area_set_monitorable(RID p_area, bool p_monitorable) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_monitorable(p_monitorable); +} + +void BulletPhysicsServer::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_receiver ? p_receiver->get_instance_id() : 0, p_method); +} + +void BulletPhysicsServer::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_receiver ? p_receiver->get_instance_id() : 0, p_method); +} + +void BulletPhysicsServer::area_set_ray_pickable(RID p_area, bool p_enable) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_ray_pickable(p_enable); +} + +bool BulletPhysicsServer::area_is_ray_pickable(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, false); + return area->is_ray_pickable(); +} + +RID BulletPhysicsServer::body_create(BodyMode p_mode, bool p_init_sleeping) { + RigidBodyBullet *body = bulletnew(RigidBodyBullet); + body->set_mode(p_mode); + body->set_collision_layer(1); + body->set_collision_mask(1); + if (p_init_sleeping) + body->set_state(BODY_STATE_SLEEPING, p_init_sleeping); + CreateThenReturnRID(rigid_body_owner, body); +} + +void BulletPhysicsServer::body_set_space(RID p_body, RID p_space) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + SpaceBullet *space = NULL; + + if (p_space.is_valid()) { + space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + } + + if (body->get_space() == space) + return; //pointles + + body->set_space(space); +} + +RID BulletPhysicsServer::body_get_space(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, RID()); + + SpaceBullet *space = body->get_space(); + if (!space) + return RID(); + return space->get_self(); +} + +void BulletPhysicsServer::body_set_mode(RID p_body, PhysicsServer::BodyMode p_mode) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_mode(p_mode); +} + +PhysicsServer::BodyMode BulletPhysicsServer::body_get_mode(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); + return body->get_mode(); +} + +void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform) { + + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + + body->add_shape(shape, p_transform); +} + +void BulletPhysicsServer::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + + body->set_shape(p_shape_idx, shape); +} + +void BulletPhysicsServer::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_shape_transform(p_shape_idx, p_transform); +} + +int BulletPhysicsServer::body_get_shape_count(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + return body->get_shape_count(); +} + +RID BulletPhysicsServer::body_get_shape(RID p_body, int p_shape_idx) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, RID()); + + ShapeBullet *shape = body->get_shape(p_shape_idx); + ERR_FAIL_COND_V(!shape, RID()); + + return shape->get_self(); +} + +Transform BulletPhysicsServer::body_get_shape_transform(RID p_body, int p_shape_idx) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Transform()); + return body->get_shape_transform(p_shape_idx); +} + +void BulletPhysicsServer::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_shape_disabled(p_shape_idx, p_disabled); +} + +void BulletPhysicsServer::body_remove_shape(RID p_body, int p_shape_idx) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->remove_shape(p_shape_idx); +} + +void BulletPhysicsServer::body_clear_shapes(RID p_body) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->remove_all_shapes(); +} + +void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_ID) { + CollisionObjectBullet *body = get_collisin_object(p_body); + if (!body) { + body = soft_body_owner.get(p_body); + } + ERR_FAIL_COND(!body); + + body->set_instance_id(p_ID); +} + +uint32_t BulletPhysicsServer::body_get_object_instance_id(RID p_body) const { + CollisionObjectBullet *body = get_collisin_object(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_instance_id(); +} + +void BulletPhysicsServer::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_continuous_collision_detection(p_enable); +} + +bool BulletPhysicsServer::body_is_continuous_collision_detection_enabled(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + + return body->is_continuous_collision_detection_enabled(); +} + +void BulletPhysicsServer::body_set_collision_layer(RID p_body, uint32_t p_layer) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_layer(p_layer); +} + +uint32_t BulletPhysicsServer::body_get_collision_layer(RID p_body) const { + const RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_layer(); +} + +void BulletPhysicsServer::body_set_collision_mask(RID p_body, uint32_t p_mask) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_mask(p_mask); +} + +uint32_t BulletPhysicsServer::body_get_collision_mask(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_mask(); +} + +void BulletPhysicsServer::body_set_user_flags(RID p_body, uint32_t p_flags) { + WARN_PRINT("This function si not currently supported by bullet and Godot"); +} + +uint32_t BulletPhysicsServer::body_get_user_flags(RID p_body) const { + WARN_PRINT("This function si not currently supported by bullet and Godot"); + return 0; +} + +void BulletPhysicsServer::body_set_param(RID p_body, BodyParameter p_param, float p_value) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_param(p_param, p_value); +} + +float BulletPhysicsServer::body_get_param(RID p_body, BodyParameter p_param) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_param(p_param); +} + +void BulletPhysicsServer::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_state(p_state, p_variant); +} + +Variant BulletPhysicsServer::body_get_state(RID p_body, BodyState p_state) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Variant()); + + return body->get_state(p_state); +} + +void BulletPhysicsServer::body_set_applied_force(RID p_body, const Vector3 &p_force) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_applied_force(p_force); +} + +Vector3 BulletPhysicsServer::body_get_applied_force(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + return body->get_applied_force(); +} + +void BulletPhysicsServer::body_set_applied_torque(RID p_body, const Vector3 &p_torque) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_applied_torque(p_torque); +} + +Vector3 BulletPhysicsServer::body_get_applied_torque(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + + return body->get_applied_torque(); +} + +void BulletPhysicsServer::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->apply_impulse(p_pos, p_impulse); +} + +void BulletPhysicsServer::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->apply_torque_impulse(p_impulse); +} + +void BulletPhysicsServer::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + Vector3 v = body->get_linear_velocity(); + Vector3 axis = p_axis_velocity.normalized(); + v -= axis * axis.dot(v); + v += p_axis_velocity; + body->set_linear_velocity(v); +} + +void BulletPhysicsServer::body_set_axis_lock(RID p_body, PhysicsServer::BodyAxisLock p_lock) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_axis_lock(p_lock); +} + +PhysicsServer::BodyAxisLock BulletPhysicsServer::body_get_axis_lock(RID p_body) const { + const RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, BODY_AXIS_LOCK_DISABLED); + return body->get_axis_lock(); +} + +void BulletPhysicsServer::body_add_collision_exception(RID p_body, RID p_body_b) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + RigidBodyBullet *other_body = rigid_body_owner.get(p_body_b); + ERR_FAIL_COND(!other_body); + + body->add_collision_exception(other_body); +} + +void BulletPhysicsServer::body_remove_collision_exception(RID p_body, RID p_body_b) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + RigidBodyBullet *other_body = rigid_body_owner.get(p_body_b); + ERR_FAIL_COND(!other_body); + + body->remove_collision_exception(other_body); +} + +void BulletPhysicsServer::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + for (int i = 0; i < body->get_exceptions().size(); i++) { + p_exceptions->push_back(body->get_exceptions()[i]); + } +} + +void BulletPhysicsServer::body_set_max_contacts_reported(RID p_body, int p_contacts) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_max_collisions_detection(p_contacts); +} + +int BulletPhysicsServer::body_get_max_contacts_reported(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_max_collisions_detection(); +} + +void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_treshold) { + WARN_PRINT("Not supported by bullet and even Godot"); +} + +float BulletPhysicsServer::body_get_contacts_reported_depth_threshold(RID p_body) const { + WARN_PRINT("Not supported by bullet and even Godot"); + return 0.; +} + +void BulletPhysicsServer::body_set_omit_force_integration(RID p_body, bool p_omit) { + WARN_PRINT("Not supported by bullet"); +} + +bool BulletPhysicsServer::body_is_omitting_force_integration(RID p_body) const { + WARN_PRINT("Not supported by bullet"); + return false; +} + +void BulletPhysicsServer::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_force_integration_callback(p_receiver->get_instance_id(), p_method, p_udata); +} + +void BulletPhysicsServer::body_set_ray_pickable(RID p_body, bool p_enable) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_ray_pickable(p_enable); +} + +bool BulletPhysicsServer::body_is_ray_pickable(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + return body->is_ray_pickable(); +} + +PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, NULL); + return BulletPhysicsDirectBodyState::get_singleton(body); +} + +bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin, MotionResult *r_result) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + ERR_FAIL_COND_V(!body->get_space(), false); + + return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result); +} + +RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) { + SoftBodyBullet *body = bulletnew(SoftBodyBullet); + body->set_collision_layer(1); + body->set_collision_mask(1); + if (p_init_sleeping) + body->set_activation_state(false); + CreateThenReturnRID(soft_body_owner, body); +} + +void BulletPhysicsServer::soft_body_set_space(RID p_body, RID p_space) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + SpaceBullet *space = NULL; + + if (p_space.is_valid()) { + space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + } + + if (body->get_space() == space) + return; //pointles + + body->set_space(space); +} + +RID BulletPhysicsServer::soft_body_get_space(RID p_body) const { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, RID()); + + SpaceBullet *space = body->get_space(); + if (!space) + return RID(); + return space->get_self(); +} + +void BulletPhysicsServer::soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_trimesh_body_shape(p_indices, p_vertices, p_triangles_num); +} + +void BulletPhysicsServer::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_layer(p_layer); +} + +uint32_t BulletPhysicsServer::soft_body_get_collision_layer(RID p_body) const { + const SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_layer(); +} + +void BulletPhysicsServer::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_mask(p_mask); +} + +uint32_t BulletPhysicsServer::soft_body_get_collision_mask(RID p_body) const { + const SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_mask(); +} + +void BulletPhysicsServer::soft_body_add_collision_exception(RID p_body, RID p_body_b) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + CollisionObjectBullet *other_body = rigid_body_owner.get(p_body_b); + if (!other_body) { + other_body = soft_body_owner.get(p_body_b); + } + ERR_FAIL_COND(!other_body); + + body->add_collision_exception(other_body); +} + +void BulletPhysicsServer::soft_body_remove_collision_exception(RID p_body, RID p_body_b) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + CollisionObjectBullet *other_body = rigid_body_owner.get(p_body_b); + if (!other_body) { + other_body = soft_body_owner.get(p_body_b); + } + ERR_FAIL_COND(!other_body); + + body->remove_collision_exception(other_body); +} + +void BulletPhysicsServer::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + for (int i = 0; i < body->get_exceptions().size(); i++) { + p_exceptions->push_back(body->get_exceptions()[i]); + } +} + +void BulletPhysicsServer::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + print_line("TODO MUST BE IMPLEMENTED"); +} + +Variant BulletPhysicsServer::soft_body_get_state(RID p_body, BodyState p_state) const { + print_line("TODO MUST BE IMPLEMENTED"); + return Variant(); +} + +void BulletPhysicsServer::soft_body_set_transform(RID p_body, const Transform &p_transform) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_transform(p_transform); +} + +Transform BulletPhysicsServer::soft_body_get_transform(RID p_body) const { + const SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Transform()); + + return body->get_transform(); +} + +void BulletPhysicsServer::soft_body_set_ray_pickable(RID p_body, bool p_enable) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_ray_pickable(p_enable); +} + +bool BulletPhysicsServer::soft_body_is_ray_pickable(RID p_body) const { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + return body->is_ray_pickable(); +} + +PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, JOINT_PIN); + return joint->get_type(); +} + +void BulletPhysicsServer::joint_set_solver_priority(RID p_joint, int p_priority) { + //WARN_PRINTS("Joint priority not supported by bullet"); +} + +int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const { + //WARN_PRINTS("Joint priority not supported by bullet"); + return 0; +} + +RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_PIN); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + pin_joint->set_param(p_param, p_value); +} + +float BulletPhysicsServer::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + return pin_joint->get_param(p_param); +} + +void BulletPhysicsServer::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_PIN); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + pin_joint->setPivotInA(p_A); +} + +Vector3 BulletPhysicsServer::pin_joint_get_local_a(RID p_joint) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, Vector3()); + ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3()); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + return pin_joint->getPivotInA(); +} + +void BulletPhysicsServer::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_PIN); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + pin_joint->setPivotInB(p_B); +} + +Vector3 BulletPhysicsServer::pin_joint_get_local_b(RID p_joint) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, Vector3()); + ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3()); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + return pin_joint->getPivotInB(); +} + +RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); + HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); + hinge_joint->set_param(p_param, p_value); +} + +float BulletPhysicsServer::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0); + HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); + return hinge_joint->get_param(p_param); +} + +void BulletPhysicsServer::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); + HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); + hinge_joint->set_flag(p_flag, p_value); +} + +bool BulletPhysicsServer::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, false); + ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false); + HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); + return hinge_joint->get_flag(p_flag); +} + +RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER); + SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint); + slider_joint->set_param(p_param, p_value); +} + +float BulletPhysicsServer::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0); + SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint); + return slider_joint->get_param(p_param); +} + +RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST); + ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint); + coneTwist_joint->set_param(p_param, p_value); +} + +float BulletPhysicsServer::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0.); + ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.); + ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint); + return coneTwist_joint->get_param(p_param); +} + +RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); + Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); + generic_6dof_joint->set_param(p_axis, p_param, p_value); +} + +float BulletPhysicsServer::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); + Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); + return generic_6dof_joint->get_param(p_axis, p_param); +} + +void BulletPhysicsServer::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); + Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); + generic_6dof_joint->set_flag(p_axis, p_flag, p_enable); +} + +bool BulletPhysicsServer::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, false); + ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false); + Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); + return generic_6dof_joint->get_flag(p_axis, p_flag); +} + +void BulletPhysicsServer::free(RID p_rid) { + if (shape_owner.owns(p_rid)) { + + ShapeBullet *shape = shape_owner.get(p_rid); + + // Notify the shape is configured + for (Map<ShapeOwnerBullet *, int>::Element *element = shape->get_owners().front(); element; element = element->next()) { + static_cast<ShapeOwnerBullet *>(element->key())->remove_shape(shape); + } + + shape_owner.free(p_rid); + bulletdelete(shape); + } else if (rigid_body_owner.owns(p_rid)) { + + RigidBodyBullet *body = rigid_body_owner.get(p_rid); + + body->set_space(NULL); + + body->remove_all_shapes(true); + + rigid_body_owner.free(p_rid); + bulletdelete(body); + + } else if (soft_body_owner.owns(p_rid)) { + + SoftBodyBullet *body = soft_body_owner.get(p_rid); + + body->set_space(NULL); + + soft_body_owner.free(p_rid); + bulletdelete(body); + + } else if (area_owner.owns(p_rid)) { + + AreaBullet *area = area_owner.get(p_rid); + + area->set_space(NULL); + + area->remove_all_shapes(true); + + area_owner.free(p_rid); + bulletdelete(area); + + } else if (joint_owner.owns(p_rid)) { + + JointBullet *joint = joint_owner.get(p_rid); + joint->destroy_internal_constraint(); + joint_owner.free(p_rid); + bulletdelete(joint); + + } else if (space_owner.owns(p_rid)) { + + SpaceBullet *space = space_owner.get(p_rid); + + space->remove_all_collision_objects(); + + space_set_active(p_rid, false); + space_owner.free(p_rid); + bulletdelete(space); + } else { + + ERR_EXPLAIN("Invalid ID"); + ERR_FAIL(); + } +} + +void BulletPhysicsServer::init() { + BulletPhysicsDirectBodyState::initSingleton(); +} + +void BulletPhysicsServer::step(float p_deltaTime) { + if (!active) + return; + + BulletPhysicsDirectBodyState::singleton_setDeltaTime(p_deltaTime); + + for (int i = 0; i < active_spaces_count; ++i) { + + active_spaces[i]->step(p_deltaTime); + } +} + +void BulletPhysicsServer::sync() { +} + +void BulletPhysicsServer::flush_queries() { +} + +void BulletPhysicsServer::finish() { + BulletPhysicsDirectBodyState::destroySingleton(); +} + +int BulletPhysicsServer::get_process_info(ProcessInfo p_info) { + return 0; +} + +CollisionObjectBullet *BulletPhysicsServer::get_collisin_object(RID p_object) const { + if (rigid_body_owner.owns(p_object)) { + return rigid_body_owner.getornull(p_object); + } + if (area_owner.owns(p_object)) { + return area_owner.getornull(p_object); + } + if (soft_body_owner.owns(p_object)) { + return soft_body_owner.getornull(p_object); + } + return NULL; +} + +RigidCollisionObjectBullet *BulletPhysicsServer::get_rigid_collisin_object(RID p_object) const { + if (rigid_body_owner.owns(p_object)) { + return rigid_body_owner.getornull(p_object); + } + if (area_owner.owns(p_object)) { + return area_owner.getornull(p_object); + } + return NULL; +} diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h new file mode 100644 index 0000000000..04d9d89594 --- /dev/null +++ b/modules/bullet/bullet_physics_server.h @@ -0,0 +1,359 @@ +/*************************************************************************/ +/* bullet_physics_server.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 BULLET_PHYSICS_SERVER_H +#define BULLET_PHYSICS_SERVER_H + +#include "area_bullet.h" +#include "joint_bullet.h" +#include "rid.h" +#include "rigid_body_bullet.h" +#include "servers/physics_server.h" +#include "shape_bullet.h" +#include "soft_body_bullet.h" +#include "space_bullet.h" + +class BulletPhysicsServer : public PhysicsServer { + GDCLASS(BulletPhysicsServer, PhysicsServer) + + friend class BulletPhysicsDirectSpaceState; + + bool active; + char active_spaces_count; + Vector<SpaceBullet *> active_spaces; + + mutable RID_Owner<SpaceBullet> space_owner; + mutable RID_Owner<ShapeBullet> shape_owner; + mutable RID_Owner<AreaBullet> area_owner; + mutable RID_Owner<RigidBodyBullet> rigid_body_owner; + mutable RID_Owner<SoftBodyBullet> soft_body_owner; + mutable RID_Owner<JointBullet> joint_owner; + +private: + /// This is used when a collision shape is not active, so the bullet compound shapes index are always sync with godot index + static btEmptyShape *emptyShape; + +public: + static btEmptyShape *get_empty_shape(); + +protected: + static void _bind_methods(); + +public: + BulletPhysicsServer(); + ~BulletPhysicsServer(); + + _FORCE_INLINE_ RID_Owner<SpaceBullet> *get_space_owner() { + return &space_owner; + } + _FORCE_INLINE_ RID_Owner<ShapeBullet> *get_shape_owner() { + return &shape_owner; + } + _FORCE_INLINE_ RID_Owner<AreaBullet> *get_area_owner() { + return &area_owner; + } + _FORCE_INLINE_ RID_Owner<RigidBodyBullet> *get_rigid_body_owner() { + return &rigid_body_owner; + } + _FORCE_INLINE_ RID_Owner<SoftBodyBullet> *get_soft_body_owner() { + return &soft_body_owner; + } + _FORCE_INLINE_ RID_Owner<JointBullet> *get_joint_owner() { + return &joint_owner; + } + + /* SHAPE API */ + virtual RID shape_create(ShapeType p_shape); + virtual void shape_set_data(RID p_shape, const Variant &p_data); + virtual ShapeType shape_get_type(RID p_shape) const; + virtual Variant shape_get_data(RID p_shape) const; + + /// Not supported + virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias); + /// Not supported + virtual real_t shape_get_custom_solver_bias(RID p_shape) const; + + /* SPACE API */ + + virtual RID space_create(); + virtual void space_set_active(RID p_space, bool p_active); + virtual bool space_is_active(RID p_space) const; + + /// Not supported + virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value); + /// Not supported + virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const; + + virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space); + + virtual void space_set_debug_contacts(RID p_space, int p_max_contacts); + virtual Vector<Vector3> space_get_contacts(RID p_space) const; + virtual int space_get_contact_count(RID p_space) const; + + /* AREA API */ + + /// Bullet Physics Engine not support "Area", this must be handled by the game developer in another way. + /// Since godot Physics use the concept of area even to define the main world, the API area_set_param is used to set initial physics world information. + /// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console. + /// All other APIs returns a warning message if used + + virtual RID area_create(); + + virtual void area_set_space(RID p_area, RID p_space); + + virtual RID area_get_space(RID p_area) const; + + virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode); + virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const; + + virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform()); + virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape); + virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform); + virtual int area_get_shape_count(RID p_area) const; + virtual RID area_get_shape(RID p_area, int p_shape_idx) const; + virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const; + virtual void area_remove_shape(RID p_area, int p_shape_idx); + virtual void area_clear_shapes(RID p_area); + virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled); + virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID); + virtual ObjectID area_get_object_instance_id(RID p_area) const; + + /// If you pass as p_area the SpaceBullet you can set some parameters as specified below + /// AREA_PARAM_GRAVITY + /// AREA_PARAM_GRAVITY_VECTOR + /// Otherwise you can set area parameters + virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value); + virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const; + + virtual void area_set_transform(RID p_area, const Transform &p_transform); + virtual Transform area_get_transform(RID p_area) const; + + virtual void area_set_collision_mask(RID p_area, uint32_t p_mask); + virtual void area_set_collision_layer(RID p_area, uint32_t p_layer); + + virtual void area_set_monitorable(RID p_area, bool p_monitorable); + virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); + virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); + virtual void area_set_ray_pickable(RID p_area, bool p_enable); + virtual bool area_is_ray_pickable(RID p_area) const; + + /* RIGID BODY API */ + + virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false); + + virtual void body_set_space(RID p_body, RID p_space); + virtual RID body_get_space(RID p_body) const; + + virtual void body_set_mode(RID p_body, BodyMode p_mode); + virtual BodyMode body_get_mode(RID p_body) const; + + virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform()); + // Not supported, Please remove and add new shape + virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape); + virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform); + + virtual int body_get_shape_count(RID p_body) const; + virtual RID body_get_shape(RID p_body, int p_shape_idx) const; + virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const; + + virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled); + + virtual void body_remove_shape(RID p_body, int p_shape_idx); + virtual void body_clear_shapes(RID p_body); + + // Used for Rigid and Soft Bodies + virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID); + virtual uint32_t body_get_object_instance_id(RID p_body) const; + + virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable); + virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const; + + virtual void body_set_collision_layer(RID p_body, uint32_t p_layer); + virtual uint32_t body_get_collision_layer(RID p_body) const; + + virtual void body_set_collision_mask(RID p_body, uint32_t p_mask); + virtual uint32_t body_get_collision_mask(RID p_body) const; + + /// This is not supported by physics server + virtual void body_set_user_flags(RID p_body, uint32_t p_flags); + /// This is not supported by physics server + virtual uint32_t body_get_user_flags(RID p_body) const; + + virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value); + virtual float body_get_param(RID p_body, BodyParameter p_param) const; + + virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); + virtual Variant body_get_state(RID p_body, BodyState p_state) const; + + virtual void body_set_applied_force(RID p_body, const Vector3 &p_force); + virtual Vector3 body_get_applied_force(RID p_body) const; + + virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque); + virtual Vector3 body_get_applied_torque(RID p_body) const; + + virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse); + virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); + virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); + + virtual void body_set_axis_lock(RID p_body, BodyAxisLock p_lock); + virtual BodyAxisLock body_get_axis_lock(RID p_body) const; + + virtual void body_add_collision_exception(RID p_body, RID p_body_b); + virtual void body_remove_collision_exception(RID p_body, RID p_body_b); + virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); + + virtual void body_set_max_contacts_reported(RID p_body, int p_contacts); + virtual int body_get_max_contacts_reported(RID p_body) const; + + virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_treshold); + virtual float body_get_contacts_reported_depth_threshold(RID p_body) const; + + virtual void body_set_omit_force_integration(RID p_body, bool p_omit); + virtual bool body_is_omitting_force_integration(RID p_body) const; + + virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()); + + virtual void body_set_ray_pickable(RID p_body, bool p_enable); + virtual bool body_is_ray_pickable(RID p_body) const; + + // this function only works on physics process, errors and returns null otherwise + virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body); + + virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin = 0.001, MotionResult *r_result = NULL); + + /* SOFT BODY API */ + + virtual RID soft_body_create(bool p_init_sleeping = false); + + virtual void soft_body_set_space(RID p_body, RID p_space); + virtual RID soft_body_get_space(RID p_body) const; + + virtual void soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num); + + virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer); + virtual uint32_t soft_body_get_collision_layer(RID p_body) const; + + virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask); + virtual uint32_t soft_body_get_collision_mask(RID p_body) const; + + virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b); + virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b); + virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); + + virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); + virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const; + + virtual void soft_body_set_transform(RID p_body, const Transform &p_transform); + virtual Transform soft_body_get_transform(RID p_body) const; + + virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable); + virtual bool soft_body_is_ray_pickable(RID p_body) const; + + /* JOINT API */ + + virtual JointType joint_get_type(RID p_joint) const; + + virtual void joint_set_solver_priority(RID p_joint, int p_priority); + virtual int joint_get_solver_priority(RID p_joint) const; + + virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B); + + virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value); + virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const; + + virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A); + virtual Vector3 pin_joint_get_local_a(RID p_joint) const; + + virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B); + virtual Vector3 pin_joint_get_local_b(RID p_joint) const; + + virtual RID joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B); + virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B); + + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value); + virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const; + + virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value); + virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const; + + /// Reference frame is A + virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + + virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value); + virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const; + + /// Reference frame is A + virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + + virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value); + virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const; + + /// Reference frame is A + virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); + + virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value); + virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param); + + virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable); + virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag); + + /* MISC */ + + virtual void free(RID p_rid); + + virtual void set_active(bool p_active) { + active = p_active; + } + + static bool singleton_isActive() { + return static_cast<BulletPhysicsServer *>(get_singleton())->active; + } + + bool isActive() { + return active; + } + + virtual void init(); + virtual void step(float p_deltaTime); + virtual void sync(); + virtual void flush_queries(); + virtual void finish(); + + virtual int get_process_info(ProcessInfo p_info); + + CollisionObjectBullet *get_collisin_object(RID p_object) const; + RigidCollisionObjectBullet *get_rigid_collisin_object(RID p_object) const; + + /// Internal APIs +public: +}; + +#endif diff --git a/modules/bullet/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp new file mode 100644 index 0000000000..5010197a78 --- /dev/null +++ b/modules/bullet/bullet_types_converter.cpp @@ -0,0 +1,94 @@ +/*************************************************************************/ +/* bullet_types_converter.cpp */ +/* 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. */ +/*************************************************************************/ + +#pragma once + +#include "bullet_types_converter.h" + +// ++ BULLET to GODOT ++++++++++ +void B_TO_G(btVector3 const &inVal, Vector3 &outVal) { + outVal[0] = inVal[0]; + outVal[1] = inVal[1]; + outVal[2] = inVal[2]; +} + +void INVERT_B_TO_G(btVector3 const &inVal, Vector3 &outVal) { + outVal[0] = inVal[0] != 0. ? 1. / inVal[0] : 0.; + outVal[1] = inVal[1] != 0. ? 1. / inVal[1] : 0.; + outVal[2] = inVal[2] != 0. ? 1. / inVal[2] : 0.; +} + +void B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) { + B_TO_G(inVal[0], outVal[0]); + B_TO_G(inVal[1], outVal[1]); + B_TO_G(inVal[2], outVal[2]); +} + +void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) { + INVERT_B_TO_G(inVal[0], outVal[0]); + INVERT_B_TO_G(inVal[1], outVal[1]); + INVERT_B_TO_G(inVal[2], outVal[2]); +} + +void B_TO_G(btTransform const &inVal, Transform &outVal) { + B_TO_G(inVal.getBasis(), outVal.basis); + B_TO_G(inVal.getOrigin(), outVal.origin); +} + +// ++ GODOT to BULLET ++++++++++ +void G_TO_B(Vector3 const &inVal, btVector3 &outVal) { + outVal[0] = inVal[0]; + outVal[1] = inVal[1]; + outVal[2] = inVal[2]; +} + +void INVERT_G_TO_B(Vector3 const &inVal, btVector3 &outVal) { + outVal[0] = inVal[0] != 0. ? 1. / inVal[0] : 0.; + outVal[1] = inVal[1] != 0. ? 1. / inVal[1] : 0.; + outVal[2] = inVal[2] != 0. ? 1. / inVal[2] : 0.; +} + +void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) { + G_TO_B(inVal[0], outVal[0]); + G_TO_B(inVal[1], outVal[1]); + G_TO_B(inVal[2], outVal[2]); +} + +void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) { + INVERT_G_TO_B(inVal[0], outVal[0]); + INVERT_G_TO_B(inVal[1], outVal[1]); + INVERT_G_TO_B(inVal[2], outVal[2]); +} + +void G_TO_B(Transform const &inVal, btTransform &outVal) { + G_TO_B(inVal.basis, outVal.getBasis()); + G_TO_B(inVal.origin, outVal.getOrigin()); +} diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h new file mode 100644 index 0000000000..ed6a349382 --- /dev/null +++ b/modules/bullet/bullet_types_converter.h @@ -0,0 +1,57 @@ +/*************************************************************************/ +/* bullet_types_converter.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 BULLET_TYPES_CONVERTER_H +#define BULLET_TYPES_CONVERTER_H + +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "core/math/matrix3.h" +#include "core/math/transform.h" +#include "core/math/vector3.h" +#include "core/typedefs.h" + +// Bullet to Godot +extern void B_TO_G(btVector3 const &inVal, Vector3 &outVal); +extern void INVERT_B_TO_G(btVector3 const &inVal, Vector3 &outVal); +extern void B_TO_G(btMatrix3x3 const &inVal, Basis &outVal); +extern void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal); +extern void B_TO_G(btTransform const &inVal, Transform &outVal); + +// Godot TO Bullet +extern void G_TO_B(Vector3 const &inVal, btVector3 &outVal); +extern void INVERT_G_TO_B(Vector3 const &inVal, btVector3 &outVal); +extern void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal); +extern void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal); +extern void G_TO_B(Transform const &inVal, btTransform &outVal); + +#endif diff --git a/modules/bullet/bullet_utilities.h b/modules/bullet/bullet_utilities.h new file mode 100644 index 0000000000..45cde169b7 --- /dev/null +++ b/modules/bullet/bullet_utilities.h @@ -0,0 +1,44 @@ +/*************************************************************************/ +/* bullet_utilities.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 BULLET_UTILITIES_H +#define BULLET_UTILITIES_H + +#pragma once + +#define bulletnew(cl) \ + new cl + +#define bulletdelete(cl) \ + delete cl; \ + cl = NULL; + +#endif diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp new file mode 100644 index 0000000000..5739568d91 --- /dev/null +++ b/modules/bullet/collision_object_bullet.cpp @@ -0,0 +1,316 @@ +/*************************************************************************/ +/* collision_object_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "collision_object_bullet.h" +#include "area_bullet.h" +#include "btBulletCollisionCommon.h" +#include "bullet_physics_server.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "shape_bullet.h" +#include "space_bullet.h" + +#define enableDynamicAabbTree true +#define initialChildCapacity 1 + +CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {} + +void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) { + G_TO_B(p_transform, transform); +} +void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) { + transform = p_transform; +} + +CollisionObjectBullet::CollisionObjectBullet(Type p_type) + : RIDBullet(), space(NULL), type(p_type), collisionsEnabled(true), m_isStatic(false), bt_collision_object(NULL), body_scale(1., 1., 1.) {} + +CollisionObjectBullet::~CollisionObjectBullet() { + // Remove all overlapping + for (int i = areasOverlapped.size() - 1; 0 <= i; --i) { + areasOverlapped[i]->remove_overlapping_instantly(this); + } + // not required + // areasOverlapped.clear(); + + destroyBulletCollisionObject(); +} + +bool equal(real_t first, real_t second) { + return Math::abs(first - second) <= 0.001f; +} + +void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) { + if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) { + G_TO_B(p_new_scale, body_scale); + on_body_scale_changed(); + } +} + +void CollisionObjectBullet::on_body_scale_changed() { +} + +void CollisionObjectBullet::destroyBulletCollisionObject() { + bulletdelete(bt_collision_object); +} + +void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_collisionObject) { + bt_collision_object = p_collisionObject; + bt_collision_object->setUserPointer(this); + bt_collision_object->setUserIndex(type); + // Force the enabling of collision and avoid problems + set_collision_enabled(collisionsEnabled); +} + +void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { + exceptions.insert(p_ignoreCollisionObject->get_self()); + bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true); +} + +void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { + exceptions.erase(p_ignoreCollisionObject->get_self()); + bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false); +} + +bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const { + return !bt_collision_object->checkCollideWithOverride(p_otherCollisionObject->bt_collision_object); +} + +void CollisionObjectBullet::set_collision_enabled(bool p_enabled) { + collisionsEnabled = p_enabled; + if (collisionsEnabled) { + bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE)); + } else { + bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE); + } +} + +bool CollisionObjectBullet::is_collisions_response_enabled() { + return collisionsEnabled; +} + +void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) { + areasOverlapped.push_back(p_area); +} + +void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) { + areasOverlapped.erase(p_area); +} + +void CollisionObjectBullet::set_godot_object_flags(int flags) { + bt_collision_object->setUserIndex2(flags); +} + +int CollisionObjectBullet::get_godot_object_flags() const { + return bt_collision_object->getUserIndex2(); +} + +void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { + + btTransform btTrans; + Basis decomposed_basis; + + Vector3 decomposed_scale = p_global_transform.get_basis().rotref_posscale_decomposition(decomposed_basis); + + G_TO_B(p_global_transform.get_origin(), btTrans.getOrigin()); + G_TO_B(decomposed_basis, btTrans.getBasis()); + + set_body_scale(decomposed_scale); + set_transform__bullet(btTrans); +} + +Transform CollisionObjectBullet::get_transform() const { + Transform t; + B_TO_G(get_transform__bullet(), t); + return t; +} + +void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) { + bt_collision_object->setWorldTransform(p_global_transform); +} + +const btTransform &CollisionObjectBullet::get_transform__bullet() const { + return bt_collision_object->getWorldTransform(); +} + +RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) + : CollisionObjectBullet(p_type), compoundShape(bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity))) { +} + +RigidCollisionObjectBullet::~RigidCollisionObjectBullet() { + remove_all_shapes(true); + bt_collision_object->setCollisionShape(NULL); + bulletdelete(compoundShape); +} + +/* Not used +void RigidCollisionObjectBullet::_internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) { + bool at_least_one_was_changed = false; + btTransform old_transf; + // Inverse because I need remove the shapes + // Fetch all shapes to be sure to remove all shapes + for (int i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) { + if (compoundShape->getChildShape(i) == p_old_shape) { + + old_transf = compoundShape->getChildTransform(i); + compoundShape->removeChildShapeByIndex(i); + compoundShape->addChildShape(old_transf, p_new_shape); + at_least_one_was_changed = true; + } + } + + if (at_least_one_was_changed) { + on_shapes_changed(); + } +}*/ + +void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform) { + shapes.push_back(ShapeWrapper(p_shape, p_transform, true)); + p_shape->add_owner(this); + on_shapes_changed(); +} + +void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) { + ShapeWrapper &shp = shapes[p_index]; + shp.shape->remove_owner(this); + p_shape->add_owner(this); + shp.shape = p_shape; + on_shapes_changed(); +} + +void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) { + ERR_FAIL_INDEX(p_index, get_shape_count()); + + shapes[p_index].set_transform(p_transform); + on_shapes_changed(); +} + +void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) { + // Remove the shape, all the times it appears + // Reverse order required for delete. + for (int i = shapes.size() - 1; 0 <= i; --i) { + if (p_shape == shapes[i].shape) { + internal_shape_destroy(i); + shapes.remove(i); + } + } + on_shapes_changed(); +} + +void RigidCollisionObjectBullet::remove_shape(int p_index) { + ERR_FAIL_INDEX(p_index, get_shape_count()); + internal_shape_destroy(p_index); + shapes.remove(p_index); + on_shapes_changed(); +} + +void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) { + // Reverse order required for delete. + for (int i = shapes.size() - 1; 0 <= i; --i) { + internal_shape_destroy(i, p_permanentlyFromThisBody); + } + shapes.clear(); + on_shapes_changed(); +} + +int RigidCollisionObjectBullet::get_shape_count() const { + return shapes.size(); +} + +ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const { + return shapes[p_index].shape; +} + +btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const { + return shapes[p_index].bt_shape; +} + +Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const { + Transform trs; + B_TO_G(shapes[p_index].transform, trs); + return trs; +} + +void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_shape) { + const int size = shapes.size(); + for (int i = 0; i < size; ++i) { + if (shapes[i].shape == p_shape) { + bulletdelete(shapes[i].bt_shape); + } + } + on_shapes_changed(); +} + +void RigidCollisionObjectBullet::on_shapes_changed() { + int i; + // Remove all shapes, reverse order for performance reason (Array resize) + for (i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) { + compoundShape->removeChildShapeByIndex(i); + } + + // Insert all shapes + ShapeWrapper *shpWrapper; + const int size = shapes.size(); + for (i = 0; i < size; ++i) { + shpWrapper = &shapes[i]; + if (!shpWrapper->bt_shape) { + shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape(); + } + if (shpWrapper->active) { + compoundShape->addChildShape(shpWrapper->transform, shpWrapper->bt_shape); + } else { + compoundShape->addChildShape(shpWrapper->transform, BulletPhysicsServer::get_empty_shape()); + } + } + + compoundShape->setLocalScaling(body_scale); + compoundShape->recalculateLocalAabb(); +} + +void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) { + shapes[p_index].active = !p_disabled; + on_shapes_changed(); +} + +bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) { + return !shapes[p_index].active; +} + +void RigidCollisionObjectBullet::on_body_scale_changed() { + CollisionObjectBullet::on_body_scale_changed(); + on_shapes_changed(); +} + +void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) { + ShapeWrapper &shp = shapes[p_index]; + shp.shape->remove_owner(this, p_permanentlyFromThisBody); + bulletdelete(shp.bt_shape); +} diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h new file mode 100644 index 0000000000..153b8ea5bc --- /dev/null +++ b/modules/bullet/collision_object_bullet.h @@ -0,0 +1,234 @@ +/*************************************************************************/ +/* collision_object_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 COLLISION_OBJECT_BULLET_H +#define COLLISION_OBJECT_BULLET_H + +#include "LinearMath/btTransform.h" +#include "core/vset.h" +#include "object.h" +#include "shape_owner_bullet.h" +#include "transform.h" +#include "vector3.h" + +class AreaBullet; +class ShapeBullet; +class btCollisionObject; +class btCompoundShape; +class btCollisionShape; +class SpaceBullet; + +class CollisionObjectBullet : public RIDBullet { +public: + enum GodotObjectFlags { + GOF_IS_MONITORING_AREA = 1 << 0 + // FLAG2 = 1 << 1, + // FLAG3 = 1 << 2, + // FLAG4 = 1 << 3, + // FLAG5 = 1 << 4, + // FLAG6 = 1 << 5 + // etc.. + }; + enum Type { + TYPE_AREA = 0, + TYPE_RIGID_BODY, + TYPE_SOFT_BODY, + TYPE_KINEMATIC_GHOST_BODY + }; + + struct ShapeWrapper { + ShapeBullet *shape; + btCollisionShape *bt_shape; + btTransform transform; + bool active; + + ShapeWrapper() + : shape(NULL), bt_shape(NULL), active(true) {} + + ShapeWrapper(ShapeBullet *p_shape, const btTransform &p_transform, bool p_active) + : shape(p_shape), bt_shape(NULL), active(p_active) { + set_transform(p_transform); + } + + ShapeWrapper(ShapeBullet *p_shape, const Transform &p_transform, bool p_active) + : shape(p_shape), bt_shape(NULL), active(p_active) { + set_transform(p_transform); + } + ~ShapeWrapper(); + + ShapeWrapper(const ShapeWrapper &otherShape) { + operator=(otherShape); + } + + void operator=(const ShapeWrapper &otherShape) { + shape = otherShape.shape; + bt_shape = otherShape.bt_shape; + transform = otherShape.transform; + active = otherShape.active; + } + + void set_transform(const Transform &p_transform); + void set_transform(const btTransform &p_transform); + }; + +protected: + Type type; + ObjectID instance_id; + uint32_t collisionLayer; + uint32_t collisionMask; + bool collisionsEnabled; + bool m_isStatic; + bool ray_pickable; + btCollisionObject *bt_collision_object; + btVector3 body_scale; + SpaceBullet *space; + + VSet<RID> exceptions; + + /// This array is used to know all areas where this Object is overlapped in + /// New area is added when overlap with new area (AreaBullet::addOverlap), then is removed when it exit (CollisionObjectBullet::onExitArea) + /// This array is used mainly to know which area hold the pointer of this object + Vector<AreaBullet *> areasOverlapped; + +public: + CollisionObjectBullet(Type p_type); + virtual ~CollisionObjectBullet(); + + Type getType() { return type; } + +protected: + void destroyBulletCollisionObject(); + void setupBulletCollisionObject(btCollisionObject *p_collisionObject); + +public: + _FORCE_INLINE_ btCollisionObject *get_bt_collision_object() { return bt_collision_object; } + + _FORCE_INLINE_ void set_instance_id(const ObjectID &p_instance_id) { instance_id = p_instance_id; } + _FORCE_INLINE_ ObjectID get_instance_id() const { return instance_id; } + + _FORCE_INLINE_ bool is_static() const { return m_isStatic; } + + _FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; } + _FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; } + + void set_body_scale(const Vector3 &p_new_scale); + virtual void on_body_scale_changed(); + + void add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject); + void remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject); + bool has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const; + _FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; } + + _FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) { + collisionLayer = p_layer; + on_collision_filters_change(); + } + _FORCE_INLINE_ uint32_t get_collision_layer() const { return collisionLayer; } + + _FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) { + collisionMask = p_mask; + on_collision_filters_change(); + } + _FORCE_INLINE_ uint32_t get_collision_mask() const { return collisionMask; } + + virtual void on_collision_filters_change() = 0; + + _FORCE_INLINE_ bool test_collision_mask(CollisionObjectBullet *p_other) const { + return collisionLayer & p_other->collisionMask || p_other->collisionLayer & collisionMask; + } + + virtual void reload_body() = 0; + virtual void set_space(SpaceBullet *p_space) = 0; + _FORCE_INLINE_ SpaceBullet *get_space() const { return space; } + /// This is an event that is called when a collision checker starts + virtual void on_collision_checker_start() = 0; + + virtual void dispatch_callbacks() = 0; + + void set_collision_enabled(bool p_enabled); + bool is_collisions_response_enabled(); + + void notify_new_overlap(AreaBullet *p_area); + virtual void on_enter_area(AreaBullet *p_area) = 0; + virtual void on_exit_area(AreaBullet *p_area); + + /// GodotObjectFlags + void set_godot_object_flags(int flags); + int get_godot_object_flags() const; + + void set_transform(const Transform &p_global_transform); + Transform get_transform() const; + virtual void set_transform__bullet(const btTransform &p_global_transform); + virtual const btTransform &get_transform__bullet() const; +}; + +class RigidCollisionObjectBullet : public CollisionObjectBullet, public ShapeOwnerBullet { +protected: + /// This is required to combine some shapes together. + /// Since Godot allow to have multiple shapes for each body with custom relative location, + /// each body will attach the shapes using this class even if there is only one shape. + btCompoundShape *compoundShape; + Vector<ShapeWrapper> shapes; + +public: + RigidCollisionObjectBullet(Type p_type); + ~RigidCollisionObjectBullet(); + + _FORCE_INLINE_ const Vector<ShapeWrapper> &get_shapes_wrappers() const { return shapes; } + + /// This is used to set new shape or replace existing + //virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0; + void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform()); + void set_shape(int p_index, ShapeBullet *p_shape); + void set_shape_transform(int p_index, const Transform &p_transform); + virtual void remove_shape(ShapeBullet *p_shape); + void remove_shape(int p_index); + void remove_all_shapes(bool p_permanentlyFromThisBody = false); + + virtual void on_shape_changed(const ShapeBullet *const p_shape); + virtual void on_shapes_changed(); + + _FORCE_INLINE_ btCompoundShape *get_compound_shape() const { return compoundShape; } + int get_shape_count() const; + ShapeBullet *get_shape(int p_index) const; + btCollisionShape *get_bt_shape(int p_index) const; + Transform get_shape_transform(int p_index) const; + + void set_shape_disabled(int p_index, bool p_disabled); + bool is_shape_disabled(int p_index); + + virtual void on_body_scale_changed(); + +private: + void internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody = false); +}; + +#endif diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp new file mode 100644 index 0000000000..f6ac40e001 --- /dev/null +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -0,0 +1,111 @@ +/*************************************************************************/ +/* cone_twist_joint_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "cone_twist_joint_bullet.h" +#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "rigid_body_bullet.h" + +ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) + : JointBullet() { + btTransform btFrameA; + G_TO_B(rbAFrame, btFrameA); + if (rbB) { + btTransform btFrameB; + G_TO_B(rbBFrame, btFrameB); + coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); + } else { + coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA)); + } + setup(coneConstraint); +} + +void ConeTwistJointBullet::set_angular_only(bool angularOnly) { + coneConstraint->setAngularOnly(angularOnly); +} + +void ConeTwistJointBullet::set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness, real_t _biasFactor, real_t _relaxationFactor) { + coneConstraint->setLimit(_swingSpan1, _swingSpan2, _twistSpan, _softness, _biasFactor, _relaxationFactor); +} + +int ConeTwistJointBullet::get_solve_twist_limit() { + return coneConstraint->getSolveTwistLimit(); +} + +int ConeTwistJointBullet::get_solve_swing_limit() { + return coneConstraint->getSolveSwingLimit(); +} + +real_t ConeTwistJointBullet::get_twist_limit_sign() { + return coneConstraint->getTwistLimitSign(); +} + +void ConeTwistJointBullet::set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN: + coneConstraint->setLimit(5, p_value); + coneConstraint->setLimit(4, p_value); + break; + case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN: + coneConstraint->setLimit(3, p_value); + break; + case PhysicsServer::CONE_TWIST_JOINT_BIAS: + coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), p_value, coneConstraint->getRelaxationFactor()); + break; + case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS: + coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), p_value, coneConstraint->getBiasFactor(), coneConstraint->getRelaxationFactor()); + break; + case PhysicsServer::CONE_TWIST_JOINT_RELAXATION: + coneConstraint->setLimit(coneConstraint->getSwingSpan1(), coneConstraint->getSwingSpan2(), coneConstraint->getTwistSpan(), coneConstraint->getLimitSoftness(), coneConstraint->getBiasFactor(), p_value); + break; + default: + WARN_PRINT("This parameter is not supported by Bullet engine"); + } +} + +real_t ConeTwistJointBullet::get_param(PhysicsServer::ConeTwistJointParam p_param) const { + switch (p_param) { + case PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN: + return coneConstraint->getSwingSpan1(); + case PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN: + return coneConstraint->getTwistSpan(); + case PhysicsServer::CONE_TWIST_JOINT_BIAS: + return coneConstraint->getBiasFactor(); + case PhysicsServer::CONE_TWIST_JOINT_SOFTNESS: + return coneConstraint->getLimitSoftness(); + case PhysicsServer::CONE_TWIST_JOINT_RELAXATION: + return coneConstraint->getRelaxationFactor(); + default: + WARN_PRINT("This parameter is not supported by Bullet engine"); + return 0; + } +} diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h new file mode 100644 index 0000000000..1ce5ef9826 --- /dev/null +++ b/modules/bullet/cone_twist_joint_bullet.h @@ -0,0 +1,58 @@ +/*************************************************************************/ +/* cone_twist_joint_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 CONE_TWIST_JOINT_BULLET_H +#define CONE_TWIST_JOINT_BULLET_H + +#include "joint_bullet.h" + +class RigidBodyBullet; + +class ConeTwistJointBullet : public JointBullet { + class btConeTwistConstraint *coneConstraint; + +public: + ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame); + + virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; } + + void set_angular_only(bool angularOnly); + + void set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f); + int get_solve_twist_limit(); + + int get_solve_swing_limit(); + real_t get_twist_limit_sign(); + + void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value); + real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const; +}; +#endif diff --git a/modules/bullet/config.py b/modules/bullet/config.py new file mode 100644 index 0000000000..b00ea18328 --- /dev/null +++ b/modules/bullet/config.py @@ -0,0 +1,6 @@ +def can_build(platform): + return True + +def configure(env): + pass + diff --git a/modules/bullet/constraint_bullet.cpp b/modules/bullet/constraint_bullet.cpp new file mode 100644 index 0000000000..08fc36f274 --- /dev/null +++ b/modules/bullet/constraint_bullet.cpp @@ -0,0 +1,50 @@ +/*************************************************************************/ +/* constraint_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "constraint_bullet.h" +#include "collision_object_bullet.h" +#include "space_bullet.h" + +ConstraintBullet::ConstraintBullet() + : space(NULL), constraint(NULL) {} + +void ConstraintBullet::setup(btTypedConstraint *p_constraint) { + constraint = p_constraint; + constraint->setUserConstraintPtr(this); +} + +void ConstraintBullet::set_space(SpaceBullet *p_space) { + space = p_space; +} + +void ConstraintBullet::destroy_internal_constraint() { + space->remove_constraint(this); +} diff --git a/modules/bullet/constraint_bullet.h b/modules/bullet/constraint_bullet.h new file mode 100644 index 0000000000..b528ec6d7b --- /dev/null +++ b/modules/bullet/constraint_bullet.h @@ -0,0 +1,64 @@ +/*************************************************************************/ +/* constraint_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 CONSTRAINT_BULLET_H +#define CONSTRAINT_BULLET_H + +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "bullet_utilities.h" +#include "rid_bullet.h" + +class RigidBodyBullet; +class SpaceBullet; +class btTypedConstraint; + +class ConstraintBullet : public RIDBullet { + +protected: + SpaceBullet *space; + btTypedConstraint *constraint; + +public: + ConstraintBullet(); + + virtual void setup(btTypedConstraint *p_constraint); + virtual void set_space(SpaceBullet *p_space); + virtual void destroy_internal_constraint(); + +public: + virtual ~ConstraintBullet() { + bulletdelete(constraint); + constraint = NULL; + } + + _FORCE_INLINE_ btTypedConstraint *get_bt_constraint() { return constraint; } +}; +#endif diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp new file mode 100644 index 0000000000..647396c24c --- /dev/null +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -0,0 +1,241 @@ +/*************************************************************************/ +/* generic_6dof_joint_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "generic_6dof_joint_bullet.