summaryrefslogtreecommitdiff
path: root/servers/physics_3d/soft_body_3d_sw.h
diff options
context:
space:
mode:
Diffstat (limited to 'servers/physics_3d/soft_body_3d_sw.h')
-rw-r--r--servers/physics_3d/soft_body_3d_sw.h247
1 files changed, 247 insertions, 0 deletions
diff --git a/servers/physics_3d/soft_body_3d_sw.h b/servers/physics_3d/soft_body_3d_sw.h
new file mode 100644
index 0000000000..6c0451ff45
--- /dev/null
+++ b/servers/physics_3d/soft_body_3d_sw.h
@@ -0,0 +1,247 @@
+/*************************************************************************/
+/* soft_body_3d_sw.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+
+#ifndef SOFT_BODY_3D_SW_H
+#define SOFT_BODY_3D_SW_H
+
+#include "collision_object_3d_sw.h"
+
+#include "core/math/aabb.h"
+#include "core/math/dynamic_bvh.h"
+#include "core/math/vector3.h"
+#include "core/templates/local_vector.h"
+#include "core/templates/set.h"
+#include "core/templates/vset.h"
+#include "scene/resources/mesh.h"
+
+class Constraint3DSW;
+
+class SoftBody3DSW : public CollisionObject3DSW {
+ Ref<Mesh> soft_mesh;
+
+ struct Node {
+ Vector3 s; // Source position
+ Vector3 x; // Position
+ Vector3 q; // Previous step position/Test position
+ Vector3 f; // Force accumulator
+ Vector3 v; // Velocity
+ Vector3 bv; // Biased Velocity
+ Vector3 n; // Normal
+ real_t area = 0.0; // Area
+ real_t im = 0.0; // 1/mass
+ DynamicBVH::ID leaf; // Leaf data
+ uint32_t index = 0;
+ };
+
+ struct Link {
+ Vector3 c3; // gradient
+ Node *n[2] = { nullptr, nullptr }; // Node pointers
+ real_t rl = 0.0; // Rest length
+ real_t c0 = 0.0; // (ima+imb)*kLST
+ real_t c1 = 0.0; // rl^2
+ real_t c2 = 0.0; // |gradient|^2/c0
+ };
+
+ struct Face {
+ Node *n[3] = { nullptr, nullptr, nullptr }; // Node pointers
+ Vector3 normal; // Normal
+ real_t ra = 0.0; // Rest area
+ DynamicBVH::ID leaf; // Leaf data
+ uint32_t index = 0;
+ };
+
+ LocalVector<Node> nodes;
+ LocalVector<Link> links;
+ LocalVector<Face> faces;
+
+ DynamicBVH node_tree;
+ DynamicBVH face_tree;
+
+ LocalVector<uint32_t> map_visual_to_physics;
+
+ AABB bounds;
+
+ real_t collision_margin = 0.05;
+
+ real_t total_mass = 1.0;
+ real_t inv_total_mass = 1.0;
+
+ int iteration_count = 5;
+ real_t linear_stiffness = 0.5; // [0,1]
+ real_t pressure_coefficient = 0.0; // [-inf,+inf]
+ real_t damping_coefficient = 0.01; // [0,1]
+ real_t drag_coefficient = 0.0; // [0,1]
+ LocalVector<int> pinned_vertices;
+
+ SelfList<SoftBody3DSW> active_list;
+
+ Set<Constraint3DSW *> constraints;
+
+ VSet<RID> exceptions;
+
+public:
+ SoftBody3DSW();
+
+ const AABB &get_bounds() const { return bounds; }
+
+ void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
+ Variant get_state(PhysicsServer3D::BodyState p_state) const;
+
+ _FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); }
+ _FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); }
+ _FORCE_INLINE_ const Set<Constraint3DSW *> &get_constraints() const { return constraints; }
+ _FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
+
+ _FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
+ _FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
+ _FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); }
+ _FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
+
+ virtual void set_space(Space3DSW *p_space);
+
+ void set_mesh(const Ref<Mesh> &p_mesh);
+
+ void update_rendering_server(RenderingServerHandler *p_rendering_server_handler);
+
+ Vector3 get_vertex_position(int p_index) const;
+ void set_vertex_position(int p_index, const Vector3 &p_position);
+
+ void pin_vertex(int p_index);
+ void unpin_vertex(int p_index);
+ void unpin_all_vertices();
+ bool is_vertex_pinned(int p_index) const;