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "rigid_body_bullet.h" + +Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) + : JointBullet() { + + btTransform btFrameA; + G_TO_B(frameInA, btFrameA); + + if (rbB) { + btTransform btFrameB; + G_TO_B(frameInB, btFrameB); + + sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA)); + } else { + sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA)); + } + + setup(sixDOFConstraint); +} + +Transform Generic6DOFJointBullet::getFrameOffsetA() const { + btTransform btTrs = sixDOFConstraint->getFrameOffsetA(); + Transform gTrs; + B_TO_G(btTrs, gTrs); + return gTrs; +} + +Transform Generic6DOFJointBullet::getFrameOffsetB() const { + btTransform btTrs = sixDOFConstraint->getFrameOffsetB(); + Transform gTrs; + B_TO_G(btTrs, gTrs); + return gTrs; +} + +Transform Generic6DOFJointBullet::getFrameOffsetA() { + btTransform btTrs = sixDOFConstraint->getFrameOffsetA(); + Transform gTrs; + B_TO_G(btTrs, gTrs); + return gTrs; +} + +Transform Generic6DOFJointBullet::getFrameOffsetB() { + btTransform btTrs = sixDOFConstraint->getFrameOffsetB(); + Transform gTrs; + B_TO_G(btTrs, gTrs); + return gTrs; +} + +void Generic6DOFJointBullet::set_linear_lower_limit(const Vector3 &linearLower) { + btVector3 btVec; + G_TO_B(linearLower, btVec); + sixDOFConstraint->setLinearLowerLimit(btVec); +} + +void Generic6DOFJointBullet::set_linear_upper_limit(const Vector3 &linearUpper) { + btVector3 btVec; + G_TO_B(linearUpper, btVec); + sixDOFConstraint->setLinearUpperLimit(btVec); +} + +void Generic6DOFJointBullet::set_angular_lower_limit(const Vector3 &angularLower) { + btVector3 btVec; + G_TO_B(angularLower, btVec); + sixDOFConstraint->setAngularLowerLimit(btVec); +} + +void Generic6DOFJointBullet::set_angular_upper_limit(const Vector3 &angularUpper) { + btVector3 btVec; + G_TO_B(angularUpper, btVec); + sixDOFConstraint->setAngularUpperLimit(btVec); +} + +void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value) { + ERR_FAIL_INDEX(p_axis, 3); + switch (p_param) { + case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: + sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis] = p_value; + break; + case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: + sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis] = p_value; + break; + case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: + sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness = p_value; + break; + case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: + sixDOFConstraint->getTranslationalLimitMotor()->m_restitution = p_value; + break; + case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: + sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity = p_value; + break; + case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT: + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce = p_value; + break; + default: + WARN_PRINT("This parameter is not supported"); + } +} + +real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param) const { + ERR_FAIL_INDEX_V(p_axis, 3, 0.); + switch (p_param) { + case PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT: + return sixDOFConstraint->getTranslationalLimitMotor()->m_lowerLimit[p_axis]; + case PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT: + return sixDOFConstraint->getTranslationalLimitMotor()->m_upperLimit[p_axis]; + case PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS: + return sixDOFConstraint->getTranslationalLimitMotor()->m_limitSoftness; + case PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION: + return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution; + case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING: + return sixDOFConstraint->getTranslationalLimitMotor()->m_damping; + case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_loLimit; + case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_hiLimit; + case PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_limitSoftness; + case PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_damping; + case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce; + case PhysicsServer::G6DOF_JOINT_ANGULAR_FORCE_LIMIT: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce; + case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP; + case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity; + case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxLimitForce; + default: + WARN_PRINT("This parameter is not supported"); + return 0.; + } +} + +void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value) { + ERR_FAIL_INDEX(p_axis, 3); + switch (p_flag) { + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: + if (p_value) { + if (!get_flag(p_axis, p_flag)) // avoid overwrite, if limited + sixDOFConstraint->setLimit(p_axis, 0, 0); // Limited + } else { + if (get_flag(p_axis, p_flag)) // avoid overwrite, if free + sixDOFConstraint->setLimit(p_axis, 0, -1); // Free + } + break; + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: { + int angularAxis = 3 + p_axis; + if (p_value) { + if (!get_flag(p_axis, p_flag)) // avoid overwrite, if Limited + sixDOFConstraint->setLimit(angularAxis, 0, 0); // Limited + } else { + if (get_flag(p_axis, p_flag)) // avoid overwrite, if free + sixDOFConstraint->setLimit(angularAxis, 0, -1); // Free + } + break; + } + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: + //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = p_value; + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = p_value; + break; + default: + WARN_PRINT("This flag is not supported by Bullet engine"); + } +} + +bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const { + ERR_FAIL_INDEX_V(p_axis, 3, false); + switch (p_flag) { + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: + return sixDOFConstraint->getTranslationalLimitMotor()->isLimited(p_axis); + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT: + return sixDOFConstraint->getRotationalLimitMotor(p_axis)->isLimited(); + case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR: + return //sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] && + sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor; + default: + WARN_PRINT("This flag is not supported by Bullet engine"); + return false; + } +} diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h new file mode 100644 index 0000000000..0d47b823de --- /dev/null +++ b/modules/bullet/generic_6dof_joint_bullet.h @@ -0,0 +1,65 @@ +/*************************************************************************/ +/* generic_6dof_joint_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 GENERIC_6DOF_JOINT_BULLET_H +#define GENERIC_6DOF_JOINT_BULLET_H + +#include "joint_bullet.h" + +class RigidBodyBullet; + +class Generic6DOFJointBullet : public JointBullet { + class btGeneric6DofConstraint *sixDOFConstraint; + +public: + Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA); + + virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_6DOF; } + + Transform getFrameOffsetA() const; + Transform getFrameOffsetB() const; + Transform getFrameOffsetA(); + Transform getFrameOffsetB(); + + void set_linear_lower_limit(const Vector3 &linearLower); + void set_linear_upper_limit(const Vector3 &linearUpper); + + void set_angular_lower_limit(const Vector3 &angularLower); + void set_angular_upper_limit(const Vector3 &angularUpper); + + void set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param, real_t p_value); + real_t get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisParam p_param) const; + + void set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag, bool p_value); + bool get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const; +}; + +#endif diff --git a/modules/bullet/godot_collision_configuration.cpp b/modules/bullet/godot_collision_configuration.cpp new file mode 100644 index 0000000000..4e4228cc48 --- /dev/null +++ b/modules/bullet/godot_collision_configuration.cpp @@ -0,0 +1,91 @@ +/*************************************************************************/ +/* godot_collision_configuration.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "godot_collision_configuration.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "godot_ray_world_algorithm.h" + +GodotCollisionConfiguration::GodotCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo) + : btDefaultCollisionConfiguration(constructionInfo) { + + void *mem = NULL; + + mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::CreateFunc), 16); + m_rayWorldCF = new (mem) GodotRayWorldAlgorithm::CreateFunc(world); + + mem = btAlignedAlloc(sizeof(GodotRayWorldAlgorithm::SwappedCreateFunc), 16); + m_swappedRayWorldCF = new (mem) GodotRayWorldAlgorithm::SwappedCreateFunc(world); +} + +GodotCollisionConfiguration::~GodotCollisionConfiguration() { + m_rayWorldCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree(m_rayWorldCF); + + m_swappedRayWorldCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree(m_swappedRayWorldCF); +} + +btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) { + + if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { + + // This collision is not supported + return m_emptyCreateFunc; + } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) { + + return m_rayWorldCF; + } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { + + return m_swappedRayWorldCF; + } else { + + return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1); + } +} + +btCollisionAlgorithmCreateFunc *GodotCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) { + + if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0 && CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { + + // This collision is not supported + return m_emptyCreateFunc; + } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType0) { + + return m_rayWorldCF; + } else if (CUSTOM_CONVEX_SHAPE_TYPE == proxyType1) { + + return m_swappedRayWorldCF; + } else { + + return btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(proxyType0, proxyType1); + } +} diff --git a/modules/bullet/godot_collision_configuration.h b/modules/bullet/godot_collision_configuration.h new file mode 100644 index 0000000000..ed99065f8c --- /dev/null +++ b/modules/bullet/godot_collision_configuration.h @@ -0,0 +1,50 @@ +/*************************************************************************/ +/* godot_collision_configuration.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 GODOT_COLLISION_CONFIGURATION_H +#define GODOT_COLLISION_CONFIGURATION_H + +#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h" + +class btDiscreteDynamicsWorld; + +class GodotCollisionConfiguration : public btDefaultCollisionConfiguration { + btCollisionAlgorithmCreateFunc *m_rayWorldCF; + btCollisionAlgorithmCreateFunc *m_swappedRayWorldCF; + +public: + GodotCollisionConfiguration(const btDiscreteDynamicsWorld *world, const btDefaultCollisionConstructionInfo &constructionInfo = btDefaultCollisionConstructionInfo()); + virtual ~GodotCollisionConfiguration(); + + virtual btCollisionAlgorithmCreateFunc *getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1); + virtual btCollisionAlgorithmCreateFunc *getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1); +}; +#endif diff --git a/modules/bullet/godot_collision_dispatcher.cpp b/modules/bullet/godot_collision_dispatcher.cpp new file mode 100644 index 0000000000..ea75e4eef4 --- /dev/null +++ b/modules/bullet/godot_collision_dispatcher.cpp @@ -0,0 +1,54 @@ +/*************************************************************************/ +/* godot_collision_dispatcher.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "godot_collision_dispatcher.h" +#include "collision_object_bullet.h" + +const int GodotCollisionDispatcher::CASTED_TYPE_AREA = static_cast<int>(CollisionObjectBullet::TYPE_AREA); + +GodotCollisionDispatcher::GodotCollisionDispatcher(btCollisionConfiguration *collisionConfiguration) + : btCollisionDispatcher(collisionConfiguration) {} + +bool GodotCollisionDispatcher::needsCollision(const btCollisionObject *body0, const btCollisionObject *body1) { + if (body0->getUserIndex() == CASTED_TYPE_AREA || body1->getUserIndex() == CASTED_TYPE_AREA) { + // Avoide area narrow phase + return false; + } + return btCollisionDispatcher::needsCollision(body0, body1); +} + +bool GodotCollisionDispatcher::needsResponse(const btCollisionObject *body0, const btCollisionObject *body1) { + if (body0->getUserIndex() == CASTED_TYPE_AREA || body1->getUserIndex() == CASTED_TYPE_AREA) { + // Avoide area narrow phase + return false; + } + return btCollisionDispatcher::needsResponse(body0, body1); +} diff --git a/modules/bullet/godot_collision_dispatcher.h b/modules/bullet/godot_collision_dispatcher.h new file mode 100644 index 0000000000..501b2078dd --- /dev/null +++ b/modules/bullet/godot_collision_dispatcher.h @@ -0,0 +1,48 @@ +/*************************************************************************/ +/* godot_collision_dispatcher.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 GODOT_COLLISION_DISPATCHER_H +#define GODOT_COLLISION_DISPATCHER_H + +#include "int_types.h" +#include <btBulletDynamicsCommon.h> + +/// This class is required to implement custom collision behaviour in the narrowphase +class GodotCollisionDispatcher : public btCollisionDispatcher { +private: + static const int CASTED_TYPE_AREA; + +public: + GodotCollisionDispatcher(btCollisionConfiguration *collisionConfiguration); + virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1); + virtual bool needsResponse(const btCollisionObject *body0, const btCollisionObject *body1); +}; +#endif diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h new file mode 100644 index 0000000000..5111807394 --- /dev/null +++ b/modules/bullet/godot_motion_state.h @@ -0,0 +1,96 @@ +/*************************************************************************/ +/* godot_motion_state.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 GODOT_MOTION_STATE_H +#define GODOT_MOTION_STATE_H + +#include "LinearMath/btMotionState.h" +#include "rigid_body_bullet.h" + +class RigidBodyBullet; + +// This clas is responsible to move kinematic actor +// and sincronize rendering engine with Bullet +/// DOC: +/// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/MotionStates#What.27s_a_MotionState.3F +class GodotMotionState : public btMotionState { + + /// This data is used to store the new world position for kinematic body + btTransform bodyKinematicWorldTransf; + /// This data is used to store last world position + btTransform bodyCurrentWorldTransform; + + RigidBodyBullet *owner; + +public: + GodotMotionState(RigidBodyBullet *p_owner) + : bodyKinematicWorldTransf(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)), + bodyCurrentWorldTransform(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)), + owner(p_owner) {} + + /// IMPORTANT DON'T USE THIS FUNCTION TO KNOW THE CURRENT BODY TRANSFORM + /// This class is used internally by Bullet + /// Use GodotMotionState::getCurrentWorldTransform to know current position + /// + /// This function is used by Bullet to get the position of object in the world + /// if the body is kinematic Bullet will move the object to this location + /// if the body is static Bullet doesn't move at all + virtual void getWorldTransform(btTransform &worldTrans) const { + worldTrans = bodyKinematicWorldTransf; + } + + /// IMPORTANT: to move the body use: moveBody + /// IMPORTANT: DON'T CALL THIS FUNCTION, IT IS CALLED BY BULLET TO UPDATE RENDERING ENGINE + /// + /// This function is called each time by Bullet and set the current position of body + /// inside the physics world. + /// Don't allow Godot rendering scene takes world transform from this object because + /// the correct transform is set by Bullet only after the last step when there are sub steps + /// This function must update Godot transform rendering scene for this object. + virtual void setWorldTransform(const btTransform &worldTrans) { + bodyCurrentWorldTransform = worldTrans; + + owner->scratch(); + } + +public: + /// Use this function to move kinematic body + /// -- or set initial transfom before body creation. + void moveBody(const btTransform &newWorldTransform) { + bodyKinematicWorldTransf = newWorldTransform; + } + + /// It returns the current body transform from last Bullet update + const btTransform &getCurrentWorldTransform() const { + return bodyCurrentWorldTransform; + } +}; +#endif diff --git a/modules/bullet/godot_ray_world_algorithm.cpp b/modules/bullet/godot_ray_world_algorithm.cpp new file mode 100644 index 0000000000..98daf8398e --- /dev/null +++ b/modules/bullet/godot_ray_world_algorithm.cpp @@ -0,0 +1,104 @@ +/*************************************************************************/ +/* godot_ray_world_algorithm.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "godot_ray_world_algorithm.h" +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "btRayShape.h" +#include "collision_object_bullet.h" + +GodotRayWorldAlgorithm::CreateFunc::CreateFunc(const btDiscreteDynamicsWorld *world) + : m_world(world) {} + +GodotRayWorldAlgorithm::SwappedCreateFunc::SwappedCreateFunc(const btDiscreteDynamicsWorld *world) + : m_world(world) {} + +GodotRayWorldAlgorithm::GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped) + : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap), + m_manifoldPtr(mf), + m_ownManifold(false), + m_world(world), + m_isSwapped(isSwapped) {} + +GodotRayWorldAlgorithm::~GodotRayWorldAlgorithm() { + if (m_ownManifold && m_manifoldPtr) { + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void GodotRayWorldAlgorithm::processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) { + + if (!m_manifoldPtr) { + if (m_isSwapped) { + m_manifoldPtr = m_dispatcher->getNewManifold(body1Wrap->getCollisionObject(), body0Wrap->getCollisionObject()); + } else { + m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()); + } + m_ownManifold = true; + } + m_manifoldPtr->clearManifold(); + resultOut->setPersistentManifold(m_manifoldPtr); + + const btRayShape *ray_shape; + btTransform ray_transform; + + const btCollisionObjectWrapper *other_co_wrapper; + + if (m_isSwapped) { + + ray_shape = static_cast<const btRayShape *>(body1Wrap->getCollisionShape()); + ray_transform = body1Wrap->getWorldTransform(); + + other_co_wrapper = body0Wrap; + } else { + + ray_shape = static_cast<const btRayShape *>(body0Wrap->getCollisionShape()); + ray_transform = body0Wrap->getWorldTransform(); + + other_co_wrapper = body1Wrap; + } + + btTransform to(ray_transform * ray_shape->getSupportPoint()); + + btCollisionWorld::ClosestRayResultCallback btResult(ray_transform.getOrigin(), to.getOrigin()); + + m_world->rayTestSingleInternal(ray_transform, to, other_co_wrapper, btResult); + + if (btResult.hasHit()) { + btVector3 ray_normal(to.getOrigin() - ray_transform.getOrigin()); + ray_normal.normalize(); + ray_normal *= -1; + resultOut->addContactPoint(ray_normal, btResult.m_hitPointWorld, ray_shape->getScaledLength() * (btResult.m_closestHitFraction - 1)); + } +} + +btScalar GodotRayWorldAlgorithm::calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) { + return 1; +} diff --git a/modules/bullet/godot_ray_world_algorithm.h b/modules/bullet/godot_ray_world_algorithm.h new file mode 100644 index 0000000000..15c71b8d7d --- /dev/null +++ b/modules/bullet/godot_ray_world_algorithm.h @@ -0,0 +1,83 @@ +/*************************************************************************/ +/* godot_ray_world_algorithm.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 GODOT_RAY_WORLD_ALGORITHM_H +#define GODOT_RAY_WORLD_ALGORITHM_H + +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + +class btDiscreteDynamicsWorld; + +class GodotRayWorldAlgorithm : public btActivatingCollisionAlgorithm { + + const btDiscreteDynamicsWorld *m_world; + btPersistentManifold *m_manifoldPtr; + bool m_ownManifold; + bool m_isSwapped; + +public: + GodotRayWorldAlgorithm(const btDiscreteDynamicsWorld *m_world, btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped); + virtual ~GodotRayWorldAlgorithm(); + + virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut); + virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut); + + virtual void getAllContactManifolds(btManifoldArray &manifoldArray) { + ///should we use m_ownManifold to avoid adding duplicates? + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + struct CreateFunc : public btCollisionAlgorithmCreateFunc { + + const btDiscreteDynamicsWorld *m_world; + CreateFunc(const btDiscreteDynamicsWorld *world); + + virtual btCollisionAlgorithm *CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) { + void *mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(GodotRayWorldAlgorithm)); + return new (mem) GodotRayWorldAlgorithm(m_world, ci.m_manifold, ci, body0Wrap, body1Wrap, false); + } + }; + + struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc { + + const btDiscreteDynamicsWorld *m_world; + SwappedCreateFunc(const btDiscreteDynamicsWorld *world); + + virtual btCollisionAlgorithm *CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap) { + void *mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(GodotRayWorldAlgorithm)); + return new (mem) GodotRayWorldAlgorithm(m_world, ci.m_manifold, ci, body0Wrap, body1Wrap, true); + } + }; +}; + +#endif // GODOT_RAY_WORLD_ALGORITHM_H diff --git a/modules/bullet/godot_result_callbacks.cpp b/modules/bullet/godot_result_callbacks.cpp new file mode 100644 index 0000000000..409d12f080 --- /dev/null +++ b/modules/bullet/godot_result_callbacks.cpp @@ -0,0 +1,291 @@ +/*************************************************************************/ +/* godot_result_callbacks.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "godot_result_callbacks.h" +#include "bullet_types_converter.h" +#include "collision_object_bullet.h" +#include "rigid_body_bullet.h" + +bool GodotFilterCallback::test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask) { + return body0_collision_layer & body1_collision_mask || body1_collision_layer & body0_collision_mask; +} + +bool GodotFilterCallback::needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const { + return GodotFilterCallback::test_collision_filters(proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask, proxy1->m_collisionFilterGroup, proxy1->m_collisionFilterMask); +} + +bool GodotClosestRayResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); + if (needs) { + btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_pickRay && gObj->is_ray_pickable()) { + return true; + } else if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +bool GodotAllConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); + if (needs) { + btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotAllConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(convexResult.m_hitCollisionObject->getUserPointer()); + + PhysicsDirectSpaceState::ShapeResult &result = m_results[count]; + + result.shape = convexResult.m_localShapeInfo->m_shapePart; + result.rid = gObj->get_self(); + result.collider_id = gObj->get_instance_id(); + result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); + + ++count; + return count < m_resultMax; +} + +bool GodotKinClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); + if (needs) { + btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (gObj == m_self_object) { + return false; + } else { + if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) { + return false; + } else if (m_self_object->has_collision_exception(gObj)) { + return false; + } + } + return true; + } else { + return false; + } +} + +bool GodotClosestConvexResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); + if (needs) { + btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotClosestConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace) { + btScalar res = btCollisionWorld::ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace); + m_shapePart = convexResult.m_localShapeInfo->m_shapePart; + return res; +} + +bool GodotAllContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); + if (needs) { + btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotAllContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + + if (cp.getDistance() <= 0) { + + PhysicsDirectSpaceState::ShapeResult &result = m_results[m_count]; + // Penetrated + + CollisionObjectBullet *colObj; + if (m_self_object == colObj0Wrap->getCollisionObject()) { + colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer()); + result.shape = cp.m_index1; + } else { + colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer()); + result.shape = cp.m_index0; + } + + if (colObj) + result.collider_id = colObj->get_instance_id(); + else + result.collider_id = 0; + result.collider = 0 == result.collider_id ? NULL : ObjectDB::get_instance(result.collider_id); + result.rid = colObj->get_self(); + ++m_count; + } + + return m_count < m_resultMax; +} + +bool GodotContactPairContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); + if (needs) { + btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotContactPairContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + + if (m_self_object == colObj0Wrap->getCollisionObject()) { + B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 0]); // Local contact + B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 1]); + } else { + B_TO_G(cp.m_localPointB, m_results[m_count * 2 + 0]); // Local contact + B_TO_G(cp.m_localPointA, m_results[m_count * 2 + 1]); + } + + ++m_count; + + return m_count < m_resultMax; +} + +bool GodotRestInfoContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); + if (needs) { + btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (m_exclude->has(gObj->get_self())) { + return false; + } + return true; + } else { + return false; + } +} + +btScalar GodotRestInfoContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + + if (cp.getDistance() <= m_min_distance) { + m_min_distance = cp.getDistance(); + + CollisionObjectBullet *colObj; + if (m_self_object == colObj0Wrap->getCollisionObject()) { + colObj = static_cast<CollisionObjectBullet *>(colObj1Wrap->getCollisionObject()->getUserPointer()); + m_result->shape = cp.m_index1; + B_TO_G(cp.getPositionWorldOnB(), m_result->point); + m_rest_info_bt_point = cp.getPositionWorldOnB(); + m_rest_info_collision_object = colObj1Wrap->getCollisionObject(); + } else { + colObj = static_cast<CollisionObjectBullet *>(colObj0Wrap->getCollisionObject()->getUserPointer()); + m_result->shape = cp.m_index0; + B_TO_G(cp.m_normalWorldOnB * -1, m_result->normal); + m_rest_info_bt_point = cp.getPositionWorldOnA(); + m_rest_info_collision_object = colObj0Wrap->getCollisionObject(); + } + + if (colObj) + m_result->collider_id = colObj->get_instance_id(); + else + m_result->collider_id = 0; + m_result->rid = colObj->get_self(); + + m_collided = true; + } + + return cp.getDistance(); +} + +bool GodotRecoverAndClosestContactResultCallback::needsCollision(btBroadphaseProxy *proxy0) const { + const bool needs = GodotFilterCallback::test_collision_filters(m_collisionFilterGroup, m_collisionFilterMask, proxy0->m_collisionFilterGroup, proxy0->m_collisionFilterMask); + if (needs) { + btCollisionObject *btObj = static_cast<btCollisionObject *>(proxy0->m_clientObject); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + if (gObj == m_self_object) { + return false; + } else { + if (m_ignore_areas && gObj->getType() == CollisionObjectBullet::TYPE_AREA) { + return false; + } else if (m_self_object->has_collision_exception(gObj)) { + return false; + } + } + return true; + } else { + return false; + } +} + +btScalar GodotRecoverAndClosestContactResultCallback::addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1) { + + if (cp.getDistance() < -MAX_PENETRATION_DEPTH) { + if (m_most_penetrated_distance > cp.getDistance()) { + m_most_penetrated_distance = cp.getDistance(); + + // take other object + btScalar sign(1); + if (m_self_object == colObj0Wrap->getCollisionObject()->getUserPointer()) { + m_pointCollisionObject = colObj1Wrap->getCollisionObject(); + m_other_compound_shape_index = cp.m_index1; + } else { + m_pointCollisionObject = colObj0Wrap->getCollisionObject(); + sign = -1; + m_other_compound_shape_index = cp.m_index0; + } + + m_pointNormalWorld = cp.m_normalWorldOnB * sign; + m_pointWorld = cp.getPositionWorldOnB(); + m_penetration_distance = cp.getDistance(); + + m_recover_penetration -= cp.m_normalWorldOnB * sign * (cp.getDistance() + MAX_PENETRATION_DEPTH); + } + } + return 1; +} diff --git a/modules/bullet/godot_result_callbacks.h b/modules/bullet/godot_result_callbacks.h new file mode 100644 index 0000000000..d505bd0de1 --- /dev/null +++ b/modules/bullet/godot_result_callbacks.h @@ -0,0 +1,189 @@ +/*************************************************************************/ +/* godot_result_callbacks.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 GODOT_RESULT_CALLBACKS_H +#define GODOT_RESULT_CALLBACKS_H + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "btBulletDynamicsCommon.h" +#include "servers/physics_server.h" + +#define MAX_PENETRATION_DEPTH 0.005 + +class RigidBodyBullet; + +/// This class is required to implement custom collision behaviour in the broadphase +struct GodotFilterCallback : public btOverlapFilterCallback { + static bool test_collision_filters(uint32_t body0_collision_layer, uint32_t body0_collision_mask, uint32_t body1_collision_layer, uint32_t body1_collision_mask); + + // return true when pairs need collision + virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const; +}; + +/// It performs an additional check allow exclusions. +struct GodotClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback { + const Set<RID> *m_exclude; + bool m_pickRay; + +public: + GodotClosestRayResultCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const Set<RID> *p_exclude) + : btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld), m_exclude(p_exclude), m_pickRay(false) {} + + virtual bool needsCollision(btBroadphaseProxy *proxy0) const; +}; + +// store all colliding object +struct GodotAllConvexResultCallback : public btCollisionWorld::ConvexResultCallback { +public: + PhysicsDirectSpaceState::ShapeResult *m_results; + int m_resultMax; + int count; + const Set<RID> *m_exclude; + + GodotAllConvexResultCallback(PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) + : m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), count(0) {} + + virtual bool needsCollision(btBroadphaseProxy *proxy0) const; + + virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace); +}; + +struct GodotKinClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { +public: + const RigidBodyBullet *m_self_object; + const bool m_ignore_areas; + + GodotKinClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const RigidBodyBullet *p_self_object, bool p_ignore_areas) + : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas) {} + + virtual bool needsCollision(btBroadphaseProxy *proxy0) const; +}; + +struct GodotClosestConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { +public: + const Set<RID> *m_exclude; + int m_shapePart; + + GodotClosestConvexResultCallback(const btVector3 &convexFromWorld, const btVector3 &convexToWorld, const Set<RID> *p_exclude) + : btCollisionWorld::ClosestConvexResultCallback(convexFromWorld, convexToWorld), m_exclude(p_exclude) {} + + virtual bool needsCollision(btBroadphaseProxy *proxy0) const; + + virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult &convexResult, bool normalInWorldSpace); +}; + +struct GodotAllContactResultCallback : public btCollisionWorld::ContactResultCallback { +public: + const btCollisionObject *m_self_object; + PhysicsDirectSpaceState::ShapeResult *m_results; + int m_resultMax; + int m_count; + const Set<RID> *m_exclude; + + GodotAllContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeResult *p_results, int p_resultMax, const Set<RID> *p_exclude) + : m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {} + + virtual bool needsCollision(btBroadphaseProxy *proxy0) const; + + virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); +}; + +/// Returns the list of contacts pairs in this order: Local contact, other body contact +struct GodotContactPairContactResultCallback : public btCollisionWorld::ContactResultCallback { +public: + const btCollisionObject *m_self_object; + Vector3 *m_results; + int m_resultMax; + int m_count; + const Set<RID> *m_exclude; + + GodotContactPairContactResultCallback(btCollisionObject *p_self_object, Vector3 *p_results, int p_resultMax, const Set<RID> *p_exclude) + : m_self_object(p_self_object), m_results(p_results), m_exclude(p_exclude), m_resultMax(p_resultMax), m_count(0) {} + + virtual bool needsCollision(btBroadphaseProxy *proxy0) const; + + virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); +}; + +struct GodotRestInfoContactResultCallback : public btCollisionWorld::ContactResultCallback { +public: + const btCollisionObject *m_self_object; + PhysicsDirectSpaceState::ShapeRestInfo *m_result; + bool m_collided; + real_t m_min_distance; + const btCollisionObject *m_rest_info_collision_object; + btVector3 m_rest_info_bt_point; + const Set<RID> *m_exclude; + + GodotRestInfoContactResultCallback(btCollisionObject *p_self_object, PhysicsDirectSpaceState::ShapeRestInfo *p_result, const Set<RID> *p_exclude) + : m_self_object(p_self_object), m_result(p_result), m_exclude(p_exclude), m_collided(false), m_min_distance(0) {} + + virtual bool needsCollision(btBroadphaseProxy *proxy0) const; + + virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); +}; + +struct GodotRecoverAndClosestContactResultCallback : public btCollisionWorld::ContactResultCallback { +public: + btVector3 m_pointNormalWorld; + btVector3 m_pointWorld; + btScalar m_penetration_distance; + int m_other_compound_shape_index; + const btCollisionObject *m_pointCollisionObject; + + const RigidBodyBullet *m_self_object; + bool m_ignore_areas; + + btScalar m_most_penetrated_distance; + btVector3 m_recover_penetration; + + GodotRecoverAndClosestContactResultCallback() + : m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(NULL), m_ignore_areas(true), m_most_penetrated_distance(1e20), m_recover_penetration(0, 0, 0) {} + + GodotRecoverAndClosestContactResultCallback(const RigidBodyBullet *p_self_object, bool p_ignore_areas) + : m_pointCollisionObject(NULL), m_penetration_distance(0), m_other_compound_shape_index(0), m_self_object(p_self_object), m_ignore_areas(p_ignore_areas), m_most_penetrated_distance(9999999999), m_recover_penetration(0, 0, 0) {} + + void reset() { + m_pointCollisionObject = NULL; + m_most_penetrated_distance = 1e20; + m_recover_penetration.setZero(); + } + + bool hasHit() { + return m_pointCollisionObject; + } + + virtual bool needsCollision(btBroadphaseProxy *proxy0) const; + + virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1); +}; + +#endif // GODOT_RESULT_CALLBACKS_H diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp new file mode 100644 index 0000000000..bb70babd99 --- /dev/null +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -0,0 +1,163 @@ +/*************************************************************************/ +/* hinge_joint_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "hinge_joint_bullet.h" +#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "rigid_body_bullet.h" + +HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) + : JointBullet() { + btTransform btFrameA; + G_TO_B(frameA, btFrameA); + + if (rbB) { + btTransform btFrameB; + G_TO_B(frameB, btFrameB); + + hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB)); + } else { + + hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA)); + } + + setup(hingeConstraint); +} + +HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) + : JointBullet() { + + btVector3 btPivotA; + btVector3 btAxisA; + G_TO_B(pivotInA, btPivotA); + G_TO_B(axisInA, btAxisA); + + if (rbB) { + btVector3 btPivotB; + btVector3 btAxisB; + G_TO_B(pivotInB, btPivotB); + G_TO_B(axisInB, btAxisB); + + hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB)); + } else { + + hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA)); + } + + setup(hingeConstraint); +} + +real_t HingeJointBullet::get_hinge_angle() { + return hingeConstraint->getHingeAngle(); +} + +void HingeJointBullet::set_param(PhysicsServer::HingeJointParam p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer::HINGE_JOINT_BIAS: + if (0 < p_value) { + print_line("The Bullet Hinge Joint doesn't support bias, So it's always 0"); + } + break; + case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: + hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), p_value, hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); + break; + case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: + hingeConstraint->setLimit(p_value, hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); + break; + case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: + hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), p_value, hingeConstraint->getLimitRelaxationFactor()); + break; + case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: + hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), p_value, hingeConstraint->getLimitBiasFactor(), hingeConstraint->getLimitRelaxationFactor()); + break; + case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: + hingeConstraint->setLimit(hingeConstraint->getLowerLimit(), hingeConstraint->getUpperLimit(), hingeConstraint->getLimitSoftness(), hingeConstraint->getLimitBiasFactor(), p_value); + break; + case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: + hingeConstraint->setMotorTargetVelocity(p_value); + break; + case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: + hingeConstraint->setMaxMotorImpulse(p_value); + break; + default: + WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param) + ", value: " + itos(p_value)); + } +} + +real_t HingeJointBullet::get_param(PhysicsServer::HingeJointParam p_param) const { + switch (p_param) { + case PhysicsServer::HINGE_JOINT_BIAS: + return 0; + break; + case PhysicsServer::HINGE_JOINT_LIMIT_UPPER: + return hingeConstraint->getUpperLimit(); + case PhysicsServer::HINGE_JOINT_LIMIT_LOWER: + return hingeConstraint->getLowerLimit(); + case PhysicsServer::HINGE_JOINT_LIMIT_BIAS: + return hingeConstraint->getLimitBiasFactor(); + case PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS: + return hingeConstraint->getLimitSoftness(); + case PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION: + return hingeConstraint->getLimitRelaxationFactor(); + case PhysicsServer::HINGE_JOINT_MOTOR_TARGET_VELOCITY: + return hingeConstraint->getMotorTargetVelocity(); + case PhysicsServer::HINGE_JOINT_MOTOR_MAX_IMPULSE: + return hingeConstraint->getMaxMotorImpulse(); + default: + WARN_PRINTS("The Bullet Hinge Joint doesn't support this parameter: " + itos(p_param)); + return 0; + } +} + +void HingeJointBullet::set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value) { + switch (p_flag) { + case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: + if (!p_value) { + hingeConstraint->setLimit(-Math_PI, Math_PI); + } + break; + case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: + hingeConstraint->enableMotor(p_value); + break; + } +} + +bool HingeJointBullet::get_flag(PhysicsServer::HingeJointFlag p_flag) const { + switch (p_flag) { + case PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT: + return true; + case PhysicsServer::HINGE_JOINT_FLAG_ENABLE_MOTOR: + return hingeConstraint->getEnableAngularMotor(); + default: + return false; + } +} diff --git a/modules/bullet/hinge_joint_bullet.h b/modules/bullet/hinge_joint_bullet.h new file mode 100644 index 0000000000..a78788a5e5 --- /dev/null +++ b/modules/bullet/hinge_joint_bullet.h @@ -0,0 +1,54 @@ +/*************************************************************************/ +/* hinge_joint_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 HINGE_JOINT_BULLET_H +#define HINGE_JOINT_BULLET_H + +#include "joint_bullet.h" + +class HingeJointBullet : public JointBullet { + class btHingeConstraint *hingeConstraint; + +public: + HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB); + HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB); + + virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_HINGE; } + + real_t get_hinge_angle(); + + void set_param(PhysicsServer::HingeJointParam p_param, real_t p_value); + real_t get_param(PhysicsServer::HingeJointParam p_param) const; + + void set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value); + bool get_flag(PhysicsServer::HingeJointFlag p_flag) const; +}; +#endif diff --git a/modules/bullet/joint_bullet.cpp b/modules/bullet/joint_bullet.cpp new file mode 100644 index 0000000000..be544f89bf --- /dev/null +++ b/modules/bullet/joint_bullet.cpp @@ -0,0 +1,38 @@ +/*************************************************************************/ +/* joint_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "joint_bullet.h" +#include "space_bullet.h" + +JointBullet::JointBullet() + : ConstraintBullet() {} + +JointBullet::~JointBullet() {} diff --git a/modules/bullet/joint_bullet.h b/modules/bullet/joint_bullet.h new file mode 100644 index 0000000000..d47e677502 --- /dev/null +++ b/modules/bullet/joint_bullet.h @@ -0,0 +1,49 @@ +/*************************************************************************/ +/* joint_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 JOINT_BULLET_H +#define JOINT_BULLET_H + +#include "constraint_bullet.h" +#include "servers/physics_server.h" + +class RigidBodyBullet; +class btTypedConstraint; + +class JointBullet : public ConstraintBullet { + +public: + JointBullet(); + virtual ~JointBullet(); + + virtual PhysicsServer::JointType get_type() const = 0; +}; +#endif diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp new file mode 100644 index 0000000000..cd9e9a4557 --- /dev/null +++ b/modules/bullet/pin_joint_bullet.cpp @@ -0,0 +1,112 @@ +/*************************************************************************/ +/* pin_joint_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "pin_joint_bullet.h" +#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" +#include "bullet_types_converter.h" +#include "rigid_body_bullet.h" + +PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b) + : JointBullet() { + if (p_body_b) { + + btVector3 btPivotA; + btVector3 btPivotB; + G_TO_B(p_pos_a, btPivotA); + G_TO_B(p_pos_b, btPivotB); + p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), + *p_body_b->get_bt_rigid_body(), + btPivotA, + btPivotB)); + } else { + btVector3 btPivotA; + G_TO_B(p_pos_a, btPivotA); + p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(), btPivotA)); + } + + setup(p2pConstraint); +} + +PinJointBullet::~PinJointBullet() {} + +void PinJointBullet::set_param(PhysicsServer::PinJointParam p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer::PIN_JOINT_BIAS: + p2pConstraint->m_setting.m_tau = p_value; + break; + case PhysicsServer::PIN_JOINT_DAMPING: + p2pConstraint->m_setting.m_damping = p_value; + break; + case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: + p2pConstraint->m_setting.m_impulseClamp = p_value; + break; + } +} + +real_t PinJointBullet::get_param(PhysicsServer::PinJointParam p_param) const { + switch (p_param) { + case PhysicsServer::PIN_JOINT_BIAS: + return p2pConstraint->m_setting.m_tau; + case PhysicsServer::PIN_JOINT_DAMPING: + return p2pConstraint->m_setting.m_damping; + case PhysicsServer::PIN_JOINT_IMPULSE_CLAMP: + return p2pConstraint->m_setting.m_impulseClamp; + default: + WARN_PRINTS("This get parameter is not supported"); + return 0; + } +} + +void PinJointBullet::setPivotInA(const Vector3 &p_pos) { + btVector3 btVec; + G_TO_B(p_pos, btVec); + p2pConstraint->setPivotA(btVec); +} + +void PinJointBullet::setPivotInB(const Vector3 &p_pos) { + btVector3 btVec; + G_TO_B(p_pos, btVec); + p2pConstraint->setPivotB(btVec); +} + +Vector3 PinJointBullet::getPivotInA() { + btVector3 vec = p2pConstraint->getPivotInA(); + Vector3 gVec; + B_TO_G(vec, gVec); + return gVec; +} + +Vector3 PinJointBullet::getPivotInB() { + btVector3 vec = p2pConstraint->getPivotInB(); + Vector3 gVec; + B_TO_G(vec, gVec); + return gVec; +} diff --git a/modules/bullet/pin_joint_bullet.h b/modules/bullet/pin_joint_bullet.h new file mode 100644 index 0000000000..3a0906bf83 --- /dev/null +++ b/modules/bullet/pin_joint_bullet.h @@ -0,0 +1,57 @@ +/*************************************************************************/ +/* pin_joint_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 PIN_JOINT_BULLET_H +#define PIN_JOINT_BULLET_H + +#include "joint_bullet.h" + +class RigidBodyBullet; + +class PinJointBullet : public JointBullet { + class btPoint2PointConstraint *p2pConstraint; + +public: + PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a, RigidBodyBullet *p_body_b, const Vector3 &p_pos_b); + ~PinJointBullet(); + + virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_PIN; } + + void set_param(PhysicsServer::PinJointParam p_param, real_t p_value); + real_t get_param(PhysicsServer::PinJointParam p_param) const; + + void setPivotInA(const Vector3 &p_pos); + void setPivotInB(const Vector3 &p_pos); + + Vector3 getPivotInA(); + Vector3 getPivotInB(); +}; +#endif diff --git a/modules/bullet/register_types.cpp b/modules/bullet/register_types.cpp new file mode 100644 index 0000000000..1e697e7443 --- /dev/null +++ b/modules/bullet/register_types.cpp @@ -0,0 +1,47 @@ +/*************************************************************************/ +/* register_types.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "register_types.h" +#include "bullet_physics_server.h" +#include "class_db.h" + +PhysicsServer *_createBulletPhysicsCallback() { + return memnew(BulletPhysicsServer); +} + +void register_bullet_types() { + + PhysicsServerManager::register_server("Bullet", &_createBulletPhysicsCallback); + PhysicsServerManager::set_default_server("Bullet", 1); +} + +void unregister_bullet_types() { +} diff --git a/modules/bullet/register_types.h b/modules/bullet/register_types.h new file mode 100644 index 0000000000..ca0683fa3b --- /dev/null +++ b/modules/bullet/register_types.h @@ -0,0 +1,37 @@ +/*************************************************************************/ +/* register_types.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 REGISTER_BULLET_TYPES_H +#define REGISTER_BULLET_TYPES_H + +void register_bullet_types(); +void unregister_bullet_types(); +#endif diff --git a/modules/bullet/rid_bullet.h b/modules/bullet/rid_bullet.h new file mode 100644 index 0000000000..da7517f246 --- /dev/null +++ b/modules/bullet/rid_bullet.h @@ -0,0 +1,50 @@ +/*************************************************************************/ +/* rid_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 RID_BULLET_H +#define RID_BULLET_H + +#include "core/rid.h" + +class BulletPhysicsServer; + +class RIDBullet : public RID_Data { + RID self; + BulletPhysicsServer *physicsServer; + +public: + _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } + _FORCE_INLINE_ RID get_self() const { return self; } + + _FORCE_INLINE_ void _set_physics_server(BulletPhysicsServer *p_physicsServer) { physicsServer = p_physicsServer; } + _FORCE_INLINE_ BulletPhysicsServer *get_physics_server() const { return physicsServer; } +}; +#endif diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp new file mode 100644 index 0000000000..5d0513db76 --- /dev/null +++ b/modules/bullet/rigid_body_bullet.cpp @@ -0,0 +1,1009 @@ +/*************************************************************************/ +/* body_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "rigid_body_bullet.h" +#include "BulletCollision/CollisionDispatch/btGhostObject.h" +#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "btBulletCollisionCommon.h" +#include "btRayShape.h" +#include "bullet_physics_server.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "godot_motion_state.h" +#include "joint_bullet.h" +#include <assert.h> + +BulletPhysicsDirectBodyState *BulletPhysicsDirectBodyState::singleton = NULL; + +Vector3 BulletPhysicsDirectBodyState::get_total_gravity() const { + Vector3 gVec; + B_TO_G(body->btBody->getGravity(), gVec); + return gVec; +} + +float BulletPhysicsDirectBodyState::get_total_angular_damp() const { + return body->btBody->getAngularDamping(); +} + +float BulletPhysicsDirectBodyState::get_total_linear_damp() const { + return body->btBody->getLinearDamping(); +} + +Vector3 BulletPhysicsDirectBodyState::get_center_of_mass() const { + Vector3 gVec; + B_TO_G(body->btBody->getCenterOfMassPosition(), gVec); + return gVec; +} + +Basis BulletPhysicsDirectBodyState::get_principal_inertia_axes() const { + return Basis(); +} + +float BulletPhysicsDirectBodyState::get_inverse_mass() const { + return body->btBody->getInvMass(); +} + +Vector3 BulletPhysicsDirectBodyState::get_inverse_inertia() const { + Vector3 gVec; + B_TO_G(body->btBody->getInvInertiaDiagLocal(), gVec); + return gVec; +} + +Basis BulletPhysicsDirectBodyState::get_inverse_inertia_tensor() const { + Basis gInertia; + B_TO_G(body->btBody->getInvInertiaTensorWorld(), gInertia); + return gInertia; +} + +void BulletPhysicsDirectBodyState::set_linear_velocity(const Vector3 &p_velocity) { + body->set_linear_velocity(p_velocity); +} + +Vector3 BulletPhysicsDirectBodyState::get_linear_velocity() const { + return body->get_linear_velocity(); +} + +void BulletPhysicsDirectBodyState::set_angular_velocity(const Vector3 &p_velocity) { + body->set_angular_velocity(p_velocity); +} + +Vector3 BulletPhysicsDirectBodyState::get_angular_velocity() const { + return body->get_angular_velocity(); +} + +void BulletPhysicsDirectBodyState::set_transform(const Transform &p_transform) { + body->set_transform(p_transform); +} + +Transform BulletPhysicsDirectBodyState::get_transform() const { + return body->get_transform(); +} + +void BulletPhysicsDirectBodyState::add_force(const Vector3 &p_force, const Vector3 &p_pos) { + body->apply_force(p_force, p_pos); +} + +void BulletPhysicsDirectBodyState::apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { + body->apply_impulse(p_pos, p_j); +} + +void BulletPhysicsDirectBodyState::apply_torque_impulse(const Vector3 &p_j) { + body->apply_torque_impulse(p_j); +} + +void BulletPhysicsDirectBodyState::set_sleep_state(bool p_enable) { + body->set_activation_state(p_enable); +} + +bool BulletPhysicsDirectBodyState::is_sleeping() const { + return !body->is_active(); +} + +int BulletPhysicsDirectBodyState::get_contact_count() const { + return body->collisionsCount; +} + +Vector3 BulletPhysicsDirectBodyState::get_contact_local_position(int p_contact_idx) const { + return body->collisions[p_contact_idx].hitLocalLocation; +} + +Vector3 BulletPhysicsDirectBodyState::get_contact_local_normal(int p_contact_idx) const { + return body->collisions[p_contact_idx].hitNormal; +} + +int BulletPhysicsDirectBodyState::get_contact_local_shape(int p_contact_idx) const { + return body->collisions[p_contact_idx].local_shape; +} + +RID BulletPhysicsDirectBodyState::get_contact_collider(int p_contact_idx) const { + return body->collisions[p_contact_idx].otherObject->get_self(); +} + +Vector3 BulletPhysicsDirectBodyState::get_contact_collider_position(int p_contact_idx) const { + return body->collisions[p_contact_idx].hitWorldLocation; +} + +ObjectID BulletPhysicsDirectBodyState::get_contact_collider_id(int p_contact_idx) const { + return body->collisions[p_contact_idx].otherObject->get_instance_id(); +} + +int BulletPhysicsDirectBodyState::get_contact_collider_shape(int p_contact_idx) const { + return body->collisions[p_contact_idx].other_object_shape; +} + +Vector3 BulletPhysicsDirectBodyState::get_contact_collider_velocity_at_position(int p_contact_idx) const { + RigidBodyBullet::CollisionData &colDat = body->collisions[p_contact_idx]; + + btVector3 hitLocation; + G_TO_B(colDat.hitLocalLocation, hitLocation); + + Vector3 velocityAtPoint; + B_TO_G(colDat.otherObject->get_bt_rigid_body()->getVelocityInLocalPoint(hitLocation), velocityAtPoint); + + return velocityAtPoint; +} + +PhysicsDirectSpaceState *BulletPhysicsDirectBodyState::get_space_state() { + return body->get_space()->get_direct_state(); +} + +RigidBodyBullet::KinematicUtilities::KinematicUtilities(RigidBodyBullet *p_owner) + : m_owner(p_owner), m_margin(0.01) // Godot default margin 0.001 +{ + m_ghostObject = bulletnew(btPairCachingGhostObject); + + int clearedCurrentFlags = m_ghostObject->getCollisionFlags(); + clearedCurrentFlags &= ~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT); + + m_ghostObject->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_KINEMATIC_OBJECT); + m_ghostObject->setUserPointer(p_owner); + m_ghostObject->setUserIndex(TYPE_KINEMATIC_GHOST_BODY); + + resetDefShape(); +} + +RigidBodyBullet::KinematicUtilities::~KinematicUtilities() { + just_delete_shapes(m_shapes.size()); // don't need to resize + bulletdelete(m_ghostObject); +} + +void RigidBodyBullet::KinematicUtilities::resetDefShape() { + m_ghostObject->setCollisionShape(BulletPhysicsServer::get_empty_shape()); +} + +void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() { + const Vector<CollisionObjectBullet::ShapeWrapper> &shapes_wrappers(m_owner->get_shapes_wrappers()); + const int shapes_count = shapes_wrappers.size(); + + just_delete_shapes(shapes_count); + + const CollisionObjectBullet::ShapeWrapper *shape_wrapper; + + for (int i = shapes_count - 1; 0 <= i; --i) { + shape_wrapper = &shapes_wrappers[i]; + if (!shape_wrapper->active) { + continue; + } + m_shapes[i].transform = shape_wrapper->transform; + + btConvexShape *&kin_shape_ref = m_shapes[i].shape; + + switch (shape_wrapper->shape->get_type()) { + case PhysicsServer::SHAPE_SPHERE: { + SphereShapeBullet *sphere = static_cast<SphereShapeBullet *>(shape_wrapper->shape); + kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * m_owner->body_scale[0] + m_margin); + break; + } + case PhysicsServer::SHAPE_BOX: { + BoxShapeBullet *box = static_cast<BoxShapeBullet *>(shape_wrapper->shape); + kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * m_owner->body_scale) + btVector3(m_margin, m_margin, m_margin)); + break; + } + case PhysicsServer::SHAPE_CAPSULE: { + CapsuleShapeBullet *capsule = static_cast<CapsuleShapeBullet *>(shape_wrapper->shape); + kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * m_owner->body_scale[0] + m_margin, capsule->get_height() * m_owner->body_scale[1] + m_margin); + break; + } + case PhysicsServer::SHAPE_CONVEX_POLYGON: { + ConvexPolygonShapeBullet *godot_convex = static_cast<ConvexPolygonShapeBullet *>(shape_wrapper->shape); + kin_shape_ref = ShapeBullet::create_shape_convex(godot_convex->vertices); + kin_shape_ref->setLocalScaling(m_owner->body_scale + btVector3(m_margin, m_margin, m_margin)); + break; + } + case PhysicsServer::SHAPE_RAY: { + RayShapeBullet *godot_ray = static_cast<RayShapeBullet *>(shape_wrapper->shape); + kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * m_owner->body_scale[1] + m_margin); + break; + } + default: + WARN_PRINT("This shape is not supported to be kinematic!"); + kin_shape_ref = NULL; + } + } +} + +void RigidBodyBullet::KinematicUtilities::just_delete_shapes(int new_size) { + for (int i = m_shapes.size() - 1; 0 <= i; --i) { + if (m_shapes[i].shape) { + bulletdelete(m_shapes[i].shape); + } + } + m_shapes.resize(new_size); +} + +RigidBodyBullet::RigidBodyBullet() + : RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY), + kinematic_utilities(NULL), + gravity_scale(1), + mass(1), + linearDamp(0), + angularDamp(0), + can_sleep(true), + force_integration_callback(NULL), + isTransformChanged(false), + maxCollisionsDetection(0), + collisionsCount(0), + maxAreasWhereIam(10), + areaWhereIamCount(0), + countGravityPointSpaces(0), + isScratchedSpaceOverrideModificator(false) { + + godotMotionState = bulletnew(GodotMotionState(this)); + + // Initial properties + const btVector3 localInertia(0, 0, 0); + btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, compoundShape, localInertia); + + btBody = bulletnew(btRigidBody(cInfo)); + setupBulletCollisionObject(btBody); + + set_mode(PhysicsServer::BODY_MODE_RIGID); + set_axis_lock(PhysicsServer::BODY_AXIS_LOCK_DISABLED); + + areasWhereIam.resize(maxAreasWhereIam); + for (int i = areasWhereIam.size() - 1; 0 <= i; --i) { + areasWhereIam[i] = NULL; + } +} + +RigidBodyBullet::~RigidBodyBullet() { + bulletdelete(godotMotionState); + + if (force_integration_callback) + memdelete(force_integration_callback); + + destroy_kinematic_utilities(); +} + +void RigidBodyBullet::init_kinematic_utilities() { + kinematic_utilities = memnew(KinematicUtilities(this)); +} + +void RigidBodyBullet::destroy_kinematic_utilities() { + if (kinematic_utilities) { + memdelete(kinematic_utilities); + kinematic_utilities = NULL; + } +} + +void RigidBodyBullet::reload_body() { + if (space) { + space->remove_rigid_body(this); + space->add_rigid_body(this); + } +} + +void RigidBodyBullet::set_space(SpaceBullet *p_space) { + // Clear the old space if there is one + if (space) { + isTransformChanged = false; + + // Remove all eventual constraints + assert_no_constraints(); + + // Remove this object form the physics world + space->remove_rigid_body(this); + } + + space = p_space; + + if (space) { + space->add_rigid_body(this); + } +} + +void RigidBodyBullet::dispatch_callbacks() { + /// The check isTransformChanged is necessary in order to call integrated forces only when the first transform is sent + if (btBody->isActive() && force_integration_callback && isTransformChanged) { + + BulletPhysicsDirectBodyState *bodyDirect = BulletPhysicsDirectBodyState::get_singleton(this); + + Variant variantBodyDirect = bodyDirect; + + Object *obj = ObjectDB::get_instance(force_integration_callback->id); + if (!obj) { + // Remove integration callback + set_force_integration_callback(0, StringName()); + } else { + const Variant *vp[2] = { &variantBodyDirect, &force_integration_callback->udata }; + + Variant::CallError responseCallError; + int argc = (force_integration_callback->udata.get_type() == Variant::NIL) ? 1 : 2; + obj->call(force_integration_callback->method, vp, argc, responseCallError); + } + } + + if (isScratchedSpaceOverrideModificator || 0 < countGravityPointSpaces) { + isScratchedSpaceOverrideModificator = false; + reload_space_override_modificator(); + } + + /// Lock axis + btBody->setLinearVelocity(btBody->getLinearVelocity() * btBody->getLinearFactor()); + btBody->setAngularVelocity(btBody->getAngularVelocity() * btBody->getAngularFactor()); +} + +void RigidBodyBullet::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) { + + if (force_integration_callback) { + memdelete(force_integration_callback); + force_integration_callback = NULL; + } + + if (p_id != 0) { + force_integration_callback = memnew(ForceIntegrationCallback); + force_integration_callback->id = p_id; + force_integration_callback->method = p_method; + force_integration_callback->udata = p_udata; + } +} + +void RigidBodyBullet::scratch() { + isTransformChanged = true; +} + +void RigidBodyBullet::scratch_space_override_modificator() { + isScratchedSpaceOverrideModificator = true; +} + +void RigidBodyBullet::on_collision_filters_change() { + if (space) { + space->reload_collision_filters(this); + } +} + +void RigidBodyBullet::on_collision_checker_start() { + collisionsCount = 0; +} + +bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, int p_other_shape_index, int p_local_shape_index) { + + if (collisionsCount >= maxCollisionsDetection) { + return false; + } + + CollisionData &cd = collisions[collisionsCount]; + cd.hitLocalLocation = p_hitLocalLocation; + cd.otherObject = p_otherObject; + cd.hitWorldLocation = p_hitWorldLocation; + cd.hitNormal = p_hitNormal; + cd.other_object_shape = p_other_shape_index; + cd.local_shape = p_local_shape_index; + + ++collisionsCount; + return true; +} + +void RigidBodyBullet::assert_no_constraints() { + if (btBody->getNumConstraintRefs()) { + WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body."); + } + /*for(int i = btBody->getNumConstraintRefs()-1; 0<=i; --i){ + btTypedConstraint* btConst = btBody->getConstraintRef(i); + JointBullet* joint = static_cast<JointBullet*>( btConst->getUserConstraintPtr() ); + space->removeConstraint(joint); + }*/ +} + +void RigidBodyBullet::set_activation_state(bool p_active) { + if (p_active) { + btBody->setActivationState(ACTIVE_TAG); + } else { + btBody->setActivationState(WANTS_DEACTIVATION); + } +} + +bool RigidBodyBullet::is_active() const { + return btBody->isActive(); +} + +void RigidBodyBullet::set_param(PhysicsServer::BodyParameter p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer::BODY_PARAM_BOUNCE: + btBody->setRestitution(p_value); + break; + case PhysicsServer::BODY_PARAM_FRICTION: + btBody->setFriction(p_value); + break; + case PhysicsServer::BODY_PARAM_MASS: { + ERR_FAIL_COND(p_value < 0); + mass = p_value; + _internal_set_mass(p_value); + break; + } + case PhysicsServer::BODY_PARAM_LINEAR_DAMP: + linearDamp = p_value; + btBody->setDamping(linearDamp, angularDamp); + break; + case PhysicsServer::BODY_PARAM_ANGULAR_DAMP: + angularDamp = p_value; + btBody->setDamping(linearDamp, angularDamp); + break; + case PhysicsServer::BODY_PARAM_GRAVITY_SCALE: + gravity_scale = p_value; + /// The Bullet gravity will be is set by reload_space_override_modificator + scratch_space_override_modificator(); + break; + default: + WARN_PRINTS("Parameter " + itos(p_param) + " not supported by bullet. Value: " + itos(p_value)); + } +} + +real_t RigidBodyBullet::get_param(PhysicsServer::BodyParameter p_param) const { + switch (p_param) { + case PhysicsServer::BODY_PARAM_BOUNCE: + return btBody->getRestitution(); + case PhysicsServer::BODY_PARAM_FRICTION: + return btBody->getFriction(); + case PhysicsServer::BODY_PARAM_MASS: { + const btScalar invMass = btBody->getInvMass(); + return 0 == invMass ? 0 : 1 / invMass; + } + case PhysicsServer::BODY_PARAM_LINEAR_DAMP: + return linearDamp; + case PhysicsServer::BODY_PARAM_ANGULAR_DAMP: + return angularDamp; + case PhysicsServer::BODY_PARAM_GRAVITY_SCALE: + return gravity_scale; + default: + WARN_PRINTS("Parameter " + itos(p_param) + " not supported by bullet"); + return 0; + } +} + +void RigidBodyBullet::set_mode(PhysicsServer::BodyMode p_mode) { + // This is necessary to block force_integration untile next move + isTransformChanged = false; + destroy_kinematic_utilities(); + // The mode change is relevant to its mass + switch (p_mode) { + case PhysicsServer::BODY_MODE_KINEMATIC: + mode = PhysicsServer::BODY_MODE_KINEMATIC; + set_axis_lock(axis_lock); // Reload axis lock + _internal_set_mass(0); + init_kinematic_utilities(); + break; + case PhysicsServer::BODY_MODE_STATIC: + mode = PhysicsServer::BODY_MODE_STATIC; + set_axis_lock(axis_lock); // Reload axis lock + _internal_set_mass(0); + break; + case PhysicsServer::BODY_MODE_RIGID: { + mode = PhysicsServer::BODY_MODE_RIGID; + set_axis_lock(axis_lock); // Reload axis lock + _internal_set_mass(0 == mass ? 1 : mass); + break; + } + case PhysicsServer::BODY_MODE_CHARACTER: { + mode = PhysicsServer::BODY_MODE_CHARACTER; + set_axis_lock(axis_lock); // Reload axis lock + _internal_set_mass(0 == mass ? 1 : mass); + break; + } + } + + btBody->setAngularVelocity(btVector3(0, 0, 0)); + btBody->setLinearVelocity(btVector3(0, 0, 0)); +} +PhysicsServer::BodyMode RigidBodyBullet::get_mode() const { + return mode; +} + +void RigidBodyBullet::set_state(PhysicsServer::BodyState p_state, const Variant &p_variant) { + + switch (p_state) { + case PhysicsServer::BODY_STATE_TRANSFORM: + set_transform(p_variant); + break; + case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: + set_linear_velocity(p_variant); + break; + case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: + set_angular_velocity(p_variant); + break; + case PhysicsServer::BODY_STATE_SLEEPING: + set_activation_state(!bool(p_variant)); + break; + case PhysicsServer::BODY_STATE_CAN_SLEEP: + can_sleep = bool(p_variant); + if (!can_sleep) { + // Can't sleep + btBody->forceActivationState(DISABLE_DEACTIVATION); + } + break; + } +} + +Variant RigidBodyBullet::get_state(PhysicsServer::BodyState p_state) const { + switch (p_state) { + case PhysicsServer::BODY_STATE_TRANSFORM: + return get_transform(); + case PhysicsServer::BODY_STATE_LINEAR_VELOCITY: + return get_linear_velocity(); + case PhysicsServer::BODY_STATE_ANGULAR_VELOCITY: + return get_angular_velocity(); + case PhysicsServer::BODY_STATE_SLEEPING: + return !is_active(); + case PhysicsServer::BODY_STATE_CAN_SLEEP: + return can_sleep; + default: + WARN_PRINTS("This state " + itos(p_state) + " is not supported by Bullet"); + return Variant(); + } +} + +void RigidBodyBullet::apply_central_impulse(const Vector3 &p_impulse) { + btVector3 btImpu; + G_TO_B(p_impulse, btImpu); + btBody->activate(); + btBody->applyCentralImpulse(btImpu); +} + +void RigidBodyBullet::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { + btVector3 btImpu; + btVector3 btPos; + G_TO_B(p_impulse, btImpu); + G_TO_B(p_pos, btPos); + btBody->activate(); + btBody->applyImpulse(btImpu, btPos); +} + +void RigidBodyBullet::apply_torque_impulse(const Vector3 &p_impulse) { + btVector3 btImp; + G_TO_B(p_impulse, btImp); + btBody->activate(); + btBody->applyTorqueImpulse(btImp); +} + +void RigidBodyBullet::apply_force(const Vector3 &p_force, const Vector3 &p_pos) { + btVector3 btForce; + btVector3 btPos; + G_TO_B(p_force, btForce); + G_TO_B(p_pos, btPos); + btBody->activate(); + btBody->applyForce(btForce, btPos); +} + +void RigidBodyBullet::apply_central_force(const Vector3 &p_force) { + btVector3 btForce; + G_TO_B(p_force, btForce); + btBody->activate(); + btBody->applyCentralForce(btForce); +} + +void RigidBodyBullet::apply_torque(const Vector3 &p_torque) { + btVector3 btTorq; + G_TO_B(p_torque, btTorq); + btBody->activate(); + btBody->applyTorque(btTorq); +} + +void RigidBodyBullet::set_applied_force(const Vector3 &p_force) { + btVector3 btVec = btBody->getTotalTorque(); + + btBody->activate(); + + btBody->clearForces(); + btBody->applyTorque(btVec); + + G_TO_B(p_force, btVec); + btBody->applyCentralForce(btVec); +} + +Vector3 RigidBodyBullet::get_applied_force() const { + Vector3 gTotForc; + B_TO_G(btBody->getTotalForce(), gTotForc); + return gTotForc; +} + +void RigidBodyBullet::set_applied_torque(const Vector3 &p_torque) { + btVector3 btVec = btBody->getTotalForce(); + + btBody->activate(); + + btBody->clearForces(); + btBody->applyCentralForce(btVec); + + G_TO_B(p_torque, btVec); + btBody->applyTorque(btVec); +} + +Vector3 RigidBodyBullet::get_applied_torque() const { + Vector3 gTotTorq; + B_TO_G(btBody->getTotalTorque(), gTotTorq); + return gTotTorq; +} + +void RigidBodyBullet::set_axis_lock(PhysicsServer::BodyAxisLock p_lock) { + axis_lock = p_lock; + + if (PhysicsServer::BODY_AXIS_LOCK_DISABLED == axis_lock) { + btBody->setLinearFactor(btVector3(1., 1., 1.)); + btBody->setAngularFactor(btVector3(1., 1., 1.)); + } else if (PhysicsServer::BODY_AXIS_LOCK_X == axis_lock) { + btBody->setLinearFactor(btVector3(0., 1., 1.)); + btBody->setAngularFactor(btVector3(1., 0., 0.)); + } else if (PhysicsServer::BODY_AXIS_LOCK_Y == axis_lock) { + btBody->setLinearFactor(btVector3(1., 0., 1.)); + btBody->setAngularFactor(btVector3(0., 1., 0.)); + } else if (PhysicsServer::BODY_AXIS_LOCK_Z == axis_lock) { + btBody->setLinearFactor(btVector3(1., 1., 0.)); + btBody->setAngularFactor(btVector3(0., 0., 1.)); + } + + if (PhysicsServer::BODY_MODE_CHARACTER == mode) { + /// When character lock angular + btBody->setAngularFactor(btVector3(0., 0., 0.)); + } +} + +PhysicsServer::BodyAxisLock RigidBodyBullet::get_axis_lock() const { + btVector3 vec = btBody->getLinearFactor(); + if (0. == vec.x()) { + return PhysicsServer::BODY_AXIS_LOCK_X; + } else if (0. == vec.y()) { + return PhysicsServer::BODY_AXIS_LOCK_Y; + } else if (0. == vec.z()) { + return PhysicsServer::BODY_AXIS_LOCK_Z; + } else { + return PhysicsServer::BODY_AXIS_LOCK_DISABLED; + } +} + +void RigidBodyBullet::set_continuous_collision_detection(bool p_enable) { + if (p_enable) { + // This threshold enable CCD if the object moves more than + // 1 meter in one simulation frame + btBody->setCcdMotionThreshold(1); + + /// Calculate using the rule writte below the CCD swept sphere radius + /// CCD works on an embedded sphere of radius, make sure this radius + /// is embedded inside the convex objects, preferably smaller: + /// for an object of dimentions 1 meter, try 0.2 + btVector3 center; + btScalar radius; + btBody->getCollisionShape()->getBoundingSphere(center, radius); + btBody->setCcdSweptSphereRadius(radius * 0.2); + } else { + btBody->setCcdMotionThreshold(0.); + btBody->setCcdSweptSphereRadius(0.); + } +} + +bool RigidBodyBullet::is_continuous_collision_detection_enabled() const { + return 0. != btBody->getCcdMotionThreshold(); +} + +void RigidBodyBullet::set_linear_velocity(const Vector3 &p_velocity) { + btVector3 btVec; + G_TO_B(p_velocity, btVec); + btBody->activate(); + btBody->setLinearVelocity(btVec); +} + +Vector3 RigidBodyBullet::get_linear_velocity() const { + Vector3 gVec; + B_TO_G(btBody->getLinearVelocity(), gVec); + return gVec; +} + +void RigidBodyBullet::set_angular_velocity(const Vector3 &p_velocity) { + btVector3 btVec; + G_TO_B(p_velocity, btVec); + btBody->activate(); + btBody->setAngularVelocity(btVec); +} + +Vector3 RigidBodyBullet::get_angular_velocity() const { + Vector3 gVec; + B_TO_G(btBody->getAngularVelocity(), gVec); + return gVec; +} + +void RigidBodyBullet::set_transform__bullet(const btTransform &p_global_transform) { + if (mode == PhysicsServer::BODY_MODE_KINEMATIC) { + // The kinematic use MotionState class + godotMotionState->moveBody(p_global_transform); + } + btBody->setWorldTransform(p_global_transform); +} + +const btTransform &RigidBodyBullet::get_transform__bullet() const { + if (is_static()) { + + return RigidCollisionObjectBullet::get_transform__bullet(); + } else { + + return godotMotionState->getCurrentWorldTransform(); + } +} + +void RigidBodyBullet::on_shapes_changed() { + RigidCollisionObjectBullet::on_shapes_changed(); + + const btScalar invMass = btBody->getInvMass(); + const btScalar mass = invMass == 0 ? 0 : 1 / invMass; + + btVector3 inertia; + btBody->getCollisionShape()->calculateLocalInertia(mass, inertia); + btBody->setMassProps(mass, inertia); + btBody->updateInertiaTensor(); + + reload_kinematic_shapes(); + + reload_body(); +} + +void RigidBodyBullet::on_enter_area(AreaBullet *p_area) { + /// Add this area to the array in an ordered way + ++areaWhereIamCount; + if (areaWhereIamCount >= maxAreasWhereIam) { + --areaWhereIamCount; + return; + } + for (int i = 0; i < areaWhereIamCount; ++i) { + + if (NULL == areasWhereIam[i]) { + // This area has the highest priority + areasWhereIam[i] = p_area; + break; + } else { + if (areasWhereIam[i]->get_spOv_priority() > p_area->get_spOv_priority()) { + // The position was found, just shift all elements + for (int j = i; j < areaWhereIamCount; ++j) { + areasWhereIam[j + 1] = areasWhereIam[j]; + } + areasWhereIam[i] = p_area; + break; + } + } + } + if (PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) { + scratch_space_override_modificator(); + } + + if (p_area->is_spOv_gravityPoint()) { + ++countGravityPointSpaces; + assert(0 < countGravityPointSpaces); + } +} + +void RigidBodyBullet::on_exit_area(AreaBullet *p_area) { + RigidCollisionObjectBullet::on_exit_area(p_area); + /// Remove this area and keep the order + /// N.B. Since I don't want resize the array I can't use the "erase" function + bool wasTheAreaFound = false; + for (int i = 0; i < areaWhereIamCount; ++i) { + if (p_area == areasWhereIam[i]) { + // The area was fount, just shift down all elements + for (int j = i; j < areaWhereIamCount; ++j) { + areasWhereIam[j] = areasWhereIam[j + 1]; + } + wasTheAreaFound = true; + break; + } + } + if (wasTheAreaFound) { + if (p_area->is_spOv_gravityPoint()) { + --countGravityPointSpaces; + assert(0 <= countGravityPointSpaces); + } + + --areaWhereIamCount; + areasWhereIam[areaWhereIamCount] = NULL; // Even if this is not required, I clear the last element to be safe + if (PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED != p_area->get_spOv_mode()) { + scratch_space_override_modificator(); + } + } +} + +void RigidBodyBullet::reload_space_override_modificator() { + + Vector3 newGravity(space->get_gravity_direction() * space->get_gravity_magnitude()); + real_t newLinearDamp(linearDamp); + real_t newAngularDamp(angularDamp); + + AreaBullet *currentArea; + // Variable used to calculate new gravity for gravity point areas, it is pointed by currentGravity pointer + Vector3 support_gravity(0, 0, 0); + + int countCombined(0); + for (int i = areaWhereIamCount - 1; 0 <= i; --i) { + + currentArea = areasWhereIam[i]; + + if (PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED == currentArea->get_spOv_mode()) { + continue; + } + + /// Here is calculated the gravity + if (currentArea->is_spOv_gravityPoint()) { + + /// It calculates the direction of new gravity + support_gravity = currentArea->get_transform().xform(currentArea->get_spOv_gravityVec()) - get_transform().get_origin(); + real_t distanceMag = support_gravity.length(); + // Normalized in this way to avoid the double call of function "length()" + if (distanceMag == 0) { + support_gravity.x = 0; + support_gravity.y = 0; + support_gravity.z = 0; + } else { + support_gravity.x /= distanceMag; + support_gravity.y /= distanceMag; + support_gravity.z /= distanceMag; + } + + /// Here is calculated the final gravity + if (currentArea->get_spOv_gravityPointDistanceScale() > 0) { + // Scaled gravity by distance + support_gravity *= currentArea->get_spOv_gravityMag() / Math::pow(distanceMag * currentArea->get_spOv_gravityPointDistanceScale() + 1, 2); + } else { + // Unscaled gravity + support_gravity *= currentArea->get_spOv_gravityMag(); + } + } else { + support_gravity = currentArea->get_spOv_gravityVec() * currentArea->get_spOv_gravityMag(); + } + + switch (currentArea->get_spOv_mode()) { + ///case PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED: + /// This area does not affect gravity/damp. These are generally areas + /// that exist only to detect collisions, and objects entering or exiting them. + /// break; + case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE: + /// This area adds its gravity/damp values to whatever has been + /// calculated so far. This way, many overlapping areas can combine + /// their physics to make interesting + newGravity += support_gravity; + newLinearDamp += currentArea->get_spOv_linearDamp(); + newAngularDamp += currentArea->get_spOv_angularDamp(); + ++countCombined; + break; + case PhysicsServer::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: + /// This area adds its gravity/damp values to whatever has been calculated + /// so far. Then stops taking into account the rest of the areas, even the + /// default one. + newGravity += support_gravity; + newLinearDamp += currentArea->get_spOv_linearDamp(); + newAngularDamp += currentArea->get_spOv_angularDamp(); + ++countCombined; + goto endAreasCycle; + case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE: + /// This area replaces any gravity/damp, even the default one, and + /// stops taking into account the rest of the areas. + newGravity = support_gravity; + newLinearDamp = currentArea->get_spOv_linearDamp(); + newAngularDamp = currentArea->get_spOv_angularDamp(); + countCombined = 1; + goto endAreasCycle; + case PhysicsServer::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: + /// This area replaces any gravity/damp calculated so far, but keeps + /// calculating the rest of the areas, down to the default one. + newGravity = support_gravity; + newLinearDamp = currentArea->get_spOv_linearDamp(); + newAngularDamp = currentArea->get_spOv_angularDamp(); + countCombined = 1; + break; + } + } +endAreasCycle: + + if (1 < countCombined) { + newGravity /= countCombined; + newLinearDamp /= countCombined; + newAngularDamp /= countCombined; + } + + btVector3 newBtGravity; + G_TO_B(newGravity * gravity_scale, newBtGravity); + + btBody->setGravity(newBtGravity); + btBody->setDamping(newLinearDamp, newAngularDamp); +} + +void RigidBodyBullet::reload_kinematic_shapes() { + if (!kinematic_utilities) { + return; + } + kinematic_utilities->copyAllOwnerShapes(); +} + +void RigidBodyBullet::_internal_set_mass(real_t p_mass) { + + btVector3 localInertia(0, 0, 0); + + int clearedCurrentFlags = btBody->getCollisionFlags(); + clearedCurrentFlags &= ~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_CHARACTER_OBJECT); + + // Rigidbody is dynamic if and only if mass is non Zero, otherwise static + const bool isDynamic = p_mass != 0.f; + if (isDynamic) { + + ERR_FAIL_COND(PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode); + + m_isStatic = false; + compoundShape->calculateLocalInertia(p_mass, localInertia); + + if (PhysicsServer::BODY_MODE_RIGID == mode) { + + btBody->setCollisionFlags(clearedCurrentFlags); // Just set the flags without Kin and Static + } else { + + btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_CHARACTER_OBJECT); + } + + if (can_sleep) { + btBody->forceActivationState(ACTIVE_TAG); // ACTIVE_TAG 1 + } else { + btBody->forceActivationState(DISABLE_DEACTIVATION); // DISABLE_DEACTIVATION 4 + } + } else { + + ERR_FAIL_COND(PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode); + + m_isStatic = true; + if (PhysicsServer::BODY_MODE_STATIC == mode) { + + btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_STATIC_OBJECT); + } else { + + btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_KINEMATIC_OBJECT); + set_transform__bullet(btBody->getWorldTransform()); // Set current Transform using kinematic method + } + btBody->forceActivationState(DISABLE_SIMULATION); // DISABLE_SIMULATION 5 + } + + btBody->setMassProps(p_mass, localInertia); + btBody->updateInertiaTensor(); + + reload_body(); +} diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h new file mode 100644 index 0000000000..0cf3f9f605 --- /dev/null +++ b/modules/bullet/rigid_body_bullet.h @@ -0,0 +1,304 @@ +/*************************************************************************/ +/* 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 BODYBULLET_H +#define BODYBULLET_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "LinearMath/btTransform.h" +#include "collision_object_bullet.h" +#include "space_bullet.h" + +class AreaBullet; +class SpaceBullet; +class btRigidBody; +class GodotMotionState; +class BulletPhysicsDirectBodyState; + +/// This class could be used in multi thread with few changes but currently +/// is setted to be only in one single thread. +/// +/// In the system there is only one object at a time that manage all bodies and is +/// created by BulletPhysicsServer and is held by the "singleton" variable of this class +/// Each time something require it, the body must be setted again. +class BulletPhysicsDirectBodyState : public PhysicsDirectBodyState { + GDCLASS(BulletPhysicsDirectBodyState, PhysicsDirectBodyState) + + static BulletPhysicsDirectBodyState *singleton; + +public: + /// This class avoid the creation of more object of this class + static void initSingleton() { + if (!singleton) { + singleton = memnew(BulletPhysicsDirectBodyState); + } + } + + static void destroySingleton() { + memdelete(singleton); + singleton = NULL; + } + + static void singleton_setDeltaTime(real_t p_deltaTime) { + singleton->deltaTime = p_deltaTime; + } + + static BulletPhysicsDirectBodyState *get_singleton(RigidBodyBullet *p_body) { + singleton->body = p_body; + return singleton; + } + +public: + RigidBodyBullet *body; + real_t deltaTime; + +private: + BulletPhysicsDirectBodyState() {} + +public: + virtual Vector3 get_total_gravity() const; + virtual float get_total_angular_damp() const; + virtual float get_total_linear_damp() const; + + virtual Vector3 get_center_of_mass() const; + virtual Basis get_principal_inertia_axes() const; + // get the mass + virtual float get_inverse_mass() const; + // get density of this body space + virtual Vector3 get_inverse_inertia() const; + // get density of this body space + virtual Basis get_inverse_inertia_tensor() const; + + virtual void set_linear_velocity(const Vector3 &p_velocity); + virtual Vector3 get_linear_velocity() const; + + virtual void set_angular_velocity(const Vector3 &p_velocity); + virtual Vector3 get_angular_velocity() const; + + virtual void set_transform(const Transform &p_transform); + virtual Transform get_transform() const; + + virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos); + virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j); + virtual void apply_torque_impulse(const Vector3 &p_j); + + virtual void set_sleep_state(bool p_enable); + virtual bool is_sleeping() const; + + virtual int get_contact_count() const; + + virtual Vector3 get_contact_local_position(int p_contact_idx) const; + virtual Vector3 get_contact_local_normal(int p_contact_idx) const; + virtual int get_contact_local_shape(int p_contact_idx) const; + + virtual RID get_contact_collider(int p_contact_idx) const; + virtual Vector3 get_contact_collider_position(int p_contact_idx) const; + virtual ObjectID get_contact_collider_id(int p_contact_idx) const; + virtual int get_contact_collider_shape(int p_contact_idx) const; + virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const; + + virtual real_t get_step() const { return deltaTime; } + virtual void integrate_forces() { + // Skip the execution of this function + } + + virtual PhysicsDirectSpaceState *get_space_state(); +}; + +class RigidBodyBullet : public RigidCollisionObjectBullet { + +public: + struct CollisionData { + RigidBodyBullet *otherObject; + int other_object_shape; + int local_shape; + Vector3 hitLocalLocation; + Vector3 hitWorldLocation; + Vector3 hitNormal; + }; + + struct ForceIntegrationCallback { + ObjectID id; + StringName method; + Variant udata; + }; + + /// Used to hold shapes + struct KinematicShape { + class btConvexShape *shape; + btTransform transform; + + KinematicShape() + : shape(NULL) {} + const bool is_active() const { return shape; } + }; + + struct KinematicUtilities { + RigidBodyBullet *m_owner; + btScalar m_margin; + btManifoldArray m_manifoldArray; ///keep track of the contact manifolds + class btPairCachingGhostObject *m_ghostObject; + Vector<KinematicShape> m_shapes; + + KinematicUtilities(RigidBodyBullet *p_owner); + ~KinematicUtilities(); + + /// Used to set the default shape to ghost + void resetDefShape(); + void copyAllOwnerShapes(); + + private: + void just_delete_shapes(int new_size); + }; + +private: + friend class BulletPhysicsDirectBodyState; + + // This is required only for Kinematic movement + KinematicUtilities *kinematic_utilities; + + PhysicsServer::BodyMode mode; + PhysicsServer::BodyAxisLock axis_lock; + GodotMotionState *godotMotionState; + btRigidBody *btBody; + real_t mass; + real_t gravity_scale; + real_t linearDamp; + real_t angularDamp; + bool can_sleep; + + Vector<CollisionData> collisions; + // these parameters are used to avoid vector resize + int maxCollisionsDetection; + int collisionsCount; + + Vector<AreaBullet *> areasWhereIam; + // these parameters are used to avoid vector resize + int maxAreasWhereIam; + int areaWhereIamCount; + // Used to know if the area is used as gravity point + int countGravityPointSpaces; + bool isScratchedSpaceOverrideModificator; + + bool isTransformChanged; + + ForceIntegrationCallback *force_integration_callback; + +public: + RigidBodyBullet(); + ~RigidBodyBullet(); + + void init_kinematic_utilities(); + void destroy_kinematic_utilities(); + _FORCE_INLINE_ class KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; } + + _FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; } + + virtual void reload_body(); + virtual void set_space(SpaceBullet *p_space); + + virtual void dispatch_callbacks(); + void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); + void scratch(); + void scratch_space_override_modificator(); + + virtual void on_collision_filters_change(); + virtual void on_collision_checker_start(); + void set_max_collisions_detection(int p_maxCollisionsDetection) { + maxCollisionsDetection = p_maxCollisionsDetection; + collisions.resize(p_maxCollisionsDetection); + collisionsCount = 0; + } + int get_max_collisions_detection() { + return maxCollisionsDetection; + } + + bool can_add_collision() { return collisionsCount < maxCollisionsDetection; } + bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, int p_other_shape_index, int p_local_shape_index); + + void assert_no_constraints(); + + void set_activation_state(bool p_active); + bool is_active() const; + + void set_param(PhysicsServer::BodyParameter p_param, real_t); + real_t get_param(PhysicsServer::BodyParameter p_param) const; + + void set_mode(PhysicsServer::BodyMode p_mode); + PhysicsServer::BodyMode get_mode() const; + + void set_state(PhysicsServer::BodyState p_state, const Variant &p_variant); + Variant get_state(PhysicsServer::BodyState p_state) const; + + void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse); + void apply_central_impulse(const Vector3 &p_force); + void apply_torque_impulse(const Vector3 &p_impulse); + + void apply_force(const Vector3 &p_force, const Vector3 &p_pos); + void apply_central_force(const Vector3 &p_force); + void apply_torque(const Vector3 &p_force); + + void set_applied_force(const Vector3 &p_force); + Vector3 get_applied_force() const; + void set_applied_torque(const Vector3 &p_torque); + Vector3 get_applied_torque() const; + + void set_axis_lock(PhysicsServer::BodyAxisLock p_lock); + PhysicsServer::BodyAxisLock get_axis_lock() const; + + /// Doc: + /// http://www.bulletphysics.org/mediawiki-1.5.8/index.php?title=Anti_tunneling_by_Motion_Clamping + void set_continuous_collision_detection(bool p_enable); + bool is_continuous_collision_detection_enabled() const; + + void set_linear_velocity(const Vector3 &p_velocity); + Vector3 get_linear_velocity() const; + + void set_angular_velocity(const Vector3 &p_velocity); + Vector3 get_angular_velocity() const; + + virtual void set_transform__bullet(const btTransform &p_global_transform); + virtual const btTransform &get_transform__bullet() const; + + virtual void on_shapes_changed(); + + virtual void on_enter_area(AreaBullet *p_area); + virtual void on_exit_area(AreaBullet *p_area); + void reload_space_override_modificator(); + + /// Kinematic + void reload_kinematic_shapes(); + +private: + void _internal_set_mass(real_t p_mass); +}; + +#endif diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp new file mode 100644 index 0000000000..49150484d9 --- /dev/null +++ b/modules/bullet/shape_bullet.cpp @@ -0,0 +1,435 @@ +/*************************************************************************/ +/* shape_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "shape_bullet.h" +#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h" +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" +#include "btBulletCollisionCommon.h" +#include "btRayShape.h" +#include "bullet_physics_server.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "shape_owner_bullet.h" + +ShapeBullet::ShapeBullet() {} + +ShapeBullet::~ShapeBullet() {} + +btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const { + p_btShape->setUserPointer(const_cast<ShapeBullet *>(this)); + return p_btShape; +} + +void ShapeBullet::notifyShapeChanged() { + for (Map<ShapeOwnerBullet *, int>::Element *E = owners.front(); E; E = E->next()) { + static_cast<ShapeOwnerBullet *>(E->key())->on_shape_changed(this); + } +} + +void ShapeBullet::add_owner(ShapeOwnerBullet *p_owner) { + Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner); + if (E) { + E->get()++; + } else { + owners[p_owner] = 1; // add new owner + } +} + +void ShapeBullet::remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody) { + Map<ShapeOwnerBullet *, int>::Element *E = owners.find(p_owner); + ERR_FAIL_COND(!E); + E->get()--; + if (p_permanentlyFromThisBody || 0 >= E->get()) { + owners.erase(E); + } +} + +bool ShapeBullet::is_owner(ShapeOwnerBullet *p_owner) const { + + return owners.has(p_owner); +} + +const Map<ShapeOwnerBullet *, int> &ShapeBullet::get_owners() const { + return owners; +} + +btEmptyShape *ShapeBullet::create_shape_empty() { + return bulletnew(btEmptyShape); +} + +btStaticPlaneShape *ShapeBullet::create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant) { + return bulletnew(btStaticPlaneShape(planeNormal, planeConstant)); +} + +btSphereShape *ShapeBullet::create_shape_sphere(btScalar radius) { + return bulletnew(btSphereShape(radius)); +} + +btBoxShape *ShapeBullet::create_shape_box(const btVector3 &boxHalfExtents) { + return bulletnew(btBoxShape(boxHalfExtents)); +} + +btCapsuleShapeZ *ShapeBullet::create_shape_capsule(btScalar radius, btScalar height) { + return bulletnew(btCapsuleShapeZ(radius, height)); +} + +btConvexPointCloudShape *ShapeBullet::create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling) { + return bulletnew(btConvexPointCloudShape(&p_vertices[0], p_vertices.size(), p_local_scaling)); +} + +btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling) { + if (p_mesh_shape) { + return bulletnew(btScaledBvhTriangleMeshShape(p_mesh_shape, p_local_scaling)); + } else { + return NULL; + } +} + +btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) { + const btScalar ignoredHeightScale(1); + const btScalar fieldHeight(500); // Meters + const int YAxis = 1; // 0=X, 1=Y, 2=Z + const bool flipQuadEdges = false; + const void *heightsPtr = p_heights.read().ptr(); + + return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges)); +} + +btRayShape *ShapeBullet::create_shape_ray(real_t p_length) { + return bulletnew(btRayShape(p_length)); +} + +/* PLANE */ + +PlaneShapeBullet::PlaneShapeBullet() + : ShapeBullet() {} + +void PlaneShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant PlaneShapeBullet::get_data() const { + return plane; +} + +PhysicsServer::ShapeType PlaneShapeBullet::get_type() const { + return PhysicsServer::SHAPE_PLANE; +} + +void PlaneShapeBullet::setup(const Plane &p_plane) { + plane = p_plane; + notifyShapeChanged(); +} + +btCollisionShape *PlaneShapeBullet::create_bt_shape() { + btVector3 btPlaneNormal; + G_TO_B(plane.normal, btPlaneNormal); + return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d)); +} + +/* Sphere */ + +SphereShapeBullet::SphereShapeBullet() + : ShapeBullet() {} + +void SphereShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant SphereShapeBullet::get_data() const { + return radius; +} + +PhysicsServer::ShapeType SphereShapeBullet::get_type() const { + return PhysicsServer::SHAPE_SPHERE; +} + +void SphereShapeBullet::setup(real_t p_radius) { + radius = p_radius; + notifyShapeChanged(); +} + +btCollisionShape *SphereShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_sphere(radius)); +} + +/* Box */ +BoxShapeBullet::BoxShapeBullet() + : ShapeBullet() {} + +void BoxShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant BoxShapeBullet::get_data() const { + Vector3 g_half_extents; + B_TO_G(half_extents, g_half_extents); + return g_half_extents; +} + +PhysicsServer::ShapeType BoxShapeBullet::get_type() const { + return PhysicsServer::SHAPE_BOX; +} + +void BoxShapeBullet::setup(const Vector3 &p_half_extents) { + G_TO_B(p_half_extents, half_extents); + notifyShapeChanged(); +} + +btCollisionShape *BoxShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_box(half_extents)); +} + +/* Capsule */ + +CapsuleShapeBullet::CapsuleShapeBullet() + : ShapeBullet() {} + +void CapsuleShapeBullet::set_data(const Variant &p_data) { + Dictionary d = p_data; + ERR_FAIL_COND(!d.has("radius")); + ERR_FAIL_COND(!d.has("height")); + setup(d["height"], d["radius"]); +} + +Variant CapsuleShapeBullet::get_data() const { + Dictionary d; + d["radius"] = radius; + d["height"] = height; + return d; +} + +PhysicsServer::ShapeType CapsuleShapeBullet::get_type() const { + return PhysicsServer::SHAPE_CAPSULE; +} + +void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) { + radius = p_radius; + height = p_height; + notifyShapeChanged(); +} + +btCollisionShape *CapsuleShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_capsule(radius, height)); +} + +/* Convex polygon */ + +ConvexPolygonShapeBullet::ConvexPolygonShapeBullet() + : ShapeBullet() {} + +void ConvexPolygonShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +void ConvexPolygonShapeBullet::get_vertices(Vector<Vector3> &out_vertices) { + const int n_of_vertices = vertices.size(); + out_vertices.resize(n_of_vertices); + for (int i = n_of_vertices - 1; 0 <= i; --i) { + B_TO_G(vertices[i], out_vertices[i]); + } +} + +Variant ConvexPolygonShapeBullet::get_data() const { + ConvexPolygonShapeBullet *variable_self = const_cast<ConvexPolygonShapeBullet *>(this); + Vector<Vector3> out_vertices; + variable_self->get_vertices(out_vertices); + return out_vertices; +} + +PhysicsServer::ShapeType ConvexPolygonShapeBullet::get_type() const { + return PhysicsServer::SHAPE_CONVEX_POLYGON; +} + +void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) { + // Make a copy of verticies + const int n_of_vertices = p_vertices.size(); + vertices.resize(n_of_vertices); + for (int i = n_of_vertices - 1; 0 <= i; --i) { + G_TO_B(p_vertices[i], vertices[i]); + } + notifyShapeChanged(); +} + +btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_convex(vertices)); +} + +/* Concave polygon */ + +ConcavePolygonShapeBullet::ConcavePolygonShapeBullet() + : ShapeBullet(), meshShape(NULL) {} + +ConcavePolygonShapeBullet::~ConcavePolygonShapeBullet() { + if (meshShape) { + delete meshShape->getMeshInterface(); + delete meshShape; + } + faces = PoolVector<Vector3>(); +} + +void ConcavePolygonShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant ConcavePolygonShapeBullet::get_data() const { + return faces; +} + +PhysicsServer::ShapeType ConcavePolygonShapeBullet::get_type() const { + return PhysicsServer::SHAPE_CONCAVE_POLYGON; +} + +void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) { + faces = p_faces; + if (meshShape) { + /// Clear previous created shape + delete meshShape->getMeshInterface(); + bulletdelete(meshShape); + } + int src_face_count = faces.size(); + if (0 < src_face_count) { + + btTriangleMesh *shapeInterface = bulletnew(btTriangleMesh); + + // It counts the faces and assert the array contains the correct number of vertices. + ERR_FAIL_COND(src_face_count % 3); + src_face_count /= 3; + PoolVector<Vector3>::Read r = p_faces.read(); + const Vector3 *facesr = r.ptr(); + + btVector3 supVec_0; + btVector3 supVec_1; + btVector3 supVec_2; + for (int i = 0; i < src_face_count; ++i) { + G_TO_B(facesr[i * 3], supVec_0); + G_TO_B(facesr[i * 3 + 1], supVec_1); + G_TO_B(facesr[i * 3 + 2], supVec_2); + + shapeInterface->addTriangle(supVec_0, supVec_1, supVec_2); + } + + const bool useQuantizedAabbCompression = true; + + meshShape = bulletnew(btBvhTriangleMeshShape(shapeInterface, useQuantizedAabbCompression)); + } else { + meshShape = NULL; + ERR_PRINT("The faces count are 0, the mesh shape cannot be created"); + } + notifyShapeChanged(); +} + +btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape() { + btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape); + if (!cs) { + // This is necessary since if 0 faces the creation of concave return NULL + cs = ShapeBullet::create_shape_empty(); + } + return prepare(cs); +} + +/* Height map shape */ + +HeightMapShapeBullet::HeightMapShapeBullet() + : ShapeBullet() {} + +void HeightMapShapeBullet::set_data(const Variant &p_data) { + ERR_FAIL_COND(p_data.get_type() != Variant::DICTIONARY); + Dictionary d = p_data; + ERR_FAIL_COND(!d.has("width")); + ERR_FAIL_COND(!d.has("depth")); + ERR_FAIL_COND(!d.has("cell_size")); + ERR_FAIL_COND(!d.has("heights")); + + int l_width = d["width"]; + int l_depth = d["depth"]; + real_t l_cell_size = d["cell_size"]; + PoolVector<real_t> l_heights = d["heights"]; + + ERR_FAIL_COND(l_width <= 0); + ERR_FAIL_COND(l_depth <= 0); + ERR_FAIL_COND(l_cell_size <= CMP_EPSILON); + ERR_FAIL_COND(l_heights.size() != (width * depth)); + setup(heights, width, depth, cell_size); +} + +Variant HeightMapShapeBullet::get_data() const { + ERR_FAIL_V(Variant()); +} + +PhysicsServer::ShapeType HeightMapShapeBullet::get_type() const { + return PhysicsServer::SHAPE_HEIGHTMAP; +} + +void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size) { + { // Copy + const int heights_size = p_heights.size(); + heights.resize(heights_size); + PoolVector<real_t>::Read p_heights_r = p_heights.read(); + PoolVector<real_t>::Write heights_w = heights.write(); + for (int i = heights_size - 1; 0 <= i; --i) { + heights_w[i] = p_heights_r[i]; + } + } + width = p_width; + depth = p_depth; + cell_size = p_cell_size; + notifyShapeChanged(); +} + +btCollisionShape *HeightMapShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size)); +} + +/* Ray shape */ +RayShapeBullet::RayShapeBullet() + : ShapeBullet(), length(1) {} + +void RayShapeBullet::set_data(const Variant &p_data) { + setup(p_data); +} + +Variant RayShapeBullet::get_data() const { + return length; +} + +PhysicsServer::ShapeType RayShapeBullet::get_type() const { + return PhysicsServer::SHAPE_RAY; +} + +void RayShapeBullet::setup(real_t p_length) { + length = p_length; + notifyShapeChanged(); +} + +btCollisionShape *RayShapeBullet::create_bt_shape() { + return prepare(ShapeBullet::create_shape_ray(length)); +} diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h new file mode 100644 index 0000000000..0a56fa1709 --- /dev/null +++ b/modules/bullet/shape_bullet.h @@ -0,0 +1,225 @@ +/*************************************************************************/ +/* shape_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 SHAPE_BULLET_H +#define SHAPE_BULLET_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btScalar.h" +#include "LinearMath/btVector3.h" +#include "core/variant.h" +#include "geometry.h" +#include "rid_bullet.h" +#include "servers/physics_server.h" + +class ShapeBullet; +class btCollisionShape; +class ShapeOwnerBullet; +class btBvhTriangleMeshShape; + +class ShapeBullet : public RIDBullet { + + Map<ShapeOwnerBullet *, int> owners; + +protected: + /// return self + btCollisionShape *prepare(btCollisionShape *p_btShape) const; + void notifyShapeChanged(); + +public: + ShapeBullet(); + virtual ~ShapeBullet(); + + virtual btCollisionShape *create_bt_shape() = 0; + + void add_owner(ShapeOwnerBullet *p_owner); + void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false); + bool is_owner(ShapeOwnerBullet *p_owner) const; + const Map<ShapeOwnerBullet *, int> &get_owners() const; + + /// Setup the shape + virtual void set_data(const Variant &p_data) = 0; + virtual Variant get_data() const = 0; + + virtual PhysicsServer::ShapeType get_type() const = 0; + +public: + static class btEmptyShape *create_shape_empty(); + static class btStaticPlaneShape *create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant); + static class btSphereShape *create_shape_sphere(btScalar radius); + static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents); + static class btCapsuleShapeZ *create_shape_capsule(btScalar radius, btScalar height); + /// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface(); + static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1)); + static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1)); + static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size); + static class btRayShape *create_shape_ray(real_t p_length); +}; + +class PlaneShapeBullet : public ShapeBullet { + + Plane plane; + +public: + PlaneShapeBullet(); + + virtual void set_data(const Variant &p_data); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(); + +private: + void setup(const Plane &p_plane); +}; + +class SphereShapeBullet : public ShapeBullet { + + real_t radius; + +public: + SphereShapeBullet(); + + _FORCE_INLINE_ real_t get_radius() { return radius; } + virtual void set_data(const Variant &p_data); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(); + +private: + void setup(real_t p_radius); +}; + +class BoxShapeBullet : public ShapeBullet { + + btVector3 half_extents; + +public: + BoxShapeBullet(); + + _FORCE_INLINE_ const btVector3 &get_half_extents() { return half_extents; } + virtual void set_data(const Variant &p_data); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(); + +private: + void setup(const Vector3 &p_half_extents); +}; + +class CapsuleShapeBullet : public ShapeBullet { + + real_t height; + real_t radius; + +public: + CapsuleShapeBullet(); + + _FORCE_INLINE_ real_t get_height() { return height; } + _FORCE_INLINE_ real_t get_radius() { return radius; } + virtual void set_data(const Variant &p_data); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(); + +private: + void setup(real_t p_height, real_t p_radius); +}; + +class ConvexPolygonShapeBullet : public ShapeBullet { + +public: + btAlignedObjectArray<btVector3> vertices; + + ConvexPolygonShapeBullet(); + + virtual void set_data(const Variant &p_data); + void get_vertices(Vector<Vector3> &out_vertices); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(); + +private: + void setup(const Vector<Vector3> &p_vertices); +}; + +class ConcavePolygonShapeBullet : public ShapeBullet { + class btBvhTriangleMeshShape *meshShape; + +public: + PoolVector<Vector3> faces; + + ConcavePolygonShapeBullet(); + virtual ~ConcavePolygonShapeBullet(); + + virtual void set_data(const Variant &p_data); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(); + +private: + void setup(PoolVector<Vector3> p_faces); +}; + +class HeightMapShapeBullet : public ShapeBullet { + +public: + PoolVector<real_t> heights; + int width; + int depth; + real_t cell_size; + + HeightMapShapeBullet(); + + virtual void set_data(const Variant &p_data); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(); + +private: + void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size); +}; + +class RayShapeBullet : public ShapeBullet { + +public: + real_t length; + + RayShapeBullet(); + + virtual void set_data(const Variant &p_data); + virtual Variant get_data() const; + virtual PhysicsServer::ShapeType get_type() const; + virtual btCollisionShape *create_bt_shape(); + +private: + void setup(real_t p_length); +}; +#endif diff --git a/modules/bullet/shape_owner_bullet.cpp b/modules/bullet/shape_owner_bullet.cpp new file mode 100644 index 0000000000..04b2b01675 --- /dev/null +++ b/modules/bullet/shape_owner_bullet.cpp @@ -0,0 +1,32 @@ +/*************************************************************************/ +/* shape_owner_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "shape_owner_bullet.h" diff --git a/modules/bullet/shape_owner_bullet.h b/modules/bullet/shape_owner_bullet.h new file mode 100644 index 0000000000..d2f3d321c7 --- /dev/null +++ b/modules/bullet/shape_owner_bullet.h @@ -0,0 +1,52 @@ +/*************************************************************************/ +/* shape_owner_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 SHAPE_OWNER_BULLET_H +#define SHAPE_OWNER_BULLET_H + +#include "rid_bullet.h" + +class ShapeBullet; +class btCollisionShape; +class CollisionObjectBullet; + +/// Each clas that want to use Shapes must inherit this class +/// E.G. BodyShape is a child of this +class ShapeOwnerBullet { +public: + /// This is used to set new shape or replace existing + //virtual void _internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) = 0; + virtual void on_shape_changed(const ShapeBullet *const p_shape) = 0; + virtual void on_shapes_changed() = 0; + virtual void remove_shape(class ShapeBullet *p_shape) = 0; + virtual ~ShapeOwnerBullet() {} +}; +#endif diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp new file mode 100644 index 0000000000..2da65677f5 --- /dev/null +++ b/modules/bullet/slider_joint_bullet.cpp @@ -0,0 +1,385 @@ +/*************************************************************************/ +/* slider_joint_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "slider_joint_bullet.h" +#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "rigid_body_bullet.h" + +SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) + : JointBullet() { + btTransform btFrameA; + G_TO_B(frameInA, btFrameA); + if (rbB) { + btTransform btFrameB; + G_TO_B(frameInB, btFrameB); + sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true)); + + } else { + sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), btFrameA, true)); + } + setup(sliderConstraint); +} + +const RigidBodyBullet *SliderJointBullet::getRigidBodyA() const { + return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyA().getUserPointer()); +} + +const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const { + return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer()); +} + +const Transform SliderJointBullet::getCalculatedTransformA() const { + btTransform btTransform = sliderConstraint->getCalculatedTransformA(); + Transform gTrans; + B_TO_G(btTransform, gTrans); + return gTrans; +} + +const Transform SliderJointBullet::getCalculatedTransformB() const { + btTransform btTransform = sliderConstraint->getCalculatedTransformB(); + Transform gTrans; + B_TO_G(btTransform, gTrans); + return gTrans; +} + +const Transform SliderJointBullet::getFrameOffsetA() const { + btTransform btTransform = sliderConstraint->getFrameOffsetA(); + Transform gTrans; + B_TO_G(btTransform, gTrans); + return gTrans; +} + +const Transform SliderJointBullet::getFrameOffsetB() const { + btTransform btTransform = sliderConstraint->getFrameOffsetB(); + Transform gTrans; + B_TO_G(btTransform, gTrans); + return gTrans; +} + +Transform SliderJointBullet::getFrameOffsetA() { + btTransform btTransform = sliderConstraint->getFrameOffsetA(); + Transform gTrans; + B_TO_G(btTransform, gTrans); + return gTrans; +} + +Transform SliderJointBullet::getFrameOffsetB() { + btTransform btTransform = sliderConstraint->getFrameOffsetB(); + Transform gTrans; + B_TO_G(btTransform, gTrans); + return gTrans; +} + +real_t SliderJointBullet::getLowerLinLimit() const { + return sliderConstraint->getLowerLinLimit(); +} + +void SliderJointBullet::setLowerLinLimit(real_t lowerLimit) { + sliderConstraint->setLowerLinLimit(lowerLimit); +} +real_t