+
+ uint32_t get_node_count() const;
+ real_t get_node_inv_mass(uint32_t p_node_index) const;
+ Vector3 get_node_position(uint32_t p_node_index) const;
+ Vector3 get_node_velocity(uint32_t p_node_index) const;
+ Vector3 get_node_biased_velocity(uint32_t p_node_index) const;
+ void apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse);
+ void apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse);
+
+ uint32_t get_face_count() const;
+ void get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const;
+ Vector3 get_face_normal(uint32_t p_face_index) const;
+
+ void set_iteration_count(int p_val);
+ _FORCE_INLINE_ real_t get_iteration_count() const { return iteration_count; }
+
+ void set_total_mass(real_t p_val);
+ _FORCE_INLINE_ real_t get_total_mass() const { return total_mass; }
+ _FORCE_INLINE_ real_t get_total_inv_mass() const { return inv_total_mass; }
+
+ void set_collision_margin(real_t p_val);
+ _FORCE_INLINE_ real_t get_collision_margin() const { return collision_margin; }
+
+ void set_linear_stiffness(real_t p_val);
+ _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
+
+ 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; }
+
+ void predict_motion(real_t p_delta);
+ void solve_constraints(real_t p_delta);
+
+ _FORCE_INLINE_ uint32_t get_node_index(void *p_node) const { return ((Node *)p_node)->index; }
+ _FORCE_INLINE_ uint32_t get_face_index(void *p_face) const { return ((Face *)p_face)->index; }
+
+ // Return true to stop the query.
+ // p_index is the node index for AABB query, face index for Ray query.
+ typedef bool (*QueryResultCallback)(uint32_t p_index, void *p_userdata);
+
+ void query_aabb(const AABB &p_aabb, QueryResultCallback p_result_callback, void *p_userdata);
+ void query_ray(const Vector3 &p_from, const Vector3 &p_to, QueryResultCallback p_result_callback, void *p_userdata);
+
+protected:
+ virtual void _shapes_changed();
+
+private:
+ void update_normals();
+ void update_bounds();
+ void update_constants();
+ void update_area();
+ void reset_link_rest_lengths();
+ void update_link_constants();
+
+ void apply_nodes_transform(const Transform &p_transform);
+
+ void add_velocity(const Vector3 &p_velocity);
+
+ void apply_forces();
+
+ bool create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices);
+ void generate_bending_constraints(int p_distance);
+ void reoptimize_link_order();
+ void append_link(uint32_t p_node1, uint32_t p_node2);
+ void append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3);
+
+ void solve_links(real_t kst, real_t ti);
+
+ void initialize_face_tree();
+ void update_face_tree(real_t p_delta);
+
+ void initialize_shape(bool p_force_move = true);
+ void deinitialize_shape();
+
+ void destroy();
+};
+
+class SoftBodyShape3DSW : public Shape3DSW {
+ SoftBody3DSW *soft_body = nullptr;
+
+public:
+ SoftBody3DSW *get_soft_body() const { return soft_body; }
+
+ virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SOFT_BODY; }
+ virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const { r_min = r_max = 0.0; }
+ virtual Vector3 get_support(const Vector3 &p_normal) const { return Vector3(); }
+ virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
+
+ virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
+ virtual bool intersect_point(const Vector3 &p_point) const;
+ virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
+ virtual Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); }
+
+ virtual void set_data(const Variant &p_data) {}
+ virtual Variant get_data() const { return Variant(); }
+
+ void update_bounds();
+
+ SoftBodyShape3DSW(SoftBody3DSW *p_soft_body);
+ ~SoftBodyShape3DSW() {}
+};
+
+#endif // SOFT_BODY_3D_SW_H