SliderJointBullet::getUpperLinLimit() const { + return sliderConstraint->getUpperLinLimit(); +} + +void SliderJointBullet::setUpperLinLimit(real_t upperLimit) { + sliderConstraint->setUpperLinLimit(upperLimit); +} + +real_t SliderJointBullet::getLowerAngLimit() const { + return sliderConstraint->getLowerAngLimit(); +} + +void SliderJointBullet::setLowerAngLimit(real_t lowerLimit) { + sliderConstraint->setLowerAngLimit(lowerLimit); +} + +real_t SliderJointBullet::getUpperAngLimit() const { + return sliderConstraint->getUpperAngLimit(); +} + +void SliderJointBullet::setUpperAngLimit(real_t upperLimit) { + sliderConstraint->setUpperAngLimit(upperLimit); +} + +real_t SliderJointBullet::getSoftnessDirLin() const { + return sliderConstraint->getSoftnessDirLin(); +} + +real_t SliderJointBullet::getRestitutionDirLin() const { + return sliderConstraint->getRestitutionDirLin(); +} + +real_t SliderJointBullet::getDampingDirLin() const { + return sliderConstraint->getDampingDirLin(); +} + +real_t SliderJointBullet::getSoftnessDirAng() const { + return sliderConstraint->getSoftnessDirAng(); +} + +real_t SliderJointBullet::getRestitutionDirAng() const { + return sliderConstraint->getRestitutionDirAng(); +} + +real_t SliderJointBullet::getDampingDirAng() const { + return sliderConstraint->getDampingDirAng(); +} + +real_t SliderJointBullet::getSoftnessLimLin() const { + return sliderConstraint->getSoftnessLimLin(); +} + +real_t SliderJointBullet::getRestitutionLimLin() const { + return sliderConstraint->getRestitutionLimLin(); +} + +real_t SliderJointBullet::getDampingLimLin() const { + return sliderConstraint->getDampingLimLin(); +} + +real_t SliderJointBullet::getSoftnessLimAng() const { + return sliderConstraint->getSoftnessLimAng(); +} + +real_t SliderJointBullet::getRestitutionLimAng() const { + return sliderConstraint->getRestitutionLimAng(); +} + +real_t SliderJointBullet::getDampingLimAng() const { + return sliderConstraint->getDampingLimAng(); +} + +real_t SliderJointBullet::getSoftnessOrthoLin() const { + return sliderConstraint->getSoftnessOrthoLin(); +} + +real_t SliderJointBullet::getRestitutionOrthoLin() const { + return sliderConstraint->getRestitutionOrthoLin(); +} + +real_t SliderJointBullet::getDampingOrthoLin() const { + return sliderConstraint->getDampingOrthoLin(); +} + +real_t SliderJointBullet::getSoftnessOrthoAng() const { + return sliderConstraint->getSoftnessOrthoAng(); +} + +real_t SliderJointBullet::getRestitutionOrthoAng() const { + return sliderConstraint->getRestitutionOrthoAng(); +} + +real_t SliderJointBullet::getDampingOrthoAng() const { + return sliderConstraint->getDampingOrthoAng(); +} + +void SliderJointBullet::setSoftnessDirLin(real_t softnessDirLin) { + sliderConstraint->setSoftnessDirLin(softnessDirLin); +} + +void SliderJointBullet::setRestitutionDirLin(real_t restitutionDirLin) { + sliderConstraint->setRestitutionDirLin(restitutionDirLin); +} + +void SliderJointBullet::setDampingDirLin(real_t dampingDirLin) { + sliderConstraint->setDampingDirLin(dampingDirLin); +} + +void SliderJointBullet::setSoftnessDirAng(real_t softnessDirAng) { + sliderConstraint->setSoftnessDirAng(softnessDirAng); +} + +void SliderJointBullet::setRestitutionDirAng(real_t restitutionDirAng) { + sliderConstraint->setRestitutionDirAng(restitutionDirAng); +} + +void SliderJointBullet::setDampingDirAng(real_t dampingDirAng) { + sliderConstraint->setDampingDirAng(dampingDirAng); +} + +void SliderJointBullet::setSoftnessLimLin(real_t softnessLimLin) { + sliderConstraint->setSoftnessLimLin(softnessLimLin); +} + +void SliderJointBullet::setRestitutionLimLin(real_t restitutionLimLin) { + sliderConstraint->setRestitutionLimLin(restitutionLimLin); +} + +void SliderJointBullet::setDampingLimLin(real_t dampingLimLin) { + sliderConstraint->setDampingLimLin(dampingLimLin); +} + +void SliderJointBullet::setSoftnessLimAng(real_t softnessLimAng) { + sliderConstraint->setSoftnessLimAng(softnessLimAng); +} + +void SliderJointBullet::setRestitutionLimAng(real_t restitutionLimAng) { + sliderConstraint->setRestitutionLimAng(restitutionLimAng); +} + +void SliderJointBullet::setDampingLimAng(real_t dampingLimAng) { + sliderConstraint->setDampingLimAng(dampingLimAng); +} + +void SliderJointBullet::setSoftnessOrthoLin(real_t softnessOrthoLin) { + sliderConstraint->setSoftnessOrthoLin(softnessOrthoLin); +} + +void SliderJointBullet::setRestitutionOrthoLin(real_t restitutionOrthoLin) { + sliderConstraint->setRestitutionOrthoLin(restitutionOrthoLin); +} + +void SliderJointBullet::setDampingOrthoLin(real_t dampingOrthoLin) { + sliderConstraint->setDampingOrthoLin(dampingOrthoLin); +} + +void SliderJointBullet::setSoftnessOrthoAng(real_t softnessOrthoAng) { + sliderConstraint->setSoftnessOrthoAng(softnessOrthoAng); +} + +void SliderJointBullet::setRestitutionOrthoAng(real_t restitutionOrthoAng) { + sliderConstraint->setRestitutionOrthoAng(restitutionOrthoAng); +} + +void SliderJointBullet::setDampingOrthoAng(real_t dampingOrthoAng) { + sliderConstraint->setDampingOrthoAng(dampingOrthoAng); +} + +void SliderJointBullet::setPoweredLinMotor(bool onOff) { + sliderConstraint->setPoweredLinMotor(onOff); +} + +bool SliderJointBullet::getPoweredLinMotor() { + return sliderConstraint->getPoweredLinMotor(); +} + +void SliderJointBullet::setTargetLinMotorVelocity(real_t targetLinMotorVelocity) { + sliderConstraint->setTargetLinMotorVelocity(targetLinMotorVelocity); +} + +real_t SliderJointBullet::getTargetLinMotorVelocity() { + return sliderConstraint->getTargetLinMotorVelocity(); +} + +void SliderJointBullet::setMaxLinMotorForce(real_t maxLinMotorForce) { + sliderConstraint->setMaxLinMotorForce(maxLinMotorForce); +} + +real_t SliderJointBullet::getMaxLinMotorForce() { + return sliderConstraint->getMaxLinMotorForce(); +} + +void SliderJointBullet::setPoweredAngMotor(bool onOff) { + sliderConstraint->setPoweredAngMotor(onOff); +} + +bool SliderJointBullet::getPoweredAngMotor() { + return sliderConstraint->getPoweredAngMotor(); +} + +void SliderJointBullet::setTargetAngMotorVelocity(real_t targetAngMotorVelocity) { + sliderConstraint->setTargetAngMotorVelocity(targetAngMotorVelocity); +} + +real_t SliderJointBullet::getTargetAngMotorVelocity() { + return sliderConstraint->getTargetAngMotorVelocity(); +} + +void SliderJointBullet::setMaxAngMotorForce(real_t maxAngMotorForce) { + sliderConstraint->setMaxAngMotorForce(maxAngMotorForce); +} + +real_t SliderJointBullet::getMaxAngMotorForce() { + return sliderConstraint->getMaxAngMotorForce(); +} + +real_t SliderJointBullet::getLinearPos() { + return sliderConstraint->getLinearPos(); + ; +} + +void SliderJointBullet::set_param(PhysicsServer::SliderJointParam p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: setUpperLinLimit(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: setLowerLinLimit(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: setSoftnessLimLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: setRestitutionLimLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: setDampingLimLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: setSoftnessDirLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: setRestitutionDirLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: setDampingDirLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: setDampingOrthoLin(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: setUpperAngLimit(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: setLowerAngLimit(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: setSoftnessLimAng(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: setRestitutionLimAng(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: setDampingLimAng(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: setSoftnessDirAng(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: setRestitutionDirAng(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: setDampingDirAng(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoAng(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoAng(p_value); break; + case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: setDampingOrthoAng(p_value); break; + } +} + +real_t SliderJointBullet::get_param(PhysicsServer::SliderJointParam p_param) const { + switch (p_param) { + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return getUpperLinLimit(); + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: return getLowerLinLimit(); + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: return getSoftnessLimLin(); + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: return getRestitutionLimLin(); + case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: return getDampingLimLin(); + case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: return getSoftnessDirLin(); + case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: return getRestitutionDirLin(); + case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: return getDampingDirLin(); + case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: return getSoftnessOrthoLin(); + case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: return getRestitutionOrthoLin(); + case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: return getDampingOrthoLin(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: return getUpperAngLimit(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: return getLowerAngLimit(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: return getSoftnessLimAng(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: return getRestitutionLimAng(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: return getDampingLimAng(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: return getSoftnessDirAng(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: return getRestitutionDirAng(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: return getDampingDirAng(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return getSoftnessOrthoAng(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return getRestitutionOrthoAng(); + case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return getDampingOrthoAng(); + default: + return 0; + } +} diff --git a/modules/bullet/slider_joint_bullet.h b/modules/bullet/slider_joint_bullet.h new file mode 100644 index 0000000000..d50c376ea6 --- /dev/null +++ b/modules/bullet/slider_joint_bullet.h @@ -0,0 +1,118 @@ +/*************************************************************************/ +/* slider_joint_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 SLIDER_JOINT_BULLET_H +#define SLIDER_JOINT_BULLET_H + +#include "joint_bullet.h" + +class RigidBodyBullet; + +class SliderJointBullet : public JointBullet { + class btSliderConstraint *sliderConstraint; + +public: + /// Reference frame is A + SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB); + + virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_SLIDER; } + + const RigidBodyBullet *getRigidBodyA() const; + const RigidBodyBullet *getRigidBodyB() const; + const Transform getCalculatedTransformA() const; + const Transform getCalculatedTransformB() const; + const Transform getFrameOffsetA() const; + const Transform getFrameOffsetB() const; + Transform getFrameOffsetA(); + Transform getFrameOffsetB(); + real_t getLowerLinLimit() const; + void setLowerLinLimit(real_t lowerLimit); + real_t getUpperLinLimit() const; + void setUpperLinLimit(real_t upperLimit); + real_t getLowerAngLimit() const; + void setLowerAngLimit(real_t lowerLimit); + real_t getUpperAngLimit() const; + void setUpperAngLimit(real_t upperLimit); + + real_t getSoftnessDirLin() const; + real_t getRestitutionDirLin() const; + real_t getDampingDirLin() const; + real_t getSoftnessDirAng() const; + real_t getRestitutionDirAng() const; + real_t getDampingDirAng() const; + real_t getSoftnessLimLin() const; + real_t getRestitutionLimLin() const; + real_t getDampingLimLin() const; + real_t getSoftnessLimAng() const; + real_t getRestitutionLimAng() const; + real_t getDampingLimAng() const; + real_t getSoftnessOrthoLin() const; + real_t getRestitutionOrthoLin() const; + real_t getDampingOrthoLin() const; + real_t getSoftnessOrthoAng() const; + real_t getRestitutionOrthoAng() const; + real_t getDampingOrthoAng() const; + void setSoftnessDirLin(real_t softnessDirLin); + void setRestitutionDirLin(real_t restitutionDirLin); + void setDampingDirLin(real_t dampingDirLin); + void setSoftnessDirAng(real_t softnessDirAng); + void setRestitutionDirAng(real_t restitutionDirAng); + void setDampingDirAng(real_t dampingDirAng); + void setSoftnessLimLin(real_t softnessLimLin); + void setRestitutionLimLin(real_t restitutionLimLin); + void setDampingLimLin(real_t dampingLimLin); + void setSoftnessLimAng(real_t softnessLimAng); + void setRestitutionLimAng(real_t restitutionLimAng); + void setDampingLimAng(real_t dampingLimAng); + void setSoftnessOrthoLin(real_t softnessOrthoLin); + void setRestitutionOrthoLin(real_t restitutionOrthoLin); + void setDampingOrthoLin(real_t dampingOrthoLin); + void setSoftnessOrthoAng(real_t softnessOrthoAng); + void setRestitutionOrthoAng(real_t restitutionOrthoAng); + void setDampingOrthoAng(real_t dampingOrthoAng); + void setPoweredLinMotor(bool onOff); + bool getPoweredLinMotor(); + void setTargetLinMotorVelocity(real_t targetLinMotorVelocity); + real_t getTargetLinMotorVelocity(); + void setMaxLinMotorForce(real_t maxLinMotorForce); + real_t getMaxLinMotorForce(); + void setPoweredAngMotor(bool onOff); + bool getPoweredAngMotor(); + void setTargetAngMotorVelocity(real_t targetAngMotorVelocity); + real_t getTargetAngMotorVelocity(); + void setMaxAngMotorForce(real_t maxAngMotorForce); + real_t getMaxAngMotorForce(); + real_t getLinearPos(); + + void set_param(PhysicsServer::SliderJointParam p_param, real_t p_value); + real_t get_param(PhysicsServer::SliderJointParam p_param) const; +}; +#endif diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp new file mode 100644 index 0000000000..64ef7bfad2 --- /dev/null +++ b/modules/bullet/soft_body_bullet.cpp @@ -0,0 +1,303 @@ +/*************************************************************************/ +/* soft_body_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "soft_body_bullet.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "space_bullet.h" + +#include "scene/3d/immediate_geometry.h" + +SoftBodyBullet::SoftBodyBullet() + : CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY), mass(1), simulation_precision(5), stiffness(0.5f), pressure_coefficient(50), damping_coefficient(0.005), drag_coefficient(0.005), bt_soft_body(NULL), soft_shape_type(SOFT_SHAPETYPE_NONE), isScratched(false), soft_body_shape_data(NULL) { + + test_geometry = memnew(ImmediateGeometry); + + red_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial)); + red_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true); + red_mat->set_line_width(20.0); + red_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true); + red_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true); + red_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true); + red_mat->set_albedo(Color(1, 0, 0, 1)); + test_geometry->set_material_override(red_mat); + + test_is_in_scene = false; +} + +SoftBodyBullet::~SoftBodyBullet() { + bulletdelete(soft_body_shape_data); +} + +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; + + // Remove this object from the physics world + space->remove_soft_body(this); + } + + space = p_space; + + if (space) { + space->add_soft_body(this); + } + + reload_soft_body(); +} + +void SoftBodyBullet::dispatch_callbacks() { + if (!bt_soft_body) { + return; + } + + if (!test_is_in_scene) { + test_is_in_scene = true; + SceneTree::get_singleton()->get_current_scene()->add_child(test_geometry); + } + + test_geometry->clear(); + test_geometry->begin(Mesh::PRIMITIVE_LINES, NULL); + bool first = true; + Vector3 pos; + for (int i = 0; i < bt_soft_body->m_nodes.size(); ++i) { + const btSoftBody::Node &n = bt_soft_body->m_nodes[i]; + B_TO_G(n.m_x, pos); + test_geometry->add_vertex(pos); + if (!first) { + test_geometry->add_vertex(pos); + } else { + first = false; + } + } + test_geometry->end(); +} + +void SoftBodyBullet::on_collision_filters_change() { +} + +void SoftBodyBullet::on_collision_checker_start() { +} + +void SoftBodyBullet::on_enter_area(AreaBullet *p_area) { +} + +void SoftBodyBullet::on_exit_area(AreaBullet *p_area) { +} + +void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) { + + TrimeshSoftShapeData *shape_data = bulletnew(TrimeshSoftShapeData); + shape_data->m_triangles_indices = p_indices; + shape_data->m_vertices = p_vertices; + shape_data->m_triangles_num = p_triangles_num; + + set_body_shape_data(shape_data, SOFT_SHAPE_TYPE_TRIMESH); + reload_soft_body(); +} + +void SoftBodyBullet::set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type) { + bulletdelete(soft_body_shape_data); + soft_body_shape_data = p_soft_shape_data; + soft_shape_type = p_type; +} + +void SoftBodyBullet::set_transform(const Transform &p_transform) { + transform = p_transform; + if (bt_soft_body) { + // TODO the softbody set new transform considering the current transform as center of world + // like if it's local transform, so I must fix this by setting nwe transform considering the old + btTransform bt_trans; + G_TO_B(transform, bt_trans); + //bt_soft_body->transform(bt_trans); + } +} + +const Transform &SoftBodyBullet::get_transform() const { + return transform; +} + +void SoftBodyBullet::get_first_node_origin(btVector3 &p_out_origin) const { + if (bt_soft_body && bt_soft_body->m_nodes.size()) { + p_out_origin = bt_soft_body->m_nodes[0].m_x; + } else { + p_out_origin.setZero(); + } +} + +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_mass(real_t p_val) { + if (0 >= p_val) { + p_val = 1; + } + mass = p_val; + if (bt_soft_body) { + bt_soft_body->setTotalMass(mass); + } +} + +void SoftBodyBullet::set_stiffness(real_t p_val) { + stiffness = p_val; + if (bt_soft_body) { + mat0->m_kAST = stiffness; + mat0->m_kLST = stiffness; + mat0->m_kVST = 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; + } +} + +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; + } +} + +void SoftBodyBullet::reload_soft_body() { + + destroy_soft_body(); + create_soft_body(); + + if (bt_soft_body) { + + // TODO the softbody set new transform considering the current transform as center of world + // like if it's local transform, so I must fix this by setting nwe transform considering the old + btTransform bt_trans; + G_TO_B(transform, bt_trans); + bt_soft_body->transform(bt_trans); + + bt_soft_body->generateBendingConstraints(2, mat0); + mat0->m_kAST = stiffness; + mat0->m_kLST = stiffness; + mat0->m_kVST = stiffness; + + bt_soft_body->m_cfg.piterations = 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(mass); + } + if (space) { + // TODO remove this please + space->add_soft_body(this); + } +} + +void SoftBodyBullet::create_soft_body() { + if (!space || !soft_body_shape_data) { + return; + } + ERR_FAIL_COND(!space->is_using_soft_world()); + switch (soft_shape_type) { + case SOFT_SHAPE_TYPE_TRIMESH: { + TrimeshSoftShapeData *trimesh_data = static_cast<TrimeshSoftShapeData *>(soft_body_shape_data); + + Vector<int> indices; + Vector<btScalar> vertices; + + int i; + const int indices_size = trimesh_data->m_triangles_indices.size(); + const int vertices_size = trimesh_data->m_vertices.size(); + indices.resize(indices_size); + vertices.resize(vertices_size * 3); + + PoolVector<int>::Read i_r = trimesh_data->m_triangles_indices.read(); + for (i = 0; i < indices_size; ++i) { + indices[i] = i_r[i]; + } + i_r = PoolVector<int>::Read(); + + PoolVector<Vector3>::Read f_r = trimesh_data->m_vertices.read(); + for (int j = i = 0; i < vertices_size; ++i, j += 3) { + vertices[j + 0] = f_r[i][0]; + vertices[j + 1] = f_r[i][1]; + vertices[j + 2] = f_r[i][2]; + } + f_r = PoolVector<Vector3>::Read(); + + bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(*space->get_soft_body_world_info(), vertices.ptr(), indices.ptr(), trimesh_data->m_triangles_num); + } break; + default: + ERR_PRINT("Shape type not supported"); + return; + } + + setupBulletCollisionObject(bt_soft_body); + bt_soft_body->getCollisionShape()->setMargin(0.001f); + bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT))); + mat0 = bt_soft_body->appendMaterial(); +} + +void SoftBodyBullet::destroy_soft_body() { + if (space) { + /// This step is required to assert that the body is not into the world during deletion + /// This step is required since to change the body shape the body must be re-created. + /// Here is handled the case when the body is assigned into a world and the body + /// shape is changed. + space->remove_soft_body(this); + } + destroyBulletCollisionObject(); + bt_soft_body = NULL; +} 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 diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp new file mode 100644 index 0000000000..af7f511fab --- /dev/null +++ b/modules/bullet/space_bullet.cpp @@ -0,0 +1,1163 @@ +/*************************************************************************/ +/* space_bullet.cpp */ +/* 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. */ +/*************************************************************************/ + +#include "space_bullet.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionDispatch/btGhostObject.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "BulletSoftBody/btSoftRigidDynamicsWorld.h" +#include "btBulletDynamicsCommon.h" +#include "bullet_physics_server.h" +#include "bullet_types_converter.h" +#include "bullet_utilities.h" +#include "constraint_bullet.h" +#include "godot_collision_configuration.h" +#include "godot_collision_dispatcher.h" +#include "rigid_body_bullet.h" +#include "servers/physics_server.h" +#include "soft_body_bullet.h" +#include "ustring.h" +#include <assert.h> + +// test only +//#include "scene/3d/immediate_geometry.h" + +BulletPhysicsDirectSpaceState::BulletPhysicsDirectSpaceState(SpaceBullet *p_space) + : PhysicsDirectSpaceState(), space(p_space) {} + +int BulletPhysicsDirectSpaceState::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) { + + if (p_result_max <= 0) + return 0; + + btVector3 bt_point; + G_TO_B(p_point, bt_point); + + btSphereShape sphere_point(0.f); + btCollisionObject collision_object_point; + collision_object_point.setCollisionShape(&sphere_point); + collision_object_point.setWorldTransform(btTransform(btQuaternion::getIdentity(), bt_point)); + + // Setup query + GodotAllContactResultCallback btResult(&collision_object_point, r_results, p_result_max, &p_exclude); + btResult.m_collisionFilterGroup = p_collision_layer; + btResult.m_collisionFilterMask = p_object_type_mask; + space->dynamicsWorld->contactTest(&collision_object_point, btResult); + + // The results is already populated by GodotAllConvexResultCallback + return btResult.m_count; +} + +bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask, bool p_pick_ray) { + + btVector3 btVec_from; + btVector3 btVec_to; + + G_TO_B(p_from, btVec_from); + G_TO_B(p_to, btVec_to); + + // setup query + GodotClosestRayResultCallback btResult(btVec_from, btVec_to, &p_exclude); + btResult.m_collisionFilterGroup = p_collision_layer; + btResult.m_collisionFilterMask = p_object_type_mask; + btResult.m_pickRay = p_pick_ray; + + space->dynamicsWorld->rayTest(btVec_from, btVec_to, btResult); + if (btResult.hasHit()) { + B_TO_G(btResult.m_hitPointWorld, r_result.position); + B_TO_G(btResult.m_hitNormalWorld.normalize(), r_result.normal); + CollisionObjectBullet *gObj = static_cast<CollisionObjectBullet *>(btResult.m_collisionObject->getUserPointer()); + if (gObj) { + r_result.shape = 0; + r_result.rid = gObj->get_self(); + r_result.collider_id = gObj->get_instance_id(); + r_result.collider = 0 == r_result.collider_id ? NULL : ObjectDB::get_instance(r_result.collider_id); + } else { + WARN_PRINTS("The raycast performed has hit a collision object that is not part of Godot scene, please check it."); + } + return true; + } else { + return false; + } +} + +int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *p_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) { + if (p_result_max <= 0) + return 0; + + ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); + + btConvexShape *btConvex = dynamic_cast<btConvexShape *>(shape->create_bt_shape()); + if (!btConvex) { + bulletdelete(btConvex); + ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); + return 0; + } + + btVector3 scale_with_margin; + G_TO_B(p_xform.basis.get_scale(), scale_with_margin); + btConvex->setLocalScaling(scale_with_margin); + + btTransform bt_xform; + G_TO_B(p_xform, bt_xform); + + btCollisionObject collision_object; + collision_object.setCollisionShape(btConvex); + collision_object.setWorldTransform(bt_xform); + + GodotAllContactResultCallback btQuery(&collision_object, p_results, p_result_max, &p_exclude); + btQuery.m_collisionFilterGroup = p_collision_layer; + btQuery.m_collisionFilterMask = p_object_type_mask; + btQuery.m_closestDistanceThreshold = p_margin; + space->dynamicsWorld->contactTest(&collision_object, btQuery); + + bulletdelete(btConvex); + + return btQuery.m_count; +} + +bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask, ShapeRestInfo *r_info) { + ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); + + btConvexShape *bt_convex_shape = dynamic_cast<btConvexShape *>(shape->create_bt_shape()); + if (!bt_convex_shape) { + bulletdelete(bt_convex_shape); + ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); + return 0; + } + + btVector3 bt_motion; + G_TO_B(p_motion, bt_motion); + + btVector3 scale_with_margin; + G_TO_B(p_xform.basis.get_scale() + Vector3(p_margin, p_margin, p_margin), scale_with_margin); + bt_convex_shape->setLocalScaling(scale_with_margin); + + btTransform bt_xform_from; + G_TO_B(p_xform, bt_xform_from); + + btTransform bt_xform_to(bt_xform_from); + bt_xform_to.getOrigin() += bt_motion; + + GodotClosestConvexResultCallback btResult(bt_xform_from.getOrigin(), bt_xform_to.getOrigin(), &p_exclude); + btResult.m_collisionFilterGroup = p_collision_layer; + btResult.m_collisionFilterMask = p_object_type_mask; + + space->dynamicsWorld->convexSweepTest(bt_convex_shape, bt_xform_from, bt_xform_to, btResult); + + if (btResult.hasHit()) { + if (btCollisionObject::CO_RIGID_BODY == btResult.m_hitCollisionObject->getInternalType()) { + B_TO_G(static_cast<const btRigidBody *>(btResult.m_hitCollisionObject)->getVelocityInLocalPoint(btResult.m_hitPointWorld), r_info->linear_velocity); + } + CollisionObjectBullet *collision_object = static_cast<CollisionObjectBullet *>(btResult.m_hitCollisionObject->getUserPointer()); + p_closest_safe = p_closest_unsafe = btResult.m_closestHitFraction; + B_TO_G(btResult.m_hitPointWorld, r_info->point); + B_TO_G(btResult.m_hitNormalWorld, r_info->normal); + r_info->rid = collision_object->get_self(); + r_info->collider_id = collision_object->get_instance_id(); + r_info->shape = btResult.m_shapePart; + } + + bulletdelete(bt_convex_shape); + return btResult.hasHit(); +} + +/// Returns the list of contacts pairs in this order: Local contact, other body contact +bool BulletPhysicsDirectSpaceState::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, uint32_t p_collision_layer, uint32_t p_object_type_mask) { + if (p_result_max <= 0) + return 0; + + ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); + + btConvexShape *btConvex = dynamic_cast<btConvexShape *>(shape->create_bt_shape()); + if (!btConvex) { + bulletdelete(btConvex); + ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); + return 0; + } + + btVector3 scale_with_margin; + G_TO_B(p_shape_xform.basis.get_scale(), scale_with_margin); + btConvex->setLocalScaling(scale_with_margin); + + btTransform bt_xform; + G_TO_B(p_shape_xform, bt_xform); + + btCollisionObject collision_object; + collision_object.setCollisionShape(btConvex); + collision_object.setWorldTransform(bt_xform); + + GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude); + btQuery.m_collisionFilterGroup = p_collision_layer; + btQuery.m_collisionFilterMask = p_object_type_mask; + btQuery.m_closestDistanceThreshold = p_margin; + space->dynamicsWorld->contactTest(&collision_object, btQuery); + + r_result_count = btQuery.m_count; + bulletdelete(btConvex); + + return btQuery.m_count; +} + +bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_layer, uint32_t p_object_type_mask) { + + ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape); + + btConvexShape *btConvex = dynamic_cast<btConvexShape *>(shape->create_bt_shape()); + if (!btConvex) { + bulletdelete(btConvex); + ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type())); + return 0; + } + + btVector3 scale_with_margin; + G_TO_B(p_shape_xform.basis.get_scale() + Vector3(p_margin, p_margin, p_margin), scale_with_margin); + btConvex->setLocalScaling(scale_with_margin); + + btTransform bt_xform; + G_TO_B(p_shape_xform, bt_xform); + + btCollisionObject collision_object; + collision_object.setCollisionShape(btConvex); + collision_object.setWorldTransform(bt_xform); + + GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude); + btQuery.m_collisionFilterGroup = p_collision_layer; + btQuery.m_collisionFilterMask = p_object_type_mask; + btQuery.m_closestDistanceThreshold = p_margin; + space->dynamicsWorld->contactTest(&collision_object, btQuery); + + bulletdelete(btConvex); + + if (btQuery.m_collided) { + if (btCollisionObject::CO_RIGID_BODY == btQuery.m_rest_info_collision_object->getInternalType()) { + B_TO_G(static_cast<const btRigidBody *>(btQuery.m_rest_info_collision_object)->getVelocityInLocalPoint(btQuery.m_rest_info_bt_point), r_info->linear_velocity); + } + B_TO_G(btQuery.m_rest_info_bt_point, r_info->point); + } + + return btQuery.m_collided; +} + +Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { + + RigidCollisionObjectBullet *rigid_object = space->get_physics_server()->get_rigid_collisin_object(p_object); + ERR_FAIL_COND_V(!rigid_object, Vector3()); + + btVector3 out_closest_point(0, 0, 0); + btScalar out_distance = 1e20; + + btVector3 bt_point; + G_TO_B(p_point, bt_point); + + btGjkEpaPenetrationDepthSolver gjk_epa_pen_solver; + btVoronoiSimplexSolver gjk_simplex_solver; + gjk_simplex_solver.setEqualVertexThreshold(0.); + + btSphereShape point_shape(0.); + + btCollisionShape *shape; + btConvexShape *convex_shape; + btTransform child_transform; + btTransform body_transform(rigid_object->get_bt_collision_object()->getWorldTransform()); + + btGjkPairDetector::ClosestPointInput input; + input.m_transformA.getBasis().setIdentity(); + input.m_transformA.setOrigin(bt_point); + + bool shapes_found = false; + + btCompoundShape *compound = rigid_object->get_compound_shape(); + for (int i = compound->getNumChildShapes() - 1; 0 <= i; --i) { + shape = compound->getChildShape(i); + if (shape->isConvex()) { + child_transform = compound->getChildTransform(i); + convex_shape = static_cast<btConvexShape *>(shape); + + input.m_transformB = body_transform * child_transform; + + btPointCollector result; + btGjkPairDetector gjk_pair_detector(&point_shape, convex_shape, &gjk_simplex_solver, &gjk_epa_pen_solver); + gjk_pair_detector.getClosestPoints(input, result, 0); + + if (out_distance > result.m_distance) { + out_distance = result.m_distance; + out_closest_point = result.m_pointInWorld; + } + } + shapes_found = true; + } + + if (shapes_found) { + + Vector3 out; + B_TO_G(out_closest_point, out); + return out; + } else { + + // no shapes found, use distance to origin. + return rigid_object->get_transform().get_origin(); + } +} + +SpaceBullet::SpaceBullet(bool p_create_soft_world) + : broadphase(NULL), + dispatcher(NULL), + solver(NULL), + collisionConfiguration(NULL), + dynamicsWorld(NULL), + soft_body_world_info(NULL), + ghostPairCallback(NULL), + godotFilterCallback(NULL), + gravityDirection(0, -1, 0), + gravityMagnitude(10), + contactDebugCount(0) { + + create_empty_world(p_create_soft_world); + direct_access = memnew(BulletPhysicsDirectSpaceState(this)); +} + +SpaceBullet::~SpaceBullet() { + memdelete(direct_access); + destroy_world(); +} + +void SpaceBullet::flush_queries() { + const btCollisionObjectArray &colObjArray = dynamicsWorld->getCollisionObjectArray(); + for (int i = colObjArray.size() - 1; 0 <= i; --i) { + static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer())->dispatch_callbacks(); + } +} + +void SpaceBullet::step(real_t p_delta_time) { + dynamicsWorld->stepSimulation(p_delta_time, 0, 0); +} + +void SpaceBullet::set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value) { + assert(dynamicsWorld); + + switch (p_param) { + case PhysicsServer::AREA_PARAM_GRAVITY: + gravityMagnitude = p_value; + update_gravity(); + break; + case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR: + gravityDirection = p_value; + update_gravity(); + break; + case PhysicsServer::AREA_PARAM_LINEAR_DAMP: + case PhysicsServer::AREA_PARAM_ANGULAR_DAMP: + break; // No damp + case PhysicsServer::AREA_PARAM_PRIORITY: + // Priority is always 0, the lower + break; + case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT: + case PhysicsServer::AREA_PARAM_GRAVITY_DISTANCE_SCALE: + case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION: + break; + default: + WARN_PRINTS("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it."); + break; + } +} + +Variant SpaceBullet::get_param(PhysicsServer::AreaParameter p_param) { + switch (p_param) { + case PhysicsServer::AREA_PARAM_GRAVITY: + return gravityMagnitude; + case PhysicsServer::AREA_PARAM_GRAVITY_VECTOR: + return gravityDirection; + case PhysicsServer::AREA_PARAM_LINEAR_DAMP: + case PhysicsServer::AREA_PARAM_ANGULAR_DAMP: + return 0; // No damp + case PhysicsServer::AREA_PARAM_PRIORITY: + return 0; // Priority is always 0, the lower + case PhysicsServer::AREA_PARAM_GRAVITY_IS_POINT: + return false; + case PhysicsServer::AREA_PARAM_GRAVITY_DISTANCE_SCALE: + return 0; + case PhysicsServer::AREA_PARAM_GRAVITY_POINT_ATTENUATION: + return 0; + default: + WARN_PRINTS("This get parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it."); + return Variant(); + } +} + +void SpaceBullet::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) { + switch (p_param) { + case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: + case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: + case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: + case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: + case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: + case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: + case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: + case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: + default: + WARN_PRINTS("This set parameter (" + itos(p_param) + ") is ignored, the SpaceBullet doesn't support it."); + break; + } +} + +real_t SpaceBullet::get_param(PhysicsServer::SpaceParameter p_param) { + switch (p_param) { + case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: + case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: + case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: + case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: + case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: + case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: + case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: + case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: + default: + WARN_PRINTS("The SpaceBullet doesn't support this get parameter (" + itos(p_param) + "), 0 is returned."); + return 0.f; + } +} + +void SpaceBullet::add_area(AreaBullet *p_area) { + areas.push_back(p_area); + dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask()); +} + +void SpaceBullet::remove_area(AreaBullet *p_area) { + areas.erase(p_area); + dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); +} + +void SpaceBullet::reload_collision_filters(AreaBullet *p_area) { + // This is necessary to change collision filter + dynamicsWorld->removeCollisionObject(p_area->get_bt_ghost()); + dynamicsWorld->addCollisionObject(p_area->get_bt_ghost(), p_area->get_collision_layer(), p_area->get_collision_mask()); +} + +void SpaceBullet::add_rigid_body(RigidBodyBullet *p_body) { + if (p_body->is_static()) { + dynamicsWorld->addCollisionObject(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); + } else { + dynamicsWorld->addRigidBody(p_body->get_bt_rigid_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); + } +} + +void SpaceBullet::remove_rigid_body(RigidBodyBullet *p_body) { + if (p_body->is_static()) { + dynamicsWorld->removeCollisionObject(p_body->get_bt_rigid_body()); + } else { + dynamicsWorld->removeRigidBody(p_body->get_bt_rigid_body()); + } +} + +void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) { + // This is necessary to change collision filter + remove_rigid_body(p_body); + add_rigid_body(p_body); +} + +void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) { + if (is_using_soft_world()) { + if (p_body->get_bt_soft_body()) { + static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->addSoftBody(p_body->get_bt_soft_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); + } + } else { + ERR_PRINT("This soft body can't be added to non soft world"); + } +} + +void SpaceBullet::remove_soft_body(SoftBodyBullet *p_body) { + if (is_using_soft_world()) { + if (p_body->get_bt_soft_body()) { + static_cast<btSoftRigidDynamicsWorld *>(dynamicsWorld)->removeSoftBody(p_body->get_bt_soft_body()); + } + } +} + +void SpaceBullet::reload_collision_filters(SoftBodyBullet *p_body) { + // This is necessary to change collision filter + remove_soft_body(p_body); + add_soft_body(p_body); +} + +void SpaceBullet::add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies) { + p_constraint->set_space(this); + dynamicsWorld->addConstraint(p_constraint->get_bt_constraint(), disableCollisionsBetweenLinkedBodies); +} + +void SpaceBullet::remove_constraint(ConstraintBullet *p_constraint) { + dynamicsWorld->removeConstraint(p_constraint->get_bt_constraint()); +} + +int SpaceBullet::get_num_collision_objects() const { + return dynamicsWorld->getNumCollisionObjects(); +} + +void SpaceBullet::remove_all_collision_objects() { + for (int i = dynamicsWorld->getNumCollisionObjects() - 1; 0 <= i; --i) { + btCollisionObject *btObj = dynamicsWorld->getCollisionObjectArray()[i]; + CollisionObjectBullet *colObj = static_cast<CollisionObjectBullet *>(btObj->getUserPointer()); + colObj->set_space(NULL); + } +} + +void onBulletPreTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) { + static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo())->flush_queries(); +} + +void onBulletTickCallback(btDynamicsWorld *p_dynamicsWorld, btScalar timeStep) { + + // Notify all Collision objects the collision checker is started + const btCollisionObjectArray &colObjArray = p_dynamicsWorld->getCollisionObjectArray(); + for (int i = colObjArray.size() - 1; 0 <= i; --i) { + CollisionObjectBullet *colObj = static_cast<CollisionObjectBullet *>(colObjArray[i]->getUserPointer()); + assert(NULL != colObj); + colObj->on_collision_checker_start(); + } + + SpaceBullet *sb = static_cast<SpaceBullet *>(p_dynamicsWorld->getWorldUserInfo()); + sb->check_ghost_overlaps(); + sb->check_body_collision(); +} + +BulletPhysicsDirectSpaceState *SpaceBullet::get_direct_state() { + return direct_access; +} + +btScalar calculateGodotCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1) { + return MAX(body0->getRestitution(), body1->getRestitution()); +} + +void SpaceBullet::create_empty_world(bool p_create_soft_world) { + assert(NULL == broadphase); + assert(NULL == dispatcher); + assert(NULL == solver); + assert(NULL == collisionConfiguration); + assert(NULL == dynamicsWorld); + assert(NULL == ghostPairCallback); + assert(NULL == godotFilterCallback); + + void *world_mem; + if (p_create_soft_world) { + world_mem = malloc(sizeof(btSoftRigidDynamicsWorld)); + } else { + world_mem = malloc(sizeof(btDiscreteDynamicsWorld)); + } + + if (p_create_soft_world) { + collisionConfiguration = bulletnew(btSoftBodyRigidBodyCollisionConfiguration); + } else { + collisionConfiguration = bulletnew(GodotCollisionConfiguration(static_cast<btDiscreteDynamicsWorld *>(world_mem))); + } + + dispatcher = bulletnew(GodotCollisionDispatcher(collisionConfiguration)); + broadphase = bulletnew(btDbvtBroadphase); + solver = bulletnew(btSequentialImpulseConstraintSolver); + + if (p_create_soft_world) { + dynamicsWorld = new (world_mem) btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); + soft_body_world_info = bulletnew(btSoftBodyWorldInfo); + } else { + dynamicsWorld = new (world_mem) btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); + } + + ghostPairCallback = bulletnew(btGhostPairCallback); + godotFilterCallback = bulletnew(GodotFilterCallback); + gCalculateCombinedRestitutionCallback = &calculateGodotCombinedRestitution; + + dynamicsWorld->setWorldUserInfo(this); + + dynamicsWorld->setInternalTickCallback(onBulletPreTickCallback, this, true); + dynamicsWorld->setInternalTickCallback(onBulletTickCallback, this, false); + dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback); // Setup ghost check + dynamicsWorld->getPairCache()->setOverlapFilterCallback(godotFilterCallback); + + if (soft_body_world_info) { + soft_body_world_info->m_broadphase = broadphase; + soft_body_world_info->m_dispatcher = dispatcher; + soft_body_world_info->m_sparsesdf.Initialize(); + } + + update_gravity(); +} + +void SpaceBullet::destroy_world() { + assert(NULL != broadphase); + assert(NULL != dispatcher); + assert(NULL != solver); + assert(NULL != collisionConfiguration); + assert(NULL != dynamicsWorld); + assert(NULL != ghostPairCallback); + assert(NULL != godotFilterCallback); + + /// The world elements (like: Collision Objects, Constraints, Shapes) are managed by godot + + dynamicsWorld->getBroadphase()->getOverlappingPairCache()->setInternalGhostPairCallback(NULL); + dynamicsWorld->getPairCache()->setOverlapFilterCallback(NULL); + + bulletdelete(ghostPairCallback); + bulletdelete(godotFilterCallback); + + // Deallocate world + dynamicsWorld->~btDiscreteDynamicsWorld(); + free(dynamicsWorld); + dynamicsWorld = NULL; + + bulletdelete(solver); + bulletdelete(broadphase); + bulletdelete(dispatcher); + bulletdelete(collisionConfiguration); + bulletdelete(soft_body_world_info); +} + +void SpaceBullet::check_ghost_overlaps() { + + /// Algorith support variables + btGjkEpaPenetrationDepthSolver gjk_epa_pen_solver; + btVoronoiSimplexSolver gjk_simplex_solver; + gjk_simplex_solver.setEqualVertexThreshold(0.f); + btConvexShape *other_body_shape; + btConvexShape *area_shape; + btGjkPairDetector::ClosestPointInput gjk_input; + AreaBullet *area; + RigidCollisionObjectBullet *otherObject; + int x(-1), i(-1), y(-1), z(-1), indexOverlap(-1); + + /// For each areas + for (x = areas.size() - 1; 0 <= x; --x) { + area = areas[x]; + + if (!area->is_monitoring()) + continue; + + /// 1. Reset all states + for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) { + AreaBullet::OverlappingObjectData &otherObj = area->overlappingObjects[i]; + // This check prevent the overwrite of ENTER state + // if this function is called more times before dispatchCallbacks + if (otherObj.state != AreaBullet::OVERLAP_STATE_ENTER) { + otherObj.state = AreaBullet::OVERLAP_STATE_DIRTY; + } + } + + /// 2. Check all overlapping objects using GJK + + const btAlignedObjectArray<btCollisionObject *> ghostOverlaps = area->get_bt_ghost()->getOverlappingPairs(); + + // For each overlapping + for (i = ghostOverlaps.size() - 1; 0 <= i; --i) { + + if (!(ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_RIGID_BODY || ghostOverlaps[i]->getUserIndex() == CollisionObjectBullet::TYPE_AREA)) + continue; + + otherObject = static_cast<RigidCollisionObjectBullet *>(ghostOverlaps[i]->getUserPointer()); + + bool hasOverlap = false; + + // For each area shape + for (y = area->get_compound_shape()->getNumChildShapes() - 1; 0 <= y; --y) { + if (!area->get_compound_shape()->getChildShape(y)->isConvex()) + continue; + + gjk_input.m_transformA = area->get_transform__bullet() * area->get_compound_shape()->getChildTransform(y); + area_shape = static_cast<btConvexShape *>(area->get_compound_shape()->getChildShape(y)); + + // For each other object shape + for (z = otherObject->get_compound_shape()->getNumChildShapes() - 1; 0 <= z; --z) { + + if (!otherObject->get_compound_shape()->getChildShape(z)->isConvex()) + continue; + + other_body_shape = static_cast<btConvexShape *>(otherObject->get_compound_shape()->getChildShape(z)); + gjk_input.m_transformB = otherObject->get_transform__bullet() * otherObject->get_compound_shape()->getChildTransform(z); + + btPointCollector result; + btGjkPairDetector gjk_pair_detector(area_shape, other_body_shape, &gjk_simplex_solver, &gjk_epa_pen_solver); + gjk_pair_detector.getClosestPoints(gjk_input, result, 0); + + if (0 >= result.m_distance) { + hasOverlap = true; + goto collision_found; + } + } // ~For each other object shape + } // ~For each area shape + + collision_found: + if (!hasOverlap) + continue; + + indexOverlap = area->find_overlapping_object(otherObject); + if (-1 == indexOverlap) { + // Not found + area->add_overlap(otherObject); + } else { + // Found + area->put_overlap_as_inside(indexOverlap); + } + } + + /// 3. Remove not overlapping + for (i = area->overlappingObjects.size() - 1; 0 <= i; --i) { + // If the overlap has DIRTY state it means that it's no more overlapping + if (area->overlappingObjects[i].state == AreaBullet::OVERLAP_STATE_DIRTY) { + area->put_overlap_as_exit(i); + } + } + } +} + +void SpaceBullet::check_body_collision() { +#ifdef DEBUG_ENABLED + reset_debug_contact_count(); +#endif + + const int numManifolds = dynamicsWorld->getDispatcher()->getNumManifolds(); + for (int i = 0; i < numManifolds; ++i) { + btPersistentManifold *contactManifold = dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i); + const btCollisionObject *obA = contactManifold->getBody0(); + const btCollisionObject *obB = contactManifold->getBody1(); + + if (btCollisionObject::CO_RIGID_BODY != obA->getInternalType() || btCollisionObject::CO_RIGID_BODY != obB->getInternalType()) { + // This checks is required to be sure the ghost object is skipped + // The ghost object "getUserPointer" return the BodyBullet owner so this check is required + continue; + } + + // Asserts all Godot objects are assigned + assert(NULL != obA->getUserPointer()); + assert(NULL != obB->getUserPointer()); + + // I know this static cast is a bit risky. But I'm checking its type just after it. + // This allow me to avoid a lot of other cast and checks + RigidBodyBullet *bodyA = static_cast<RigidBodyBullet *>(obA->getUserPointer()); + RigidBodyBullet *bodyB = static_cast<RigidBodyBullet *>(obB->getUserPointer()); + + if (CollisionObjectBullet::TYPE_RIGID_BODY == bodyA->getType() && CollisionObjectBullet::TYPE_RIGID_BODY == bodyB->getType()) { + if (!bodyA->can_add_collision() && !bodyB->can_add_collision()) { + continue; + } + + const int numContacts = contactManifold->getNumContacts(); +#define REPORT_ALL_CONTACTS 0 +#if REPORT_ALL_CONTACTS + for (int j = 0; j < numContacts; j++) { + btManifoldPoint &pt = contactManifold->getContactPoint(j); +#else + // Since I don't need report all contacts for these objects, I'll report only the first + if (numContacts) { + btManifoldPoint &pt = contactManifold->getContactPoint(0); +#endif + Vector3 collisionWorldPosition; + Vector3 collisionLocalPosition; + Vector3 normalOnB; + B_TO_G(pt.m_normalWorldOnB, normalOnB); + + if (bodyA->can_add_collision()) { + B_TO_G(pt.getPositionWorldOnB(), collisionWorldPosition); + /// pt.m_localPointB Doesn't report the exact point in local space + B_TO_G(pt.getPositionWorldOnB() - obB->getWorldTransform().getOrigin(), collisionLocalPosition); + bodyA->add_collision_object(bodyB, collisionWorldPosition, collisionLocalPosition, normalOnB, pt.m_index1, pt.m_index0); + } + if (bodyB->can_add_collision()) { + B_TO_G(pt.getPositionWorldOnA(), collisionWorldPosition); + /// pt.m_localPointA Doesn't report the exact point in local space + B_TO_G(pt.getPositionWorldOnA() - obA->getWorldTransform().getOrigin(), collisionLocalPosition); + bodyB->add_collision_object(bodyA, collisionWorldPosition, collisionLocalPosition, normalOnB * -1, pt.m_index0, pt.m_index1); + } + +#ifdef DEBUG_ENABLED + if (is_debugging_contacts()) { + add_debug_contact(collisionWorldPosition); + } +#endif + } + } + } +} + +void SpaceBullet::update_gravity() { + btVector3 btGravity; + G_TO_B(gravityDirection * gravityMagnitude, btGravity); + dynamicsWorld->setGravity(btGravity); + if (soft_body_world_info) { + soft_body_world_info->m_gravity = btGravity; + } +} + +/// IMPORTANT: Please don't turn it ON this is not managed correctly!! +/// I'm leaving this here just for future tests. +/// Debug motion and normal vector drawing +#define debug_test_motion 0 +#if debug_test_motion +static ImmediateGeometry *motionVec(NULL); +static ImmediateGeometry *normalLine(NULL); +static Ref<SpatialMaterial> red_mat; +static Ref<SpatialMaterial> blue_mat; +#endif + +#define IGNORE_AREAS_TRUE true +bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result) { + +#if debug_test_motion + /// Yes I know this is not good, but I've used it as fast debugging. + /// I'm leaving it here just for speedup the other eventual debugs + if (!normalLine) { + motionVec = memnew(ImmediateGeometry); + normalLine = memnew(ImmediateGeometry); + SceneTree::get_singleton()->get_current_scene()->add_child(motionVec); + SceneTree::get_singleton()->get_current_scene()->add_child(normalLine); + + red_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial)); + red_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true); + red_mat->set_line_width(20.0); + red_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true); + red_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true); + red_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true); + red_mat->set_albedo(Color(1, 0, 0, 1)); + motionVec->set_material_override(red_mat); + + blue_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial)); + blue_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true); + blue_mat->set_line_width(20.0); + blue_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true); + blue_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true); + blue_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true); + blue_mat->set_albedo(Color(0, 0, 1, 1)); + normalLine->set_material_override(blue_mat); + } +#endif + + ///// Release all generated manifolds + //{ + // if(p_body->get_kinematic_utilities()){ + // for(int i= p_body->get_kinematic_utilities()->m_generatedManifold.size()-1; 0<=i; --i){ + // dispatcher->releaseManifold( p_body->get_kinematic_utilities()->m_generatedManifold[i] ); + // } + // p_body->get_kinematic_utilities()->m_generatedManifold.clear(); + // } + //} + + btVector3 recover_initial_position; + recover_initial_position.setZero(); + +/// I'm performing the unstack at the end of movement so I'm sure the player is unstacked even after the movement. +/// I've removed the initial unstack because this is useful just for the first tick since after the first +/// the real unstack is performed at the end of process. +/// However I'm leaving here the old code. +/// Note: It has a bug when two shapes touches something simultaneously the body is moved too much away (I'm not fixing it for the reason written above). +#define INITIAL_UNSTACK 0 +#if !INITIAL_UNSTACK + btTransform body_safe_position; + G_TO_B(p_from, body_safe_position); +//btTransform body_unsafe_positino; +//G_TO_B(p_from, body_unsafe_positino); +#else + btTransform body_safe_position; + btTransform body_unsafe_positino; + { /// Phase one - multi shapes depenetration using margin + G_TO_B(p_from, body_safe_position); + G_TO_B(p_from, body_unsafe_positino); + + // MAX_PENETRATION_DEPTH Is useful have the ghost a bit penetrated so I can detect the floor easily + recover_from_penetration(p_body, body_safe_position, MAX_PENETRATION_DEPTH, /* p_depenetration_speed */ 1, recover_initial_position); + + /// Not required if I put p_depenetration_speed = 1 + //for(int t = 0; t<4; ++t){ + // if(!recover_from_penetration(p_body, body_safe_position, MAX_PENETRATION_DEPTH, /* p_depenetration_speed */0.2, recover_initial_position)){ + // break; + // } + //} + + // Add recover position to "From" and "To" transforms + body_safe_position.getOrigin() += recover_initial_position; + } +#endif + + int shape_most_recovered(-1); + btVector3 recovered_motion; + G_TO_B(p_motion, recovered_motion); + const int shape_count(p_body->get_shape_count()); + + { /// phase two - sweep test, from a secure position without margin + +#if debug_test_motion + Vector3 sup_line; + B_TO_G(body_safe_position.getOrigin(), sup_line); + motionVec->clear(); + motionVec->begin(Mesh::PRIMITIVE_LINES, NULL); + motionVec->add_vertex(sup_line); + motionVec->add_vertex(sup_line + p_motion * 10); + motionVec->end(); +#endif + + for (int shIndex = 0; shIndex < shape_count; ++shIndex) { + if (p_body->is_shape_disabled(shIndex)) { + continue; + } + + btConvexShape *convex_shape_test(dynamic_cast<btConvexShape *>(p_body->get_bt_shape(shIndex))); + if (!convex_shape_test) { + // Skip no convex shape + continue; + } + + btTransform shape_xform_from; + G_TO_B(p_body->get_shape_transform(shIndex), shape_xform_from); + //btTransform shape_xform_to(shape_xform_from); + + // Add local shape transform + shape_xform_from.getOrigin() += body_safe_position.getOrigin(); + shape_xform_from.getBasis() *= body_safe_position.getBasis(); + + btTransform shape_xform_to(shape_xform_from); + //shape_xform_to.getOrigin() += body_unsafe_positino.getOrigin(); + //shape_xform_to.getBasis() *= body_unsafe_positino.getBasis(); + shape_xform_to.getOrigin() += recovered_motion; + + GodotKinClosestConvexResultCallback btResult(shape_xform_from.getOrigin(), shape_xform_to.getOrigin(), p_body, IGNORE_AREAS_TRUE); + btResult.m_collisionFilterGroup = p_body->get_collision_layer(); + btResult.m_collisionFilterMask = p_body->get_collision_mask(); + + dynamicsWorld->convexSweepTest(convex_shape_test, shape_xform_from, shape_xform_to, btResult); + + if (btResult.hasHit()) { + //recovered_motion *= btResult.m_closestHitFraction; + /// Since for each sweep test I fix the motion of new shapes in base the recover result, + /// if another shape will hit something it means that has a deepest recovering respect the previous shape + shape_most_recovered = shIndex; + } + } + } + + bool hasHit = false; + + { /// Phase three - contact test with margin + + btGhostObject *ghost = p_body->get_kinematic_utilities()->m_ghostObject; + + GodotRecoverAndClosestContactResultCallback result_callabck; + + if (false && 0 <= shape_most_recovered) { + result_callabck.m_self_object = p_body; + result_callabck.m_ignore_areas = IGNORE_AREAS_TRUE; + result_callabck.m_collisionFilterGroup = p_body->get_collision_layer(); + result_callabck.m_collisionFilterMask = p_body->get_collision_mask(); + + const RigidBodyBullet::KinematicShape &kin(p_body->get_kinematic_utilities()->m_shapes[shape_most_recovered]); + ghost->setCollisionShape(kin.shape); + ghost->setWorldTransform(body_safe_position); + + ghost->getWorldTransform().getOrigin() += recovered_motion; + ghost->getWorldTransform().getOrigin() += kin.transform.getOrigin(); + ghost->getWorldTransform().getBasis() *= kin.transform.getBasis(); + + dynamicsWorld->contactTest(ghost, result_callabck); + + recovered_motion += result_callabck.m_recover_penetration; // Required to avoid all kind of penetration + + } else { + // The sweep result does not return a penetrated shape, so I've to check all shapes + // Then return the most penetrated shape + + GodotRecoverAndClosestContactResultCallback iter_result_callabck(p_body, IGNORE_AREAS_TRUE); + iter_result_callabck.m_collisionFilterGroup = p_body->get_collision_layer(); + iter_result_callabck.m_collisionFilterMask = p_body->get_collision_mask(); + + btScalar max_penetration(99999999999); + for (int i = 0; i < shape_count; ++i) { + + const RigidBodyBullet::KinematicShape &kin(p_body->get_kinematic_utilities()->m_shapes[i]); + if (!kin.is_active()) { + continue; + } + + // reset callback each function + iter_result_callabck.reset(); + + ghost->setCollisionShape(kin.shape); + ghost->setWorldTransform(body_safe_position); + ghost->getWorldTransform().getOrigin() += recovered_motion; + ghost->getWorldTransform().getOrigin() += kin.transform.getOrigin(); + ghost->getWorldTransform().getBasis() *= kin.transform.getBasis(); + + dynamicsWorld->contactTest(ghost, iter_result_callabck); + + if (iter_result_callabck.hasHit()) { + if (max_penetration > iter_result_callabck.m_penetration_distance) { + max_penetration = iter_result_callabck.m_penetration_distance; + shape_most_recovered = i; + // This is more penetrated + result_callabck.m_pointCollisionObject = iter_result_callabck.m_pointCollisionObject; + result_callabck.m_pointNormalWorld = iter_result_callabck.m_pointNormalWorld; + result_callabck.m_pointWorld = iter_result_callabck.m_pointWorld; + result_callabck.m_penetration_distance = iter_result_callabck.m_penetration_distance; + result_callabck.m_other_compound_shape_index = iter_result_callabck.m_other_compound_shape_index; + + recovered_motion += iter_result_callabck.m_recover_penetration; // Required to avoid all kind of penetration + } + } + } + } + + hasHit = result_callabck.hasHit(); + + if (r_result) { + + B_TO_G(recovered_motion + recover_initial_position, r_result->motion); + + if (hasHit) { + + if (btCollisionObject::CO_RIGID_BODY != result_callabck.m_pointCollisionObject->getInternalType()) { + ERR_PRINT("The collision is not against a rigid body. Please check what's going on."); + goto EndExecution; + } + const btRigidBody *btRigid = static_cast<const btRigidBody *>(result_callabck.m_pointCollisionObject); + CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer()); + + r_result->remainder = p_motion - r_result->motion; // is the remaining movements + B_TO_G(result_callabck.m_pointWorld, r_result->collision_point); + B_TO_G(result_callabck.m_pointNormalWorld, r_result->collision_normal); + B_TO_G(btRigid->getVelocityInLocalPoint(result_callabck.m_pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot + r_result->collider = collisionObject->get_self(); + r_result->collider_id = collisionObject->get_instance_id(); + r_result->collider_shape = result_callabck.m_other_compound_shape_index; + r_result->collision_local_shape = shape_most_recovered; + +//{ /// Add manifold point to manage collisions +// btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid); +// btManifoldPoint manifoldPoint(result_callabck.m_pointWorld, result_callabck.m_pointWorld, result_callabck.m_pointNormalWorld, result_callabck.m_penetration_distance); +// manifoldPoint.m_index0 = r_result->collision_local_shape; +// manifoldPoint.m_index1 = r_result->collider_shape; +// manifold->addManifoldPoint(manifoldPoint); +// p_body->get_kinematic_utilities()->m_generatedManifold.push_back(manifold); +//} + +#if debug_test_motion + Vector3 sup_line2; + B_TO_G(recovered_motion, sup_line2); + //Vector3 sup_pos; + //B_TO_G( pt.getPositionWorldOnB(), sup_pos); + normalLine->clear(); + normalLine->begin(Mesh::PRIMITIVE_LINES, NULL); + normalLine->add_vertex(r_result->collision_point); + normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10); + normalLine->end(); +#endif + + } else { + r_result->remainder = Vector3(); + } + } + } + +EndExecution: + p_body->get_kinematic_utilities()->resetDefShape(); + return hasHit; +} + +/// Note: It has a bug when two shapes touches something simultaneously the body is moved too much away +/// (I'm not fixing it because I don't use it). +bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position) { + + bool penetration = false; + btPairCachingGhostObject *ghost = p_body->get_kinematic_utilities()->m_ghostObject; + + for (int kinIndex = p_body->get_kinematic_utilities()->m_shapes.size() - 1; 0 <= kinIndex; --kinIndex) { + const RigidBodyBullet::KinematicShape &kin_shape(p_body->get_kinematic_utilities()->m_shapes[kinIndex]); + if (!kin_shape.is_active()) { + continue; + } + + btConvexShape *convexShape = kin_shape.shape; + btTransform shape_xform(kin_shape.transform); + + // from local to world + shape_xform.getOrigin() += p_from.getOrigin(); + shape_xform.getBasis() *= p_from.getBasis(); + + // Apply last recovery to avoid doubling the recovering + shape_xform.getOrigin() += out_recover_position; + + ghost->setCollisionShape(convexShape); + ghost->setWorldTransform(shape_xform); + + btVector3 minAabb, maxAabb; + convexShape->getAabb(shape_xform, minAabb, maxAabb); + dynamicsWorld->getBroadphase()->setAabb(ghost->getBroadphaseHandle(), + minAabb, + maxAabb, + dynamicsWorld->getDispatcher()); + + dynamicsWorld->getDispatcher()->dispatchAllCollisionPairs(ghost->getOverlappingPairCache(), dynamicsWorld->getDispatchInfo(), dynamicsWorld->getDispatcher()); + + for (int i = 0; i < ghost->getOverlappingPairCache()->getNumOverlappingPairs(); ++i) { + p_body->get_kinematic_utilities()->m_manifoldArray.resize(0); + + btBroadphasePair *collisionPair = &ghost->getOverlappingPairCache()->getOverlappingPairArray()[i]; + + btCollisionObject *obj0 = static_cast<btCollisionObject *>(collisionPair->m_pProxy0->m_clientObject); + btCollisionObject *obj1 = static_cast<btCollisionObject *>(collisionPair->m_pProxy1->m_clientObject); + + if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse())) + continue; + + // This is not required since the dispatched does all the job + //if (!needsCollision(obj0, obj1)) + // continue; + + if (collisionPair->m_algorithm) + collisionPair->m_algorithm->getAllContactManifolds(p_body->get_kinematic_utilities()->m_manifoldArray); + + for (int j = 0; j < p_body->get_kinematic_utilities()->m_manifoldArray.size(); ++j) { + + btPersistentManifold *manifold = p_body->get_kinematic_utilities()->m_manifoldArray[j]; + btScalar directionSign = manifold->getBody0() == ghost ? btScalar(-1.0) : btScalar(1.0); + for (int p = 0; p < manifold->getNumContacts(); ++p) { + const btManifoldPoint &pt = manifold->getContactPoint(p); + + btScalar dist = pt.getDistance(); + if (dist < -p_maxPenetrationDepth) { + penetration = true; + out_recover_position += pt.m_normalWorldOnB * directionSign * (dist + p_maxPenetrationDepth) * p_depenetration_speed; + //print_line("penetrate distance: " + rtos(dist)); + } + //else { + // print_line("touching distance: " + rtos(dist)); + //} + } + } + } + } + + p_body->get_kinematic_utilities()->resetDefShape(); + return penetration; +} diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h new file mode 100644 index 0000000000..cbbfdac1d7 --- /dev/null +++ b/modules/bullet/space_bullet.h @@ -0,0 +1,176 @@ +/*************************************************************************/ +/* space_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 SPACE_BULLET_H +#define SPACE_BULLET_H + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btScalar.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "core/variant.h" +#include "core/vector.h" +#include "godot_result_callbacks.h" +#include "rid_bullet.h" +#include "servers/physics_server.h" + +class AreaBullet; +class btBroadphaseInterface; +class btCollisionDispatcher; +class btConstraintSolver; +class btDefaultCollisionConfiguration; +class btDynamicsWorld; +class btDiscreteDynamicsWorld; +class btEmptyShape; +class btGhostPairCallback; +class btSoftRigidDynamicsWorld; +class btSoftBodyWorldInfo; +class ConstraintBullet; +class CollisionObjectBullet; +class RigidBodyBullet; +class SpaceBullet; +class SoftBodyBullet; + +class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState { + GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState) +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_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + 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_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, 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_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL); + /// 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_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + 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_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const; +}; + +class SpaceBullet : public RIDBullet { +private: + friend class AreaBullet; + friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep); + friend class BulletPhysicsDirectSpaceState; + + btBroadphaseInterface *broadphase; + btDefaultCollisionConfiguration *collisionConfiguration; + btCollisionDispatcher *dispatcher; + btConstraintSolver *solver; + btDiscreteDynamicsWorld *dynamicsWorld; + btGhostPairCallback *ghostPairCallback; + GodotFilterCallback *godotFilterCallback; + btSoftBodyWorldInfo *soft_body_world_info; + + BulletPhysicsDirectSpaceState *direct_access; + Vector3 gravityDirection; + real_t gravityMagnitude; + + Vector<AreaBullet *> areas; + + Vector<Vector3> contactDebug; + int contactDebugCount; + +public: + SpaceBullet(bool p_create_soft_world); + virtual ~SpaceBullet(); + + void flush_queries(); + void step(real_t p_delta_time); + + _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; } + _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { 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(PhysicsServer::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(PhysicsServer::AreaParameter p_param); + + void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value); + real_t get_param(PhysicsServer::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(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.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[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(); + + bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result); + +private: + void create_empty_world(bool p_create_soft_world); + void destroy_world(); + void check_ghost_overlaps(); + void check_body_collision(); + + bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position); +}; +#endif diff --git a/modules/gdnative/gdnative/basis.cpp b/modules/gdnative/gdnative/basis.cpp index b1327cdaef..28af93f942 100644 --- a/modules/gdnative/gdnative/basis.cpp +++ b/modules/gdnative/gdnative/basis.cpp @@ -172,7 +172,7 @@ void GDAPI godot_basis_new_with_euler_quat(godot_basis *r_dest, const godot_quat } // p_elements is a pointer to an array of 3 (!!) vector3 -void GDAPI godot_basis_get_elements(godot_basis *p_self, godot_vector3 *p_elements) { +void GDAPI godot_basis_get_elements(const godot_basis *p_self, godot_vector3 *p_elements) { const Basis *self = (const Basis *)p_self; Vector3 *elements = (Vector3 *)p_elements; elements[0] = self->elements[0]; diff --git a/modules/gdnative/gdnative/pool_arrays.cpp b/modules/gdnative/gdnative/pool_arrays.cpp index 1393374da2..731e930908 100644 --- a/modules/gdnative/gdnative/pool_arrays.cpp +++ b/modules/gdnative/gdnative/pool_arrays.cpp @@ -106,6 +106,16 @@ void GDAPI godot_pool_byte_array_resize(godot_pool_byte_array *p_self, const god self->resize(p_size); } +godot_pool_byte_array_read_access GDAPI *godot_pool_byte_array_read(const godot_pool_byte_array *p_self) { + const PoolVector<uint8_t> *self = (const PoolVector<uint8_t> *)p_self; + return (godot_pool_byte_array_read_access *)memnew(PoolVector<uint8_t>::Read(self->read())); +} + +godot_pool_byte_array_write_access GDAPI *godot_pool_byte_array_write(godot_pool_byte_array *p_self) { + PoolVector<uint8_t> *self = (PoolVector<uint8_t> *)p_self; + return (godot_pool_byte_array_write_access *)memnew(PoolVector<uint8_t>::Write(self->write())); +} + void GDAPI godot_pool_byte_array_set(godot_pool_byte_array *p_self, const godot_int p_idx, const uint8_t p_data) { PoolVector<uint8_t> *self = (PoolVector<uint8_t> *)p_self; self->set(p_idx, p_data); @@ -185,6 +195,16 @@ void GDAPI godot_pool_int_array_resize(godot_pool_int_array *p_self, const godot self->resize(p_size); } +godot_pool_int_array_read_access GDAPI *godot_pool_int_array_read(const godot_pool_int_array *p_self) { + const PoolVector<godot_int> *self = (const PoolVector<godot_int> *)p_self; + return (godot_pool_int_array_read_access *)memnew(PoolVector<godot_int>::Read(self->read())); +} + +godot_pool_int_array_write_access GDAPI *godot_pool_int_array_write(godot_pool_int_array *p_self) { + PoolVector<godot_int> *self = (PoolVector<godot_int> *)p_self; + return (godot_pool_int_array_write_access *)memnew(PoolVector<godot_int>::Write(self->write())); +} + void GDAPI godot_pool_int_array_set(godot_pool_int_array *p_self, const godot_int p_idx, const godot_int p_data) { PoolVector<godot_int> *self = (PoolVector<godot_int> *)p_self; self->set(p_idx, p_data); @@ -260,10 +280,20 @@ void GDAPI godot_pool_real_array_remove(godot_pool_real_array *p_self, const god } void GDAPI godot_pool_real_array_resize(godot_pool_real_array *p_self, const godot_int p_size) { - PoolVector<godot_int> *self = (PoolVector<godot_int> *)p_self; + PoolVector<godot_real> *self = (PoolVector<godot_real> *)p_self; self->resize(p_size); } +godot_pool_real_array_read_access GDAPI *godot_pool_real_array_read(const godot_pool_real_array *p_self) { + const PoolVector<godot_real> *self = (const PoolVector<godot_real> *)p_self; + return (godot_pool_real_array_read_access *)memnew(PoolVector<godot_real>::Read(self->read())); +} + +godot_pool_int_array_write_access GDAPI *godot_pool_real_array_write(godot_pool_real_array *p_self) { + PoolVector<godot_real> *self = (PoolVector<godot_real> *)p_self; + return (godot_pool_real_array_write_access *)memnew(PoolVector<godot_real>::Write(self->write())); +} + void GDAPI godot_pool_real_array_set(godot_pool_real_array *p_self, const godot_int p_idx, const godot_real p_data) { PoolVector<godot_real> *self = (PoolVector<godot_real> *)p_self; self->set(p_idx, p_data); @@ -346,6 +376,16 @@ void GDAPI godot_pool_string_array_resize(godot_pool_string_array *p_self, const self->resize(p_size); } +godot_pool_string_array_read_access GDAPI *godot_pool_string_array_read(const godot_pool_string_array *p_self) { + const PoolVector<String> *self = (const PoolVector<String> *)p_self; + return (godot_pool_string_array_read_access *)memnew(PoolVector<String>::Read(self->read())); +} + +godot_pool_string_array_write_access GDAPI *godot_pool_string_array_write(godot_pool_string_array *p_self) { + PoolVector<String> *self = (PoolVector<String> *)p_self; + return (godot_pool_string_array_write_access *)memnew(PoolVector<String>::Write(self->write())); +} + void GDAPI godot_pool_string_array_set(godot_pool_string_array *p_self, const godot_int p_idx, const godot_string *p_data) { PoolVector<String> *self = (PoolVector<String> *)p_self; String &s = *(String *)p_data; @@ -433,6 +473,16 @@ void GDAPI godot_pool_vector2_array_resize(godot_pool_vector2_array *p_self, con self->resize(p_size); } +godot_pool_vector2_array_read_access GDAPI *godot_pool_vector2_array_read(const godot_pool_vector2_array *p_self) { + const PoolVector<Vector2> *self = (const PoolVector<Vector2> *)p_self; + return (godot_pool_vector2_array_read_access *)memnew(PoolVector<Vector2>::Read(self->read())); +} + +godot_pool_vector2_array_write_access GDAPI *godot_pool_vector2_array_write(godot_pool_vector2_array *p_self) { + PoolVector<Vector2> *self = (PoolVector<Vector2> *)p_self; + return (godot_pool_vector2_array_write_access *)memnew(PoolVector<Vector2>::Write(self->write())); +} + void GDAPI godot_pool_vector2_array_set(godot_pool_vector2_array *p_self, const godot_int p_idx, const godot_vector2 *p_data) { PoolVector<Vector2> *self = (PoolVector<Vector2> *)p_self; Vector2 &s = *(Vector2 *)p_data; @@ -519,6 +569,16 @@ void GDAPI godot_pool_vector3_array_resize(godot_pool_vector3_array *p_self, con self->resize(p_size); } +godot_pool_vector3_array_read_access GDAPI *godot_pool_vector3_array_read(const godot_pool_vector3_array *p_self) { + const PoolVector<Vector3> *self = (const PoolVector<Vector3> *)p_self; + return (godot_pool_vector3_array_read_access *)memnew(PoolVector<Vector3>::Read(self->read())); +} + +godot_pool_vector3_array_write_access GDAPI *godot_pool_vector3_array_write(godot_pool_vector3_array *p_self) { + PoolVector<Vector3> *self = (PoolVector<Vector3> *)p_self; + return (godot_pool_vector3_array_write_access *)memnew(PoolVector<Vector3>::Write(self->write())); +} + void GDAPI godot_pool_vector3_array_set(godot_pool_vector3_array *p_self, const godot_int p_idx, const godot_vector3 *p_data) { PoolVector<Vector3> *self = (PoolVector<Vector3> *)p_self; Vector3 &s = *(Vector3 *)p_data; @@ -605,6 +665,16 @@ void GDAPI godot_pool_color_array_resize(godot_pool_color_array *p_self, const g self->resize(p_size); } +godot_pool_color_array_read_access GDAPI *godot_pool_color_array_read(const godot_pool_color_array *p_self) { + const PoolVector<Color> *self = (const PoolVector<Color> *)p_self; + return (godot_pool_color_array_read_access *)memnew(PoolVector<Color>::Read(self->read())); +} + +godot_pool_color_array_write_access GDAPI *godot_pool_color_array_write(godot_pool_color_array *p_self) { + PoolVector<Color> *self = (PoolVector<Color> *)p_self; + return (godot_pool_color_array_write_access *)memnew(PoolVector<Color>::Write(self->write())); +} + void GDAPI godot_pool_color_array_set(godot_pool_color_array *p_self, const godot_int p_idx, const godot_color *p_data) { PoolVector<Color> *self = (PoolVector<Color> *)p_self; Color &s = *(Color *)p_data; @@ -628,6 +698,196 @@ void GDAPI godot_pool_color_array_destroy(godot_pool_color_array *p_self) { ((PoolVector<Color> *)p_self)->~PoolVector(); } +// +// read accessor functions +// + +const uint8_t GDAPI *godot_pool_byte_array_read_access_ptr(const godot_pool_byte_array_read_access *p_read) { + const PoolVector<uint8_t>::Read *read = (const PoolVector<uint8_t>::Read *)p_read; + return read->ptr(); +} +void GDAPI godot_pool_byte_array_read_access_operator_assign(godot_pool_byte_array_read_access *p_read, godot_pool_byte_array_read_access *p_other) { + PoolVector<uint8_t>::Read *read = (PoolVector<uint8_t>::Read *)p_read; + PoolVector<uint8_t>::Read *other = (PoolVector<uint8_t>::Read *)p_other; + read->operator=(*other); +} +void GDAPI godot_pool_byte_array_read_access_destroy(godot_pool_byte_array_read_access *p_read) { + memdelete((PoolVector<uint8_t>::Read *)p_read); +} + +const godot_int GDAPI *godot_pool_int_array_read_access_ptr(const godot_pool_int_array_read_access *p_read) { + const PoolVector<godot_int>::Read *read = (const PoolVector<godot_int>::Read *)p_read; + return read->ptr(); +} +void GDAPI godot_pool_int_array_read_access_operator_assign(godot_pool_int_array_read_access *p_read, godot_pool_int_array_read_access *p_other) { + PoolVector<godot_int>::Read *read = (PoolVector<godot_int>::Read *)p_read; + PoolVector<godot_int>::Read *other = (PoolVector<godot_int>::Read *)p_other; + read->operator=(*other); +} +void GDAPI godot_pool_int_array_read_access_destroy(godot_pool_int_array_read_access *p_read) { + memdelete((PoolVector<godot_int>::Read *)p_read); +} + +const godot_real GDAPI *godot_pool_real_array_read_access_ptr(const godot_pool_real_array_read_access *p_read) { + const PoolVector<godot_real>::Read *read = (const PoolVector<godot_real>::Read *)p_read; + return read->ptr(); +} +void GDAPI godot_pool_real_array_read_access_operator_assign(godot_pool_real_array_read_access *p_read, godot_pool_real_array_read_access *p_other) { + PoolVector<godot_real>::Read *read = (PoolVector<godot_real>::Read *)p_read; + PoolVector<godot_real>::Read *other = (PoolVector<godot_real>::Read *)p_other; + read->operator=(*other); +} +void GDAPI godot_pool_real_array_read_access_destroy(godot_pool_real_array_read_access *p_read) { + memdelete((PoolVector<godot_real>::Read *)p_read); +} + +const godot_string GDAPI *godot_pool_string_array_read_access_ptr(const godot_pool_string_array_read_access *p_read) { + const PoolVector<String>::Read *read = (const PoolVector<String>::Read *)p_read; + return (const godot_string *)read->ptr(); +} +void GDAPI godot_pool_string_array_read_access_operator_assign(godot_pool_string_array_read_access *p_read, godot_pool_string_array_read_access *p_other) { + PoolVector<String>::Read *read = (PoolVector<String>::Read *)p_read; + PoolVector<String>::Read *other = (PoolVector<String>::Read *)p_other; + read->operator=(*other); +} +void GDAPI godot_pool_string_array_read_access_destroy(godot_pool_string_array_read_access *p_read) { + memdelete((PoolVector<String>::Read *)p_read); +} + +const godot_vector2 GDAPI *godot_pool_vector2_array_read_access_ptr(const godot_pool_vector2_array_read_access *p_read) { + const PoolVector<Vector2>::Read *read = (const PoolVector<Vector2>::Read *)p_read; + return (const godot_vector2 *)read->ptr(); +} +void GDAPI godot_pool_vector2_array_read_access_operator_assign(godot_pool_vector2_array_read_access *p_read, godot_pool_vector2_array_read_access *p_other) { + PoolVector<Vector2>::Read *read = (PoolVector<Vector2>::Read *)p_read; + PoolVector<Vector2>::Read *other = (PoolVector<Vector2>::Read *)p_other; + read->operator=(*other); +} +void GDAPI godot_pool_vector2_array_read_access_destroy(godot_pool_vector2_array_read_access *p_read) { + memdelete((PoolVector<Vector2>::Read *)p_read); +} + +const godot_vector3 GDAPI *godot_pool_vector3_array_read_access_ptr(const godot_pool_vector3_array_read_access *p_read) { + const PoolVector<Vector3>::Read *read = (const PoolVector<Vector3>::Read *)p_read; + return (const godot_vector3 *)read->ptr(); +} +void GDAPI godot_pool_vector3_array_read_access_operator_assign(godot_pool_vector3_array_read_access *p_read, godot_pool_vector3_array_read_access *p_other) { + PoolVector<Vector3>::Read *read = (PoolVector<Vector3>::Read *)p_read; + PoolVector<Vector3>::Read *other = (PoolVector<Vector3>::Read *)p_other; + read->operator=(*other); +} +void GDAPI godot_pool_vector3_array_read_access_destroy(godot_pool_vector3_array_read_access *p_read) { + memdelete((PoolVector<Vector2>::Read *)p_read); +} + +const godot_color GDAPI *godot_pool_color_array_read_access_ptr(const godot_pool_color_array_read_access *p_read) { + const PoolVector<Color>::Read *read = (const PoolVector<Color>::Read *)p_read; + return (const godot_color *)read->ptr(); +} +void GDAPI godot_pool_color_array_read_access_operator_assign(godot_pool_color_array_read_access *p_read, godot_pool_color_array_read_access *p_other) { + PoolVector<Color>::Read *read = (PoolVector<Color>::Read *)p_read; + PoolVector<Color>::Read *other = (PoolVector<Color>::Read *)p_other; + read->operator=(*other); +} +void GDAPI godot_pool_color_array_read_access_destroy(godot_pool_color_array_read_access *p_read) { + memdelete((PoolVector<Color>::Read *)p_read); +} + +// +// write accessor functions +// + +uint8_t GDAPI *godot_pool_byte_array_write_access_ptr(const godot_pool_byte_array_write_access *p_write) { + PoolVector<uint8_t>::Write *write = (PoolVector<uint8_t>::Write *)p_write; + return write->ptr(); +} +void GDAPI godot_pool_byte_array_write_access_operator_assign(godot_pool_byte_array_write_access *p_write, godot_pool_byte_array_write_access *p_other) { + PoolVector<uint8_t>::Write *write = (PoolVector<uint8_t>::Write *)p_write; + PoolVector<uint8_t>::Write *other = (PoolVector<uint8_t>::Write *)p_other; + write->operator=(*other); +} +void GDAPI godot_pool_byte_array_write_access_destroy(godot_pool_byte_array_write_access *p_write) { + memdelete((PoolVector<uint8_t>::Write *)p_write); +} + +godot_int GDAPI *godot_pool_int_array_write_access_ptr(const godot_pool_int_array_write_access *p_write) { + PoolVector<godot_int>::Write *write = (PoolVector<godot_int>::Write *)p_write; + return write->ptr(); +} +void GDAPI godot_pool_int_array_write_access_operator_assign(godot_pool_int_array_write_access *p_write, godot_pool_int_array_write_access *p_other) { + PoolVector<godot_int>::Write *write = (PoolVector<godot_int>::Write *)p_write; + PoolVector<godot_int>::Write *other = (PoolVector<godot_int>::Write *)p_other; + write->operator=(*other); +} +void GDAPI godot_pool_int_array_write_access_destroy(godot_pool_int_array_write_access *p_write) { + memdelete((PoolVector<godot_int>::Write *)p_write); +} + +godot_real GDAPI *godot_pool_real_array_write_access_ptr(const godot_pool_real_array_write_access *p_write) { + PoolVector<godot_real>::Write *write = (PoolVector<godot_real>::Write *)p_write; + return write->ptr(); +} +void GDAPI godot_pool_real_array_write_access_operator_assign(godot_pool_real_array_write_access *p_write, godot_pool_real_array_write_access *p_other) { + PoolVector<godot_real>::Write *write = (PoolVector<godot_real>::Write *)p_write; + PoolVector<godot_real>::Write *other = (PoolVector<godot_real>::Write *)p_other; + write->operator=(*other); +} +void GDAPI godot_pool_real_array_write_access_destroy(godot_pool_real_array_write_access *p_write) { + memdelete((PoolVector<godot_real>::Write *)p_write); +} + +godot_string GDAPI *godot_pool_string_array_write_access_ptr(const godot_pool_string_array_write_access *p_write) { + PoolVector<String>::Write *write = (PoolVector<String>::Write *)p_write; + return (godot_string *)write->ptr(); +} +void GDAPI godot_pool_string_array_write_access_operator_assign(godot_pool_string_array_write_access *p_write, godot_pool_string_array_write_access *p_other) { + PoolVector<String>::Write *write = (PoolVector<String>::Write *)p_write; + PoolVector<String>::Write *other = (PoolVector<String>::Write *)p_other; + write->operator=(*other); +} +void GDAPI godot_pool_string_array_write_access_destroy(godot_pool_string_array_write_access *p_write) { + memdelete((PoolVector<String>::Write *)p_write); +} + +godot_vector2 GDAPI *godot_pool_vector2_array_write_access_ptr(const godot_pool_vector2_array_write_access *p_write) { + PoolVector<Vector2>::Write *write = (PoolVector<Vector2>::Write *)p_write; + return (godot_vector2 *)write->ptr(); +} +void GDAPI godot_pool_vector2_array_write_access_operator_assign(godot_pool_vector2_array_write_access *p_write, godot_pool_vector2_array_write_access *p_other) { + PoolVector<Vector2>::Write *write = (PoolVector<Vector2>::Write *)p_write; + PoolVector<Vector2>::Write *other = (PoolVector<Vector2>::Write *)p_other; + write->operator=(*other); +} +void GDAPI godot_pool_vector2_array_write_access_destroy(godot_pool_vector2_array_write_access *p_write) { + memdelete((PoolVector<Vector2>::Write *)p_write); +} + +godot_vector3 GDAPI *godot_pool_vector3_array_write_access_ptr(const godot_pool_vector3_array_write_access *p_write) { + PoolVector<Vector3>::Write *write = (PoolVector<Vector3>::Write *)p_write; + return (godot_vector3 *)write->ptr(); +} +void GDAPI godot_pool_vector3_array_write_access_operator_assign(godot_pool_vector3_array_write_access *p_write, godot_pool_vector3_array_write_access *p_other) { + PoolVector<Vector3>::Write *write = (PoolVector<Vector3>::Write *)p_write; + PoolVector<Vector3>::Write *other = (PoolVector<Vector3>::Write *)p_other; + write->operator=(*other); +} +void GDAPI godot_pool_vector3_array_write_access_destroy(godot_pool_vector3_array_write_access *p_write) { + memdelete((PoolVector<Vector3>::Write *)p_write); +} + +godot_color GDAPI *godot_pool_color_array_write_access_ptr(const godot_pool_color_array_write_access *p_write) { + PoolVector<Color>::Write *write = (PoolVector<Color>::Write *)p_write; + return (godot_color *)write->ptr(); +} +void GDAPI godot_pool_color_array_write_access_operator_assign(godot_pool_color_array_write_access *p_write, godot_pool_color_array_write_access *p_other) { + PoolVector<Color>::Write *write = (PoolVector<Color>::Write *)p_write; + PoolVector<Color>::Write *other = (PoolVector<Color>::Write *)p_other; + write->operator=(*other); +} +void GDAPI godot_pool_color_array_write_access_destroy(godot_pool_color_array_write_access *p_write) { + memdelete((PoolVector<Color>::Write *)p_write); +} + #ifdef __cplusplus } #endif diff --git a/modules/gdnative/gdnative/string.cpp b/modules/gdnative/gdnative/string.cpp index 905c513d9d..619003083d 100644 --- a/modules/gdnative/gdnative/string.cpp +++ b/modules/gdnative/gdnative/string.cpp @@ -65,11 +65,20 @@ void GDAPI godot_string_new_unicode_data(godot_string *r_dest, const wchar_t *p_ void GDAPI godot_string_get_data(const godot_string *p_self, char *p_dest, int *p_size) { String *self = (String *)p_self; - if (p_size != NULL) { - *p_size = self->utf8().length(); - } - if (p_dest != NULL) { - memcpy(p_dest, self->utf8().get_data(), *p_size); + + if (p_size) { + // we have a length pointer, that means we either want to know + // the length or want to write *p_size bytes into a buffer + + CharString utf8_string = self->utf8(); + + int len = utf8_string.length(); + + if (p_dest) { + memcpy(p_dest, utf8_string.get_data(), *p_size); + } else { + *p_size = len; + } } } @@ -78,6 +87,11 @@ wchar_t GDAPI *godot_string_operator_index(godot_string *p_self, const godot_int return &(self->operator[](p_idx)); } +wchar_t GDAPI godot_string_operator_index_const(const godot_string *p_self, const godot_int p_idx) { + const String *self = (const String *)p_self; + return self->operator[](p_idx); +} + const char GDAPI *godot_string_c_str(const godot_string *p_self) { const String *self = (const String *)p_self; return self->utf8().get_data(); diff --git a/modules/gdnative/gdnative_api.json b/modules/gdnative/gdnative_api.json index 31b021b751..ac0293172d 100644 --- a/modules/gdnative/gdnative_api.json +++ b/modules/gdnative/gdnative_api.json @@ -847,7 +847,7 @@ "name": "godot_basis_get_elements", "return_type": "void", "arguments": [ - ["godot_basis *", "p_self"], + ["const godot_basis *", "p_self"], ["godot_vector3 *", "p_elements"] ] }, @@ -1296,6 +1296,20 @@ ] }, { + "name": "godot_pool_byte_array_read", + "return_type": "godot_pool_byte_array_read_access *", + "arguments": [ + ["const godot_pool_byte_array *", "p_self"] + ] + }, + { + "name": "godot_pool_byte_array_write", + "return_type": "godot_pool_byte_array_write_access *", + "arguments": [ + ["godot_pool_byte_array *", "p_self"] + ] + }, + { "name": "godot_pool_byte_array_set", "return_type": "void", "arguments": [ @@ -1406,6 +1420,20 @@ ] }, { + "name": "godot_pool_int_array_read", + "return_type": "godot_pool_int_array_read_access *", + "arguments": [ + ["const godot_pool_int_array *", "p_self"] + ] + }, + { + "name": "godot_pool_int_array_write", + "return_type": "godot_pool_int_array_write_access *", + "arguments": [ + ["godot_pool_int_array *", "p_self"] + ] + }, + { "name": "godot_pool_int_array_set", "return_type": "void", "arguments": [ @@ -1516,6 +1544,20 @@ ] }, { + "name": "godot_pool_real_array_read", + "return_type": "godot_pool_real_array_read_access *", + "arguments": [ + ["const godot_pool_real_array *", "p_self"] + ] + }, + { + "name": "godot_pool_real_array_write", + "return_type": "godot_pool_real_array_write_access *", + "arguments": [ + ["godot_pool_real_array *", "p_self"] + ] + }, + { "name": "godot_pool_real_array_set", "return_type": "void", "arguments": [ @@ -1626,6 +1668,20 @@ ] }, { + "name": "godot_pool_string_array_read", + "return_type": "godot_pool_string_array_read_access *", + "arguments": [ + ["const godot_pool_string_array *", "p_self"] + ] + }, + { + "name": "godot_pool_string_array_write", + "return_type": "godot_pool_string_array_write_access *", + "arguments": [ + ["godot_pool_string_array *", "p_self"] + ] + }, + { "name": "godot_pool_string_array_set", "return_type": "void", "arguments": [ @@ -1736,6 +1792,20 @@ ] }, { + "name": "godot_pool_vector2_array_read", + "return_type": "godot_pool_vector2_array_read_access *", + "arguments": [ + ["const godot_pool_vector2_array *", "p_self"] + ] + }, + { + "name": "godot_pool_vector2_array_write", + "return_type": "godot_pool_vector2_array_write_access *", + "arguments": [ + ["godot_pool_vector2_array *", "p_self"] + ] + }, + { "name": "godot_pool_vector2_array_set", "return_type": "void", "arguments": [ @@ -1846,6 +1916,20 @@ ] }, { + "name": "godot_pool_vector3_array_read", + "return_type": "godot_pool_vector3_array_read_access *", + "arguments": [ + ["const godot_pool_vector3_array *", "p_self"] + ] + }, + { + "name": "godot_pool_vector3_array_write", + "return_type": "godot_pool_vector3_array_write_access *", + "arguments": [ + ["godot_pool_vector3_array *", "p_self"] + ] + }, + { "name": "godot_pool_vector3_array_set", "return_type": "void", "arguments": [ @@ -1956,6 +2040,20 @@ ] }, { + "name": "godot_pool_color_array_read", + "return_type": "godot_pool_color_array_read_access *", + "arguments": [ + ["const godot_pool_color_array *", "p_self"] + ] + }, + { + "name": "godot_pool_color_array_write", + "return_type": "godot_pool_color_array_write_access *", + "arguments": [ + ["godot_pool_color_array *", "p_self"] + ] + }, + { "name": "godot_pool_color_array_set", "return_type": "void", "arguments": [ @@ -1987,6 +2085,314 @@ ] }, { + "name": "godot_pool_byte_array_read_access_ptr", + "return_type": "const uint8_t *", + "arguments": [ + ["const godot_pool_byte_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_byte_array_read_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_byte_array_read_access *", "p_read"], + ["godot_pool_byte_array_read_access *", "p_other"] + ] + }, + { + "name": "godot_pool_byte_array_read_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_byte_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_int_array_read_access_ptr", + "return_type": "const godot_int *", + "arguments": [ + ["const godot_pool_int_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_int_array_read_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_int_array_read_access *", "p_read"], + ["godot_pool_int_array_read_access *", "p_other"] + ] + }, + { + "name": "godot_pool_int_array_read_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_int_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_real_array_read_access_ptr", + "return_type": "const godot_real *", + "arguments": [ + ["const godot_pool_real_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_real_array_read_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_real_array_read_access *", "p_read"], + ["godot_pool_real_array_read_access *", "p_other"] + ] + }, + { + "name": "godot_pool_real_array_read_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_real_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_string_array_read_access_ptr", + "return_type": "const godot_string *", + "arguments": [ + ["const godot_pool_string_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_string_array_read_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_string_array_read_access *", "p_read"], + ["godot_pool_string_array_read_access *", "p_other"] + ] + }, + { + "name": "godot_pool_string_array_read_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_string_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_vector2_array_read_access_ptr", + "return_type": "const godot_vector2 *", + "arguments": [ + ["const godot_pool_vector2_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_vector2_array_read_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_vector2_array_read_access *", "p_read"], + ["godot_pool_vector2_array_read_access *", "p_other"] + ] + }, + { + "name": "godot_pool_vector2_array_read_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_vector2_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_vector3_array_read_access_ptr", + "return_type": "const godot_vector3 *", + "arguments": [ + ["const godot_pool_vector3_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_vector3_array_read_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_vector3_array_read_access *", "p_read"], + ["godot_pool_vector3_array_read_access *", "p_other"] + ] + }, + { + "name": "godot_pool_vector3_array_read_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_vector3_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_color_array_read_access_ptr", + "return_type": "const godot_color *", + "arguments": [ + ["const godot_pool_color_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_color_array_read_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_color_array_read_access *", "p_read"], + ["godot_pool_color_array_read_access *", "p_other"] + ] + }, + { + "name": "godot_pool_color_array_read_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_color_array_read_access *", "p_read"] + ] + }, + { + "name": "godot_pool_byte_array_write_access_ptr", + "return_type": "uint8_t *", + "arguments": [ + ["const godot_pool_byte_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_byte_array_write_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_byte_array_write_access *", "p_write"], + ["godot_pool_byte_array_write_access *", "p_other"] + ] + }, + { + "name": "godot_pool_byte_array_write_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_byte_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_int_array_write_access_ptr", + "return_type": "godot_int *", + "arguments": [ + ["const godot_pool_int_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_int_array_write_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_int_array_write_access *", "p_write"], + ["godot_pool_int_array_write_access *", "p_other"] + ] + }, + { + "name": "godot_pool_int_array_write_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_int_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_real_array_write_access_ptr", + "return_type": "godot_real *", + "arguments": [ + ["const godot_pool_real_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_real_array_write_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_real_array_write_access *", "p_write"], + ["godot_pool_real_array_write_access *", "p_other"] + ] + }, + { + "name": "godot_pool_real_array_write_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_real_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_string_array_write_access_ptr", + "return_type": "godot_string *", + "arguments": [ + ["const godot_pool_string_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_string_array_write_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_string_array_write_access *", "p_write"], + ["godot_pool_string_array_write_access *", "p_other"] + ] + }, + { + "name": "godot_pool_string_array_write_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_string_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_vector2_array_write_access_ptr", + "return_type": "godot_vector2 *", + "arguments": [ + ["const godot_pool_vector2_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_vector2_array_write_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_vector2_array_write_access *", "p_write"], + ["godot_pool_vector2_array_write_access *", "p_other"] + ] + }, + { + "name": "godot_pool_vector2_array_write_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_vector2_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_vector3_array_write_access_ptr", + "return_type": "godot_vector3 *", + "arguments": [ + ["const godot_pool_vector3_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_vector3_array_write_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_vector3_array_write_access *", "p_write"], + ["godot_pool_vector3_array_write_access *", "p_other"] + ] + }, + { + "name": "godot_pool_vector3_array_write_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_vector3_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_color_array_write_access_ptr", + "return_type": "godot_color *", + "arguments": [ + ["const godot_pool_color_array_write_access *", "p_write"] + ] + }, + { + "name": "godot_pool_color_array_write_access_operator_assign", + "return_type": "void", + "arguments": [ + ["godot_pool_color_array_write_access *", "p_write"], + ["godot_pool_color_array_write_access *", "p_other"] + ] + }, + { + "name": "godot_pool_color_array_write_access_destroy", + "return_type": "void", + "arguments": [ + ["godot_pool_color_array_write_access *", "p_write"] + ] + }, + { "name": "godot_array_new", "return_type": "void", "arguments": [ @@ -3927,6 +4333,14 @@ ] }, { + "name": "godot_string_operator_index_const", + "return_type": "wchar_t", + "arguments": [ + ["const godot_string *", "p_self"], + ["const godot_int", "p_idx"] + ] + }, + { "name": "godot_string_c_str", "return_type": "const char *", "arguments": [ @@ -5308,6 +5722,13 @@ ["godot_real", "p_value"], ["godot_bool", "p_can_be_negative"] ] + }, + { + "name": "godot_arvr_get_controller_rumble", + "return_type": "godot_real", + "arguments": [ + ["godot_int", "p_controller_id"] + ] } ] } diff --git a/modules/gdnative/include/gdnative/basis.h b/modules/gdnative/include/gdnative/basis.h index b86b1c17d8..49ca765a01 100644 --- a/modules/gdnative/include/gdnative/basis.h +++ b/modules/gdnative/include/gdnative/basis.h @@ -97,7 +97,7 @@ void GDAPI godot_basis_new(godot_basis *r_dest); void GDAPI godot_basis_new_with_euler_quat(godot_basis *r_dest, const godot_quat *p_euler); // p_elements is a pointer to an array of 3 (!!) vector3 -void GDAPI godot_basis_get_elements(godot_basis *p_self, godot_vector3 *p_elements); +void GDAPI godot_basis_get_elements(const godot_basis *p_self, godot_vector3 *p_elements); godot_vector3 GDAPI godot_basis_get_axis(const godot_basis *p_self, const godot_int p_axis); diff --git a/modules/gdnative/include/gdnative/pool_arrays.h b/modules/gdnative/include/gdnative/pool_arrays.h index 93181f2a6b..81500c9186 100644 --- a/modules/gdnative/include/gdnative/pool_arrays.h +++ b/modules/gdnative/include/gdnative/pool_arrays.h @@ -36,6 +36,38 @@ extern "C" { #include <stdint.h> +/////// Read Access + +#define GODOT_POOL_ARRAY_READ_ACCESS_SIZE 1 + +typedef struct { + uint8_t _dont_touch_that[GODOT_POOL_ARRAY_READ_ACCESS_SIZE]; +} godot_pool_array_read_access; + +typedef godot_pool_array_read_access godot_pool_byte_array_read_access; +typedef godot_pool_array_read_access godot_pool_int_array_read_access; +typedef godot_pool_array_read_access godot_pool_real_array_read_access; +typedef godot_pool_array_read_access godot_pool_string_array_read_access; +typedef godot_pool_array_read_access godot_pool_vector2_array_read_access; +typedef godot_pool_array_read_access godot_pool_vector3_array_read_access; +typedef godot_pool_array_read_access godot_pool_color_array_read_access; + +/////// Write Access + +#define GODOT_POOL_ARRAY_WRITE_ACCESS_SIZE 1 + +typedef struct { + uint8_t _dont_touch_that[GODOT_POOL_ARRAY_WRITE_ACCESS_SIZE]; +} godot_pool_array_write_access; + +typedef godot_pool_array_write_access godot_pool_byte_array_write_access; +typedef godot_pool_array_write_access godot_pool_int_array_write_access; +typedef godot_pool_array_write_access godot_pool_real_array_write_access; +typedef godot_pool_array_write_access godot_pool_string_array_write_access; +typedef godot_pool_array_write_access godot_pool_vector2_array_write_access; +typedef godot_pool_array_write_access godot_pool_vector3_array_write_access; +typedef godot_pool_array_write_access godot_pool_color_array_write_access; + /////// PoolByteArray #define GODOT_POOL_BYTE_ARRAY_SIZE sizeof(void *) @@ -149,6 +181,10 @@ void GDAPI godot_pool_byte_array_remove(godot_pool_byte_array *p_self, const god void GDAPI godot_pool_byte_array_resize(godot_pool_byte_array *p_self, const godot_int p_size); +godot_pool_byte_array_read_access GDAPI *godot_pool_byte_array_read(const godot_pool_byte_array *p_self); + +godot_pool_byte_array_write_access GDAPI *godot_pool_byte_array_write(godot_pool_byte_array *p_self); + void GDAPI godot_pool_byte_array_set(godot_pool_byte_array *p_self, const godot_int p_idx, const uint8_t p_data); uint8_t GDAPI godot_pool_byte_array_get(const godot_pool_byte_array *p_self, const godot_int p_idx); @@ -176,6 +212,10 @@ void GDAPI godot_pool_int_array_remove(godot_pool_int_array *p_self, const godot void GDAPI godot_pool_int_array_resize(godot_pool_int_array *p_self, const godot_int p_size); +godot_pool_int_array_read_access GDAPI *godot_pool_int_array_read(const godot_pool_int_array *p_self); + +godot_pool_int_array_write_access GDAPI *godot_pool_int_array_write(godot_pool_int_array *p_self); + void GDAPI godot_pool_int_array_set(godot_pool_int_array *p_self, const godot_int p_idx, const godot_int p_data); godot_int GDAPI godot_pool_int_array_get(const godot_pool_int_array *p_self, const godot_int p_idx); @@ -203,6 +243,10 @@ void GDAPI godot_pool_real_array_remove(godot_pool_real_array *p_self, const god void GDAPI godot_pool_real_array_resize(godot_pool_real_array *p_self, const godot_int p_size); +godot_pool_real_array_read_access GDAPI *godot_pool_real_array_read(const godot_pool_real_array *p_self); + +godot_pool_real_array_write_access GDAPI *godot_pool_real_array_write(godot_pool_real_array *p_self); + void GDAPI godot_pool_real_array_set(godot_pool_real_array *p_self, const godot_int p_idx, const godot_real p_data); godot_real GDAPI godot_pool_real_array_get(const godot_pool_real_array *p_self, const godot_int p_idx); @@ -230,6 +274,10 @@ void GDAPI godot_pool_string_array_remove(godot_pool_string_array *p_self, const void GDAPI godot_pool_string_array_resize(godot_pool_string_array *p_self, const godot_int p_size); +godot_pool_string_array_read_access GDAPI *godot_pool_string_array_read(const godot_pool_string_array *p_self); + +godot_pool_string_array_write_access GDAPI *godot_pool_string_array_write(godot_pool_string_array *p_self); + void GDAPI godot_pool_string_array_set(godot_pool_string_array *p_self, const godot_int p_idx, const godot_string *p_data); godot_string GDAPI godot_pool_string_array_get(const godot_pool_string_array *p_self, const godot_int p_idx); @@ -257,6 +305,10 @@ void GDAPI godot_pool_vector2_array_remove(godot_pool_vector2_array *p_self, con void GDAPI godot_pool_vector2_array_resize(godot_pool_vector2_array *p_self, const godot_int p_size); +godot_pool_vector2_array_read_access GDAPI *godot_pool_vector2_array_read(const godot_pool_vector2_array *p_self); + +godot_pool_vector2_array_write_access GDAPI *godot_pool_vector2_array_write(godot_pool_vector2_array *p_self); + void GDAPI godot_pool_vector2_array_set(godot_pool_vector2_array *p_self, const godot_int p_idx, const godot_vector2 *p_data); godot_vector2 GDAPI godot_pool_vector2_array_get(const godot_pool_vector2_array *p_self, const godot_int p_idx); @@ -284,6 +336,10 @@ void GDAPI godot_pool_vector3_array_remove(godot_pool_vector3_array *p_self, con void GDAPI godot_pool_vector3_array_resize(godot_pool_vector3_array *p_self, const godot_int p_size); +godot_pool_vector3_array_read_access GDAPI *godot_pool_vector3_array_read(const godot_pool_vector3_array *p_self); + +godot_pool_vector3_array_write_access GDAPI *godot_pool_vector3_array_write(godot_pool_vector3_array *p_self); + void GDAPI godot_pool_vector3_array_set(godot_pool_vector3_array *p_self, const godot_int p_idx, const godot_vector3 *p_data); godot_vector3 GDAPI godot_pool_vector3_array_get(const godot_pool_vector3_array *p_self, const godot_int p_idx); @@ -311,6 +367,10 @@ void GDAPI godot_pool_color_array_remove(godot_pool_color_array *p_self, const g void GDAPI godot_pool_color_array_resize(godot_pool_color_array *p_self, const godot_int p_size); +godot_pool_color_array_read_access GDAPI *godot_pool_color_array_read(const godot_pool_color_array *p_self); + +godot_pool_color_array_write_access GDAPI *godot_pool_color_array_write(godot_pool_color_array *p_self); + void GDAPI godot_pool_color_array_set(godot_pool_color_array *p_self, const godot_int p_idx, const godot_color *p_data); godot_color GDAPI godot_pool_color_array_get(const godot_pool_color_array *p_self, const godot_int p_idx); @@ -318,6 +378,70 @@ godot_int GDAPI godot_pool_color_array_size(const godot_pool_color_array *p_self void GDAPI godot_pool_color_array_destroy(godot_pool_color_array *p_self); +// +// read accessor functions +// + +const uint8_t GDAPI *godot_pool_byte_array_read_access_ptr(const godot_pool_byte_array_read_access *p_read); +void GDAPI godot_pool_byte_array_read_access_operator_assign(godot_pool_byte_array_read_access *p_read, godot_pool_byte_array_read_access *p_other); +void GDAPI godot_pool_byte_array_read_access_destroy(godot_pool_byte_array_read_access *p_read); + +const godot_int GDAPI *godot_pool_int_array_read_access_ptr(const godot_pool_int_array_read_access *p_read); +void GDAPI godot_pool_int_array_read_access_operator_assign(godot_pool_int_array_read_access *p_read, godot_pool_int_array_read_access *p_other); +void GDAPI godot_pool_int_array_read_access_destroy(godot_pool_int_array_read_access *p_read); + +const godot_real GDAPI *godot_pool_real_array_read_access_ptr(const godot_pool_real_array_read_access *p_read); +void GDAPI godot_pool_real_array_read_access_operator_assign(godot_pool_real_array_read_access *p_read, godot_pool_real_array_read_access *p_other); +void GDAPI godot_pool_real_array_read_access_destroy(godot_pool_real_array_read_access *p_read); + +const godot_string GDAPI *godot_pool_string_array_read_access_ptr(const godot_pool_string_array_read_access *p_read); +void GDAPI godot_pool_string_array_read_access_operator_assign(godot_pool_string_array_read_access *p_read, godot_pool_string_array_read_access *p_other); +void GDAPI godot_pool_string_array_read_access_destroy(godot_pool_string_array_read_access *p_read); + +const godot_vector2 GDAPI *godot_pool_vector2_array_read_access_ptr(const godot_pool_vector2_array_read_access *p_read); +void GDAPI godot_pool_vector2_array_read_access_operator_assign(godot_pool_vector2_array_read_access *p_read, godot_pool_vector2_array_read_access *p_other); +void GDAPI godot_pool_vector2_array_read_access_destroy(godot_pool_vector2_array_read_access *p_read); + +const godot_vector3 GDAPI *godot_pool_vector3_array_read_access_ptr(const godot_pool_vector3_array_read_access *p_read); +void GDAPI godot_pool_vector3_array_read_access_operator_assign(godot_pool_vector3_array_read_access *p_read, godot_pool_vector3_array_read_access *p_other); +void GDAPI godot_pool_vector3_array_read_access_destroy(godot_pool_vector3_array_read_access *p_read); + +const godot_color GDAPI *godot_pool_color_array_read_access_ptr(const godot_pool_color_array_read_access *p_read); +void GDAPI godot_pool_color_array_read_access_operator_assign(godot_pool_color_array_read_access *p_read, godot_pool_color_array_read_access *p_other); +void GDAPI godot_pool_color_array_read_access_destroy(godot_pool_color_array_read_access *p_read); + +// +// write accessor functions +// + +uint8_t GDAPI *godot_pool_byte_array_write_access_ptr(const godot_pool_byte_array_write_access *p_write); +void GDAPI godot_pool_byte_array_write_access_operator_assign(godot_pool_byte_array_write_access *p_write, godot_pool_byte_array_write_access *p_other); +void GDAPI godot_pool_byte_array_write_access_destroy(godot_pool_byte_array_write_access *p_write); + +godot_int GDAPI *godot_pool_int_array_write_access_ptr(const godot_pool_int_array_write_access *p_write); +void GDAPI godot_pool_int_array_write_access_operator_assign(godot_pool_int_array_write_access *p_write, godot_pool_int_array_write_access *p_other); +void GDAPI godot_pool_int_array_write_access_destroy(godot_pool_int_array_write_access *p_write); + +godot_real GDAPI *godot_pool_real_array_write_access_ptr(const godot_pool_real_array_write_access *p_write); +void GDAPI godot_pool_real_array_write_access_operator_assign(godot_pool_real_array_write_access *p_write, godot_pool_real_array_write_access *p_other); +void GDAPI godot_pool_real_array_write_access_destroy(godot_pool_real_array_write_access *p_write); + +godot_string GDAPI *godot_pool_string_array_write_access_ptr(const godot_pool_string_array_write_access *p_write); +void GDAPI godot_pool_string_array_write_access_operator_assign(godot_pool_string_array_write_access *p_write, godot_pool_string_array_write_access *p_other); +void GDAPI godot_pool_string_array_write_access_destroy(godot_pool_string_array_write_access *p_write); + +godot_vector2 GDAPI *godot_pool_vector2_array_write_access_ptr(const godot_pool_vector2_array_write_access *p_write); +void GDAPI godot_pool_vector2_array_write_access_operator_assign(godot_pool_vector2_array_write_access *p_write, godot_pool_vector2_array_write_access *p_other); +void GDAPI godot_pool_vector2_array_write_access_destroy(godot_pool_vector2_array_write_access *p_write); + +godot_vector3 GDAPI *godot_pool_vector3_array_write_access_ptr(const godot_pool_vector3_array_write_access *p_write); +void GDAPI godot_pool_vector3_array_write_access_operator_assign(godot_pool_vector3_array_write_access *p_write, godot_pool_vector3_array_write_access *p_other); +void GDAPI godot_pool_vector3_array_write_access_destroy(godot_pool_vector3_array_write_access *p_write); + +godot_color GDAPI *godot_pool_color_array_write_access_ptr(const godot_pool_color_array_write_access *p_write); +void GDAPI godot_pool_color_array_write_access_operator_assign(godot_pool_color_array_write_access *p_write, godot_pool_color_array_write_access *p_other); +void GDAPI godot_pool_color_array_write_access_destroy(godot_pool_color_array_write_access *p_write); + #ifdef __cplusplus } #endif diff --git a/modules/gdnative/include/gdnative/string.h b/modules/gdnative/include/gdnative/string.h index f30fdb8dc7..29510313c9 100644 --- a/modules/gdnative/include/gdnative/string.h +++ b/modules/gdnative/include/gdnative/string.h @@ -66,6 +66,7 @@ void GDAPI godot_string_new_unicode_data(godot_string *r_dest, const wchar_t *p_ void GDAPI godot_string_get_data(const godot_string *p_self, char *p_dest, int *p_size); wchar_t GDAPI *godot_string_operator_index(godot_string *p_self, const godot_int p_idx); +wchar_t GDAPI godot_string_operator_index_const(const godot_string *p_self, const godot_int p_idx); const char GDAPI *godot_string_c_str(const godot_string *p_self); const wchar_t GDAPI *godot_string_unicode_str(const godot_string *p_self); diff --git a/modules/gdnative/include/nativearvr/godot_nativearvr.h b/modules/gdnative/include/nativearvr/godot_nativearvr.h index 1a8970d396..a4f4d6a9f1 100644 --- a/modules/gdnative/include/nativearvr/godot_nativearvr.h +++ b/modules/gdnative/include/nativearvr/godot_nativearvr.h @@ -70,6 +70,7 @@ void GDAPI godot_arvr_remove_controller(godot_int p_controller_id); void GDAPI godot_arvr_set_controller_transform(godot_int p_controller_id, godot_transform *p_transform, godot_bool p_tracks_orientation, godot_bool p_tracks_position); void GDAPI godot_arvr_set_controller_button(godot_int p_controller_id, godot_int p_button, godot_bool p_is_pressed); void GDAPI godot_arvr_set_controller_axis(godot_int p_controller_id, godot_int p_axis, godot_real p_value, godot_bool p_can_be_negative); +godot_real GDAPI godot_arvr_get_controller_rumble(godot_int p_controller_id); #ifdef __cplusplus } diff --git a/modules/gdnative/nativearvr/arvr_interface_gdnative.cpp b/modules/gdnative/nativearvr/arvr_interface_gdnative.cpp index ff8bda162f..e2a7019fa4 100644 --- a/modules/gdnative/nativearvr/arvr_interface_gdnative.cpp +++ b/modules/gdnative/nativearvr/arvr_interface_gdnative.cpp @@ -383,4 +383,16 @@ void GDAPI godot_arvr_set_controller_axis(godot_int p_controller_id, godot_int p } } } + +godot_real GDAPI godot_arvr_get_controller_rumble(godot_int p_controller_id) { + ARVRServer *arvr_server = ARVRServer::get_singleton(); + ERR_FAIL_NULL_V(arvr_server, 0.0); + + ARVRPositionalTracker *tracker = arvr_server->find_by_type_and_id(ARVRServer::TRACKER_CONTROLLER, p_controller_id); + if (tracker != NULL) { + return tracker->get_rumble(); + } + + return 0.0; +} } diff --git a/modules/gdscript/gd_editor.cpp b/modules/gdscript/gd_editor.cpp index bcb998aee0..d9b10ff3fa 100644 --- a/modules/gdscript/gd_editor.cpp +++ b/modules/gdscript/gd_editor.cpp @@ -2111,9 +2111,9 @@ Error GDScriptLanguage::complete_code(const String &p_code, const String &p_base for (List<String>::Element *E = opts.front(); E; E = E->next()) { String opt = E->get().strip_edges(); - if (opt.begins_with("\"") && opt.ends_with("\"")) { + if (opt.is_quoted()) { r_forced = true; - String idopt = opt.substr(1, opt.length() - 2); + String idopt = opt.unquote(); if (idopt.replace("/", "_").is_valid_identifier()) { options.insert(idopt); } else { diff --git a/modules/gdscript/gd_functions.cpp b/modules/gdscript/gd_functions.cpp index 34d01c6beb..b43ec409a1 100644 --- a/modules/gdscript/gd_functions.cpp +++ b/modules/gdscript/gd_functions.cpp @@ -83,6 +83,8 @@ const char *GDFunctions::get_func_name(Function p_func) { "rad2deg", "linear2db", "db2linear", + "wrapi", + "wrapf", "max", "min", "clamp", @@ -405,6 +407,14 @@ void GDFunctions::call(Function p_func, const Variant **p_args, int p_arg_count, VALIDATE_ARG_NUM(0); r_ret = Math::db2linear((double)*p_args[0]); } break; + case MATH_WRAP: { + VALIDATE_ARG_COUNT(3); + r_ret = Math::wrapi((int64_t)*p_args[0], (int64_t)*p_args[1], (int64_t)*p_args[2]); + } break; + case MATH_WRAPF: { + VALIDATE_ARG_COUNT(3); + r_ret = Math::wrapf((double)*p_args[0], (double)*p_args[1], (double)*p_args[2]); + } break; case LOGIC_MAX: { VALIDATE_ARG_COUNT(2); if (p_args[0]->get_type() == Variant::INT && p_args[1]->get_type() == Variant::INT) { @@ -1285,6 +1295,8 @@ bool GDFunctions::is_deterministic(Function p_func) { case MATH_RAD2DEG: case MATH_LINEAR2DB: case MATH_DB2LINEAR: + case MATH_WRAP: + case MATH_WRAPF: case LOGIC_MAX: case LOGIC_MIN: case LOGIC_CLAMP: @@ -1513,6 +1525,16 @@ MethodInfo GDFunctions::get_info(Function p_func) { mi.return_val.type = Variant::REAL; return mi; } break; + case MATH_WRAP: { + MethodInfo mi("wrapi", PropertyInfo(Variant::INT, "value"), PropertyInfo(Variant::INT, "min"), PropertyInfo(Variant::INT, "max")); + mi.return_val.type = Variant::INT; + return mi; + } break; + case MATH_WRAPF: { + MethodInfo mi("wrapf", PropertyInfo(Variant::REAL, "value"), PropertyInfo(Variant::REAL, "min"), PropertyInfo(Variant::REAL, "max")); + mi.return_val.type = Variant::REAL; + return mi; + } break; case LOGIC_MAX: { MethodInfo mi("max", PropertyInfo(Variant::REAL, "a"), PropertyInfo(Variant::REAL, "b")); mi.return_val.type = Variant::REAL; diff --git a/modules/gdscript/gd_functions.h b/modules/gdscript/gd_functions.h index a568c8f1cf..0de09f2e71 100644 --- a/modules/gdscript/gd_functions.h +++ b/modules/gdscript/gd_functions.h @@ -75,6 +75,8 @@ public: MATH_RAD2DEG, MATH_LINEAR2DB, MATH_DB2LINEAR, + MATH_WRAP, + MATH_WRAPF, LOGIC_MAX, LOGIC_MIN, LOGIC_CLAMP, diff --git a/modules/mono/SCsub b/modules/mono/SCsub index caf4fdb3ca..18a20ecac4 100644 --- a/modules/mono/SCsub +++ b/modules/mono/SCsub @@ -53,68 +53,155 @@ if env['tools']: vars = Variables() vars.Add(BoolVariable('mono_glue', 'Build with the mono glue sources', True)) +vars.Add(BoolVariable('xbuild_fallback', 'If MSBuild is not found, fallback to xbuild', False)) vars.Update(env) # Glue sources if env['mono_glue']: env.add_source_files(env.modules_sources, 'glue/*.cpp') else: - env.Append(CPPDEFINES = [ 'MONO_GLUE_DISABLED' ]) + env.Append(CPPDEFINES=['MONO_GLUE_DISABLED']) if ARGUMENTS.get('yolo_copy', False): - env.Append(CPPDEFINES = [ 'YOLO_COPY' ]) + env.Append(CPPDEFINES=['YOLO_COPY']) + # Build GodotSharpTools solution + import os -import subprocess -import mono_reg_utils as monoreg + + +def find_msbuild_unix(filename): + import os.path + import sys + + hint_dirs = ['/opt/novell/mono/bin'] + if sys.platform == "darwin": + hint_dirs = ['/Library/Frameworks/Mono.framework/Versions/Current/bin'] + hint_dirs + + for hint_dir in hint_dirs: + hint_path = os.path.join(hint_dir, filename) + if os.path.isfile(hint_path): + return hint_path + elif os.path.isfile(hint_path + ".exe"): + return hint_path + ".exe" + + for hint_dir in os.environ["PATH"].split(os.pathsep): + hint_dir = hint_dir.strip('"') + hint_path = os.path.join(hint_dir, filename) + if os.path.isfile(hint_path) and os.access(hint_path, os.X_OK): + return hint_path + if os.path.isfile(hint_path + ".exe") and os.access(hint_path + ".exe", os.X_OK): + return hint_path + ".exe" + + return None + + +def find_msbuild_windows(): + import mono_reg_utils as monoreg + + bits = env['bits'] + + if bits == '32': + if os.getenv('MONO32_PREFIX'): + mono_root = os.getenv('MONO32_PREFIX') + else: + mono_root = monoreg.find_mono_root_dir(bits) + else: + if os.getenv('MONO64_PREFIX'): + mono_root = os.getenv('MONO64_PREFIX') + else: + mono_root = monoreg.find_mono_root_dir(bits) + + if not mono_root: + raise RuntimeError('Cannot find mono root directory') + + msbuild_tools_path = monoreg.find_msbuild_tools_path_reg() + + if msbuild_tools_path: + return (os.path.join(msbuild_tools_path, 'MSBuild.exe'), os.path.join(mono_root, 'lib', 'mono', '4.5')) + else: + msbuild_mono = os.path.join(mono_root, 'bin', 'msbuild.bat') + + if os.path.isfile(msbuild_mono): + return (msbuild_mono, '') + + return None def mono_build_solution(source, target, env): + import subprocess + import mono_reg_utils as monoreg + from shutil import copyfile + + framework_path_override = '' + if os.name == 'nt': - msbuild_tools_path = monoreg.find_msbuild_tools_path_reg() - if not msbuild_tools_path: - raise RuntimeError('Cannot find MSBuild Tools Path in the registry') - msbuild_path = os.path.join(msbuild_tools_path, 'MSBuild.exe') + msbuild_info = find_msbuild_windows() + if msbuild_info is None: + raise RuntimeError('Cannot find MSBuild executable') + msbuild_path = msbuild_info[0] + framework_path_override = msbuild_info[1] else: - msbuild_path = 'msbuild' + msbuild_path = find_msbuild_unix('msbuild') + if msbuild_path is None: + xbuild_fallback = env['xbuild_fallback'] + + if xbuild_fallback and os.name == 'nt': + print("Option 'xbuild_fallback' not supported on Windows") + xbuild_fallback = False + + if xbuild_fallback: + print('Cannot find MSBuild executable, trying with xbuild') + print('Warning: xbuild is deprecated') + + msbuild_path = find_msbuild_unix('xbuild') + + if msbuild_path is None: + raise RuntimeError('Cannot find xbuild executable') + else: + raise RuntimeError('Cannot find MSBuild executable') + + print('MSBuild path: ' + msbuild_path) - output_path = os.path.abspath(os.path.join(str(target[0]), os.pardir)) + build_config = 'Release' msbuild_args = [ msbuild_path, os.path.abspath(str(source[0])), - '/p:Configuration=Release', - '/p:OutputPath=' + output_path + '/p:Configuration=' + build_config, ] + if framework_path_override: + msbuild_args += ['/p:FrameworkPathOverride=' + framework_path_override] + msbuild_env = os.environ.copy() # Needed when running from Developer Command Prompt for VS if 'PLATFORM' in msbuild_env: del msbuild_env['PLATFORM'] - msbuild_alt_paths = [ 'xbuild' ] - - while True: - try: - subprocess.check_call(msbuild_args, env = msbuild_env) - break - except subprocess.CalledProcessError: - raise RuntimeError('GodotSharpTools build failed') - except OSError: - if os.name != 'nt': - if not msbuild_alt_paths: - raise RuntimeError('Could not find commands msbuild or xbuild') - # Try xbuild - msbuild_args[0] = msbuild_alt_paths.pop(0) - else: - raise RuntimeError('Could not find command MSBuild.exe') + try: + subprocess.check_call(msbuild_args, env=msbuild_env) + except subprocess.CalledProcessError: + raise RuntimeError('GodotSharpTools build failed') + + src_dir = os.path.abspath(os.path.join(str(source[0]), os.pardir, 'bin', build_config)) + dst_dir = os.path.abspath(os.path.join(str(target[0]), os.pardir)) + + if not os.path.isdir(dst_dir): + if os.path.exists(dst_dir): + raise RuntimeError('Target directory is a file') + os.makedirs(dst_dir) + + asm_file = 'GodotSharpTools.dll' + + copyfile(os.path.join(src_dir, asm_file), os.path.join(dst_dir, asm_file)) mono_sln_builder = Builder(action = mono_build_solution) -env.Append(BUILDERS = { 'MonoBuildSolution' : mono_sln_builder }) +env.Append(BUILDERS={'MonoBuildSolution': mono_sln_builder}) env.MonoBuildSolution( os.path.join(Dir('#bin').abspath, 'GodotSharpTools.dll'), 'editor/GodotSharpTools/GodotSharpTools.sln' diff --git a/modules/mono/config.py b/modules/mono/config.py index 0833d30ce1..7ad135e0b9 100644 --- a/modules/mono/config.py +++ b/modules/mono/config.py @@ -2,7 +2,6 @@ import imp import os import sys -from shutil import copyfile from SCons.Script import BoolVariable, Environment, Variables @@ -16,8 +15,7 @@ def find_file_in_dir(directory, files, prefix='', extension=''): for curfile in files: if os.path.isfile(os.path.join(directory, prefix + curfile + extension)): return curfile - - return None + return '' def can_build(platform): @@ -31,13 +29,32 @@ def is_enabled(): return False +def copy_file_no_replace(src_dir, dst_dir, name): + from shutil import copyfile + + src_path = os.path.join(src_dir, name) + dst_path = os.path.join(dst_dir, name) + need_copy = True + + if not os.path.isdir(dst_dir): + os.mkdir(dst_dir) + elif os.path.exists(dst_path): + need_copy = False + + if need_copy: + copyfile(src_path, dst_path) + + def configure(env): env.use_ptrcall = True + env.add_module_version_string("mono") envvars = Variables() envvars.Add(BoolVariable('mono_static', 'Statically link mono', False)) envvars.Update(env) + bits = env['bits'] + mono_static = env['mono_static'] mono_lib_names = ['mono-2.0-sgen', 'monosgen-2.0'] @@ -46,18 +63,18 @@ def configure(env): if mono_static: raise RuntimeError('mono-static: Not supported on Windows') - if env['bits'] == '32': + if bits == '32': if os.getenv('MONO32_PREFIX'): mono_root = os.getenv('MONO32_PREFIX') elif os.name == 'nt': - mono_root = monoreg.find_mono_root_dir() + mono_root = monoreg.find_mono_root_dir(bits) else: if os.getenv('MONO64_PREFIX'): mono_root = os.getenv('MONO64_PREFIX') elif os.name == 'nt': - mono_root = monoreg.find_mono_root_dir() + mono_root = monoreg.find_mono_root_dir(bits) - if mono_root is None: + if not mono_root: raise RuntimeError('Mono installation directory not found') mono_lib_path = os.path.join(mono_root, 'lib') @@ -67,7 +84,7 @@ def configure(env): mono_lib_name = find_file_in_dir(mono_lib_path, mono_lib_names, extension='.lib') - if mono_lib_name is None: + if not mono_lib_name: raise RuntimeError('Could not find mono library in: ' + mono_lib_path) if os.getenv('VCINSTALLDIR'): @@ -79,28 +96,23 @@ def configure(env): mono_dll_name = find_file_in_dir(mono_bin_path, mono_lib_names, extension='.dll') - mono_dll_src = os.path.join(mono_bin_path, mono_dll_name + '.dll') - mono_dll_dst = os.path.join('bin', mono_dll_name + '.dll') - copy_mono_dll = True - - if not os.path.isdir('bin'): - os.mkdir('bin') - elif os.path.exists(mono_dll_dst): - copy_mono_dll = False + if not mono_dll_name: + raise RuntimeError('Could not find mono shared library in: ' + mono_bin_path) - if copy_mono_dll: - copyfile(mono_dll_src, mono_dll_dst) + copy_file_no_replace(mono_bin_path, 'bin', mono_dll_name + '.dll') else: - mono_root = None + sharedlib_ext = '.dylib' if sys.platform == 'darwin' else '.so' - if env['bits'] == '32': + mono_root = '' + + if bits == '32': if os.getenv('MONO32_PREFIX'): mono_root = os.getenv('MONO32_PREFIX') else: if os.getenv('MONO64_PREFIX'): mono_root = os.getenv('MONO64_PREFIX') - if mono_root is not None: + if mono_root: mono_lib_path = os.path.join(mono_root, 'lib') env.Append(LIBPATH=mono_lib_path) @@ -108,7 +120,7 @@ def configure(env): mono_lib = find_file_in_dir(mono_lib_path, mono_lib_names, prefix='lib', extension='.a') - if mono_lib is None: + if not mono_lib: raise RuntimeError('Could not find mono library in: ' + mono_lib_path) env.Append(CPPFLAGS=['-D_REENTRANT']) @@ -130,12 +142,37 @@ def configure(env): elif sys.platform == "linux" or sys.platform == "linux2": env.Append(LIBS=['m', 'rt', 'dl', 'pthread']) + if not mono_static: + mono_so_name = find_file_in_dir(mono_lib_path, mono_lib_names, prefix='lib', extension=sharedlib_ext) + + if not mono_so_name: + raise RuntimeError('Could not find mono shared library in: ' + mono_lib_path) + + copy_file_no_replace(mono_lib_path, 'bin', 'lib' + mono_so_name + sharedlib_ext) else: if mono_static: raise RuntimeError('mono-static: Not supported with pkg-config. Specify a mono prefix manually') env.ParseConfig('pkg-config monosgen-2 --cflags --libs') + mono_lib_path = '' + mono_so_name = '' + + tmpenv = Environment() + tmpenv.ParseConfig('pkg-config monosgen-2 --libs-only-L') + + for hint_dir in tmpenv['LIBPATH']: + name_found = find_file_in_dir(hint_dir, mono_lib_names, prefix='lib', extension=sharedlib_ext) + if name_found: + mono_lib_path = hint_dir + mono_so_name = name_found + break + + if not mono_so_name: + raise RuntimeError('Could not find mono shared library in: ' + str(tmpenv['LIBPATH'])) + + copy_file_no_replace(mono_lib_path, 'bin', 'lib' + mono_so_name + sharedlib_ext) + env.Append(LINKFLAGS='-rdynamic') diff --git a/modules/mono/csharp_script.cpp b/modules/mono/csharp_script.cpp index 8d4e19469a..161e130a07 100644 --- a/modules/mono/csharp_script.cpp +++ b/modules/mono/csharp_script.cpp @@ -122,6 +122,9 @@ void CSharpLanguage::init() { void CSharpLanguage::finish() { + // Release gchandle bindings before finalizing mono runtime + gchandle_bindings.clear(); + if (gdmono) { memdelete(gdmono); gdmono = NULL; @@ -297,6 +300,20 @@ Ref<Script> CSharpLanguage::get_template(const String &p_class_name, const Strin return script; } +bool CSharpLanguage::is_using_templates() { + + return true; +} + +void CSharpLanguage::make_template(const String &p_class_name, const String &p_base_class_name, Ref<Script> &p_script) { + + String src = p_script->get_source_code(); + src = src.replace("%BASE%", p_base_class_name) + .replace("%CLASS%", p_class_name) + .replace("%TS%", _get_indentation()); + p_script->set_source_code(src); +} + Script *CSharpLanguage::create_script() const { return memnew(CSharpScript); @@ -396,6 +413,25 @@ String CSharpLanguage::make_function(const String &p_class, const String &p_name #endif } +String CSharpLanguage::_get_indentation() const { +#ifdef TOOLS_ENABLED + if (Engine::get_singleton()->is_editor_hint()) { + bool use_space_indentation = EDITOR_DEF("text_editor/indent/type", 0); + + if (use_space_indentation) { + int indent_size = EDITOR_DEF("text_editor/indent/size", 4); + + String space_indent = ""; + for (int i = 0; i < indent_size; i++) { + space_indent += " "; + } + return space_indent; + } + } +#endif + return "\t"; +} + void CSharpLanguage::frame() { const Ref<MonoGCHandle> &task_scheduler_handle = GDMonoUtils::mono_cache.task_scheduler_handle; @@ -477,6 +513,7 @@ void CSharpLanguage::reload_tool_script(const Ref<Script> &p_script, bool p_soft (void)p_script; // UNUSED #ifdef TOOLS_ENABLED + MonoReloadNode::get_singleton()->restart_reload_timer(); reload_assemblies_if_needed(p_soft_reload); #endif } @@ -488,13 +525,17 @@ void CSharpLanguage::reload_assemblies_if_needed(bool p_soft_reload) { GDMonoAssembly *proj_assembly = gdmono->get_project_assembly(); + String name = ProjectSettings::get_singleton()->get("application/config/name"); + if (name.empty()) { + name = "UnnamedProject"; + } + if (proj_assembly) { String proj_asm_path = proj_assembly->get_path(); if (!FileAccess::exists(proj_assembly->get_path())) { // Maybe it wasn't loaded from the default path, so check this as well - String proj_asm_name = ProjectSettings::get_singleton()->get("application/config/name"); - proj_asm_path = GodotSharpDirs::get_res_temp_assemblies_dir().plus_file(proj_asm_name); + proj_asm_path = GodotSharpDirs::get_res_temp_assemblies_dir().plus_file(name); if (!FileAccess::exists(proj_asm_path)) return; // No assembly to load } @@ -502,8 +543,7 @@ void CSharpLanguage::reload_assemblies_if_needed(bool p_soft_reload) { if (FileAccess::get_modified_time(proj_asm_path) <= proj_assembly->get_modified_time()) return; // Already up to date } else { - String proj_asm_name = ProjectSettings::get_singleton()->get("application/config/name"); - if (!FileAccess::exists(GodotSharpDirs::get_res_temp_assemblies_dir().plus_file(proj_asm_name))) + if (!FileAccess::exists(GodotSharpDirs::get_res_temp_assemblies_dir().plus_file(name))) return; // No assembly to load } } @@ -621,6 +661,9 @@ void CSharpLanguage::reload_assemblies_if_needed(bool p_soft_reload) { //if instance states were saved, set them! } + + if (Engine::get_singleton()->is_editor_hint()) + EditorNode::get_singleton()->get_property_editor()->update_tree(); } #endif @@ -787,6 +830,14 @@ void *CSharpLanguage::alloc_instance_binding_data(Object *p_object) { void CSharpLanguage::free_instance_binding_data(void *p_data) { + if (GDMono::get_singleton() == NULL) { +#ifdef DEBUG_ENABLED + CRASH_COND(!gchandle_bindings.empty()); +#endif + // Mono runtime finalized, all the gchandle bindings were already released + return; + } + #ifndef NO_THREADS script_bind_lock->lock(); #endif @@ -1404,6 +1455,34 @@ void CSharpScript::_resource_path_changed() { } } +bool CSharpScript::_get(const StringName &p_name, Variant &r_ret) const { + + if (p_name == CSharpLanguage::singleton->string_names._script_source) { + + r_ret = get_source_code(); + return true; + } + + return false; +} + +bool CSharpScript::_set(const StringName &p_name, const Variant &p_value) { + + if (p_name == CSharpLanguage::singleton->string_names._script_source) { + + set_source_code(p_value); + reload(); + return true; + } + + return false; +} + +void CSharpScript::_get_property_list(List<PropertyInfo> *p_properties) const { + + p_properties->push_back(PropertyInfo(Variant::STRING, CSharpLanguage::singleton->string_names._script_source, PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR)); +} + void CSharpScript::_bind_methods() { ClassDB::bind_vararg_method(METHOD_FLAGS_DEFAULT, "new", &CSharpScript::_new, MethodInfo(Variant::OBJECT, "new")); @@ -1977,5 +2056,6 @@ CSharpLanguage::StringNameCache::StringNameCache() { _set = StaticCString::create("_set"); _get = StaticCString::create("_get"); _notification = StaticCString::create("_notification"); + _script_source = StaticCString::create("script/source"); dotctor = StaticCString::create(".ctor"); } diff --git a/modules/mono/csharp_script.h b/modules/mono/csharp_script.h index 65a6450da5..255665b495 100644 --- a/modules/mono/csharp_script.h +++ b/modules/mono/csharp_script.h @@ -116,6 +116,9 @@ protected: Variant call(const StringName &p_method, const Variant **p_args, int p_argcount, Variant::CallError &r_error); virtual void _resource_path_changed(); + bool _get(const StringName &p_name, Variant &r_ret) const; + bool _set(const StringName &p_name, const Variant &p_value); + void _get_property_list(List<PropertyInfo> *p_properties) const; public: virtual bool can_instance() const; @@ -228,16 +231,17 @@ class CSharpLanguage : public ScriptLanguage { StringName _set; StringName _get; StringName _notification; + StringName _script_source; StringName dotctor; // .ctor StringNameCache(); }; - StringNameCache string_names; - int lang_idx; public: + StringNameCache string_names; + _FORCE_INLINE_ int get_language_index() { return lang_idx; } void set_language_index(int p_idx); @@ -266,6 +270,8 @@ public: virtual void get_comment_delimiters(List<String> *p_delimiters) const; virtual void get_string_delimiters(List<String> *p_delimiters) const; virtual Ref<Script> get_template(const String &p_class_name, const String &p_base_class_name) const; + virtual bool is_using_templates(); + virtual void make_template(const String &p_class_name, const String &p_base_class_name, Ref<Script> &p_script); /* TODO */ virtual bool validate(const String &p_script, int &r_line_error, int &r_col_error, String &r_test_error, const String &p_path, List<String> *r_functions) const { return true; } virtual Script *create_script() const; virtual bool has_named_classes() const; @@ -273,6 +279,7 @@ public: /* TODO? */ virtual int find_function(const String &p_function, const String &p_code) const { return -1; } virtual String make_function(const String &p_class, const String &p_name, const PoolStringArray &p_args) const; /* TODO? */ Error complete_code(const String &p_code, const String &p_base_path, Object *p_owner, List<String> *r_options, String &r_call_hint) { return ERR_UNAVAILABLE; } + virtual String _get_indentation() const; /* TODO? */ virtual void auto_indent_code(String &p_code, int p_from_line, int p_to_line) const {} /* TODO */ virtual void add_global_constant(const StringName &p_variable, const Variant &p_value) {} diff --git a/modules/mono/editor/GodotSharpTools/Build/BuildSystem.cs b/modules/mono/editor/GodotSharpTools/Build/BuildSystem.cs index 5544233eb7..04da0600cc 100644 --- a/modules/mono/editor/GodotSharpTools/Build/BuildSystem.cs +++ b/modules/mono/editor/GodotSharpTools/Build/BuildSystem.cs @@ -4,6 +4,7 @@ using System.Collections.Specialized; using System.Diagnostics; using System.IO; using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; using System.Security; using Microsoft.Build.Framework; @@ -12,22 +13,27 @@ namespace GodotSharpTools.Build public class BuildInstance : IDisposable { [MethodImpl(MethodImplOptions.InternalCall)] - internal extern static void godot_icall_BuildInstance_ExitCallback(string solution, string config, int exitCode); + private extern static void godot_icall_BuildInstance_ExitCallback(string solution, string config, int exitCode); [MethodImpl(MethodImplOptions.InternalCall)] - internal extern static string godot_icall_BuildInstance_get_MSBuildPath(); + private extern static void godot_icall_BuildInstance_get_MSBuildInfo(ref string msbuildPath, ref string frameworkPath); - private static string MSBuildPath + private struct MSBuildInfo { - get - { - string ret = godot_icall_BuildInstance_get_MSBuildPath(); + public string path; + public string frameworkPathOverride; + } - if (ret == null) - throw new FileNotFoundException("Cannot find the MSBuild executable."); + private static MSBuildInfo GetMSBuildInfo() + { + MSBuildInfo msbuildInfo = new MSBuildInfo(); - return ret; - } + godot_icall_BuildInstance_get_MSBuildInfo(ref msbuildInfo.path, ref msbuildInfo.frameworkPathOverride); + + if (msbuildInfo.path == null) + throw new FileNotFoundException("Cannot find the MSBuild executable."); + + return msbuildInfo; } private string solution; @@ -48,9 +54,19 @@ namespace GodotSharpTools.Build public bool Build(string loggerAssemblyPath, string loggerOutputDir, string[] customProperties = null) { - string compilerArgs = BuildArguments(loggerAssemblyPath, loggerOutputDir, customProperties); + MSBuildInfo msbuildInfo = GetMSBuildInfo(); + + List<string> customPropertiesList = new List<string>(); + + if (customProperties != null) + customPropertiesList.AddRange(customProperties); + + if (msbuildInfo.frameworkPathOverride != null) + customPropertiesList.Add("FrameworkPathOverride=" + msbuildInfo.frameworkPathOverride); - ProcessStartInfo startInfo = new ProcessStartInfo(MSBuildPath, compilerArgs); + string compilerArgs = BuildArguments(loggerAssemblyPath, loggerOutputDir, customPropertiesList); + + ProcessStartInfo startInfo = new ProcessStartInfo(msbuildInfo.path, compilerArgs); // No console output, thanks startInfo.RedirectStandardOutput = true; @@ -82,9 +98,19 @@ namespace GodotSharpTools.Build if (process != null) throw new InvalidOperationException("Already in use"); - string compilerArgs = BuildArguments(loggerAssemblyPath, loggerOutputDir, customProperties); + MSBuildInfo msbuildInfo = GetMSBuildInfo(); + + List<string> customPropertiesList = new List<string>(); + + if (customProperties != null) + customPropertiesList.AddRange(customProperties); + + if (msbuildInfo.frameworkPathOverride.Length > 0) + customPropertiesList.Add("FrameworkPathOverride=" + msbuildInfo.frameworkPathOverride); - ProcessStartInfo startInfo = new ProcessStartInfo("msbuild", compilerArgs); + string compilerArgs = BuildArguments(loggerAssemblyPath, loggerOutputDir, customPropertiesList); + + ProcessStartInfo startInfo = new ProcessStartInfo(msbuildInfo.path, compilerArgs); // No console output, thanks startInfo.RedirectStandardOutput = true; @@ -101,10 +127,13 @@ namespace GodotSharpTools.Build process.Start(); + process.BeginOutputReadLine(); + process.BeginErrorReadLine(); + return true; } - private string BuildArguments(string loggerAssemblyPath, string loggerOutputDir, string[] customProperties) + private string BuildArguments(string loggerAssemblyPath, string loggerOutputDir, List<string> customProperties) { string arguments = string.Format(@"""{0}"" /v:normal /t:Build ""/p:{1}"" ""/l:{2},{3};{4}""", solution, @@ -114,12 +143,9 @@ namespace GodotSharpTools.Build loggerOutputDir ); - if (customProperties != null) + foreach (string customProperty in customProperties) { - foreach (string customProperty in customProperties) - { - arguments += " /p:" + customProperty; - } + arguments += " \"/p:" + customProperty + "\""; } return arguments; diff --git a/modules/mono/editor/GodotSharpTools/GodotSharpTools.sln b/modules/mono/editor/GodotSharpTools/GodotSharpTools.sln index 7eabcdff5d..5f7d0e8a39 100644 --- a/modules/mono/editor/GodotSharpTools/GodotSharpTools.sln +++ b/modules/mono/editor/GodotSharpTools/GodotSharpTools.sln @@ -1,17 +1,17 @@ -
-Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 2012
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "GodotSharpTools", "GodotSharpTools.csproj", "{A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}"
-EndProject
-Global
- GlobalSection(SolutionConfigurationPlatforms) = preSolution
- Debug|Any CPU = Debug|Any CPU
- Release|Any CPU = Release|Any CPU
- EndGlobalSection
- GlobalSection(ProjectConfigurationPlatforms) = postSolution
- {A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
- {A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}.Debug|Any CPU.Build.0 = Debug|Any CPU
- {A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}.Release|Any CPU.ActiveCfg = Release|Any CPU
- {A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}.Release|Any CPU.Build.0 = Release|Any CPU
- EndGlobalSection
-EndGlobal
+ +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 2012 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "GodotSharpTools", "GodotSharpTools.csproj", "{A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + Release|Any CPU = Release|Any CPU + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}.Debug|Any CPU.Build.0 = Debug|Any CPU + {A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}.Release|Any CPU.ActiveCfg = Release|Any CPU + {A8CDAD94-C6D4-4B19-A7E7-76C53CC92984}.Release|Any CPU.Build.0 = Release|Any CPU + EndGlobalSection +EndGlobal diff --git a/modules/mono/editor/bindings_generator.cpp b/modules/mono/editor/bindings_generator.cpp index 6cb4d09a51..eb504ec021 100644 --- a/modules/mono/editor/bindings_generator.cpp +++ b/modules/mono/editor/bindings_generator.cpp @@ -439,7 +439,7 @@ Error BindingsGenerator::generate_cs_core_project(const String &p_output_dir, bo } if (verbose_output) - OS::get_singleton()->print("Core API solution and C# project generated successfully!\n"); + OS::get_singleton()->print("The solution and C# project for the Core API was generated successfully\n"); return OK; } @@ -534,7 +534,7 @@ Error BindingsGenerator::generate_cs_editor_project(const String &p_output_dir, } if (verbose_output) - OS::get_singleton()->print("Editor API solution and C# project generated successfully!\n"); + OS::get_singleton()->print("The solution and C# project for the Editor API was generated successfully\n"); return OK; } @@ -543,8 +543,6 @@ Error BindingsGenerator::generate_cs_editor_project(const String &p_output_dir, // e.g.: warning CS0108: 'SpriteBase3D.FLAG_MAX' hides inherited member 'GeometryInstance.FLAG_MAX'. Use the new keyword if hiding was intended. Error BindingsGenerator::_generate_cs_type(const TypeInterface &itype, const String &p_output_file) { - int method_bind_count = 0; - bool is_derived_type = itype.base_name.length(); List<InternalCall> &custom_icalls = itype.api_type == ClassDB::API_EDITOR ? editor_custom_icalls : core_custom_icalls; @@ -554,51 +552,51 @@ Error BindingsGenerator::_generate_cs_type(const TypeInterface &itype, const Str String ctor_method(ICALL_PREFIX + itype.proxy_name + "_Ctor"); - List<String> cs_file; + List<String> output; - cs_file.push_back("using System;\n"); // IntPtr + output.push_back("using System;\n"); // IntPtr if (itype.requires_collections) - cs_file.push_back("using System.Collections.Generic;\n"); // Dictionary + output.push_back("using System.Collections.Generic;\n"); // Dictionary - cs_file.push_back("\nnamespace " BINDINGS_NAMESPACE "\n" OPEN_BLOCK); + output.push_back("\nnamespace " BINDINGS_NAMESPACE "\n" OPEN_BLOCK); const DocData::ClassDoc *class_doc = itype.class_doc; if (class_doc && class_doc->description.size()) { - cs_file.push_back(INDENT1 "/// <summary>\n"); + output.push_back(INDENT1 "/// <summary>\n"); Vector<String> description_lines = class_doc->description.split("\n"); for (int i = 0; i < description_lines.size(); i++) { if (description_lines[i].size()) { - cs_file.push_back(INDENT1 "/// "); - cs_file.push_back(description_lines[i].strip_edges().xml_escape()); - cs_file.push_back("\n"); + output.push_back(INDENT1 "/// "); + output.push_back(description_lines[i].strip_edges().xml_escape()); + output.push_back("\n"); } } - cs_file.push_back(INDENT1 "/// </summary>\n"); + output.push_back(INDENT1 "/// </summary>\n"); } - cs_file.push_back(INDENT1 "public "); - cs_file.push_back(itype.is_singleton ? "static class " : "class "); - cs_file.push_back(itype.proxy_name); + output.push_back(INDENT1 "public "); + output.push_back(itype.is_singleton ? "static class " : "class "); + output.push_back(itype.proxy_name); if (itype.is_singleton || !itype.is_object_type) { - cs_file.push_back("\n"); + output.push_back("\n"); } else if (!is_derived_type) { - cs_file.push_back(" : IDisposable\n"); + output.push_back(" : IDisposable\n"); } else if (obj_types.has(itype.base_name)) { - cs_file.push_back(" : "); - cs_file.push_back(obj_types[itype.base_name].proxy_name); - cs_file.push_back("\n"); + output.push_back(" : "); + output.push_back(obj_types[itype.base_name].proxy_name); + output.push_back("\n"); } else { - ERR_PRINTS("Base type ' " + itype.base_name + "' does not exist"); + ERR_PRINTS("Base type '" + itype.base_name + "' does not exist, for class " + itype.name); return ERR_INVALID_DATA; } - cs_file.push_back(INDENT1 "{"); + output.push_back(INDENT1 "{"); if (class_doc) { @@ -608,270 +606,165 @@ Error BindingsGenerator::_generate_cs_type(const TypeInterface &itype, const Str const DocData::ConstantDoc &const_doc = class_doc->constants[i]; if (const_doc.description.size()) { - cs_file.push_back(MEMBER_BEGIN "/// <summary>\n"); + output.push_back(MEMBER_BEGIN "/// <summary>\n"); Vector<String> description_lines = const_doc.description.split("\n"); for (int i = 0; i < description_lines.size(); i++) { if (description_lines[i].size()) { - cs_file.push_back(INDENT2 "/// "); - cs_file.push_back(description_lines[i].strip_edges().xml_escape()); - cs_file.push_back("\n"); + output.push_back(INDENT2 "/// "); + output.push_back(description_lines[i].strip_edges().xml_escape()); + output.push_back("\n"); } } - cs_file.push_back(INDENT2 "/// </summary>"); + output.push_back(INDENT2 "/// </summary>"); } - cs_file.push_back(MEMBER_BEGIN "public const int "); - cs_file.push_back(const_doc.name); - cs_file.push_back(" = "); - cs_file.push_back(const_doc.value); - cs_file.push_back(";"); + output.push_back(MEMBER_BEGIN "public const int "); + output.push_back(const_doc.name); + output.push_back(" = "); + output.push_back(const_doc.value); + output.push_back(";"); } if (class_doc->constants.size()) - cs_file.push_back("\n"); + output.push_back("\n"); // Add properties - const Vector<DocData::PropertyDoc> &properties = itype.class_doc->properties; + const Vector<DocData::PropertyDoc> &properties = class_doc->properties; for (int i = 0; i < properties.size(); i++) { const DocData::PropertyDoc &prop_doc = properties[i]; - - const MethodInterface *setter = itype.find_method_by_name(prop_doc.setter); - - // Search it in base types too - const TypeInterface *current_type = &itype; - while (!setter && current_type->base_name.length()) { - Map<String, TypeInterface>::Element *base_match = obj_types.find(current_type->base_name); - ERR_FAIL_NULL_V(base_match, ERR_BUG); - current_type = &base_match->get(); - setter = current_type->find_method_by_name(prop_doc.setter); - } - - const MethodInterface *getter = itype.find_method_by_name(prop_doc.getter); - - // Search it in base types too - current_type = &itype; - while (!getter && current_type->base_name.length()) { - Map<String, TypeInterface>::Element *base_match = obj_types.find(current_type->base_name); - ERR_FAIL_NULL_V(base_match, ERR_BUG); - current_type = &base_match->get(); - getter = current_type->find_method_by_name(prop_doc.getter); - } - - ERR_FAIL_COND_V(!setter && !getter, ERR_BUG); - - bool is_valid = false; - int prop_index = ClassDB::get_property_index(itype.name, prop_doc.name, &is_valid); - ERR_FAIL_COND_V(!is_valid, ERR_BUG); - - if (setter) { - int setter_argc = prop_index != -1 ? 2 : 1; - ERR_FAIL_COND_V(setter->arguments.size() != setter_argc, ERR_BUG); - } - - if (getter) { - int getter_argc = prop_index != -1 ? 1 : 0; - ERR_FAIL_COND_V(getter->arguments.size() != getter_argc, ERR_BUG); - } - - if (getter && setter) { - ERR_FAIL_COND_V(getter->return_type != setter->arguments.back()->get().type, ERR_BUG); - } - - // Let's not trust PropertyDoc::type - String proptype_name = getter ? getter->return_type : setter->arguments.back()->get().type; - - const TypeInterface *prop_itype = _get_type_by_name_or_null(proptype_name); - if (!prop_itype) { - // Try with underscore prefix - prop_itype = _get_type_by_name_or_null("_" + proptype_name); - } - - ERR_FAIL_NULL_V(prop_itype, ERR_BUG); - - String prop_proxy_name = escape_csharp_keyword(snake_to_pascal_case(prop_doc.name)); - - // Prevent property and enclosing type from sharing the same name - if (prop_proxy_name == itype.proxy_name) { - if (verbose_output) { - WARN_PRINTS("Name of property `" + prop_proxy_name + "` is ambiguous with the name of its class `" + - itype.proxy_name + "`. Renaming property to `" + prop_proxy_name + "_`"); - } - - prop_proxy_name += "_"; - } - - if (prop_doc.description.size()) { - cs_file.push_back(MEMBER_BEGIN "/// <summary>\n"); - - Vector<String> description_lines = prop_doc.description.split("\n"); - - for (int i = 0; i < description_lines.size(); i++) { - if (description_lines[i].size()) { - cs_file.push_back(INDENT2 "/// "); - cs_file.push_back(description_lines[i].strip_edges().xml_escape()); - cs_file.push_back("\n"); - } - } - - cs_file.push_back(INDENT2 "/// </summary>"); + Error prop_err = _generate_cs_property(itype, prop_doc, output); + if (prop_err != OK) { + ERR_EXPLAIN("Failed to generate property '" + prop_doc.name + "' for class '" + itype.name + "'"); + ERR_FAIL_V(prop_err); } - - cs_file.push_back(MEMBER_BEGIN "public "); - - if (itype.is_singleton) - cs_file.push_back("static "); - - cs_file.push_back(prop_itype->cs_type); - cs_file.push_back(" "); - cs_file.push_back(prop_proxy_name.replace("/", "__")); - cs_file.push_back("\n" INDENT2 OPEN_BLOCK); - - if (getter) { - cs_file.push_back(INDENT3 "get\n" OPEN_BLOCK_L3); - cs_file.push_back("return "); - cs_file.push_back(getter->proxy_name + "("); - if (prop_index != -1) - cs_file.push_back(itos(prop_index)); - cs_file.push_back(");\n" CLOSE_BLOCK_L3); - } - - if (setter) { - cs_file.push_back(INDENT3 "set\n" OPEN_BLOCK_L3); - cs_file.push_back(setter->proxy_name + "("); - if (prop_index != -1) - cs_file.push_back(itos(prop_index) + ", "); - cs_file.push_back("value);\n" CLOSE_BLOCK_L3); - } - - cs_file.push_back(CLOSE_BLOCK_L2); } if (class_doc->properties.size()) - cs_file.push_back("\n"); + output.push_back("\n"); } if (!itype.is_object_type) { - cs_file.push_back(MEMBER_BEGIN "private const string " BINDINGS_NATIVE_NAME_FIELD " = \"" + itype.name + "\";\n"); - cs_file.push_back(MEMBER_BEGIN "private bool disposed = false;\n"); - cs_file.push_back(MEMBER_BEGIN "internal IntPtr " BINDINGS_PTR_FIELD ";\n"); + output.push_back(MEMBER_BEGIN "private const string " BINDINGS_NATIVE_NAME_FIELD " = \"" + itype.name + "\";\n"); + output.push_back(MEMBER_BEGIN "private bool disposed = false;\n"); + output.push_back(MEMBER_BEGIN "internal IntPtr " BINDINGS_PTR_FIELD ";\n"); - cs_file.push_back(MEMBER_BEGIN "internal static IntPtr " CS_SMETHOD_GETINSTANCE "("); - cs_file.push_back(itype.proxy_name); - cs_file.push_back(" instance)\n" OPEN_BLOCK_L2 "return instance == null ? IntPtr.Zero : instance." BINDINGS_PTR_FIELD ";\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "internal static IntPtr " CS_SMETHOD_GETINSTANCE "("); + output.push_back(itype.proxy_name); + output.push_back(" instance)\n" OPEN_BLOCK_L2 "return instance == null ? IntPtr.Zero : instance." BINDINGS_PTR_FIELD ";\n" CLOSE_BLOCK_L2); // Add Destructor - cs_file.push_back(MEMBER_BEGIN "~"); - cs_file.push_back(itype.proxy_name); - cs_file.push_back("()\n" OPEN_BLOCK_L2 "Dispose(false);\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "~"); + output.push_back(itype.proxy_name); + output.push_back("()\n" OPEN_BLOCK_L2 "Dispose(false);\n" CLOSE_BLOCK_L2); // Add the Dispose from IDisposable - cs_file.push_back(MEMBER_BEGIN "public void Dispose()\n" OPEN_BLOCK_L2 "Dispose(true);\n" INDENT3 "GC.SuppressFinalize(this);\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "public void Dispose()\n" OPEN_BLOCK_L2 "Dispose(true);\n" INDENT3 "GC.SuppressFinalize(this);\n" CLOSE_BLOCK_L2); // Add the virtual Dispose - cs_file.push_back(MEMBER_BEGIN "public virtual void Dispose(bool disposing)\n" OPEN_BLOCK_L2 - "if (disposed) return;\n" INDENT3 - "if (" BINDINGS_PTR_FIELD " != IntPtr.Zero)\n" OPEN_BLOCK_L3 "NativeCalls.godot_icall_"); - cs_file.push_back(itype.proxy_name); - cs_file.push_back("_Dtor(" BINDINGS_PTR_FIELD ");\n" INDENT5 BINDINGS_PTR_FIELD " = IntPtr.Zero;\n" CLOSE_BLOCK_L3 INDENT3 - "GC.SuppressFinalize(this);\n" INDENT3 "disposed = true;\n" CLOSE_BLOCK_L2); - - cs_file.push_back(MEMBER_BEGIN "internal "); - cs_file.push_back(itype.proxy_name); - cs_file.push_back("(IntPtr " BINDINGS_PTR_FIELD ")\n" OPEN_BLOCK_L2 "this." BINDINGS_PTR_FIELD " = " BINDINGS_PTR_FIELD ";\n" CLOSE_BLOCK_L2); - - cs_file.push_back(MEMBER_BEGIN "public IntPtr NativeInstance\n" OPEN_BLOCK_L2 - "get { return " BINDINGS_PTR_FIELD "; }\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "public virtual void Dispose(bool disposing)\n" OPEN_BLOCK_L2 + "if (disposed) return;\n" INDENT3 + "if (" BINDINGS_PTR_FIELD " != IntPtr.Zero)\n" OPEN_BLOCK_L3 "NativeCalls.godot_icall_"); + output.push_back(itype.proxy_name); + output.push_back("_Dtor(" BINDINGS_PTR_FIELD ");\n" INDENT5 BINDINGS_PTR_FIELD " = IntPtr.Zero;\n" CLOSE_BLOCK_L3 INDENT3 + "GC.SuppressFinalize(this);\n" INDENT3 "disposed = true;\n" CLOSE_BLOCK_L2); + + output.push_back(MEMBER_BEGIN "internal "); + output.push_back(itype.proxy_name); + output.push_back("(IntPtr " BINDINGS_PTR_FIELD ")\n" OPEN_BLOCK_L2 "this." BINDINGS_PTR_FIELD " = " BINDINGS_PTR_FIELD ";\n" CLOSE_BLOCK_L2); + + output.push_back(MEMBER_BEGIN "public IntPtr NativeInstance\n" OPEN_BLOCK_L2 + "get { return " BINDINGS_PTR_FIELD "; }\n" CLOSE_BLOCK_L2); } else if (itype.is_singleton) { // Add the type name and the singleton pointer as static fields - cs_file.push_back(MEMBER_BEGIN "private const string " BINDINGS_NATIVE_NAME_FIELD " = \""); - cs_file.push_back(itype.name); - cs_file.push_back("\";\n"); + output.push_back(MEMBER_BEGIN "private const string " BINDINGS_NATIVE_NAME_FIELD " = \""); + output.push_back(itype.name); + output.push_back("\";\n"); - cs_file.push_back(INDENT2 "internal static IntPtr " BINDINGS_PTR_FIELD " = "); - cs_file.push_back(itype.api_type == ClassDB::API_EDITOR ? CS_CLASS_NATIVECALLS_EDITOR : CS_CLASS_NATIVECALLS); - cs_file.push_back("." ICALL_PREFIX); - cs_file.push_back(itype.name); - cs_file.push_back(SINGLETON_ICALL_SUFFIX "();\n"); + output.push_back(INDENT2 "internal static IntPtr " BINDINGS_PTR_FIELD " = "); + output.push_back(itype.api_type == ClassDB::API_EDITOR ? CS_CLASS_NATIVECALLS_EDITOR : CS_CLASS_NATIVECALLS); + output.push_back("." ICALL_PREFIX); + output.push_back(itype.name); + output.push_back(SINGLETON_ICALL_SUFFIX "();\n"); } else { // Add member fields - cs_file.push_back(MEMBER_BEGIN "private const string " BINDINGS_NATIVE_NAME_FIELD " = \""); - cs_file.push_back(itype.name); - cs_file.push_back("\";\n"); + output.push_back(MEMBER_BEGIN "private const string " BINDINGS_NATIVE_NAME_FIELD " = \""); + output.push_back(itype.name); + output.push_back("\";\n"); // Only the base class stores the pointer to the native object // This pointer is expected to be and must be of type Object* if (!is_derived_type) { - cs_file.push_back(MEMBER_BEGIN "private bool disposed = false;\n"); - cs_file.push_back(INDENT2 "internal IntPtr " BINDINGS_PTR_FIELD ";\n"); - cs_file.push_back(INDENT2 "internal bool " CS_FIELD_MEMORYOWN ";\n"); + output.push_back(MEMBER_BEGIN "private bool disposed = false;\n"); + output.push_back(INDENT2 "internal IntPtr " BINDINGS_PTR_FIELD ";\n"); + output.push_back(INDENT2 "internal bool " CS_FIELD_MEMORYOWN ";\n"); } // Add default constructor if (itype.is_instantiable) { - cs_file.push_back(MEMBER_BEGIN "public "); - cs_file.push_back(itype.proxy_name); - cs_file.push_back("() : this("); - cs_file.push_back(itype.memory_own ? "true" : "false"); + output.push_back(MEMBER_BEGIN "public "); + output.push_back(itype.proxy_name); + output.push_back("() : this("); + output.push_back(itype.memory_own ? "true" : "false"); // The default constructor may also be called by the engine when instancing existing native objects // The engine will initialize the pointer field of the managed side before calling the constructor // This is why we only allocate a new native object from the constructor if the pointer field is not set - cs_file.push_back(")\n" OPEN_BLOCK_L2 "if (" BINDINGS_PTR_FIELD " == IntPtr.Zero)\n" INDENT4 BINDINGS_PTR_FIELD " = "); - cs_file.push_back(itype.api_type == ClassDB::API_EDITOR ? CS_CLASS_NATIVECALLS_EDITOR : CS_CLASS_NATIVECALLS); - cs_file.push_back("." + ctor_method); - cs_file.push_back("(this);\n" CLOSE_BLOCK_L2); + output.push_back(")\n" OPEN_BLOCK_L2 "if (" BINDINGS_PTR_FIELD " == IntPtr.Zero)\n" INDENT4 BINDINGS_PTR_FIELD " = "); + output.push_back(itype.api_type == ClassDB::API_EDITOR ? CS_CLASS_NATIVECALLS_EDITOR : CS_CLASS_NATIVECALLS); + output.push_back("." + ctor_method); + output.push_back("(this);\n" CLOSE_BLOCK_L2); } else { // Hide the constructor - cs_file.push_back(MEMBER_BEGIN "internal "); - cs_file.push_back(itype.proxy_name); - cs_file.push_back("() {}\n"); + output.push_back(MEMBER_BEGIN "internal "); + output.push_back(itype.proxy_name); + output.push_back("() {}\n"); } // Add.. em.. trick constructor. Sort of. - cs_file.push_back(MEMBER_BEGIN "internal "); - cs_file.push_back(itype.proxy_name); + output.push_back(MEMBER_BEGIN "internal "); + output.push_back(itype.proxy_name); if (is_derived_type) { - cs_file.push_back("(bool " CS_FIELD_MEMORYOWN ") : base(" CS_FIELD_MEMORYOWN ") {}\n"); + output.push_back("(bool " CS_FIELD_MEMORYOWN ") : base(" CS_FIELD_MEMORYOWN ") {}\n"); } else { - cs_file.push_back("(bool " CS_FIELD_MEMORYOWN ")\n" OPEN_BLOCK_L2 - "this." CS_FIELD_MEMORYOWN " = " CS_FIELD_MEMORYOWN ";\n" CLOSE_BLOCK_L2); + output.push_back("(bool " CS_FIELD_MEMORYOWN ")\n" OPEN_BLOCK_L2 + "this." CS_FIELD_MEMORYOWN " = " CS_FIELD_MEMORYOWN ";\n" CLOSE_BLOCK_L2); } // Add methods if (!is_derived_type) { - cs_file.push_back(MEMBER_BEGIN "public IntPtr NativeInstance\n" OPEN_BLOCK_L2 - "get { return " BINDINGS_PTR_FIELD "; }\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "public IntPtr NativeInstance\n" OPEN_BLOCK_L2 + "get { return " BINDINGS_PTR_FIELD "; }\n" CLOSE_BLOCK_L2); - cs_file.push_back(MEMBER_BEGIN "internal static IntPtr " CS_SMETHOD_GETINSTANCE "(Object instance)\n" OPEN_BLOCK_L2 - "return instance == null ? IntPtr.Zero : instance." BINDINGS_PTR_FIELD ";\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "internal static IntPtr " CS_SMETHOD_GETINSTANCE "(Object instance)\n" OPEN_BLOCK_L2 + "return instance == null ? IntPtr.Zero : instance." BINDINGS_PTR_FIELD ";\n" CLOSE_BLOCK_L2); } if (!is_derived_type) { // Add destructor - cs_file.push_back(MEMBER_BEGIN "~"); - cs_file.push_back(itype.proxy_name); - cs_file.push_back("()\n" OPEN_BLOCK_L2 "Dispose(false);\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "~"); + output.push_back(itype.proxy_name); + output.push_back("()\n" OPEN_BLOCK_L2 "Dispose(false);\n" CLOSE_BLOCK_L2); // Add the Dispose from IDisposable - cs_file.push_back(MEMBER_BEGIN "public void Dispose()\n" OPEN_BLOCK_L2 "Dispose(true);\n" INDENT3 "GC.SuppressFinalize(this);\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "public void Dispose()\n" OPEN_BLOCK_L2 "Dispose(true);\n" INDENT3 "GC.SuppressFinalize(this);\n" CLOSE_BLOCK_L2); // Add the virtual Dispose - cs_file.push_back(MEMBER_BEGIN "public virtual void Dispose(bool disposing)\n" OPEN_BLOCK_L2 - "if (disposed) return;\n" INDENT3 - "if (" BINDINGS_PTR_FIELD " != IntPtr.Zero)\n" OPEN_BLOCK_L3 - "if (" CS_FIELD_MEMORYOWN ")\n" OPEN_BLOCK_L4 CS_FIELD_MEMORYOWN - " = false;\n" INDENT5 CS_CLASS_NATIVECALLS "." ICALL_OBJECT_DTOR - "(" BINDINGS_PTR_FIELD ");\n" INDENT5 BINDINGS_PTR_FIELD - " = IntPtr.Zero;\n" CLOSE_BLOCK_L4 CLOSE_BLOCK_L3 INDENT3 - "GC.SuppressFinalize(this);\n" INDENT3 "disposed = true;\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "public virtual void Dispose(bool disposing)\n" OPEN_BLOCK_L2 + "if (disposed) return;\n" INDENT3 + "if (" BINDINGS_PTR_FIELD " != IntPtr.Zero)\n" OPEN_BLOCK_L3 + "if (" CS_FIELD_MEMORYOWN ")\n" OPEN_BLOCK_L4 CS_FIELD_MEMORYOWN + " = false;\n" INDENT5 CS_CLASS_NATIVECALLS "." ICALL_OBJECT_DTOR + "(" BINDINGS_PTR_FIELD ");\n" INDENT5 BINDINGS_PTR_FIELD + " = IntPtr.Zero;\n" CLOSE_BLOCK_L4 CLOSE_BLOCK_L3 INDENT3 + "GC.SuppressFinalize(this);\n" INDENT3 "disposed = true;\n" CLOSE_BLOCK_L2); Map<String, TypeInterface>::Element *array_itype = builtin_types.find("Array"); @@ -883,409 +776,387 @@ Error BindingsGenerator::_generate_cs_type(const TypeInterface &itype, const Str Map<String, TypeInterface>::Element *object_itype = obj_types.find("Object"); if (!object_itype) { - ERR_PRINT("BUG: Array type interface not found!"); + ERR_PRINT("BUG: Object type interface not found!"); return ERR_BUG; } - cs_file.push_back(MEMBER_BEGIN "public " CS_CLASS_SIGNALAWAITER " ToSignal("); - cs_file.push_back(object_itype->get().cs_type); - cs_file.push_back(" source, string signal)\n" OPEN_BLOCK_L2 - "return new " CS_CLASS_SIGNALAWAITER "(source, signal, this);\n" CLOSE_BLOCK_L2); + output.push_back(MEMBER_BEGIN "public " CS_CLASS_SIGNALAWAITER " ToSignal("); + output.push_back(object_itype->get().cs_type); + output.push_back(" source, string signal)\n" OPEN_BLOCK_L2 + "return new " CS_CLASS_SIGNALAWAITER "(source, signal, this);\n" CLOSE_BLOCK_L2); } } Map<String, String>::Element *extra_member = extra_members.find(itype.name); if (extra_member) - cs_file.push_back(extra_member->get()); + output.push_back(extra_member->get()); + int method_bind_count = 0; for (const List<MethodInterface>::Element *E = itype.methods.front(); E; E = E->next()) { const MethodInterface &imethod = E->get(); + Error method_err = _generate_cs_method(itype, imethod, method_bind_count, output); + if (method_err != OK) { + ERR_EXPLAIN("Failed to generate method '" + imethod.name + "' for class '" + itype.name + "'"); + ERR_FAIL_V(method_err); + } + } - const TypeInterface *return_type = _get_type_by_name_or_placeholder(imethod.return_type); + if (itype.is_singleton) { + InternalCall singleton_icall = InternalCall(itype.api_type, ICALL_PREFIX + itype.name + SINGLETON_ICALL_SUFFIX, "IntPtr"); - String method_bind_field = "method_bind_" + itos(method_bind_count); + if (!find_icall_by_name(singleton_icall.name, custom_icalls)) + custom_icalls.push_back(singleton_icall); + } - String icall_params = method_bind_field + ", " + sformat(itype.cs_in, "this"); - String arguments_sig; - String cs_in_statements; + if (itype.is_instantiable) { + InternalCall ctor_icall = InternalCall(itype.api_type, ctor_method, "IntPtr", itype.proxy_name + " obj"); - List<String> default_args_doc; + if (!find_icall_by_name(ctor_icall.name, custom_icalls)) + custom_icalls.push_back(ctor_icall); + } - // Retrieve information from the arguments - for (const List<ArgumentInterface>::Element *F = imethod.arguments.front(); F; F = F->next()) { - const ArgumentInterface &iarg = F->get(); - const TypeInterface *arg_type = _get_type_by_name_or_placeholder(iarg.type); + output.push_back(INDENT1 CLOSE_BLOCK CLOSE_BLOCK); - // Add the current arguments to the signature - // If the argument has a default value which is not a constant, we will make it Nullable - { - if (F != imethod.arguments.front()) - arguments_sig += ", "; + return _save_file(p_output_file, output); +} - if (iarg.def_param_mode == ArgumentInterface::NULLABLE_VAL) - arguments_sig += "Nullable<"; +Error BindingsGenerator::_generate_cs_property(const BindingsGenerator::TypeInterface &p_itype, const DocData::PropertyDoc &p_prop_doc, List<String> &p_output) { - arguments_sig += arg_type->cs_type; + const MethodInterface *setter = p_itype.find_method_by_name(p_prop_doc.setter); - if (iarg.def_param_mode == ArgumentInterface::NULLABLE_VAL) - arguments_sig += "> "; - else - arguments_sig += " "; + // Search it in base types too + const TypeInterface *current_type = &p_itype; + while (!setter && current_type->base_name.length()) { + Map<String, TypeInterface>::Element *base_match = obj_types.find(current_type->base_name); + ERR_FAIL_NULL_V(base_match, ERR_BUG); + current_type = &base_match->get(); + setter = current_type->find_method_by_name(p_prop_doc.setter); + } - arguments_sig += iarg.name; + const MethodInterface *getter = p_itype.find_method_by_name(p_prop_doc.getter); - if (iarg.default_argument.size()) { - if (iarg.def_param_mode != ArgumentInterface::CONSTANT) - arguments_sig += " = null"; - else - arguments_sig += " = " + sformat(iarg.default_argument, arg_type->cs_type); - } - } + // Search it in base types too + current_type = &p_itype; + while (!getter && current_type->base_name.length()) { + Map<String, TypeInterface>::Element *base_match = obj_types.find(current_type->base_name); + ERR_FAIL_NULL_V(base_match, ERR_BUG); + current_type = &base_match->get(); + getter = current_type->find_method_by_name(p_prop_doc.getter); + } - icall_params += ", "; + ERR_FAIL_COND_V(!setter && !getter, ERR_BUG); - if (iarg.default_argument.size() && iarg.def_param_mode != ArgumentInterface::CONSTANT) { - // The default value of an argument must be constant. Otherwise we make it Nullable and do the following: - // Type arg_in = arg.HasValue ? arg.Value : <non-const default value>; - String arg_in = iarg.name; - arg_in += "_in"; + bool is_valid = false; + int prop_index = ClassDB::get_property_index(p_itype.name, p_prop_doc.name, &is_valid); + ERR_FAIL_COND_V(!is_valid, ERR_BUG); - cs_in_statements += arg_type->cs_type; - cs_in_statements += " "; - cs_in_statements += arg_in; - cs_in_statements += " = "; - cs_in_statements += iarg.name; + if (setter) { + int setter_argc = prop_index != -1 ? 2 : 1; + ERR_FAIL_COND_V(setter->arguments.size() != setter_argc, ERR_BUG); + } - if (iarg.def_param_mode == ArgumentInterface::NULLABLE_VAL) - cs_in_statements += ".HasValue ? "; - else - cs_in_statements += " != null ? "; + if (getter) { + int getter_argc = prop_index != -1 ? 1 : 0; + ERR_FAIL_COND_V(getter->arguments.size() != getter_argc, ERR_BUG); + } - cs_in_statements += iarg.name; + if (getter && setter) { + ERR_FAIL_COND_V(getter->return_type != setter->arguments.back()->get().type, ERR_BUG); + } - if (iarg.def_param_mode == ArgumentInterface::NULLABLE_VAL) - cs_in_statements += ".Value : "; - else - cs_in_statements += " : "; + // Let's not trust PropertyDoc::type + String proptype_name = getter ? getter->return_type : setter->arguments.back()->get().type; - String def_arg = sformat(iarg.default_argument, arg_type->cs_type); + const TypeInterface *prop_itype = _get_type_by_name_or_null(proptype_name); + if (!prop_itype) { + // Try with underscore prefix + prop_itype = _get_type_by_name_or_null("_" + proptype_name); + } - cs_in_statements += def_arg; - cs_in_statements += ";\n" INDENT3; + ERR_FAIL_NULL_V(prop_itype, ERR_BUG); - icall_params += arg_type->cs_in.empty() ? arg_in : sformat(arg_type->cs_in, arg_in); + String prop_proxy_name = escape_csharp_keyword(snake_to_pascal_case(p_prop_doc.name)); - default_args_doc.push_back(INDENT2 "/// <param name=\"" + iarg.name + "\">If the param is null, then the default value is " + def_arg + "</param>\n"); - } else { - icall_params += arg_type->cs_in.empty() ? iarg.name : sformat(arg_type->cs_in, iarg.name); - } + // Prevent property and enclosing type from sharing the same name + if (prop_proxy_name == p_itype.proxy_name) { + if (verbose_output) { + WARN_PRINTS("Name of property `" + prop_proxy_name + "` is ambiguous with the name of its class `" + + p_itype.proxy_name + "`. Renaming property to `" + prop_proxy_name + "_`"); } - // Generate method - { - if (!imethod.is_virtual && !imethod.requires_object_call) { - cs_file.push_back(MEMBER_BEGIN "private "); - cs_file.push_back(itype.is_singleton ? "static IntPtr " : "IntPtr "); - cs_file.push_back(method_bind_field + " = " CS_CLASS_NATIVECALLS "." ICALL_GET_METHODBIND "(" BINDINGS_NATIVE_NAME_FIELD ", \""); - cs_file.push_back(imethod.name); - cs_file.push_back("\");\n"); - } + prop_proxy_name += "_"; + } - if (imethod.method_doc && imethod.method_doc->description.size()) { - cs_file.push_back(MEMBER_BEGIN "/// <summary>\n"); + if (p_prop_doc.description.size()) { + p_output.push_back(MEMBER_BEGIN "/// <summary>\n"); - Vector<String> description_lines = imethod.method_doc->description.split("\n"); + Vector<String> description_lines = p_prop_doc.description.split("\n"); - for (int i = 0; i < description_lines.size(); i++) { - if (description_lines[i].size()) { - cs_file.push_back(INDENT2 "/// "); - cs_file.push_back(description_lines[i].strip_edges().xml_escape()); - cs_file.push_back("\n"); - } - } + for (int i = 0; i < description_lines.size(); i++) { + if (description_lines[i].size()) { + p_output.push_back(INDENT2 "/// "); + p_output.push_back(description_lines[i].strip_edges().xml_escape()); + p_output.push_back("\n"); + } + } - for (List<String>::Element *E = default_args_doc.front(); E; E = E->next()) { - cs_file.push_back(E->get().xml_escape()); - } + p_output.push_back(INDENT2 "/// </summary>"); + } - cs_file.push_back(INDENT2 "/// </summary>"); - } + p_output.push_back(MEMBER_BEGIN "public "); - if (!imethod.is_internal) { - cs_file.push_back(MEMBER_BEGIN "[GodotMethod(\""); - cs_file.push_back(imethod.name); - cs_file.push_back("\")]"); - } + if (p_itype.is_singleton) + p_output.push_back("static "); - cs_file.push_back(MEMBER_BEGIN); - cs_file.push_back(imethod.is_internal ? "internal " : "public "); + p_output.push_back(prop_itype->cs_type); + p_output.push_back(" "); + p_output.push_back(prop_proxy_name.replace("/", "__")); + p_output.push_back("\n" INDENT2 OPEN_BLOCK); - if (itype.is_singleton) { - cs_file.push_back("static "); - } else if (imethod.is_virtual) { - cs_file.push_back("virtual "); - } + if (getter) { + p_output.push_back(INDENT3 "get\n" OPEN_BLOCK_L3); + p_output.push_back("return "); + p_output.push_back(getter->proxy_name + "("); + if (prop_index != -1) + p_output.push_back(itos(prop_index)); + p_output.push_back(");\n" CLOSE_BLOCK_L3); + } - cs_file.push_back(return_type->cs_type + " "); - cs_file.push_back(imethod.proxy_name + "("); - cs_file.push_back(arguments_sig + ")\n" OPEN_BLOCK_L2); + if (setter) { + p_output.push_back(INDENT3 "set\n" OPEN_BLOCK_L3); + p_output.push_back(setter->proxy_name + "("); + if (prop_index != -1) + p_output.push_back(itos(prop_index) + ", "); + p_output.push_back("value);\n" CLOSE_BLOCK_L3); + } - if (imethod.is_virtual) { - // Godot virtual method must be overridden, therefore we return a default value by default. + p_output.push_back(CLOSE_BLOCK_L2); - if (return_type->name == "void") { - cs_file.push_back("return;\n" CLOSE_BLOCK_L2); - } else { - cs_file.push_back("return default("); - cs_file.push_back(return_type->cs_type); - cs_file.push_back(");\n" CLOSE_BLOCK_L2); - } + return OK; +} - continue; - } +Error BindingsGenerator::_generate_cs_method(const BindingsGenerator::TypeInterface &p_itype, const BindingsGenerator::MethodInterface &p_imethod, int &p_method_bind_count, List<String> &p_output) { - if (imethod.requires_object_call) { - // Fallback to Godot's object.Call(string, params) + const TypeInterface *return_type = _get_type_by_name_or_placeholder(p_imethod.return_type); - cs_file.push_back(CS_METHOD_CALL "(\""); - cs_file.push_back(imethod.name); - cs_file.push_back("\""); + String method_bind_field = "method_bind_" + itos(p_method_bind_count); - for (const List<ArgumentInterface>::Element *F = imethod.arguments.front(); F; F = F->next()) { - cs_file.push_back(", "); - cs_file.push_back(F->get().name); - } + String icall_params = method_bind_field + ", " + sformat(p_itype.cs_in, "this"); + String arguments_sig; + String cs_in_statements; - cs_file.push_back(");\n" CLOSE_BLOCK_L2); + List<String> default_args_doc; - continue; - } + // Retrieve information from the arguments + for (const List<ArgumentInterface>::Element *F = p_imethod.arguments.front(); F; F = F->next()) { + const ArgumentInterface &iarg = F->get(); + const TypeInterface *arg_type = _get_type_by_name_or_placeholder(iarg.type); + + // Add the current arguments to the signature + // If the argument has a default value which is not a constant, we will make it Nullable + { + if (F != p_imethod.arguments.front()) + arguments_sig += ", "; - const Map<const MethodInterface *, const InternalCall *>::Element *match = method_icalls_map.find(&E->get()); - ERR_FAIL_NULL_V(match, ERR_BUG); + if (iarg.def_param_mode == ArgumentInterface::NULLABLE_VAL) + arguments_sig += "Nullable<"; - const InternalCall *im_icall = match->value(); + arguments_sig += arg_type->cs_type; - String im_call = im_icall->editor_only ? CS_CLASS_NATIVECALLS_EDITOR : CS_CLASS_NATIVECALLS; - im_call += "." + im_icall->name + "(" + icall_params + ");\n"; + if (iarg.def_param_mode == ArgumentInterface::NULLABLE_VAL) + arguments_sig += "> "; + else + arguments_sig += " "; - if (imethod.arguments.size()) - cs_file.push_back(cs_in_statements); + arguments_sig += iarg.name; - if (return_type->name == "void") { - cs_file.push_back(im_call); - } else if (return_type->cs_out.empty()) { - cs_file.push_back("return " + im_call); - } else { - cs_file.push_back(return_type->im_type_out); - cs_file.push_back(" " LOCAL_RET " = "); - cs_file.push_back(im_call); - cs_file.push_back(INDENT3); - cs_file.push_back(sformat(return_type->cs_out, LOCAL_RET) + "\n"); + if (iarg.default_argument.size()) { + if (iarg.def_param_mode != ArgumentInterface::CONSTANT) + arguments_sig += " = null"; + else + arguments_sig += " = " + sformat(iarg.default_argument, arg_type->cs_type); } - - cs_file.push_back(CLOSE_BLOCK_L2); } - method_bind_count++; - } + icall_params += ", "; - if (itype.is_singleton) { - InternalCall singleton_icall = InternalCall(itype.api_type, ICALL_PREFIX + itype.name + SINGLETON_ICALL_SUFFIX, "IntPtr"); + if (iarg.default_argument.size() && iarg.def_param_mode != ArgumentInterface::CONSTANT) { + // The default value of an argument must be constant. Otherwise we make it Nullable and do the following: + // Type arg_in = arg.HasValue ? arg.Value : <non-const default value>; + String arg_in = iarg.name; + arg_in += "_in"; - if (!find_icall_by_name(singleton_icall.name, custom_icalls)) - custom_icalls.push_back(singleton_icall); - } + cs_in_statements += arg_type->cs_type; + cs_in_statements += " "; + cs_in_statements += arg_in; + cs_in_statements += " = "; + cs_in_statements += iarg.name; - if (itype.is_instantiable) { - InternalCall ctor_icall = InternalCall(itype.api_type, ctor_method, "IntPtr", itype.proxy_name + " obj"); + if (iarg.def_param_mode == ArgumentInterface::NULLABLE_VAL) + cs_in_statements += ".HasValue ? "; + else + cs_in_statements += " != null ? "; - if (!find_icall_by_name(ctor_icall.name, custom_icalls)) - custom_icalls.push_back(ctor_icall); - } + cs_in_statements += iarg.name; - cs_file.push_back(INDENT1 CLOSE_BLOCK CLOSE_BLOCK); + if (iarg.def_param_mode == ArgumentInterface::NULLABLE_VAL) + cs_in_statements += ".Value : "; + else + cs_in_statements += " : "; - return _save_file(p_output_file, cs_file); -} + String def_arg = sformat(iarg.default_argument, arg_type->cs_type); -Error BindingsGenerator::generate_glue(const String &p_output_dir) { + cs_in_statements += def_arg; + cs_in_statements += ";\n" INDENT3; - verbose_output = true; + icall_params += arg_type->cs_in.empty() ? arg_in : sformat(arg_type->cs_in, arg_in); - bool dir_exists = DirAccess::exists(p_output_dir); - ERR_EXPLAIN("The output directory does not exist."); - ERR_FAIL_COND_V(!dir_exists, ERR_FILE_BAD_PATH); + default_args_doc.push_back(INDENT2 "/// <param name=\"" + iarg.name + "\">If the param is null, then the default value is " + def_arg + "</param>\n"); + } else { + icall_params += arg_type->cs_in.empty() ? iarg.name : sformat(arg_type->cs_in, iarg.name); + } + } - List<String> cpp_file; + // Generate method + { + if (!p_imethod.is_virtual && !p_imethod.requires_object_call) { + p_output.push_back(MEMBER_BEGIN "private "); + p_output.push_back(p_itype.is_singleton ? "static IntPtr " : "IntPtr "); + p_output.push_back(method_bind_field + " = " CS_CLASS_NATIVECALLS "." ICALL_GET_METHODBIND "(" BINDINGS_NATIVE_NAME_FIELD ", \""); + p_output.push_back(p_imethod.name); + p_output.push_back("\");\n"); + } - cpp_file.push_back("#include \"" GLUE_HEADER_FILE "\"\n" - "\n"); + if (p_imethod.method_doc && p_imethod.method_doc->description.size()) { + p_output.push_back(MEMBER_BEGIN "/// <summary>\n"); - List<const InternalCall *> generated_icall_funcs; + Vector<String> description_lines = p_imethod.method_doc->description.split("\n"); - for (Map<String, TypeInterface>::Element *type_elem = obj_types.front(); type_elem; type_elem = type_elem->next()) { - const TypeInterface &itype = type_elem->get(); + for (int i = 0; i < description_lines.size(); i++) { + if (description_lines[i].size()) { + p_output.push_back(INDENT2 "/// "); + p_output.push_back(description_lines[i].strip_edges().xml_escape()); + p_output.push_back("\n"); + } + } - List<InternalCall> &custom_icalls = itype.api_type == ClassDB::API_EDITOR ? editor_custom_icalls : core_custom_icalls; + for (List<String>::Element *E = default_args_doc.front(); E; E = E->next()) { + p_output.push_back(E->get().xml_escape()); + } - OS::get_singleton()->print(String("Generating " + itype.name + "...\n").utf8()); + p_output.push_back(INDENT2 "/// </summary>"); + } - String ctor_method(ICALL_PREFIX + itype.proxy_name + "_Ctor"); + if (!p_imethod.is_internal) { + p_output.push_back(MEMBER_BEGIN "[GodotMethod(\""); + p_output.push_back(p_imethod.name); + p_output.push_back("\")]"); + } - for (const List<MethodInterface>::Element *E = itype.methods.front(); E; E = E->next()) { - const MethodInterface &imethod = E->get(); + p_output.push_back(MEMBER_BEGIN); + p_output.push_back(p_imethod.is_internal ? "internal " : "public "); - if (imethod.is_virtual) - continue; + if (p_itype.is_singleton) { + p_output.push_back("static "); + } else if (p_imethod.is_virtual) { + p_output.push_back("virtual "); + } - bool ret_void = imethod.return_type == "void"; + p_output.push_back(return_type->cs_type + " "); + p_output.push_back(p_imethod.proxy_name + "("); + p_output.push_back(arguments_sig + ")\n" OPEN_BLOCK_L2); - const TypeInterface *return_type = _get_type_by_name_or_placeholder(imethod.return_type); + if (p_imethod.is_virtual) { + // Godot virtual method must be overridden, therefore we return a default value by default. - String argc_str = itos(imethod.arguments.size()); + if (return_type->name == "void") { + p_output.push_back("return;\n" CLOSE_BLOCK_L2); + } else { + p_output.push_back("return default("); + p_output.push_back(return_type->cs_type); + p_output.push_back(");\n" CLOSE_BLOCK_L2); + } - String c_func_sig = "MethodBind* " CS_PARAM_METHODBIND ", " + itype.c_type_in + " " CS_PARAM_INSTANCE; - String c_in_statements; - String c_args_var_content; + return OK; // Won't increment method bind count + } - // Get arguments information - int i = 0; - for (const List<ArgumentInterface>::Element *F = imethod.arguments.front(); F; F = F->next()) { - const ArgumentInterface &iarg = F->get(); - const TypeInterface *arg_type = _get_type_by_name_or_placeholder(iarg.type); + if (p_imethod.requires_object_call) { + // Fallback to Godot's object.Call(string, params) - String c_param_name = "arg" + itos(i + 1); + p_output.push_back(CS_METHOD_CALL "(\""); + p_output.push_back(p_imethod.name); + p_output.push_back("\""); - if (imethod.is_vararg) { - if (i < imethod.arguments.size() - 1) { - c_in_statements += sformat(arg_type->c_in.size() ? arg_type->c_in : TypeInterface::DEFAULT_VARARG_C_IN, "Variant", c_param_name); - c_in_statements += "\t" C_LOCAL_PTRCALL_ARGS ".set(0, "; - c_in_statements += sformat("&%s_in", c_param_name); - c_in_statements += ");\n"; - } - } else { - if (i > 0) - c_args_var_content += ", "; - if (arg_type->c_in.size()) - c_in_statements += sformat(arg_type->c_in, arg_type->c_type, c_param_name); - c_args_var_content += sformat(arg_type->c_arg_in, c_param_name); - } + for (const List<ArgumentInterface>::Element *F = p_imethod.arguments.front(); F; F = F->next()) { + p_output.push_back(", "); + p_output.push_back(F->get().name); + } - c_func_sig += ", "; - c_func_sig += arg_type->c_type_in; - c_func_sig += " "; - c_func_sig += c_param_name; + p_output.push_back(");\n" CLOSE_BLOCK_L2); - i++; - } + return OK; // Won't increment method bind count + } - const Map<const MethodInterface *, const InternalCall *>::Element *match = method_icalls_map.find(&E->get()); - ERR_FAIL_NULL_V(match, ERR_BUG); + const Map<const MethodInterface *, const InternalCall *>::Element *match = method_icalls_map.find(&p_imethod); + ERR_FAIL_NULL_V(match, ERR_BUG); - const InternalCall *im_icall = match->value(); - String icall_method = im_icall->name; + const InternalCall *im_icall = match->value(); - if (!generated_icall_funcs.find(im_icall)) { - generated_icall_funcs.push_back(im_icall); + String im_call = im_icall->editor_only ? CS_CLASS_NATIVECALLS_EDITOR : CS_CLASS_NATIVECALLS; + im_call += "." + im_icall->name + "(" + icall_params + ");\n"; - if (im_icall->editor_only) - cpp_file.push_back("#ifdef TOOLS_ENABLED\n"); + if (p_imethod.arguments.size()) + p_output.push_back(cs_in_statements); - // Generate icall function + if (return_type->name == "void") { + p_output.push_back(im_call); + } else if (return_type->cs_out.empty()) { + p_output.push_back("return " + im_call); + } else { + p_output.push_back(return_type->im_type_out); + p_output.push_back(" " LOCAL_RET " = "); + p_output.push_back(im_call); + p_output.push_back(INDENT3); + p_output.push_back(sformat(return_type->cs_out, LOCAL_RET) + "\n"); + } - cpp_file.push_back(ret_void ? "void " : return_type->c_type_out + " "); - cpp_file.push_back(icall_method); - cpp_file.push_back("("); - cpp_file.push_back(c_func_sig); - cpp_file.push_back(") " OPEN_BLOCK); + p_output.push_back(CLOSE_BLOCK_L2); + } - String fail_ret = ret_void ? "" : ", " + (return_type->c_type_out.ends_with("*") ? "NULL" : return_type->c_type_out + "()"); + p_method_bind_count++; + return OK; +} - if (!ret_void) { - String ptrcall_return_type; - String initialization; +Error BindingsGenerator::generate_glue(const String &p_output_dir) { - if (return_type->is_object_type) { - ptrcall_return_type = return_type->is_reference ? "Ref<Reference>" : return_type->c_type; - initialization = return_type->is_reference ? "" : " = NULL"; - } else { - ptrcall_return_type = return_type->c_type; - } + verbose_output = true; - cpp_file.push_back("\t" + ptrcall_return_type); - cpp_file.push_back(" " LOCAL_RET); - cpp_file.push_back(initialization + ";\n"); - cpp_file.push_back("\tERR_FAIL_NULL_V(" CS_PARAM_INSTANCE); - cpp_file.push_back(fail_ret); - cpp_file.push_back(");\n"); - } else { - cpp_file.push_back("\tERR_FAIL_NULL(" CS_PARAM_INSTANCE ");\n"); - } + bool dir_exists = DirAccess::exists(p_output_dir); + ERR_EXPLAIN("The output directory does not exist."); + ERR_FAIL_COND_V(!dir_exists, ERR_FILE_BAD_PATH); - if (imethod.arguments.size()) { - if (imethod.is_vararg) { - String err_fail_macro = ret_void ? "ERR_FAIL_COND" : "ERR_FAIL_COND_V"; - String vararg_arg = "arg" + argc_str; - String real_argc_str = itos(imethod.arguments.size() - 1); // Arguments count without vararg - - cpp_file.push_back("\tVector<Variant> varargs;\n" - "\tint vararg_length = mono_array_length("); - cpp_file.push_back(vararg_arg); - cpp_file.push_back(");\n\tint total_length = "); - cpp_file.push_back(real_argc_str); - cpp_file.push_back(" + vararg_length;\n\t"); - cpp_file.push_back(err_fail_macro); - cpp_file.push_back("(varargs.resize(vararg_length) != OK"); - cpp_file.push_back(fail_ret); - cpp_file.push_back(");\n\tVector<Variant*> " C_LOCAL_PTRCALL_ARGS ";\n\t"); - cpp_file.push_back(err_fail_macro); - cpp_file.push_back("(call_args.resize(total_length) != OK"); - cpp_file.push_back(fail_ret); - cpp_file.push_back(");\n"); - cpp_file.push_back(c_in_statements); - cpp_file.push_back("\tfor (int i = 0; i < vararg_length; i++) " OPEN_BLOCK - "\t\tMonoObject* elem = mono_array_get("); - cpp_file.push_back(vararg_arg); - cpp_file.push_back(", MonoObject*, i);\n" - "\t\tvarargs.set(i, GDMonoMarshal::mono_object_to_variant(elem));\n" - "\t\t" C_LOCAL_PTRCALL_ARGS ".set("); - cpp_file.push_back(real_argc_str); - cpp_file.push_back(" + i, &varargs[i]);\n\t" CLOSE_BLOCK); - } else { - cpp_file.push_back(c_in_statements); - cpp_file.push_back("\tconst void* " C_LOCAL_PTRCALL_ARGS "["); - cpp_file.push_back(argc_str + "] = { "); - cpp_file.push_back(c_args_var_content + " };\n"); - } - } + List<String> output; - if (imethod.is_vararg) { - cpp_file.push_back("\tVariant::CallError vcall_error;\n\t"); + output.push_back("#include \"" GLUE_HEADER_FILE "\"\n" + "\n"); - if (!ret_void) - cpp_file.push_back(LOCAL_RET " = "); + generated_icall_funcs.clear(); - cpp_file.push_back(CS_PARAM_METHODBIND "->call(" CS_PARAM_INSTANCE ", "); - cpp_file.push_back(imethod.arguments.size() ? "(const Variant**)" C_LOCAL_PTRCALL_ARGS ".ptr()" : "NULL"); - cpp_file.push_back(", total_length, vcall_error);\n"); - } else { - cpp_file.push_back("\t" CS_PARAM_METHODBIND "->ptrcall(" CS_PARAM_INSTANCE ", "); - cpp_file.push_back(imethod.arguments.size() ? C_LOCAL_PTRCALL_ARGS ", " : "NULL, "); - cpp_file.push_back(!ret_void ? "&" LOCAL_RET ");\n" : "NULL);\n"); - } + for (Map<String, TypeInterface>::Element *type_elem = obj_types.front(); type_elem; type_elem = type_elem->next()) { + const TypeInterface &itype = type_elem->get(); - if (!ret_void) { - if (return_type->c_out.empty()) - cpp_file.push_back("\treturn " LOCAL_RET ";\n"); - else - cpp_file.push_back(sformat(return_type->c_out, return_type->c_type_out, LOCAL_RET, return_type->name)); - } + List<InternalCall> &custom_icalls = itype.api_type == ClassDB::API_EDITOR ? editor_custom_icalls : core_custom_icalls; + + OS::get_singleton()->print(String("Generating " + itype.name + "...\n").utf8()); - cpp_file.push_back(CLOSE_BLOCK "\n"); + String ctor_method(ICALL_PREFIX + itype.proxy_name + "_Ctor"); - if (im_icall->editor_only) - cpp_file.push_back("#endif // TOOLS_ENABLED\n"); + for (const List<MethodInterface>::Element *E = itype.methods.front(); E; E = E->next()) { + const MethodInterface &imethod = E->get(); + Error method_err = _generate_glue_method(itype, imethod, output); + if (method_err != OK) { + ERR_EXPLAIN("Failed to generate method '" + imethod.name + "' for class '" + itype.name + "'"); + ERR_FAIL_V(method_err); } } @@ -1296,11 +1167,11 @@ Error BindingsGenerator::generate_glue(const String &p_output_dir) { if (!find_icall_by_name(singleton_icall.name, custom_icalls)) custom_icalls.push_back(singleton_icall); - cpp_file.push_back("Object* "); - cpp_file.push_back(singleton_icall_name); - cpp_file.push_back("() " OPEN_BLOCK "\treturn ProjectSettings::get_singleton()->get_singleton_object(\""); - cpp_file.push_back(itype.proxy_name); - cpp_file.push_back("\");\n" CLOSE_BLOCK "\n"); + output.push_back("Object* "); + output.push_back(singleton_icall_name); + output.push_back("() " OPEN_BLOCK "\treturn ProjectSettings::get_singleton()->get_singleton_object(\""); + output.push_back(itype.proxy_name); + output.push_back("\");\n" CLOSE_BLOCK "\n"); } if (itype.is_instantiable) { @@ -1309,36 +1180,36 @@ Error BindingsGenerator::generate_glue(const String &p_output_dir) { if (!find_icall_by_name(ctor_icall.name, custom_icalls)) custom_icalls.push_back(ctor_icall); - cpp_file.push_back("Object* "); - cpp_file.push_back(ctor_method); - cpp_file.push_back("(MonoObject* obj) " OPEN_BLOCK - "\t" C_MACRO_OBJECT_CONSTRUCT "(instance, \""); - cpp_file.push_back(itype.name); - cpp_file.push_back("\");\n" - "\t" C_METHOD_TIE_MANAGED_TO_UNMANAGED "(obj, instance);\n" - "\treturn instance;\n" CLOSE_BLOCK "\n"); + output.push_back("Object* "); + output.push_back(ctor_method); + output.push_back("(MonoObject* obj) " OPEN_BLOCK + "\t" C_MACRO_OBJECT_CONSTRUCT "(instance, \""); + output.push_back(itype.name); + output.push_back("\");\n" + "\t" C_METHOD_TIE_MANAGED_TO_UNMANAGED "(obj, instance);\n" + "\treturn instance;\n" CLOSE_BLOCK "\n"); } } - cpp_file.push_back("namespace GodotSharpBindings\n" OPEN_BLOCK); - cpp_file.push_back("uint64_t get_core_api_hash() { return "); - cpp_file.push_back(itos(GDMono::get_singleton()->get_api_core_hash()) + "; }\n"); - cpp_file.push_back("#ifdef TOOLS_ENABLED\n" - "uint64_t get_editor_api_hash() { return "); - cpp_file.push_back(itos(GDMono::get_singleton()->get_api_editor_hash()) + - "; }\n#endif // TOOLS_ENABLED\n"); - cpp_file.push_back("void register_generated_icalls() " OPEN_BLOCK); - -#define ADD_INTERNAL_CALL_REGISTRATION(m_icall) \ - { \ - cpp_file.push_back("\tmono_add_internal_call("); \ - cpp_file.push_back("\"" BINDINGS_NAMESPACE "."); \ - cpp_file.push_back(m_icall.editor_only ? CS_CLASS_NATIVECALLS_EDITOR : CS_CLASS_NATIVECALLS); \ - cpp_file.push_back("::"); \ - cpp_file.push_back(m_icall.name); \ - cpp_file.push_back("\", (void*)"); \ - cpp_file.push_back(m_icall.name); \ - cpp_file.push_back(");\n"); \ + output.push_back("namespace GodotSharpBindings\n" OPEN_BLOCK); + output.push_back("uint64_t get_core_api_hash() { return "); + output.push_back(itos(GDMono::get_singleton()->get_api_core_hash()) + "; }\n"); + output.push_back("#ifdef TOOLS_ENABLED\n" + "uint64_t get_editor_api_hash() { return "); + output.push_back(itos(GDMono::get_singleton()->get_api_editor_hash()) + + "; }\n#endif // TOOLS_ENABLED\n"); + output.push_back("void register_generated_icalls() " OPEN_BLOCK); + +#define ADD_INTERNAL_CALL_REGISTRATION(m_icall) \ + { \ + output.push_back("\tmono_add_internal_call("); \ + output.push_back("\"" BINDINGS_NAMESPACE "."); \ + output.push_back(m_icall.editor_only ? CS_CLASS_NATIVECALLS_EDITOR : CS_CLASS_NATIVECALLS); \ + output.push_back("::"); \ + output.push_back(m_icall.name); \ + output.push_back("\", (void*)"); \ + output.push_back(m_icall.name); \ + output.push_back(");\n"); \ } bool tools_sequence = false; @@ -1347,11 +1218,11 @@ Error BindingsGenerator::generate_glue(const String &p_output_dir) { if (tools_sequence) { if (!E->get().editor_only) { tools_sequence = false; - cpp_file.push_back("#endif\n"); + output.push_back("#endif\n"); } } else { if (E->get().editor_only) { - cpp_file.push_back("#ifdef TOOLS_ENABLED\n"); + output.push_back("#ifdef TOOLS_ENABLED\n"); tools_sequence = true; } } @@ -1361,24 +1232,23 @@ Error BindingsGenerator::generate_glue(const String &p_output_dir) { if (tools_sequence) { tools_sequence = false; - cpp_file.push_back("#endif\n"); + output.push_back("#endif\n"); } - cpp_file.push_back("#ifdef TOOLS_ENABLED\n"); + output.push_back("#ifdef TOOLS_ENABLED\n"); for (const List<InternalCall>::Element *E = editor_custom_icalls.front(); E; E = E->next()) ADD_INTERNAL_CALL_REGISTRATION(E->get()); - cpp_file.push_back("#endif // TOOLS_ENABLED\n"); + output.push_back("#endif // TOOLS_ENABLED\n"); for (const List<InternalCall>::Element *E = method_icalls.front(); E; E = E->next()) { - if (tools_sequence) { if (!E->get().editor_only) { tools_sequence = false; - cpp_file.push_back("#endif\n"); + output.push_back("#endif\n"); } } else { if (E->get().editor_only) { - cpp_file.push_back("#ifdef TOOLS_ENABLED\n"); + output.push_back("#ifdef TOOLS_ENABLED\n"); tools_sequence = true; } } @@ -1388,18 +1258,18 @@ Error BindingsGenerator::generate_glue(const String &p_output_dir) { if (tools_sequence) { tools_sequence = false; - cpp_file.push_back("#endif\n"); + output.push_back("#endif\n"); } #undef ADD_INTERNAL_CALL_REGISTRATION - cpp_file.push_back(CLOSE_BLOCK "}\n"); + output.push_back(CLOSE_BLOCK "}\n"); - Error save_err = _save_file(path_join(p_output_dir, "mono_glue.gen.cpp"), cpp_file); + Error save_err = _save_file(path_join(p_output_dir, "mono_glue.gen.cpp"), output); if (save_err != OK) return save_err; - OS::get_singleton()->print("Mono glue generated successfully!\n"); + OS::get_singleton()->print("Mono glue generated successfully\n"); return OK; } @@ -1420,6 +1290,163 @@ Error BindingsGenerator::_save_file(const String &p_path, const List<String> &p_ return OK; } +Error BindingsGenerator::_generate_glue_method(const BindingsGenerator::TypeInterface &p_itype, const BindingsGenerator::MethodInterface &p_imethod, List<String> &p_output) { + + if (p_imethod.is_virtual) + return OK; // Ignore + + bool ret_void = p_imethod.return_type == "void"; + + const TypeInterface *return_type = _get_type_by_name_or_placeholder(p_imethod.return_type); + + String argc_str = itos(p_imethod.arguments.size()); + + String c_func_sig = "MethodBind* " CS_PARAM_METHODBIND ", " + p_itype.c_type_in + " " CS_PARAM_INSTANCE; + String c_in_statements; + String c_args_var_content; + + // Get arguments information + int i = 0; + for (const List<ArgumentInterface>::Element *F = p_imethod.arguments.front(); F; F = F->next()) { + const ArgumentInterface &iarg = F->get(); + const TypeInterface *arg_type = _get_type_by_name_or_placeholder(iarg.type); + + String c_param_name = "arg" + itos(i + 1); + + if (p_imethod.is_vararg) { + if (i < p_imethod.arguments.size() - 1) { + c_in_statements += sformat(arg_type->c_in.size() ? arg_type->c_in : TypeInterface::DEFAULT_VARARG_C_IN, "Variant", c_param_name); + c_in_statements += "\t" C_LOCAL_PTRCALL_ARGS ".set(0, "; + c_in_statements += sformat("&%s_in", c_param_name); + c_in_statements += ");\n"; + } + } else { + if (i > 0) + c_args_var_content += ", "; + if (arg_type->c_in.size()) + c_in_statements += sformat(arg_type->c_in, arg_type->c_type, c_param_name); + c_args_var_content += sformat(arg_type->c_arg_in, c_param_name); + } + + c_func_sig += ", "; + c_func_sig += arg_type->c_type_in; + c_func_sig += " "; + c_func_sig += c_param_name; + + i++; + } + + const Map<const MethodInterface *, const InternalCall *>::Element *match = method_icalls_map.find(&p_imethod); + ERR_FAIL_NULL_V(match, ERR_BUG); + + const InternalCall *im_icall = match->value(); + String icall_method = im_icall->name; + + if (!generated_icall_funcs.find(im_icall)) { + generated_icall_funcs.push_back(im_icall); + + if (im_icall->editor_only) + p_output.push_back("#ifdef TOOLS_ENABLED\n"); + + // Generate icall function + + p_output.push_back(ret_void ? "void " : return_type->c_type_out + " "); + p_output.push_back(icall_method); + p_output.push_back("("); + p_output.push_back(c_func_sig); + p_output.push_back(") " OPEN_BLOCK); + + String fail_ret = ret_void ? "" : ", " + (return_type->c_type_out.ends_with("*") ? "NULL" : return_type->c_type_out + "()"); + + if (!ret_void) { + String ptrcall_return_type; + String initialization; + + if (return_type->is_object_type) { + ptrcall_return_type = return_type->is_reference ? "Ref<Reference>" : return_type->c_type; + initialization = return_type->is_reference ? "" : " = NULL"; + } else { + ptrcall_return_type = return_type->c_type; + } + + p_output.push_back("\t" + ptrcall_return_type); + p_output.push_back(" " LOCAL_RET); + p_output.push_back(initialization + ";\n"); + p_output.push_back("\tERR_FAIL_NULL_V(" CS_PARAM_INSTANCE); + p_output.push_back(fail_ret); + p_output.push_back(");\n"); + } else { + p_output.push_back("\tERR_FAIL_NULL(" CS_PARAM_INSTANCE ");\n"); + } + + if (p_imethod.arguments.size()) { + if (p_imethod.is_vararg) { + String err_fail_macro = ret_void ? "ERR_FAIL_COND" : "ERR_FAIL_COND_V"; + String vararg_arg = "arg" + argc_str; + String real_argc_str = itos(p_imethod.arguments.size() - 1); // Arguments count without vararg + + p_output.push_back("\tVector<Variant> varargs;\n" + "\tint vararg_length = mono_array_length("); + p_output.push_back(vararg_arg); + p_output.push_back(");\n\tint total_length = "); + p_output.push_back(real_argc_str); + p_output.push_back(" + vararg_length;\n\t"); + p_output.push_back(err_fail_macro); + p_output.push_back("(varargs.resize(vararg_length) != OK"); + p_output.push_back(fail_ret); + p_output.push_back(");\n\tVector<Variant*> " C_LOCAL_PTRCALL_ARGS ";\n\t"); + p_output.push_back(err_fail_macro); + p_output.push_back("(call_args.resize(total_length) != OK"); + p_output.push_back(fail_ret); + p_output.push_back(");\n"); + p_output.push_back(c_in_statements); + p_output.push_back("\tfor (int i = 0; i < vararg_length; i++) " OPEN_BLOCK + "\t\tMonoObject* elem = mono_array_get("); + p_output.push_back(vararg_arg); + p_output.push_back(", MonoObject*, i);\n" + "\t\tvarargs.set(i, GDMonoMarshal::mono_object_to_variant(elem));\n" + "\t\t" C_LOCAL_PTRCALL_ARGS ".set("); + p_output.push_back(real_argc_str); + p_output.push_back(" + i, &varargs[i]);\n\t" CLOSE_BLOCK); + } else { + p_output.push_back(c_in_statements); + p_output.push_back("\tconst void* " C_LOCAL_PTRCALL_ARGS "["); + p_output.push_back(argc_str + "] = { "); + p_output.push_back(c_args_var_content + " };\n"); + } + } + + if (p_imethod.is_vararg) { + p_output.push_back("\tVariant::CallError vcall_error;\n\t"); + + if (!ret_void) + p_output.push_back(LOCAL_RET " = "); + + p_output.push_back(CS_PARAM_METHODBIND "->call(" CS_PARAM_INSTANCE ", "); + p_output.push_back(p_imethod.arguments.size() ? "(const Variant**)" C_LOCAL_PTRCALL_ARGS ".ptr()" : "NULL"); + p_output.push_back(", total_length, vcall_error);\n"); + } else { + p_output.push_back("\t" CS_PARAM_METHODBIND "->ptrcall(" CS_PARAM_INSTANCE ", "); + p_output.push_back(p_imethod.arguments.size() ? C_LOCAL_PTRCALL_ARGS ", " : "NULL, "); + p_output.push_back(!ret_void ? "&" LOCAL_RET ");\n" : "NULL);\n"); + } + + if (!ret_void) { + if (return_type->c_out.empty()) + p_output.push_back("\treturn " LOCAL_RET ";\n"); + else + p_output.push_back(sformat(return_type->c_out, return_type->c_type_out, LOCAL_RET, return_type->name)); + } + + p_output.push_back(CLOSE_BLOCK "\n"); + + if (im_icall->editor_only) + p_output.push_back("#endif // TOOLS_ENABLED\n"); + } + + return OK; +} + const BindingsGenerator::TypeInterface *BindingsGenerator::_get_type_by_name_or_null(const String &p_name) { const Map<String, TypeInterface>::Element *match = builtin_types.find(p_name); @@ -2077,7 +2104,8 @@ void BindingsGenerator::handle_cmdline_args(const List<String> &p_cmdline_args) const List<String>::Element *path_elem = elem->next(); if (path_elem) { - get_singleton().generate_glue(path_elem->get()); + if (get_singleton().generate_glue(path_elem->get()) != OK) + ERR_PRINT("Mono glue generation failed"); elem = elem->next(); } else { ERR_PRINTS("--generate-mono-glue: No output directory specified"); @@ -2090,7 +2118,8 @@ void BindingsGenerator::handle_cmdline_args(const List<String> &p_cmdline_args) const List<String>::Element *path_elem = elem->next(); if (path_elem) { - get_singleton().generate_cs_core_project(path_elem->get()); + if (get_singleton().generate_cs_core_project(path_elem->get()) != OK) + ERR_PRINT("Generation of solution and C# project for the Core API failed"); elem = elem->next(); } else { ERR_PRINTS(cs_core_api_option + ": No output directory specified"); @@ -2104,7 +2133,8 @@ void BindingsGenerator::handle_cmdline_args(const List<String> &p_cmdline_args) if (path_elem) { if (path_elem->next()) { - get_singleton().generate_cs_editor_project(path_elem->get(), path_elem->next()->get()); + if (get_singleton().generate_cs_editor_project(path_elem->get(), path_elem->next()->get()) != OK) + ERR_PRINT("Generation of solution and C# project for the Editor API failed"); elem = path_elem->next(); } else { ERR_PRINTS(cs_editor_api_option + ": No hint path for the Core API dll specified"); diff --git a/modules/mono/editor/bindings_generator.h b/modules/mono/editor/bindings_generator.h index 437a566556..dfa3aa9911 100644 --- a/modules/mono/editor/bindings_generator.h +++ b/modules/mono/editor/bindings_generator.h @@ -368,6 +368,8 @@ class BindingsGenerator { List<InternalCall> method_icalls; Map<const MethodInterface *, const InternalCall *> method_icalls_map; + List<const InternalCall *> generated_icall_funcs; + List<InternalCall> core_custom_icalls; List<InternalCall> editor_custom_icalls; @@ -404,6 +406,11 @@ class BindingsGenerator { Error _generate_cs_type(const TypeInterface &itype, const String &p_output_file); + Error _generate_cs_property(const TypeInterface &p_itype, const DocData::PropertyDoc &p_prop_doc, List<String> &p_output); + Error _generate_cs_method(const TypeInterface &p_itype, const MethodInterface &p_imethod, int &p_method_bind_count, List<String> &p_output); + + Error _generate_glue_method(const TypeInterface &p_itype, const MethodInterface &p_imethod, List<String> &p_output); + Error _save_file(const String &path, const List<String> &content); BindingsGenerator(); diff --git a/modules/mono/editor/godotsharp_builds.cpp b/modules/mono/editor/godotsharp_builds.cpp index d3808769fb..a26f36d64f 100644 --- a/modules/mono/editor/godotsharp_builds.cpp +++ b/modules/mono/editor/godotsharp_builds.cpp @@ -32,6 +32,7 @@ #include "main/main.h" #include "../godotsharp_dirs.h" +#include "../mono_gd/gd_mono.h" #include "../mono_gd/gd_mono_class.h" #include "../mono_gd/gd_mono_marshal.h" #include "../utils/path_utils.h" @@ -52,6 +53,10 @@ String _find_build_engine_on_unix(const String &p_name) { if (ret.length()) return ret; + String ret_fallback = path_which(p_name + ".exe"); + if (ret_fallback.length()) + return ret_fallback; + const char *locations[] = { #ifdef OSX_ENABLED "/Library/Frameworks/Mono.framework/Versions/Current/bin/", @@ -60,10 +65,10 @@ String _find_build_engine_on_unix(const String &p_name) { }; for (int i = 0; i < sizeof(locations) / sizeof(const char *); i++) { - String location = locations[i]; + String hint_path = locations[i] + p_name; - if (FileAccess::exists(location + p_name)) { - return location; + if (FileAccess::exists(hint_path)) { + return hint_path; } } @@ -71,7 +76,7 @@ String _find_build_engine_on_unix(const String &p_name) { } #endif -MonoString *godot_icall_BuildInstance_get_MSBuildPath() { +void godot_icall_BuildInstance_get_MSBuildInfo(MonoString **r_msbuild_path, MonoString **r_framework_path) { GodotSharpBuilds::BuildTool build_tool = GodotSharpBuilds::BuildTool(int(EditorSettings::get_singleton()->get("mono/builds/build_tool"))); @@ -84,11 +89,23 @@ MonoString *godot_icall_BuildInstance_get_MSBuildPath() { if (!msbuild_tools_path.ends_with("\\")) msbuild_tools_path += "\\"; - return GDMonoMarshal::mono_string_from_godot(msbuild_tools_path + "MSBuild.exe"); + // FrameworkPathOverride + const MonoRegInfo &mono_reg_info = GDMono::get_singleton()->get_mono_reg_info(); + if (mono_reg_info.assembly_dir.length()) { + *r_msbuild_path = GDMonoMarshal::mono_string_from_godot(msbuild_tools_path + "MSBuild.exe"); + + String framework_path = path_join(mono_reg_info.assembly_dir, "mono", "4.5"); + *r_framework_path = GDMonoMarshal::mono_string_from_godot(framework_path); + } else { + ERR_PRINT("Cannot find Mono's assemblies directory in the registry"); + } + + return; } - OS::get_singleton()->print("Cannot find System's MSBuild. Trying with Mono's...\n"); - } + if (OS::get_singleton()->is_stdout_verbose()) + OS::get_singleton()->print("Cannot find System's MSBuild. Trying with Mono's...\n"); + } // fall through case GodotSharpBuilds::MSBUILD_MONO: { String msbuild_path = GDMono::get_singleton()->get_mono_reg_info().bin_dir.plus_file("msbuild.bat"); @@ -96,17 +113,10 @@ MonoString *godot_icall_BuildInstance_get_MSBuildPath() { WARN_PRINTS("Cannot find msbuild ('mono/builds/build_tool'). Tried with path: " + msbuild_path); } - return GDMonoMarshal::mono_string_from_godot(msbuild_path); - } - case GodotSharpBuilds::XBUILD: { - String xbuild_path = GDMono::get_singleton()->get_mono_reg_info().bin_dir.plus_file("xbuild.bat"); - - if (!FileAccess::exists(xbuild_path)) { - WARN_PRINTS("Cannot find xbuild ('mono/builds/build_tool'). Tried with path: " + xbuild_path); - } + *r_msbuild_path = GDMonoMarshal::mono_string_from_godot(msbuild_path); - return GDMonoMarshal::mono_string_from_godot(xbuild_path); - } + return; + } break; default: ERR_EXPLAIN("You don't deserve to live"); CRASH_NOW(); @@ -118,25 +128,28 @@ MonoString *godot_icall_BuildInstance_get_MSBuildPath() { if (build_tool != GodotSharpBuilds::XBUILD) { if (msbuild_path.empty()) { WARN_PRINT("Cannot find msbuild ('mono/builds/build_tool')."); - return NULL; + return; } } else { if (xbuild_path.empty()) { WARN_PRINT("Cannot find xbuild ('mono/builds/build_tool')."); - return NULL; + return; } } - return GDMonoMarshal::mono_string_from_godot(build_tool != GodotSharpBuilds::XBUILD ? msbuild_path : xbuild_path); + *r_msbuild_path = GDMonoMarshal::mono_string_from_godot(build_tool != GodotSharpBuilds::XBUILD ? msbuild_path : xbuild_path); + + return; #else - return NULL; + ERR_PRINT("Not implemented on this platform"); + return; #endif } void GodotSharpBuilds::_register_internal_calls() { mono_add_internal_call("GodotSharpTools.Build.BuildSystem::godot_icall_BuildInstance_ExitCallback", (void *)godot_icall_BuildInstance_ExitCallback); - mono_add_internal_call("GodotSharpTools.Build.BuildInstance::godot_icall_BuildInstance_get_MSBuildPath", (void *)godot_icall_BuildInstance_get_MSBuildPath); + mono_add_internal_call("GodotSharpTools.Build.BuildInstance::godot_icall_BuildInstance_get_MSBuildInfo", (void *)godot_icall_BuildInstance_get_MSBuildInfo); } void GodotSharpBuilds::show_build_error_dialog(const String &p_message) { @@ -269,7 +282,7 @@ bool GodotSharpBuilds::make_api_sln(GodotSharpBuilds::APIType p_api_type) { return true; } -bool godotsharp_build_callback() { +bool GodotSharpBuilds::build_project_blocking() { if (!FileAccess::exists(GodotSharpDirs::get_project_sln_path())) return true; // No solution to build @@ -348,14 +361,27 @@ GodotSharpBuilds::GodotSharpBuilds() { singleton = this; - EditorNode::get_singleton()->add_build_callback(&godotsharp_build_callback); + EditorNode::get_singleton()->add_build_callback(&GodotSharpBuilds::build_project_blocking); // Build tool settings EditorSettings *ed_settings = EditorSettings::get_singleton(); if (!ed_settings->has_setting("mono/builds/build_tool")) { - ed_settings->set_setting("mono/builds/build_tool", MSBUILD); + ed_settings->set_setting("mono/builds/build_tool", +#ifdef WINDOWS_ENABLED + // TODO: Default to MSBUILD_MONO if its csc.exe issue is fixed in the installed mono version + MSBUILD +#else + MSBUILD_MONO +#endif + ); } - ed_settings->add_property_hint(PropertyInfo(Variant::INT, "mono/builds/build_tool", PROPERTY_HINT_ENUM, "MSBuild (System),MSBuild (Mono),xbuild")); + ed_settings->add_property_hint(PropertyInfo(Variant::INT, "mono/builds/build_tool", PROPERTY_HINT_ENUM, +#ifdef WINDOWS_ENABLED + "MSBuild (Mono),MSBuild (System)" +#else + "MSBuild (Mono),xbuild (Deprecated)" +#endif + )); } GodotSharpBuilds::~GodotSharpBuilds() { diff --git a/modules/mono/editor/godotsharp_builds.h b/modules/mono/editor/godotsharp_builds.h index 6d5fa3b44a..7d2f38a774 100644 --- a/modules/mono/editor/godotsharp_builds.h +++ b/modules/mono/editor/godotsharp_builds.h @@ -67,9 +67,12 @@ public: }; enum BuildTool { - MSBUILD, MSBUILD_MONO, - XBUILD +#ifdef WINDOWS_ENABLED + MSBUILD +#else + XBUILD // Deprecated +#endif }; _FORCE_INLINE_ static GodotSharpBuilds *get_singleton() { return singleton; } @@ -89,6 +92,8 @@ public: static bool make_api_sln(APIType p_api_type); + static bool build_project_blocking(); + GodotSharpBuilds(); ~GodotSharpBuilds(); }; diff --git a/modules/mono/editor/godotsharp_editor.cpp b/modules/mono/editor/godotsharp_editor.cpp index 30e7653256..837dbfde66 100644 --- a/modules/mono/editor/godotsharp_editor.cpp +++ b/modules/mono/editor/godotsharp_editor.cpp @@ -46,21 +46,6 @@ #include "../utils/mono_reg_utils.h" #endif -class MonoReloadNode : public Node { - GDCLASS(MonoReloadNode, Node) - -protected: - void _notification(int p_what) { - switch (p_what) { - case MainLoop::NOTIFICATION_WM_FOCUS_IN: { - CSharpLanguage::get_singleton()->reload_assemblies_if_needed(true); - } break; - default: { - } break; - }; - } -}; - GodotSharpEditor *GodotSharpEditor::singleton = NULL; bool GodotSharpEditor::_create_project_solution() { @@ -71,6 +56,10 @@ bool GodotSharpEditor::_create_project_solution() { String path = OS::get_singleton()->get_resource_dir(); String name = ProjectSettings::get_singleton()->get("application/config/name"); + if (name.empty()) { + name = "UnnamedProject"; + } + String guid = CSharpProject::generate_game_project(path, name); if (guid.length()) { @@ -182,11 +171,6 @@ Error GodotSharpEditor::open_in_external_editor(const Ref<Script> &p_script, int String script_path = ProjectSettings::get_singleton()->globalize_path(p_script->get_path()); monodevel_instance->execute(script_path); } break; - case EDITOR_VISUAL_STUDIO: - // TODO - // devenv <PathToSolutionFolder> - // devenv /edit <PathToCsFile> /command "edit.goto <Line>" - // HKEY_LOCAL_MACHINE\SOFTWARE\Wow6432Node\Microsoft\VisualStudio\SxS\VS7 default: return ERR_UNAVAILABLE; } @@ -240,7 +224,7 @@ GodotSharpEditor::GodotSharpEditor(EditorNode *p_editor) { if (!ed_settings->has_setting("mono/editor/external_editor")) { ed_settings->set_setting("mono/editor/external_editor", EDITOR_NONE); } - ed_settings->add_property_hint(PropertyInfo(Variant::INT, "mono/editor/external_editor", PROPERTY_HINT_ENUM, "None,MonoDevelop,Visual Studio,Visual Studio Code")); + ed_settings->add_property_hint(PropertyInfo(Variant::INT, "mono/editor/external_editor", PROPERTY_HINT_ENUM, "None,MonoDevelop,Visual Studio Code")); } GodotSharpEditor::~GodotSharpEditor() { @@ -254,3 +238,49 @@ GodotSharpEditor::~GodotSharpEditor() { monodevel_instance = NULL; } } + +MonoReloadNode *MonoReloadNode::singleton = NULL; + +void MonoReloadNode::_reload_timer_timeout() { + + CSharpLanguage::get_singleton()->reload_assemblies_if_needed(false); +} + +void MonoReloadNode::restart_reload_timer() { + + reload_timer->stop(); + reload_timer->start(); +} + +void MonoReloadNode::_bind_methods() { + + ClassDB::bind_method(D_METHOD("_reload_timer_timeout"), &MonoReloadNode::_reload_timer_timeout); +} + +void MonoReloadNode::_notification(int p_what) { + switch (p_what) { + case MainLoop::NOTIFICATION_WM_FOCUS_IN: { + restart_reload_timer(); + CSharpLanguage::get_singleton()->reload_assemblies_if_needed(true); + } break; + default: { + } break; + }; +} + +MonoReloadNode::MonoReloadNode() { + + singleton = this; + + reload_timer = memnew(Timer); + add_child(reload_timer); + reload_timer->set_one_shot(false); + reload_timer->set_wait_time(EDITOR_DEF("mono/assembly_watch_interval_sec", 0.5)); + reload_timer->connect("timeout", this, "_reload_timer_timeout"); + reload_timer->start(); +} + +MonoReloadNode::~MonoReloadNode() { + + singleton = NULL; +} diff --git a/modules/mono/editor/godotsharp_editor.h b/modules/mono/editor/godotsharp_editor.h index 1ecb8c7a94..0f2c163582 100644 --- a/modules/mono/editor/godotsharp_editor.h +++ b/modules/mono/editor/godotsharp_editor.h @@ -69,7 +69,6 @@ public: enum ExternalEditor { EDITOR_NONE, EDITOR_MONODEVELOP, - EDITOR_VISUAL_STUDIO, EDITOR_CODE, }; @@ -84,4 +83,27 @@ public: ~GodotSharpEditor(); }; +class MonoReloadNode : public Node { + GDCLASS(MonoReloadNode, Node) + + Timer *reload_timer; + + void _reload_timer_timeout(); + + static MonoReloadNode *singleton; + +protected: + static void _bind_methods(); + + void _notification(int p_what); + +public: + _FORCE_INLINE_ static MonoReloadNode *get_singleton() { return singleton; } + + void restart_reload_timer(); + + MonoReloadNode(); + ~MonoReloadNode(); +}; + #endif // GODOTSHARP_EDITOR_H diff --git a/modules/mono/editor/mono_bottom_panel.cpp b/modules/mono/editor/mono_bottom_panel.cpp index 8d6a618ee8..31dc09856a 100644 --- a/modules/mono/editor/mono_bottom_panel.cpp +++ b/modules/mono/editor/mono_bottom_panel.cpp @@ -139,6 +139,14 @@ void MonoBottomPanel::_errors_toggled(bool p_pressed) { build_tab->_update_issues_list(); } +void MonoBottomPanel::_build_project_pressed() { + + GodotSharpBuilds::get_singleton()->build_project_blocking(); + + MonoReloadNode::get_singleton()->restart_reload_timer(); + CSharpLanguage::get_singleton()->reload_assemblies_if_needed(true); +} + void MonoBottomPanel::_notification(int p_what) { switch (p_what) { @@ -153,6 +161,7 @@ void MonoBottomPanel::_notification(int p_what) { void MonoBottomPanel::_bind_methods() { + ClassDB::bind_method(D_METHOD("_build_project_pressed"), &MonoBottomPanel::_build_project_pressed); ClassDB::bind_method(D_METHOD("_warnings_toggled", "pressed"), &MonoBottomPanel::_warnings_toggled); ClassDB::bind_method(D_METHOD("_errors_toggled", "pressed"), &MonoBottomPanel::_errors_toggled); ClassDB::bind_method(D_METHOD("_build_tab_item_selected", "idx"), &MonoBottomPanel::_build_tab_item_selected); @@ -187,6 +196,12 @@ MonoBottomPanel::MonoBottomPanel(EditorNode *p_editor) { toolbar_hbc->set_h_size_flags(SIZE_EXPAND_FILL); panel_builds_tab->add_child(toolbar_hbc); + ToolButton *build_project_btn = memnew(ToolButton); + build_project_btn->set_text("Build Project"); + build_project_btn->set_focus_mode(FOCUS_NONE); + build_project_btn->connect("pressed", this, "_build_project_pressed"); + toolbar_hbc->add_child(build_project_btn); + toolbar_hbc->add_spacer(); warnings_btn = memnew(ToolButton); diff --git a/modules/mono/editor/mono_bottom_panel.h b/modules/mono/editor/mono_bottom_panel.h index 83da5b9809..5cc4aa3240 100644 --- a/modules/mono/editor/mono_bottom_panel.h +++ b/modules/mono/editor/mono_bottom_panel.h @@ -61,6 +61,8 @@ class MonoBottomPanel : public VBoxContainer { void _warnings_toggled(bool p_pressed); void _errors_toggled(bool p_pressed); + void _build_project_pressed(); + static MonoBottomPanel *singleton; protected: diff --git a/modules/mono/glue/cs_files/Color.cs b/modules/mono/glue/cs_files/Color.cs index df88a46832..0a00f83d47 100644 --- a/modules/mono/glue/cs_files/Color.cs +++ b/modules/mono/glue/cs_files/Color.cs @@ -1,590 +1,590 @@ -using System;
-
-namespace Godot
-{
- public struct Color : IEquatable<Color>
- {
- public float r;
- public float g;
- public float b;
- public float a;
-
- public int r8
- {
- get
- {
- return (int)(r * 255.0f);
- }
- }
-
- public int g8
- {
- get
- {
- return (int)(g * 255.0f);
- }
- }
-
- public int b8
- {
- get
- {
- return (int)(b * 255.0f);
- }
- }
-
- public int a8
- {
- get
- {
- return (int)(a * 255.0f);
- }
- }
-
- public float h
- {
- get
- {
- float max = Mathf.max(r, Mathf.max(g, b));
- float min = Mathf.min(r, Mathf.min(g, b));
-
- float delta = max - min;
-
- if (delta == 0)
- return 0;
-
- float h;
-
- if (r == max)
- h = (g - b) / delta; // Between yellow & magenta
- else if (g == max)
- h = 2 + (b - r) / delta; // Between cyan & yellow
- else
- h = 4 + (r - g) / delta; // Between magenta & cyan
-
- h /= 6.0f;
-
- if (h < 0)
- h += 1.0f;
-
- return h;
- }
- set
- {
- this = from_hsv(value, s, v);
- }
- }
-
- public float s
- {
- get
- {
- float max = Mathf.max(r, Mathf.max(g, b));
- float min = Mathf.min(r, Mathf.min(g, b));
-
- float delta = max - min;
-
- return max != 0 ? delta / max : 0;
- }
- set
- {
- this = from_hsv(h, value, v);
- }
- }
-
- public float v
- {
- get
- {
- return Mathf.max(r, Mathf.max(g, b));
- }
- set
- {
- this = from_hsv(h, s, value);
- }
- }
-
- private static readonly Color black = new Color(0f, 0f, 0f, 1.0f);
-
- public Color Black
- {
- get
- {
- return black;
- }
- }
-
- public float this [int index]
- {
- get
- {
- switch (index)
- {
- case 0:
- return r;
- case 1:
- return g;
- case 2:
- return b;
- case 3:
- return a;
- default:
- throw new IndexOutOfRangeException();
- }
- }
- set
- {
- switch (index)
- {
- case 0:
- r = value;
- return;
- case 1:
- g = value;
- return;
- case 2:
- b = value;
- return;
- case 3:
- a = value;
- return;
- default:
- throw new IndexOutOfRangeException();
- }
- }
- }
-
- public static void to_hsv(Color color, out float hue, out float saturation, out float value)
- {
- int max = Mathf.max(color.r8, Mathf.max(color.g8, color.b8));
- int min = Mathf.min(color.r8, Mathf.min(color.g8, color.b8));
-
- float delta = max - min;
-
- if (delta == 0)
- {
- hue = 0;
- }
- else
- {
- if (color.r == max)
- hue = (color.g - color.b) / delta; // Between yellow & magenta
- else if (color.g == max)
- hue = 2 + (color.b - color.r) / delta; // Between cyan & yellow
- else
- hue = 4 + (color.r - color.g) / delta; // Between magenta & cyan
-
- hue /= 6.0f;
-
- if (hue < 0)
- hue += 1.0f;
- }
-
- saturation = (max == 0) ? 0 : 1f - (1f * min / max);
- value = max / 255f;
- }
-
- public static Color from_hsv(float hue, float saturation, float value, float alpha = 1.0f)
- {
- if (saturation == 0)
- {
- // acp_hromatic (grey)
- return new Color(value, value, value, alpha);
- }
-
- int i;
- float f, p, q, t;
-
- hue *= 6.0f;
- hue %= 6f;
- i = (int)hue;
-
- f = hue - i;
- p = value * (1 - saturation);
- q = value * (1 - saturation * f);
- t = value * (1 - saturation * (1 - f));
-
- switch (i)
- {
- case 0: // Red is the dominant color
- return new Color(value, t, p, alpha);
- case 1: // Green is the dominant color
- return new Color(q, value, p, alpha);
- case 2:
- return new Color(p, value, t, alpha);
- case 3: // Blue is the dominant color
- return new Color(p, q, value, alpha);
- case 4:
- return new Color(t, p, value, alpha);
- default: // (5) Red is the dominant color
- return new Color(value, p, q, alpha);
- }
- }
-
- public Color blend(Color over)
- {
- Color res;
-
- float sa = 1.0f - over.a;
- res.a = a * sa + over.a;
-
- if (res.a == 0)
- {
- return new Color(0, 0, 0, 0);
- }
- else
- {
- res.r = (r * a * sa + over.r * over.a) / res.a;
- res.g = (g * a * sa + over.g * over.a) / res.a;
- res.b = (b * a * sa + over.b * over.a) / res.a;
- }
-
- return res;
- }
-
- public Color contrasted()
- {
- return new Color(
- (r + 0.5f) % 1.0f,
- (g + 0.5f) % 1.0f,
- (b + 0.5f) % 1.0f
- );
- }
-
- public float gray()
- {
- return (r + g + b) / 3.0f;
- }
-
- public Color inverted()
- {
- return new Color(
- 1.0f - r,
- 1.0f - g,
- 1.0f - b
- );
- }
-
- public Color linear_interpolate(Color b, float t)
- {
- Color res = this;
-
- res.r += (t * (b.r - this.r));
- res.g += (t * (b.g - this.g));
- res.b += (t * (b.b - this.b));
- res.a += (t * (b.a - this.a));
-
- return res;
- }
-
- public int to_32()
- {
- int c = (byte)(a * 255);
- c <<= 8;
- c |= (byte)(r * 255);
- c <<= 8;
- c |= (byte)(g * 255);
- c <<= 8;
- c |= (byte)(b * 255);
-
- return c;
- }
-
- public int to_ARGB32()
- {
- int c = (byte)(a * 255);
- c <<= 8;
- c |= (byte)(r * 255);
- c <<= 8;
- c |= (byte)(g * 255);
- c <<= 8;
- c |= (byte)(b * 255);
-
- return c;
- }
-
- public string to_html(bool include_alpha = true)
- {
- String txt = string.Empty;
-
- txt += _to_hex(r);
- txt += _to_hex(g);
- txt += _to_hex(b);
-
- if (include_alpha)
- txt = _to_hex(a) + txt;
-
- return txt;
- }
-
- public Color(float r, float g, float b, float a = 1.0f)
- {
- this.r = r;
- this.g = g;
- this.b = b;
- this.a = a;
- }
-
- public Color(int rgba)
- {
- this.a = (rgba & 0xFF) / 255.0f;
- rgba >>= 8;
- this.b = (rgba & 0xFF) / 255.0f;
- rgba >>= 8;
- this.g = (rgba & 0xFF) / 255.0f;
- rgba >>= 8;
- this.r = (rgba & 0xFF) / 255.0f;
- }
-
- private static float _parse_col(string str, int ofs)
- {
- int ig = 0;
-
- for (int i = 0; i < 2; i++)
- {
- int c = str[i + ofs];
- int v = 0;
-
- if (c >= '0' && c <= '9')
- {
- v = c - '0';
- }
- else if (c >= 'a' && c <= 'f')
- {
- v = c - 'a';
- v += 10;
- }
- else if (c >= 'A' && c <= 'F')
- {
- v = c - 'A';
- v += 10;
- }
- else
- {
- return -1;
- }
-
- if (i == 0)
- ig += v * 16;
- else
- ig += v;
- }
-
- return ig;
- }
-
- private String _to_hex(float val)
- {
- int v = (int)Mathf.clamp(val * 255.0f, 0, 255);
-
- string ret = string.Empty;
-
- for (int i = 0; i < 2; i++)
- {
- char[] c = { (char)0, (char)0 };
- int lv = v & 0xF;
-
- if (lv < 10)
- c[0] = (char)('0' + lv);
- else
- c[0] = (char)('a' + lv - 10);
-
- v >>= 4;
- ret = c + ret;
- }
-
- return ret;
- }
-
- internal static bool html_is_valid(string color)
- {
- if (color.Length == 0)
- return false;
-
- if (color[0] == '#')
- color = color.Substring(1, color.Length - 1);
-
- bool alpha = false;
-
- if (color.Length == 8)
- alpha = true;
- else if (color.Length == 6)
- alpha = false;
- else
- return false;
-
- if (alpha)
- {
- if ((int)_parse_col(color, 0) < 0)
- return false;
- }
-
- int from = alpha ? 2 : 0;
-
- if ((int)_parse_col(color, from + 0) < 0)
- return false;
- if ((int)_parse_col(color, from + 2) < 0)
- return false;
- if ((int)_parse_col(color, from + 4) < 0)
- return false;
-
- return true;
- }
-
- public static Color Color8(byte r8, byte g8, byte b8, byte a8)
- {
- return new Color((float)r8 / 255f, (float)g8 / 255f, (float)b8 / 255f, (float)a8 / 255f);
- }
-
- public Color(string rgba)
- {
- if (rgba.Length == 0)
- {
- r = 0f;
- g = 0f;
- b = 0f;
- a = 1.0f;
- return;
- }
-
- if (rgba[0] == '#')
- rgba = rgba.Substring(1);
-
- bool alpha = false;
-
- if (rgba.Length == 8)
- {
- alpha = true;
- }
- else if (rgba.Length == 6)
- {
- alpha = false;
- }
- else
- {
- throw new ArgumentOutOfRangeException("Invalid color code. Length is " + rgba.Length + " but a length of 6 or 8 is expected: " + rgba);
- }
-
- if (alpha)
- {
- a = _parse_col(rgba, 0);
-
- if (a < 0)
- throw new ArgumentOutOfRangeException("Invalid color code. Alpha is " + a + " but zero or greater is expected: " + rgba);
- }
- else
- {
- a = 1.0f;
- }
-
- int from = alpha ? 2 : 0;
-
- r = _parse_col(rgba, from + 0);
-
- if (r < 0)
- throw new ArgumentOutOfRangeException("Invalid color code. Red is " + r + " but zero or greater is expected: " + rgba);
-
- g = _parse_col(rgba, from + 2);
-
- if (g < 0)
- throw new ArgumentOutOfRangeException("Invalid color code. Green is " + g + " but zero or greater is expected: " + rgba);
-
- b = _parse_col(rgba, from + 4);
-
- if (b < 0)
- throw new ArgumentOutOfRangeException("Invalid color code. Blue is " + b + " but zero or greater is expected: " + rgba);
- }
-
- public static bool operator ==(Color left, Color right)
- {
- return left.Equals(right);
- }
-
- public static bool operator !=(Color left, Color right)
- {
- return !left.Equals(right);
- }
-
- public static bool operator <(Color left, Color right)
- {
- if (left.r == right.r)
- {
- if (left.g == right.g)
- {
- if (left.b == right.b)
- return (left.a < right.a);
- else
- return (left.b < right.b);
- }
- else
- {
- return left.g < right.g;
- }
- }
-
- return left.r < right.r;
- }
-
- public static bool operator >(Color left, Color right)
- {
- if (left.r == right.r)
- {
- if (left.g == right.g)
- {
- if (left.b == right.b)
- return (left.a > right.a);
- else
- return (left.b > right.b);
- }
- else
- {
- return left.g > right.g;
- }
- }
-
- return left.r > right.r;
- }
-
- public override bool Equals(object obj)
- {
- if (obj is Color)
- {
- return Equals((Color)obj);
- }
-
- return false;
- }
-
- public bool Equals(Color other)
- {
- return r == other.r && g == other.g && b == other.b && a == other.a;
- }
-
- public override int GetHashCode()
- {
- return r.GetHashCode() ^ g.GetHashCode() ^ b.GetHashCode() ^ a.GetHashCode();
- }
-
- public override string ToString()
- {
- return String.Format("{0},{1},{2},{3}", new object[]
- {
- this.r.ToString(),
- this.g.ToString(),
- this.b.ToString(),
- this.a.ToString()
- });
- }
-
- public string ToString(string format)
- {
- return String.Format("{0},{1},{2},{3}", new object[]
- {
- this.r.ToString(format),
- this.g.ToString(format),
- this.b.ToString(format),
- this.a.ToString(format)
- });
- }
- }
-}
+using System; + +namespace Godot +{ + public struct Color : IEquatable<Color> + { + public float r; + public float g; + public float b; + public float a; + + public int r8 + { + get + { + return (int)(r * 255.0f); + } + } + + public int g8 + { + get + { + return (int)(g * 255.0f); + } + } + + public int b8 + { + get + { + return (int)(b * 255.0f); + } + } + + public int a8 + { + get + { + return (int)(a * 255.0f); + } + } + + public float h + { + get + { + float max = Mathf.max(r, Mathf.max(g, b)); + float min = Mathf.min(r, Mathf.min(g, b)); + + float delta = max - min; + + if (delta == 0) + return 0; + + float h; + + if (r == max) + h = (g - b) / delta; // Between yellow & magenta + else if (g == max) + h = 2 + (b - r) / delta; // Between cyan & yellow + else + h = 4 + (r - g) / delta; // Between magenta & cyan + + h /= 6.0f; + + if (h < 0) + h += 1.0f; + + return h; + } + set + { + this = from_hsv(value, s, v); + } + } + + public float s + { + get + { + float max = Mathf.max(r, Mathf.max(g, b)); + float min = Mathf.min(r, Mathf.min(g, b)); + + float delta = max - min; + + return max != 0 ? delta / max : 0; + } + set + { + this = from_hsv(h, value, v); + } + } + + public float v + { + get + { + return Mathf.max(r, Mathf.max(g, b)); + } + set + { + this = from_hsv(h, s, value); + } + } + + private static readonly Color black = new Color(0f, 0f, 0f, 1.0f); + + public Color Black + { + get + { + return black; + } + } + + public float this [int index] + { + get + { + switch (index) + { + case 0: + return r; + case 1: + return g; + case 2: + return b; + case 3: + return a; + default: + throw new IndexOutOfRangeException(); + } + } + set + { + switch (index) + { + case 0: + r = value; + return; + case 1: + g = value; + return; + case 2: + b = value; + return; + case 3: + a = value; + return; + default: + throw new IndexOutOfRangeException(); + } + } + } + + public static void to_hsv(Color color, out float hue, out float saturation, out float value) + { + int max = Mathf.max(color.r8, Mathf.max(color.g8, color.b8)); + int min = Mathf.min(color.r8, Mathf.min(color.g8, color.b8)); + + float delta = max - min; + + if (delta == 0) + { + hue = 0; + } + else + { + if (color.r == max) + hue = (color.g - color.b) / delta; // Between yellow & magenta + else if (color.g == max) + hue = 2 + (color.b - color.r) / delta; // Between cyan & yellow + else + hue = 4 + (color.r - color.g) / delta; // Between magenta & cyan + + hue /= 6.0f; + + if (hue < 0) + hue += 1.0f; + } + + saturation = (max == 0) ? 0 : 1f - (1f * min / max); + value = max / 255f; + } + + public static Color from_hsv(float hue, float saturation, float value, float alpha = 1.0f) + { + if (saturation == 0) + { + // acp_hromatic (grey) + return new Color(value, value, value, alpha); + } + + int i; + float f, p, q, t; + + hue *= 6.0f; + hue %= 6f; + i = (int)hue; + + f = hue - i; + p = value * (1 - saturation); + q = value * (1 - saturation * f); + t = value * (1 - saturation * (1 - f)); + + switch (i) + { + case 0: // Red is the dominant color + return new Color(value, t, p, alpha); + case 1: // Green is the dominant color + return new Color(q, value, p, alpha); + case 2: + return new Color(p, value, t, alpha); + case 3: // Blue is the dominant color + return new Color(p, q, value, alpha); + case 4: + return new Color(t, p, value, alpha); + default: // (5) Red is the dominant color + return new Color(value, p, q, alpha); + } + } + + public Color blend(Color over) + { + Color res; + + float sa = 1.0f - over.a; + res.a = a * sa + over.a; + + if (res.a == 0) + { + return new Color(0, 0, 0, 0); + } + else + { + res.r = (r * a * sa + over.r * over.a) / res.a; + res.g = (g * a * sa + over.g * over.a) / res.a; + res.b = (b * a * sa + over.b * over.a) / res.a; + } + + return res; + } + + public Color contrasted() + { + return new Color( + (r + 0.5f) % 1.0f, + (g + 0.5f) % 1.0f, + (b + 0.5f) % 1.0f + ); + } + + public float gray() + { + return (r + g + b) / 3.0f; + } + + public Color inverted() + { + return new Color( + 1.0f - r, + 1.0f - g, + 1.0f - b + ); + } + + public Color linear_interpolate(Color b, float t) + { + Color res = this; + + res.r += (t * (b.r - this.r)); + res.g += (t * (b.g - this.g)); + res.b += (t * (b.b - this.b)); + res.a += (t * (b.a - this.a)); + + return res; + } + + public int to_32() + { + int c = (byte)(a * 255); + c <<= 8; + c |= (byte)(r * 255); + c <<= 8; + c |= (byte)(g * 255); + c <<= 8; + c |= (byte)(b * 255); + + return c; + } + + public int to_ARGB32() + { + int c = (byte)(a * 255); + c <<= 8; + c |= (byte)(r * 255); + c <<= 8; + c |= (byte)(g * 255); + c <<= 8; + c |= (byte)(b * 255); + + return c; + } + + public string to_html(bool include_alpha = true) + { + String txt = string.Empty; + + txt += _to_hex(r); + txt += _to_hex(g); + txt += _to_hex(b); + + if (include_alpha) + txt = _to_hex(a) + txt; + + return txt; + } + + public Color(float r, float g, float b, float a = 1.0f) + { + this.r = r; + this.g = g; + this.b = b; + this.a = a; + } + + public Color(int rgba) + { + this.a = (rgba & 0xFF) / 255.0f; + rgba >>= 8; + this.b = (rgba & 0xFF) / 255.0f; + rgba >>= 8; + this.g = (rgba & 0xFF) / 255.0f; + rgba >>= 8; + this.r = (rgba & 0xFF) / 255.0f; + } + + private static float _parse_col(string str, int ofs) + { + int ig = 0; + + for (int i = 0; i < 2; i++) + { + int c = str[i + ofs]; + int v = 0; + + if (c >= '0' && c <= '9') + { + v = c - '0'; + } + else if (c >= 'a' && c <= 'f') + { + v = c - 'a'; + v += 10; + } + else if (c >= 'A' && c <= 'F') + { + v = c - 'A'; + v += 10; + } + else + { + return -1; + } + + if (i == 0) + ig += v * 16; + else + ig += v; + } + + return ig; + } + + private String _to_hex(float val) + { + int v = (int)Mathf.clamp(val * 255.0f, 0, 255); + + string ret = string.Empty; + + for (int i = 0; i < 2; i++) + { + char[] c = { (char)0, (char)0 }; + int lv = v & 0xF; + + if (lv < 10) + c[0] = (char)('0' + lv); + else + c[0] = (char)('a' + lv - 10); + + v >>= 4; + ret = c + ret; + } + + return ret; + } + + internal static bool html_is_valid(string color) + { + if (color.Length == 0) + return false; + + if (color[0] == '#') + color = color.Substring(1, color.Length - 1); + + bool alpha = false; + + if (color.Length == 8) + alpha = true; + else if (color.Length == 6) + alpha = false; + else + return false; + + if (alpha) + { + if ((int)_parse_col(color, 0) < 0) + return false; + } + + int from = alpha ? 2 : 0; + + if ((int)_parse_col(color, from + 0) < 0) + return false; + if ((int)_parse_col(color, from + 2) < 0) + return false; + if ((int)_parse_col(color, from + 4) < 0) + return false; + + return true; + } + + public static Color Color8(byte r8, byte g8, byte b8, byte a8) + { + return new Color((float)r8 / 255f, (float)g8 / 255f, (float)b8 / 255f, (float)a8 / 255f); + } + + public Color(string rgba) + { + if (rgba.Length == 0) + { + r = 0f; + g = 0f; + b = 0f; + a = 1.0f; + return; + } + + if (rgba[0] == '#') + rgba = rgba.Substring(1); + + bool alpha = false; + + if (rgba.Length == 8) + { + alpha = true; + } + else if (rgba.Length == 6) + { + alpha = false; + } + else + { + throw new ArgumentOutOfRangeException("Invalid color code. Length is " + rgba.Length + " but a length of 6 or 8 is expected: " + rgba); + } + + if (alpha) + { + a = _parse_col(rgba, 0); + + if (a < 0) + throw new ArgumentOutOfRangeException("Invalid color code. Alpha is " + a + " but zero or greater is expected: " + rgba); + } + else + { + a = 1.0f; + } + + int from = alpha ? 2 : 0; + + r = _parse_col(rgba, from + 0); + + if (r < 0) + throw new ArgumentOutOfRangeException("Invalid color code. Red is " + r + " but zero or greater is expected: " + rgba); + + g = _parse_col(rgba, from + 2); + + if (g < 0) + throw new ArgumentOutOfRangeException("Invalid color code. Green is " + g + " but zero or greater is expected: " + rgba); + + b = _parse_col(rgba, from + 4); + + if (b < 0) + throw new ArgumentOutOfRangeException("Invalid color code. Blue is " + b + " but zero or greater is expected: " + rgba); + } + + public static bool operator ==(Color left, Color right) + { + return left.Equals(right); + } + + public static bool operator !=(Color left, Color right) + { + return !left.Equals(right); + } + + public static bool operator <(Color left, Color right) + { + if (left.r == right.r) + { + if (left.g == right.g) + { + if (left.b == right.b) + return (left.a < right.a); + else + return (left.b < right.b); + } + else + { + return left.g < right.g; + } + } + + return left.r < right.r; + } + + public static bool operator >(Color left, Color right) + { + if (left.r == right.r) + { + if (left.g == right.g) + { + if (left.b == right.b) + return (left.a > right.a); + else + return (left.b > right.b); + } + else + { + return left.g > right.g; + } + } + + return left.r > right.r; + } + + public override bool Equals(object obj) + { + if (obj is Color) + { + return Equals((Color)obj); + } + + return false; + } + + public bool Equals(Color other) + { + return r == other.r && g == other.g && b == other.b && a == other.a; + } + + public override int GetHashCode() + { + return r.GetHashCode() ^ g.GetHashCode() ^ b.GetHashCode() ^ a.GetHashCode(); + } + + public override string ToString() + { + return String.Format("{0},{1},{2},{3}", new object[] + { + this.r.ToString(), + this.g.ToString(), + this.b.ToString(), + this.a.ToString() + }); + } + + public string ToString(string format) + { + return String.Format("{0},{1},{2},{3}", new object[] + { + this.r.ToString(format), + this.g.ToString(format), + this.b.ToString(format), + this.a.ToString(format) + }); + } + } +} diff --git a/modules/mono/glue/cs_files/ExportAttribute.cs b/modules/mono/glue/cs_files/ExportAttribute.cs index a4e7d447dd..dce9cc59a0 100644 --- a/modules/mono/glue/cs_files/ExportAttribute.cs +++ b/modules/mono/glue/cs_files/ExportAttribute.cs @@ -1,4 +1,4 @@ -using System; +using System; namespace Godot { diff --git a/modules/mono/glue/cs_files/MarshalUtils.cs b/modules/mono/glue/cs_files/MarshalUtils.cs index 5d40111339..2bdfb95c51 100644 --- a/modules/mono/glue/cs_files/MarshalUtils.cs +++ b/modules/mono/glue/cs_files/MarshalUtils.cs @@ -1,4 +1,4 @@ -using System; +using System; using System.Collections.Generic; namespace Godot diff --git a/modules/mono/glue/cs_files/Plane.cs b/modules/mono/glue/cs_files/Plane.cs index ada6e465ac..37f70aca1e 100644 --- a/modules/mono/glue/cs_files/Plane.cs +++ b/modules/mono/glue/cs_files/Plane.cs @@ -1,209 +1,209 @@ -using System;
-
-namespace Godot
-{
- public struct Plane : IEquatable<Plane>
- {
- Vector3 normal;
-
- public float x
- {
- get
- {
- return normal.x;
- }
- set
- {
- normal.x = value;
- }
- }
-
- public float y
- {
- get
- {
- return normal.y;
- }
- set
- {
- normal.y = value;
- }
- }
-
- public float z
- {
- get
- {
- return normal.z;
- }
- set
- {
- normal.z = value;
- }
- }
-
- float d;
-
- public Vector3 Center
- {
- get
- {
- return normal * d;
- }
- }
-
- public float distance_to(Vector3 point)
- {
- return normal.dot(point) - d;
- }
-
- public Vector3 get_any_point()
- {
- return normal * d;
- }
-
- public bool has_point(Vector3 point, float epsilon = Mathf.Epsilon)
- {
- float dist = normal.dot(point) - d;
- return Mathf.abs(dist) <= epsilon;
- }
-
- public Vector3 intersect_3(Plane b, Plane c)
- {
- float denom = normal.cross(b.normal).dot(c.normal);
-
- if (Mathf.abs(denom) <= Mathf.Epsilon)
- return new Vector3();
-
- Vector3 result = (b.normal.cross(c.normal) * this.d) +
- (c.normal.cross(normal) * b.d) +
- (normal.cross(b.normal) * c.d);
-
- return result / denom;
- }
-
- public Vector3 intersect_ray(Vector3 from, Vector3 dir)
- {
- float den = normal.dot(dir);
-
- if (Mathf.abs(den) <= Mathf.Epsilon)
- return new Vector3();
-
- float dist = (normal.dot(from) - d) / den;
-
- // This is a ray, before the emiting pos (from) does not exist
- if (dist > Mathf.Epsilon)
- return new Vector3();
-
- return from + dir * -dist;
- }
-
- public Vector3 intersect_segment(Vector3 begin, Vector3 end)
- {
- Vector3 segment = begin - end;
- float den = normal.dot(segment);
-
- if (Mathf.abs(den) <= Mathf.Epsilon)
- return new Vector3();
-
- float dist = (normal.dot(begin) - d) / den;
-
- if (dist < -Mathf.Epsilon || dist > (1.0f + Mathf.Epsilon))
- return new Vector3();
-
- return begin + segment * -dist;
- }
-
- public bool is_point_over(Vector3 point)
- {
- return normal.dot(point) > d;
- }
-
- public Plane normalized()
- {
- float len = normal.length();
-
- if (len == 0)
- return new Plane(0, 0, 0, 0);
-
- return new Plane(normal / len, d / len);
- }
-
- public Vector3 project(Vector3 point)
- {
- return point - normal * distance_to(point);
- }
-
- public Plane(float a, float b, float c, float d)
- {
- normal = new Vector3(a, b, c);
- this.d = d;
- }
-
- public Plane(Vector3 normal, float d)
- {
- this.normal = normal;
- this.d = d;
- }
-
- public Plane(Vector3 v1, Vector3 v2, Vector3 v3)
- {
- normal = (v1 - v3).cross(v1 - v2);
- normal.normalize();
- d = normal.dot(v1);
- }
-
- public static Plane operator -(Plane plane)
- {
- return new Plane(-plane.normal, -plane.d);
- }
-
- public static bool operator ==(Plane left, Plane right)
- {
- return left.Equals(right);
- }
-
- public static bool operator !=(Plane left, Plane right)
- {
- return !left.Equals(right);
- }
-
- public override bool Equals(object obj)
- {
- if (obj is Plane)
- {
- return Equals((Plane)obj);
- }
-
- return false;
- }
-
- public bool Equals(Plane other)
- {
- return normal == other.normal && d == other.d;
- }
-
- public override int GetHashCode()
- {
- return normal.GetHashCode() ^ d.GetHashCode();
- }
-
- public override string ToString()
- {
- return String.Format("({0}, {1})", new object[]
- {
- this.normal.ToString(),
- this.d.ToString()
- });
- }
-
- public string ToString(string format)
- {
- return String.Format("({0}, {1})", new object[]
- {
- this.normal.ToString(format),
- this.d.ToString(format)
- });
- }
- }
-}
+using System; + +namespace Godot +{ + public struct Plane : IEquatable<Plane> + { + Vector3 normal; + + public float x + { + get + { + return normal.x; + } + set + { + normal.x = value; + } + } + + public float y + { + get + { + return normal.y; + } + set + { + normal.y = value; + } + } + + public float z + { + get + { + return normal.z; + } + set + { + normal.z = value; + } + } + + float d; + + public Vector3 Center + { + get + { + return normal * d; + } + } + + public float distance_to(Vector3 point) + { + return normal.dot(point) - d; + } + + public Vector3 get_any_point() + { + return normal * d; + } + + public bool has_point(Vector3 point, float epsilon = Mathf.Epsilon) + { + float dist = normal.dot(point) - d; + return Mathf.abs(dist) <= epsilon; + } + + public Vector3 intersect_3(Plane b, Plane c) + { + float denom = normal.cross(b.normal).dot(c.normal); + + if (Mathf.abs(denom) <= Mathf.Epsilon) + return new Vector3(); + + Vector3 result = (b.normal.cross(c.normal) * this.d) + + (c.normal.cross(normal) * b.d) + + (normal.cross(b.normal) * c.d); + + return result / denom; + } + + public Vector3 intersect_ray(Vector3 from, Vector3 dir) + { + float den = normal.dot(dir); + + if (Mathf.abs(den) <= Mathf.Epsilon) + return new Vector3(); + + float dist = (normal.dot(from) - d) / den; + + // This is a ray, before the emiting pos (from) does not exist + if (dist > Mathf.Epsilon) + return new Vector3(); + + return from + dir * -dist; + } + + public Vector3 intersect_segment(Vector3 begin, Vector3 end) + { + Vector3 segment = begin - end; + float den = normal.dot(segment); + + if (Mathf.abs(den) <= Mathf.Epsilon) + return new Vector3(); + + float dist = (normal.dot(begin) - d) / den; + + if (dist < -Mathf.Epsilon || dist > (1.0f + Mathf.Epsilon)) + return new Vector3(); + + return begin + segment * -dist; + } + + public bool is_point_over(Vector3 point) + { + return normal.dot(point) > d; + } + + public Plane normalized() + { + float len = normal.length(); + + if (len == 0) + return new Plane(0, 0, 0, 0); + + return new Plane(normal / len, d / len); + } + + public Vector3 project(Vector3 point) + { + return point - normal * distance_to(point); + } + + public Plane(float a, float b, float c, float d) + { + normal = new Vector3(a, b, c); + this.d = d; + } + + public Plane(Vector3 normal, float d) + { + this.normal = normal; + this.d = d; + } + + public Plane(Vector3 v1, Vector3 v2, Vector3 v3) + { + normal = (v1 - v3).cross(v1 - v2); + normal.normalize(); + d = normal.dot(v1); + } + + public static Plane operator -(Plane plane) + { + return new Plane(-plane.normal, -plane.d); + } + + public static bool operator ==(Plane left, Plane right) + { + return left.Equals(right); + } + + public static bool operator !=(Plane left, Plane right) + { + return !left.Equals(right); + } + + public override bool Equals(object obj) + { + if (obj is Plane) + { + return Equals((Plane)obj); + } + + return false; + } + + public bool Equals(Plane other) + { + return normal == other.normal && d == other.d; + } + + public override int GetHashCode() + { + return normal.GetHashCode() ^ d.GetHashCode(); + } + + public override string ToString() + { + return String.Format("({0}, {1})", new object[] + { + this.normal.ToString(), + this.d.ToString() + }); + } + + public string ToString(string format) + { + return String.Format("({0}, {1})", new object[] + { + this.normal.ToString(format), + this.d.ToString(format) + }); + } + } +} diff --git a/modules/mono/glue/cs_files/Rect3.cs b/modules/mono/glue/cs_files/Rect3.cs index 0d25de1ec6..617d33e7fd 100644 --- a/modules/mono/glue/cs_files/Rect3.cs +++ b/modules/mono/glue/cs_files/Rect3.cs @@ -1,477 +1,477 @@ -using System;
-
-// file: core/math/rect3.h
-// commit: 7ad14e7a3e6f87ddc450f7e34621eb5200808451
-// file: core/math/rect3.cpp
-// commit: bd282ff43f23fe845f29a3e25c8efc01bd65ffb0
-// file: core/variant_call.cpp
-// commit: 5ad9be4c24e9d7dc5672fdc42cea896622fe5685
-
-namespace Godot
-{
- public struct Rect3 : IEquatable<Rect3>
- {
- private Vector3 position;
- private Vector3 size;
-
- public Vector3 Position
- {
- get
- {
- return position;
- }
- }
-
- public Vector3 Size
- {
- get
- {
- return size;
- }
- }
-
- public Vector3 End
- {
- get
- {
- return position + size;
- }
- }
-
- public bool encloses(Rect3 with)
- {
- Vector3 src_min = position;
- Vector3 src_max = position + size;
- Vector3 dst_min = with.position;
- Vector3 dst_max = with.position + with.size;
-
- return ((src_min.x <= dst_min.x) &&
- (src_max.x > dst_max.x) &&
- (src_min.y <= dst_min.y) &&
- (src_max.y > dst_max.y) &&
- (src_min.z <= dst_min.z) &&
- (src_max.z > dst_max.z));
- }
-
- public Rect3 expand(Vector3 to_point)
- {
- Vector3 begin = position;
- Vector3 end = position + size;
-
- if (to_point.x < begin.x)
- begin.x = to_point.x;
- if (to_point.y < begin.y)
- begin.y = to_point.y;
- if (to_point.z < begin.z)
- begin.z = to_point.z;
-
- if (to_point.x > end.x)
- end.x = to_point.x;
- if (to_point.y > end.y)
- end.y = to_point.y;
- if (to_point.z > end.z)
- end.z = to_point.z;
-
- return new Rect3(begin, end - begin);
- }
-
- public float get_area()
- {
- return size.x * size.y * size.z;
- }
-
- public Vector3 get_endpoint(int idx)
- {
- switch (idx)
- {
- case 0:
- return new Vector3(position.x, position.y, position.z);
- case 1:
- return new Vector3(position.x, position.y, position.z + size.z);
- case 2:
- return new Vector3(position.x, position.y + size.y, position.z);
- case 3:
- return new Vector3(position.x, position.y + size.y, position.z + size.z);
- case 4:
- return new Vector3(position.x + size.x, position.y, position.z);
- case 5:
- return new Vector3(position.x + size.x, position.y, position.z + size.z);
- case 6:
- return new Vector3(position.x + size.x, position.y + size.y, position.z);
- case 7:
- return new Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
- default:
- throw new ArgumentOutOfRangeException(nameof(idx), String.Format("Index is {0}, but a value from 0 to 7 is expected.", idx));
- }
- }
-
- public Vector3 get_longest_axis()
- {
- Vector3 axis = new Vector3(1f, 0f, 0f);
- float max_size = size.x;
-
- if (size.y > max_size)
- {
- axis = new Vector3(0f, 1f, 0f);
- max_size = size.y;
- }
-
- if (size.z > max_size)
- {
- axis = new Vector3(0f, 0f, 1f);
- max_size = size.z;
- }
-
- return axis;
- }
-
- public Vector3.Axis get_longest_axis_index()
- {
- Vector3.Axis axis = Vector3.Axis.X;
- float max_size = size.x;
-
- if (size.y > max_size)
- {
- axis = Vector3.Axis.Y;
- max_size = size.y;
- }
-
- if (size.z > max_size)
- {
- axis = Vector3.Axis.Z;
- max_size = size.z;
- }
-
- return axis;
- }
-
- public float get_longest_axis_size()
- {
- float max_size = size.x;
-
- if (size.y > max_size)
- max_size = size.y;
-
- if (size.z > max_size)
- max_size = size.z;
-
- return max_size;
- }
-
- public Vector3 get_shortest_axis()
- {
- Vector3 axis = new Vector3(1f, 0f, 0f);
- float max_size = size.x;
-
- if (size.y < max_size)
- {
- axis = new Vector3(0f, 1f, 0f);
- max_size = size.y;
- }
-
- if (size.z < max_size)
- {
- axis = new Vector3(0f, 0f, 1f);
- max_size = size.z;
- }
-
- return axis;
- }
-
- public Vector3.Axis get_shortest_axis_index()
- {
- Vector3.Axis axis = Vector3.Axis.X;
- float max_size = size.x;
-
- if (size.y < max_size)
- {
- axis = Vector3.Axis.Y;
- max_size = size.y;
- }
-
- if (size.z < max_size)
- {
- axis = Vector3.Axis.Z;
- max_size = size.z;
- }
-
- return axis;
- }
-
- public float get_shortest_axis_size()
- {
- float max_size = size.x;
-
- if (size.y < max_size)
- max_size = size.y;
-
- if (size.z < max_size)
- max_size = size.z;
-
- return max_size;
- }
-
- public Vector3 get_support(Vector3 dir)
- {
- Vector3 half_extents = size * 0.5f;
- Vector3 ofs = position + half_extents;
-
- return ofs + new Vector3(
- (dir.x > 0f) ? -half_extents.x : half_extents.x,
- (dir.y > 0f) ? -half_extents.y : half_extents.y,
- (dir.z > 0f) ? -half_extents.z : half_extents.z);
- }
-
- public Rect3 grow(float by)
- {
- Rect3 res = this;
-
- res.position.x -= by;
- res.position.y -= by;
- res.position.z -= by;
- res.size.x += 2.0f * by;
- res.size.y += 2.0f * by;
- res.size.z += 2.0f * by;
-
- return res;
- }
-
- public bool has_no_area()
- {
- return size.x <= 0f || size.y <= 0f || size.z <= 0f;
- }
-
- public bool has_no_surface()
- {
- return size.x <= 0f && size.y <= 0f && size.z <= 0f;
- }
-
- public bool has_point(Vector3 point)
- {
- if (point.x < position.x)
- return false;
- if (point.y < position.y)
- return false;
- if (point.z < position.z)
- return false;
- if (point.x > position.x + size.x)
- return false;
- if (point.y > position.y + size.y)
- return false;
- if (point.z > position.z + size.z)
- return false;
-
- return true;
- }
-
- public Rect3 intersection(Rect3 with)
- {
- Vector3 src_min = position;
- Vector3 src_max = position + size;
- Vector3 dst_min = with.position;
- Vector3 dst_max = with.position + with.size;
-
- Vector3 min, max;
-
- if (src_min.x > dst_max.x || src_max.x < dst_min.x)
- {
- return new Rect3();
- }
- else
- {
- min.x = (src_min.x > dst_min.x) ? src_min.x : dst_min.x;
- max.x = (src_max.x < dst_max.x) ? src_max.x : dst_max.x;
- }
-
- if (src_min.y > dst_max.y || src_max.y < dst_min.y)
- {
- return new Rect3();
- }
- else
- {
- min.y = (src_min.y > dst_min.y) ? src_min.y : dst_min.y;
- max.y = (src_max.y < dst_max.y) ? src_max.y : dst_max.y;
- }
-
- if (src_min.z > dst_max.z || src_max.z < dst_min.z)
- {
- return new Rect3();
- }
- else
- {
- min.z = (src_min.z > dst_min.z) ? src_min.z : dst_min.z;
- max.z = (src_max.z < dst_max.z) ? src_max.z : dst_max.z;
- }
-
- return new Rect3(min, max - min);
- }
-
- public bool intersects(Rect3 with)
- {
- if (position.x >= (with.position.x + with.size.x))
- return false;
- if ((position.x + size.x) <= with.position.x)
- return false;
- if (position.y >= (with.position.y + with.size.y))
- return false;
- if ((position.y + size.y) <= with.position.y)
- return false;
- if (position.z >= (with.position.z + with.size.z))
- return false;
- if ((position.z + size.z) <= with.position.z)
- return false;
-
- return true;
- }
-
- public bool intersects_plane(Plane plane)
- {
- Vector3[] points =
- {
- new Vector3(position.x, position.y, position.z),
- new Vector3(position.x, position.y, position.z + size.z),
- new Vector3(position.x, position.y + size.y, position.z),
- new Vector3(position.x, position.y + size.y, position.z + size.z),
- new Vector3(position.x + size.x, position.y, position.z),
- new Vector3(position.x + size.x, position.y, position.z + size.z),
- new Vector3(position.x + size.x, position.y + size.y, position.z),
- new Vector3(position.x + size.x, position.y + size.y, position.z + size.z),
- };
-
- bool over = false;
- bool under = false;
-
- for (int i = 0; i < 8; i++)
- {
- if (plane.distance_to(points[i]) > 0)
- over = true;
- else
- under = true;
- }
-
- return under && over;
- }
-
- public bool intersects_segment(Vector3 from, Vector3 to)
- {
- float min = 0f;
- float max = 1f;
-
- for (int i = 0; i < 3; i++)
- {
- float seg_from = from[i];
- float seg_to = to[i];
- float box_begin = position[i];
- float box_end = box_begin + size[i];
- float cmin, cmax;
-
- if (seg_from < seg_to)
- {
- if (seg_from > box_end || seg_to < box_begin)
- return false;
-
- float length = seg_to - seg_from;
- cmin = seg_from < box_begin ? (box_begin - seg_from) / length : 0f;
- cmax = seg_to > box_end ? (box_end - seg_from) / length : 1f;
- }
- else
- {
- if (seg_to > box_end || seg_from < box_begin)
- return false;
-
- float length = seg_to - seg_from;
- cmin = seg_from > box_end ? (box_end - seg_from) / length : 0f;
- cmax = seg_to < box_begin ? (box_begin - seg_from) / length : 1f;
- }
-
- if (cmin > min)
- {
- min = cmin;
- }
-
- if (cmax < max)
- max = cmax;
- if (max < min)
- return false;
- }
-
- return true;
- }
-
- public Rect3 merge(Rect3 with)
- {
- Vector3 beg_1 = position;
- Vector3 beg_2 = with.position;
- Vector3 end_1 = new Vector3(size.x, size.y, size.z) + beg_1;
- Vector3 end_2 = new Vector3(with.size.x, with.size.y, with.size.z) + beg_2;
-
- Vector3 min = new Vector3(
- (beg_1.x < beg_2.x) ? beg_1.x : beg_2.x,
- (beg_1.y < beg_2.y) ? beg_1.y : beg_2.y,
- (beg_1.z < beg_2.z) ? beg_1.z : beg_2.z
- );
-
- Vector3 max = new Vector3(
- (end_1.x > end_2.x) ? end_1.x : end_2.x,
- (end_1.y > end_2.y) ? end_1.y : end_2.y,
- (end_1.z > end_2.z) ? end_1.z : end_2.z
- );
-
- return new Rect3(min, max - min);
- }
-
- public Rect3(Vector3 position, Vector3 size)
- {
- this.position = position;
- this.size = size;
- }
-
- public static bool operator ==(Rect3 left, Rect3 right)
- {
- return left.Equals(right);
- }
-
- public static bool operator !=(Rect3 left, Rect3 right)
- {
- return !left.Equals(right);
- }
-
- public override bool Equals(object obj)
- {
- if (obj is Rect3)
- {
- return Equals((Rect3)obj);
- }
-
- return false;
- }
-
- public bool Equals(Rect3 other)
- {
- return position == other.position && size == other.size;
- }
-
- public override int GetHashCode()
- {
- return position.GetHashCode() ^ size.GetHashCode();
- }
-
- public override string ToString()
- {
- return String.Format("{0} - {1}", new object[]
- {
- this.position.ToString(),
- this.size.ToString()
- });
- }
-
- public string ToString(string format)
- {
- return String.Format("{0} - {1}", new object[]
- {
- this.position.ToString(format),
- this.size.ToString(format)
- });
- }
- }
-}
+using System; + +// file: core/math/rect3.h +// commit: 7ad14e7a3e6f87ddc450f7e34621eb5200808451 +// file: core/math/rect3.cpp +// commit: bd282ff43f23fe845f29a3e25c8efc01bd65ffb0 +// file: core/variant_call.cpp +// commit: 5ad9be4c24e9d7dc5672fdc42cea896622fe5685 + +namespace Godot +{ + public struct Rect3 : IEquatable<Rect3> + { + private Vector3 position; + private Vector3 size; + + public Vector3 Position + { + get + { + return position; + } + } + + public Vector3 Size + { + get + { + return size; + } + } + + public Vector3 End + { + get + { + return position + size; + } + } + + public bool encloses(Rect3 with) + { + Vector3 src_min = position; + Vector3 src_max = position + size; + Vector3 dst_min = with.position; + Vector3 dst_max = with.position + with.size; + + return ((src_min.x <= dst_min.x) && + (src_max.x > dst_max.x) && + (src_min.y <= dst_min.y) && + (src_max.y > dst_max.y) && + (src_min.z <= dst_min.z) && + (src_max.z > dst_max.z)); + } + + public Rect3 expand(Vector3 to_point) + { + Vector3 begin = position; + Vector3 end = position + size; + + if (to_point.x < begin.x) + begin.x = to_point.x; + if (to_point.y < begin.y) + begin.y = to_point.y; + if (to_point.z < begin.z) + begin.z = to_point.z; + + if (to_point.x > end.x) + end.x = to_point.x; + if (to_point.y > end.y) + end.y = to_point.y; + if (to_point.z > end.z) + end.z = to_point.z; + + return new Rect3(begin, end - begin); + } + + public float get_area() + { + return size.x * size.y * size.z; + } + + public Vector3 get_endpoint(int idx) + { + switch (idx) + { + case 0: + return new Vector3(position.x, position.y, position.z); + case 1: + return new Vector3(position.x, position.y, position.z + size.z); + case 2: + return new Vector3(position.x, position.y + size.y, position.z); + case 3: + return new Vector3(position.x, position.y + size.y, position.z + size.z); + case 4: + return new Vector3(position.x + size.x, position.y, position.z); + case 5: + return new Vector3(position.x + size.x, position.y, position.z + size.z); + case 6: + return new Vector3(position.x + size.x, position.y + size.y, position.z); + case 7: + return new Vector3(position.x + size.x, position.y + size.y, position.z + size.z); + default: + throw new ArgumentOutOfRangeException(nameof(idx), String.Format("Index is {0}, but a value from 0 to 7 is expected.", idx)); + } + } + + public Vector3 get_longest_axis() + { + Vector3 axis = new Vector3(1f, 0f, 0f); + float max_size = size.x; + + if (size.y > max_size) + { + axis = new Vector3(0f, 1f, 0f); + max_size = size.y; + } + + if (size.z > max_size) + { + axis = new Vector3(0f, 0f, 1f); + max_size = size.z; + } + + return axis; + } + + public Vector3.Axis get_longest_axis_index() + { + Vector3.Axis axis = Vector3.Axis.X; + float max_size = size.x; + + if (size.y > max_size) + { + axis = Vector3.Axis.Y; + max_size = size.y; + } + + if (size.z > max_size) + { + axis = Vector3.Axis.Z; + max_size = size.z; + } + + return axis; + } + + public float get_longest_axis_size() + { + float max_size = size.x; + + if (size.y > max_size) + max_size = size.y; + + if (size.z > max_size) + max_size = size.z; + + return max_size; + } + + public Vector3 get_shortest_axis() + { + Vector3 axis = new Vector3(1f, 0f, 0f); + float max_size = size.x; + + if (size.y < max_size) + { + axis = new Vector3(0f, 1f, 0f); + max_size = size.y; + } + + if (size.z < max_size) + { + axis = new Vector3(0f, 0f, 1f); + max_size = size.z; + } + + return axis; + } + + public Vector3.Axis get_shortest_axis_index() + { + Vector3.Axis axis = Vector3.Axis.X; + float max_size = size.x; + + if (size.y < max_size) + { + axis = Vector3.Axis.Y; + max_size = size.y; + } + + if (size.z < max_size) + { + axis = Vector3.Axis.Z; + max_size = size.z; + } + + return axis; + } + + public float get_shortest_axis_size() + { + float max_size = size.x; + + if (size.y < max_size) + max_size = size.y; + + if (size.z < max_size) + max_size = size.z; + + return max_size; + } + + public Vector3 get_support(Vector3 dir) + { + Vector3 half_extents = size * 0.5f; + Vector3 ofs = position + half_extents; + + return ofs + new Vector3( + (dir.x > 0f) ? -half_extents.x : half_extents.x, + (dir.y > 0f) ? -half_extents.y : half_extents.y, + (dir.z > 0f) ? -half_extents.z : half_extents.z); + } + + public Rect3 grow(float by) + { + Rect3 res = this; + + res.position.x -= by; + res.position.y -= by; + res.position.z -= by; + res.size.x += 2.0f * by; + res.size.y += 2.0f * by; + res.size.z += 2.0f * by; + + return res; + } + + public bool has_no_area() + { + return size.x <= 0f || size.y <= 0f || size.z <= 0f; + } + + public bool has_no_surface() + { + return size.x <= 0f && size.y <= 0f && size.z <= 0f; + } + + public bool has_point(Vector3 point) + { + if (point.x < position.x) + return false; + if (point.y < position.y) + return false; + if (point.z < position.z) + return false; + if (point.x > position.x + size.x) + return false; + if (point.y > position.y + size.y) + return false; + if (point.z > position.z + size.z) + return false; + + return true; + } + + public Rect3 intersection(Rect3 with) + { + Vector3 src_min = position; + Vector3 src_max = position + size; + Vector3 dst_min = with.position; + Vector3 dst_max = with.position + with.size; + + Vector3 min, max; + + if (src_min.x > dst_max.x || src_max.x < dst_min.x) + { + return new Rect3(); + } + else + { + min.x = (src_min.x > dst_min.x) ? src_min.x : dst_min.x; + max.x = (src_max.x < dst_max.x) ? src_max.x : dst_max.x; + } + + if (src_min.y > dst_max.y || src_max.y < dst_min.y) + { + return new Rect3(); + } + else + { + min.y = (src_min.y > dst_min.y) ? src_min.y : dst_min.y; + max.y = (src_max.y < dst_max.y) ? src_max.y : dst_max.y; + } + + if (src_min.z > dst_max.z || src_max.z < dst_min.z) + { + return new Rect3(); + } + else + { + min.z = (src_min.z > dst_min.z) ? src_min.z : dst_min.z; + max.z = (src_max.z < dst_max.z) ? src_max.z : dst_max.z; + } + + return new Rect3(min, max - min); + } + + public bool intersects(Rect3 with) + { + if (position.x >= (with.position.x + with.size.x)) + return false; + if ((position.x + size.x) <= with.position.x) + return false; + if (position.y >= (with.position.y + with.size.y)) + return false; + if ((position.y + size.y) <= with.position.y) + return false; + if (position.z >= (with.position.z + with.size.z)) + return false; + if ((position.z + size.z) <= with.position.z) + return false; + + return true; + } + + public bool intersects_plane(Plane plane) + { + Vector3[] points = + { + new Vector3(position.x, position.y, position.z), + new Vector3(position.x, position.y, position.z + size.z), + new Vector3(position.x, position.y + size.y, position.z), + new Vector3(position.x, position.y + size.y, position.z + size.z), + new Vector3(position.x + size.x, position.y, position.z), + new Vector3(position.x + size.x, position.y, position.z + size.z), + new Vector3(position.x + size.x, position.y + size.y, position.z), + new Vector3(position.x + size.x, position.y + size.y, position.z + size.z), + }; + + bool over = false; + bool under = false; + + for (int i = 0; i < 8; i++) + { + if (plane.distance_to(points[i]) > 0) + over = true; + else + under = true; + } + + return under && over; + } + + public bool intersects_segment(Vector3 from, Vector3 to) + { + float min = 0f; + float max = 1f; + + for (int i = 0; i < 3; i++) + { + float seg_from = from[i]; + float seg_to = to[i]; + float box_begin = position[i]; + float box_end = box_begin + size[i]; + float cmin, cmax; + + if (seg_from < seg_to) + { + if (seg_from > box_end || seg_to < box_begin) + return false; + + float length = seg_to - seg_from; + cmin = seg_from < box_begin ? (box_begin - seg_from) / length : 0f; + cmax = seg_to > box_end ? (box_end - seg_from) / length : 1f; + } + else + { + if (seg_to > box_end || seg_from < box_begin) + return false; + + float length = seg_to - seg_from; + cmin = seg_from > box_end ? (box_end - seg_from) / length : 0f; + cmax = seg_to < box_begin ? (box_begin - seg_from) / length : 1f; + } + + if (cmin > min) + { + min = cmin; + } + + if (cmax < max) + max = cmax; + if (max < min) + return false; + } + + return true; + } + + public Rect3 merge(Rect3 with) + { + Vector3 beg_1 = position; + Vector3 beg_2 = with.position; + Vector3 end_1 = new Vector3(size.x, size.y, size.z) + beg_1; + Vector3 end_2 = new Vector3(with.size.x, with.size.y, with.size.z) + beg_2; + + Vector3 min = new Vector3( + (beg_1.x < beg_2.x) ? beg_1.x : beg_2.x, + (beg_1.y < beg_2.y) ? beg_1.y : beg_2.y, + (beg_1.z < beg_2.z) ? beg_1.z : beg_2.z + ); + + Vector3 max = new Vector3( + (end_1.x > end_2.x) ? end_1.x : end_2.x, + (end_1.y > end_2.y) ? end_1.y : end_2.y, + (end_1.z > end_2.z) ? end_1.z : end_2.z + ); + + return new Rect3(min, max - min); + } + + public Rect3(Vector3 position, Vector3 size) + { + this.position = position; + this.size = size; + } + + public static bool operator ==(Rect3 left, Rect3 right) + { + return left.Equals(right); + } + + public static bool operator !=(Rect3 left, Rect3 right) + { + return !left.Equals(right); + } + + public override bool Equals(object obj) + { + if (obj is Rect3) + { + return Equals((Rect3)obj); + } + + return false; + } + + public bool Equals(Rect3 other) + { + return position == other.position && size == other.size; + } + + public override int GetHashCode() + { + return position.GetHashCode() ^ size.GetHashCode(); + } + + public override string ToString() + { + return String.Format("{0} - {1}", new object[] + { + this.position.ToString(), + this.size.ToString() + }); + } + + public string ToString(string format) + { + return String.Format("{0} - {1}", new object[] + { + this.position.ToString(format), + this.size.ToString(format) + }); + } + } +} diff --git a/modules/mono/glue/cs_files/ToolAttribute.cs b/modules/mono/glue/cs_files/ToolAttribute.cs index 0275982c7f..d8601b5b32 100644 --- a/modules/mono/glue/cs_files/ToolAttribute.cs +++ b/modules/mono/glue/cs_files/ToolAttribute.cs @@ -1,4 +1,4 @@ -using System; +using System; namespace Godot { diff --git a/modules/mono/godotsharp_dirs.cpp b/modules/mono/godotsharp_dirs.cpp index 6bcf0e2355..7cc2168b70 100644 --- a/modules/mono/godotsharp_dirs.cpp +++ b/modules/mono/godotsharp_dirs.cpp @@ -122,7 +122,14 @@ private: #ifdef TOOLS_ENABLED mono_solutions_dir = mono_user_dir.plus_file("solutions"); build_logs_dir = mono_user_dir.plus_file("build_logs"); - String base_path = String("res://") + ProjectSettings::get_singleton()->get("application/config/name"); + + String name = ProjectSettings::get_singleton()->get("application/config/name"); + if (name.empty()) { + name = "UnnamedProject"; + } + + String base_path = String("res://") + name; + sln_filepath = ProjectSettings::get_singleton()->globalize_path(base_path + ".sln"); csproj_filepath = ProjectSettings::get_singleton()->globalize_path(base_path + ".csproj"); #endif diff --git a/modules/mono/mono_gc_handle.cpp b/modules/mono/mono_gc_handle.cpp index d3ad968135..e10e06df0e 100644 --- a/modules/mono/mono_gc_handle.cpp +++ b/modules/mono/mono_gc_handle.cpp @@ -59,6 +59,10 @@ Ref<MonoGCHandle> MonoGCHandle::create_weak(MonoObject *p_object) { void MonoGCHandle::release() { +#ifdef DEBUG_ENABLED + CRASH_COND(GDMono::get_singleton() == NULL); +#endif + if (!released && GDMono::get_singleton()->is_runtime_initialized()) { mono_gchandle_free(handle); released = true; diff --git a/modules/mono/mono_gd/gd_mono.cpp b/modules/mono/mono_gd/gd_mono.cpp index 4b5f5eb137..c997b0f000 100644 --- a/modules/mono/mono_gd/gd_mono.cpp +++ b/modules/mono/mono_gd/gd_mono.cpp @@ -369,9 +369,12 @@ bool GDMono::_load_project_assembly() { if (project_assembly) return true; - String project_assembly_name = ProjectSettings::get_singleton()->get("application/config/name"); + String name = ProjectSettings::get_singleton()->get("application/config/name"); + if (name.empty()) { + name = "UnnamedProject"; + } - bool success = _load_assembly(project_assembly_name, &project_assembly); + bool success = _load_assembly(name, &project_assembly); if (success) mono_assembly_set_main(project_assembly->get_assembly()); @@ -622,6 +625,8 @@ GDMono::~GDMono() { if (gdmono_log) memdelete(gdmono_log); + + singleton = NULL; } _GodotSharp *_GodotSharp::singleton = NULL; @@ -700,7 +705,7 @@ bool _GodotSharp::is_domain_loaded() { void _GodotSharp::queue_dispose(Object *p_object) { - if (Thread::get_main_id() == Thread::get_caller_id() && !GDMono::get_singleton()->is_finalizing_scripts_domain()) { + if (GDMonoUtils::is_main_thread() && !GDMono::get_singleton()->is_finalizing_scripts_domain()) { _dispose_object(p_object); } else { #ifndef NO_THREADS @@ -717,7 +722,7 @@ void _GodotSharp::queue_dispose(Object *p_object) { void _GodotSharp::queue_dispose(NodePath *p_node_path) { - if (Thread::get_main_id() == Thread::get_caller_id() && !GDMono::get_singleton()->is_finalizing_scripts_domain()) { + if (GDMonoUtils::is_main_thread() && !GDMono::get_singleton()->is_finalizing_scripts_domain()) { memdelete(p_node_path); } else { #ifndef NO_THREADS @@ -734,7 +739,7 @@ void _GodotSharp::queue_dispose(NodePath *p_node_path) { void _GodotSharp::queue_dispose(RID *p_rid) { - if (Thread::get_main_id() == Thread::get_caller_id() && !GDMono::get_singleton()->is_finalizing_scripts_domain()) { + if (GDMonoUtils::is_main_thread() && !GDMono::get_singleton()->is_finalizing_scripts_domain()) { memdelete(p_rid); } else { #ifndef NO_THREADS diff --git a/modules/mono/mono_gd/gd_mono_assembly.cpp b/modules/mono/mono_gd/gd_mono_assembly.cpp index 0d9b137f99..7dc7043eec 100644 --- a/modules/mono/mono_gd/gd_mono_assembly.cpp +++ b/modules/mono/mono_gd/gd_mono_assembly.cpp @@ -107,10 +107,11 @@ MonoAssembly *GDMonoAssembly::_preload_hook(MonoAssemblyName *aname, char **asse search_dirs.push_back(String(rootdir).plus_file("mono").plus_file("4.5")); } - while (assemblies_path) { - if (*assemblies_path) + if (assemblies_path) { + while (*assemblies_path) { search_dirs.push_back(*assemblies_path); - ++assemblies_path; + ++assemblies_path; + } } } diff --git a/modules/mono/mono_gd/gd_mono_marshal.cpp b/modules/mono/mono_gd/gd_mono_marshal.cpp index 77a1ef3cb0..01392447f3 100644 --- a/modules/mono/mono_gd/gd_mono_marshal.cpp +++ b/modules/mono/mono_gd/gd_mono_marshal.cpp @@ -600,7 +600,7 @@ MonoArray *Array_to_mono_array(const Array &p_array) { for (int i = 0; i < p_array.size(); i++) { MonoObject *boxed = variant_to_mono_object(p_array[i]); - mono_array_set(ret, MonoObject *, i, boxed); + mono_array_setref(ret, i, boxed); } return ret; diff --git a/modules/mono/mono_gd/gd_mono_utils.h b/modules/mono/mono_gd/gd_mono_utils.h index e3af57e78a..ebb5d28e4d 100644 --- a/modules/mono/mono_gd/gd_mono_utils.h +++ b/modules/mono/mono_gd/gd_mono_utils.h @@ -149,6 +149,10 @@ void attach_current_thread(); void detach_current_thread(); MonoThread *get_current_thread(); +_FORCE_INLINE_ bool is_main_thread() { + return mono_domain_get() != NULL && mono_thread_get_main() == mono_thread_current(); +} + GDMonoClass *get_object_class(MonoObject *p_object); GDMonoClass *type_get_proxy_class(const StringName &p_type); GDMonoClass *get_class_native_base(GDMonoClass *p_class); diff --git a/modules/mono/mono_reg_utils.py b/modules/mono/mono_reg_utils.py index e9988625f5..8ddddb3a24 100644 --- a/modules/mono/mono_reg_utils.py +++ b/modules/mono/mono_reg_utils.py @@ -1,4 +1,7 @@ import os +import platform + +from compat import decode_utf8 if os.name == 'nt': import sys @@ -11,8 +14,7 @@ if os.name == 'nt': def _reg_open_key(key, subkey): try: return winreg.OpenKey(key, subkey) - except (WindowsError, EnvironmentError) as e: - import platform + except (WindowsError, OSError): if platform.architecture()[0] == '32bit': bitness_sam = winreg.KEY_WOW64_64KEY else: @@ -20,39 +22,93 @@ def _reg_open_key(key, subkey): return winreg.OpenKey(key, subkey, 0, winreg.KEY_READ | bitness_sam) -def _find_mono_in_reg(subkey): +def _reg_open_key_bits(key, subkey, bits): + sam = winreg.KEY_READ + + if platform.architecture()[0] == '32bit': + if bits == '64': + # Force 32bit process to search in 64bit registry + sam |= winreg.KEY_WOW64_64KEY + else: + if bits == '32': + # Force 64bit process to search in 32bit registry + sam |= winreg.KEY_WOW64_32KEY + + return winreg.OpenKey(key, subkey, 0, sam) + + +def _find_mono_in_reg(subkey, bits): try: - with _reg_open_key(winreg.HKEY_LOCAL_MACHINE, subkey) as hKey: + with _reg_open_key_bits(winreg.HKEY_LOCAL_MACHINE, subkey, bits) as hKey: value, regtype = winreg.QueryValueEx(hKey, 'SdkInstallRoot') return value - except (WindowsError, EnvironmentError) as e: + except (WindowsError, OSError): return None -def _find_mono_in_reg_old(subkey): + +def _find_mono_in_reg_old(subkey, bits): try: - with _reg_open_key(winreg.HKEY_LOCAL_MACHINE, subkey) as hKey: + with _reg_open_key_bits(winreg.HKEY_LOCAL_MACHINE, subkey, bits) as hKey: default_clr, regtype = winreg.QueryValueEx(hKey, 'DefaultCLR') if default_clr: - return _find_mono_in_reg(subkey + '\\' + default_clr) + return _find_mono_in_reg(subkey + '\\' + default_clr, bits) return None except (WindowsError, EnvironmentError): return None -def find_mono_root_dir(): - dir = _find_mono_in_reg(r'SOFTWARE\Mono') - if dir: - return dir - dir = _find_mono_in_reg_old(r'SOFTWARE\Novell\Mono') - if dir: - return dir - return None +def find_mono_root_dir(bits): + root_dir = _find_mono_in_reg(r'SOFTWARE\Mono', bits) + if root_dir is not None: + return root_dir + root_dir = _find_mono_in_reg_old(r'SOFTWARE\Novell\Mono', bits) + if root_dir is not None: + return root_dir + return '' def find_msbuild_tools_path_reg(): + import subprocess + + vswhere = os.getenv('PROGRAMFILES(X86)') + if not vswhere: + vswhere = os.getenv('PROGRAMFILES') + vswhere += r'\Microsoft Visual Studio\Installer\vswhere.exe' + + vswhere_args = ['-latest', '-requires', 'Microsoft.Component.MSBuild'] + try: - with _reg_open_key(winreg.HKEY_LOCAL_MACHINE, r'SOFTWARE\Microsoft\MSBuild\ToolsVersions\4.0') as hKey: + lines = subprocess.check_output([vswhere] + vswhere_args).splitlines() + + for line in lines: + parts = decode_utf8(line).split(':', 1) + + if len(parts) < 2 or parts[0] != 'installationPath': + continue + + val = parts[1].strip() + + if not val: + raise ValueError('Value of `installationPath` entry is empty') + + return os.path.join(val, "MSBuild\\15.0\\Bin") + + raise ValueError('Cannot find `installationPath` entry') + except ValueError as e: + print('Error reading output from vswhere: ' + e.message) + except WindowsError: + pass # Fine, vswhere not found + except (subprocess.CalledProcessError, OSError): + pass + + # Try to find 14.0 in the Registry + + try: + subkey = r'SOFTWARE\Microsoft\MSBuild\ToolsVersions\14.0' + with _reg_open_key(winreg.HKEY_LOCAL_MACHINE, subkey) as hKey: value, regtype = winreg.QueryValueEx(hKey, 'MSBuildToolsPath') return value - except (WindowsError, EnvironmentError) as e: - return None + except (WindowsError, OSError): + return '' + + return '' diff --git a/modules/mono/utils/path_utils.cpp b/modules/mono/utils/path_utils.cpp index c8581f6122..105c2c981e 100644 --- a/modules/mono/utils/path_utils.cpp +++ b/modules/mono/utils/path_utils.cpp @@ -56,9 +56,6 @@ String path_which(const String &p_name) { for (int i = 0; i < env_path.size(); i++) { String p = path_join(env_path[i], p_name); - if (FileAccess::exists(p)) - return p; - #ifdef WINDOWS_ENABLED for (int j = 0; j < exts.size(); j++) { String p2 = p + exts[j]; @@ -66,6 +63,9 @@ String path_which(const String &p_name) { if (FileAccess::exists(p2)) return p2; } +#else + if (FileAccess::exists(p)) + return p; #endif } diff --git a/modules/opus/audio_stream_opus.cpp b/modules/opus/audio_stream_opus.cpp index c7748b9b21..06eab4c94d 100644 --- a/modules/opus/audio_stream_opus.cpp +++ b/modules/opus/audio_stream_opus.cpp @@ -267,7 +267,7 @@ void AudioStreamPlaybackOpus::seek(float p_time) { frames_mixed = osrate * p_time; } -int AudioStreamPlaybackOpus::mix(int16_t *p_bufer, int p_frames) { +int AudioStreamPlaybackOpus::mix(int16_t *p_buffer, int p_frames) { if (!playing) return 0; @@ -281,7 +281,7 @@ int AudioStreamPlaybackOpus::mix(int16_t *p_bufer, int p_frames) { break; } - int ret = op_read(opus_file, (opus_int16 *)p_bufer, todo * stream_channels, ¤t_section); + int ret = op_read(opus_file, (opus_int16 *)p_buffer, todo * stream_channels, ¤t_section); if (ret < 0) { playing = false; ERR_EXPLAIN("Error reading Opus File: " + file); @@ -325,7 +325,7 @@ int AudioStreamPlaybackOpus::mix(int16_t *p_bufer, int p_frames) { frames_mixed += ret; - p_bufer += ret * stream_channels; + p_buffer += ret * stream_channels; p_frames -= ret; } diff --git a/modules/opus/audio_stream_opus.h b/modules/opus/audio_stream_opus.h index 7b7740a804..f8d8f585cf 100644 --- a/modules/opus/audio_stream_opus.h +++ b/modules/opus/audio_stream_opus.h @@ -107,7 +107,7 @@ public: virtual int get_minimum_buffer_size() const; - virtual int mix(int16_t *p_bufer, int p_frames); + virtual int mix(int16_t *p_buffer, int p_frames); AudioStreamPlaybackOpus(); ~AudioStreamPlaybackOpus(); diff --git a/modules/visual_script/visual_script_builtin_funcs.cpp b/modules/visual_script/visual_script_builtin_funcs.cpp index 4b294325dc..7c9d306831 100644 --- a/modules/visual_script/visual_script_builtin_funcs.cpp +++ b/modules/visual_script/visual_script_builtin_funcs.cpp @@ -78,6 +78,8 @@ const char *VisualScriptBuiltinFunc::func_name[VisualScriptBuiltinFunc::FUNC_MAX "rad2deg", "linear2db", "db2linear", + "wrapi", + "wrapf", "max", "min", "clamp", @@ -198,6 +200,8 @@ int VisualScriptBuiltinFunc::get_func_argument_count(BuiltinFunc p_func) { case MATH_LERP: case MATH_INVERSE_LERP: case MATH_DECTIME: + case MATH_WRAP: + case MATH_WRAPF: case LOGIC_CLAMP: return 3; case MATH_RANGE_LERP: @@ -364,6 +368,22 @@ PropertyInfo VisualScriptBuiltinFunc::get_input_value_port_info(int p_idx) const case MATH_DB2LINEAR: { return PropertyInfo(Variant::REAL, "db"); } break; + case MATH_WRAP: { + if (p_idx == 0) + return PropertyInfo(Variant::INT, "value"); + else if (p_idx == 1) + return PropertyInfo(Variant::INT, "min"); + else + return PropertyInfo(Variant::INT, "max"); + } break; + case MATH_WRAPF: { + if (p_idx == 0) + return PropertyInfo(Variant::REAL, "value"); + else if (p_idx == 1) + return PropertyInfo(Variant::REAL, "min"); + else + return PropertyInfo(Variant::REAL, "max"); + } break; case LOGIC_MAX: { if (p_idx == 0) return PropertyInfo(Variant::REAL, "a"); @@ -549,9 +569,13 @@ PropertyInfo VisualScriptBuiltinFunc::get_output_value_port_info(int p_idx) cons case MATH_DEG2RAD: case MATH_RAD2DEG: case MATH_LINEAR2DB: + case MATH_WRAPF: case MATH_DB2LINEAR: { t = Variant::REAL; } break; + case MATH_WRAP: { + t = Variant::INT; + } break; case LOGIC_MAX: case LOGIC_MIN: case LOGIC_CLAMP: { @@ -898,6 +922,18 @@ void VisualScriptBuiltinFunc::exec_func(BuiltinFunc p_func, const Variant **p_in VALIDATE_ARG_NUM(0); *r_return = Math::db2linear((double)*p_inputs[0]); } break; + case VisualScriptBuiltinFunc::MATH_WRAP: { + VALIDATE_ARG_NUM(0); + VALIDATE_ARG_NUM(1); + VALIDATE_ARG_NUM(2); + *r_return = Math::wrapi((int64_t)*p_inputs[0], (int64_t)*p_inputs[1], (int64_t)*p_inputs[2]); + } break; + case VisualScriptBuiltinFunc::MATH_WRAPF: { + VALIDATE_ARG_NUM(0); + VALIDATE_ARG_NUM(1); + VALIDATE_ARG_NUM(2); + *r_return = Math::wrapf((double)*p_inputs[0], (double)*p_inputs[1], (double)*p_inputs[2]); + } break; case VisualScriptBuiltinFunc::LOGIC_MAX: { if (p_inputs[0]->get_type() == Variant::INT && p_inputs[1]->get_type() == Variant::INT) { @@ -1258,6 +1294,8 @@ void VisualScriptBuiltinFunc::_bind_methods() { BIND_ENUM_CONSTANT(MATH_RAD2DEG); BIND_ENUM_CONSTANT(MATH_LINEAR2DB); BIND_ENUM_CONSTANT(MATH_DB2LINEAR); + BIND_ENUM_CONSTANT(MATH_WRAP); + BIND_ENUM_CONSTANT(MATH_WRAPF); BIND_ENUM_CONSTANT(LOGIC_MAX); BIND_ENUM_CONSTANT(LOGIC_MIN); BIND_ENUM_CONSTANT(LOGIC_CLAMP); @@ -1343,6 +1381,8 @@ void register_visual_script_builtin_func_node() { VisualScriptLanguage::singleton->add_register_func("functions/built_in/rad2deg", create_builtin_func_node<VisualScriptBuiltinFunc::MATH_RAD2DEG>); VisualScriptLanguage::singleton->add_register_func("functions/built_in/linear2db", create_builtin_func_node<VisualScriptBuiltinFunc::MATH_LINEAR2DB>); VisualScriptLanguage::singleton->add_register_func("functions/built_in/db2linear", create_builtin_func_node<VisualScriptBuiltinFunc::MATH_DB2LINEAR>); + VisualScriptLanguage::singleton->add_register_func("functions/built_in/wrapi", create_builtin_func_node<VisualScriptBuiltinFunc::MATH_WRAP>); + VisualScriptLanguage::singleton->add_register_func("functions/built_in/wrapf", create_builtin_func_node<VisualScriptBuiltinFunc::MATH_WRAPF>); VisualScriptLanguage::singleton->add_register_func("functions/built_in/max", create_builtin_func_node<VisualScriptBuiltinFunc::LOGIC_MAX>); VisualScriptLanguage::singleton->add_register_func("functions/built_in/min", create_builtin_func_node<VisualScriptBuiltinFunc::LOGIC_MIN>); diff --git a/modules/visual_script/visual_script_builtin_funcs.h b/modules/visual_script/visual_script_builtin_funcs.h index 5758d23e8f..34a2825938 100644 --- a/modules/visual_script/visual_script_builtin_funcs.h +++ b/modules/visual_script/visual_script_builtin_funcs.h @@ -77,6 +77,8 @@ public: MATH_RAD2DEG, MATH_LINEAR2DB, MATH_DB2LINEAR, + MATH_WRAP, + MATH_WRAPF, LOGIC_MAX, LOGIC_MIN, LOGIC_CLAMP, diff --git a/modules/vorbis/audio_stream_ogg_vorbis.cpp b/modules/vorbis/audio_stream_ogg_vorbis.cpp index 0afb889199..6235799fc2 100644 --- a/modules/vorbis/audio_stream_ogg_vorbis.cpp +++ b/modules/vorbis/audio_stream_ogg_vorbis.cpp @@ -92,7 +92,7 @@ long AudioStreamPlaybackOGGVorbis::_ov_tell_func(void *_f) { return fa->get_position(); } -int AudioStreamPlaybackOGGVorbis::mix(int16_t *p_bufer, int p_frames) { +int AudioStreamPlaybackOGGVorbis::mix(int16_t *p_buffer, int p_frames) { if (!playing) return 0; @@ -109,9 +109,9 @@ int AudioStreamPlaybackOGGVorbis::mix(int16_t *p_bufer, int p_frames) { //printf("to mix %i - mix me %i bytes\n",to_mix,to_mix*stream_channels*sizeof(int16_t)); #ifdef BIG_ENDIAN_ENABLED - long ret = ov_read(&vf, (char *)p_bufer, todo * stream_channels * sizeof(int16_t), 1, 2, 1, ¤t_section); + long ret = ov_read(&vf, (char *)p_buffer, todo * stream_channels * sizeof(int16_t), 1, 2, 1, ¤t_section); #else - long ret = ov_read(&vf, (char *)p_bufer, todo * stream_channels * sizeof(int16_t), 0, 2, 1, ¤t_section); + long ret = ov_read(&vf, (char *)p_buffer, todo * stream_channels * sizeof(int16_t), 0, 2, 1, ¤t_section); #endif if (ret < 0) { @@ -162,7 +162,7 @@ int AudioStreamPlaybackOGGVorbis::mix(int16_t *p_bufer, int p_frames) { frames_mixed += ret; - p_bufer += ret * stream_channels; + p_buffer += ret * stream_channels; p_frames -= ret; } diff --git a/modules/vorbis/audio_stream_ogg_vorbis.h b/modules/vorbis/audio_stream_ogg_vorbis.h index 929b2651e9..79eadec56e 100644 --- a/modules/vorbis/audio_stream_ogg_vorbis.h +++ b/modules/vorbis/audio_stream_ogg_vorbis.h @@ -103,7 +103,7 @@ public: virtual int get_mix_rate() const { return stream_srate; } virtual int get_minimum_buffer_size() const { return 0; } - virtual int mix(int16_t *p_bufer, int p_frames); + virtual int mix(int16_t *p_buffer, int p_frames); AudioStreamPlaybackOGGVorbis(); ~AudioStreamPlaybackOGGVorbis(); |