From b204389762cdaa4b5327e4a655041ef3be05232f Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Tue, 21 Nov 2017 01:11:39 +0100 Subject: Added function append_array to vector --- core/vector.h | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/core/vector.h b/core/vector.h index f586471e27..c026448ddd 100644 --- a/core/vector.h +++ b/core/vector.h @@ -152,6 +152,8 @@ public: Error insert(int p_pos, const T &p_val); + void append_array(const Vector &p_other); + template void sort_custom() { @@ -407,6 +409,17 @@ Error Vector::insert(int p_pos, const T &p_val) { return OK; } +template +void Vector::append_array(const Vector &p_other) { + const int ds = p_other.size(); + if (ds == 0) + return; + const int bs = size(); + resize(bs + ds); + for (int i = 0; i < ds; ++i) + operator[](bs + i) = p_other[i]; +} + template Vector::Vector(const Vector &p_from) { -- cgit v1.2.3 From fbf3ad284182b002edc63b453f2aa943a93bdd86 Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Tue, 21 Nov 2017 01:26:37 +0100 Subject: Added some API to visual server so from control VRAM buffer is more easy --- drivers/gles3/rasterizer_storage_gles3.cpp | 23 ++++++++++++++++++++++- drivers/gles3/rasterizer_storage_gles3.h | 3 ++- servers/visual/rasterizer.h | 3 +++ servers/visual/visual_server_raster.h | 3 +++ servers/visual/visual_server_wrap_mt.h | 4 +++- servers/visual_server.cpp | 3 +++ servers/visual_server.h | 2 ++ 7 files changed, 38 insertions(+), 3 deletions(-) diff --git a/drivers/gles3/rasterizer_storage_gles3.cpp b/drivers/gles3/rasterizer_storage_gles3.cpp index e67b0bea21..35e11bbdf2 100644 --- a/drivers/gles3/rasterizer_storage_gles3.cpp +++ b/drivers/gles3/rasterizer_storage_gles3.cpp @@ -3229,6 +3229,24 @@ VS::BlendShapeMode RasterizerStorageGLES3::mesh_get_blend_shape_mode(RID p_mesh) return mesh->blend_shape_mode; } +uint32_t RasterizerStorageGLES3::mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const { + Mesh *mesh = mesh_owner.getornull(p_mesh); + ERR_FAIL_COND_V(!mesh, 0); + ERR_FAIL_INDEX_V(p_surface, mesh->surfaces.size(), 0); + ERR_FAIL_INDEX_V(p_array_index, VS::ARRAY_MAX, 0); + + return mesh->surfaces[p_surface]->attribs[p_array_index].stride; +} + +uint32_t RasterizerStorageGLES3::mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const { + Mesh *mesh = mesh_owner.getornull(p_mesh); + ERR_FAIL_COND_V(!mesh, 0); + ERR_FAIL_INDEX_V(p_surface, mesh->surfaces.size(), 0); + ERR_FAIL_INDEX_V(p_array_index, VS::ARRAY_MAX, 0); + + return mesh->surfaces[p_surface]->attribs[p_array_index].offset; +} + void RasterizerStorageGLES3::mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector &p_data) { Mesh *mesh = mesh_owner.getornull(p_mesh); @@ -3240,7 +3258,7 @@ void RasterizerStorageGLES3::mesh_surface_update_region(RID p_mesh, int p_surfac PoolVector::Read r = p_data.read(); - glBindBuffer(GL_ARRAY_BUFFER, mesh->surfaces[p_surface]->array_id); + glBindBuffer(GL_ARRAY_BUFFER, mesh->surfaces[p_surface]->vertex_id); glBufferSubData(GL_ARRAY_BUFFER, p_offset, total_size, r.ptr()); glBindBuffer(GL_ARRAY_BUFFER, 0); //unbind } @@ -3404,6 +3422,7 @@ Vector > RasterizerStorageGLES3::mesh_surface_get_blend_shap return bsarr; } + Vector RasterizerStorageGLES3::mesh_surface_get_skeleton_aabb(RID p_mesh, int p_surface) const { const Mesh *mesh = mesh_owner.getornull(p_mesh); @@ -3455,6 +3474,7 @@ void RasterizerStorageGLES3::mesh_remove_surface(RID p_mesh, int p_surface) { mesh->instance_change_notify(); } + int RasterizerStorageGLES3::mesh_get_surface_count(RID p_mesh) const { const Mesh *mesh = mesh_owner.getornull(p_mesh); @@ -3468,6 +3488,7 @@ void RasterizerStorageGLES3::mesh_set_custom_aabb(RID p_mesh, const AABB &p_aabb ERR_FAIL_COND(!mesh); mesh->custom_aabb = p_aabb; + mesh->instance_change_notify(); } AABB RasterizerStorageGLES3::mesh_get_custom_aabb(RID p_mesh) const { diff --git a/drivers/gles3/rasterizer_storage_gles3.h b/drivers/gles3/rasterizer_storage_gles3.h index 80df21941b..7b8a09af15 100644 --- a/drivers/gles3/rasterizer_storage_gles3.h +++ b/drivers/gles3/rasterizer_storage_gles3.h @@ -693,7 +693,6 @@ public: AABB custom_aabb; mutable uint64_t last_pass; SelfList::List multimeshes; - _FORCE_INLINE_ void update_multimeshes() { SelfList *mm = multimeshes.first(); @@ -723,6 +722,8 @@ public: virtual void mesh_set_blend_shape_mode(RID p_mesh, VS::BlendShapeMode p_mode); virtual VS::BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const; + virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const; + virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const; virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector &p_data); virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material); diff --git a/servers/visual/rasterizer.h b/servers/visual/rasterizer.h index 0b37d266e7..38849721f8 100644 --- a/servers/visual/rasterizer.h +++ b/servers/visual/rasterizer.h @@ -252,6 +252,8 @@ public: virtual void mesh_set_blend_shape_mode(RID p_mesh, VS::BlendShapeMode p_mode) = 0; virtual VS::BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const = 0; + virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0; + virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0; virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector &p_data) = 0; virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material) = 0; @@ -277,6 +279,7 @@ public: virtual AABB mesh_get_custom_aabb(RID p_mesh) const = 0; virtual AABB mesh_get_aabb(RID p_mesh, RID p_skeleton) const = 0; + virtual void mesh_clear(RID p_mesh) = 0; /* MULTIMESH API */ diff --git a/servers/visual/visual_server_raster.h b/servers/visual/visual_server_raster.h index ec0d02ed2a..c2bf1110f0 100644 --- a/servers/visual/visual_server_raster.h +++ b/servers/visual/visual_server_raster.h @@ -97,6 +97,7 @@ public: #define DISPLAY_CHANGED \ changes++; #endif + // print_line(String("CHANGED: ") + __FUNCTION__); #define BIND0R(m_r, m_name) \ m_r m_name() { return BINDBASE->m_name(); } @@ -218,6 +219,8 @@ public: BIND2(mesh_set_blend_shape_mode, RID, BlendShapeMode) BIND1RC(BlendShapeMode, mesh_get_blend_shape_mode, RID) + BIND3RC(uint32_t, mesh_surface_get_stride_in_array, RID, int, int) + BIND3RC(uint32_t, mesh_surface_get_offset_in_array, RID, int, int) BIND4(mesh_surface_update_region, RID, int, int, const PoolVector &) BIND3(mesh_surface_set_material, RID, int, RID) diff --git a/servers/visual/visual_server_wrap_mt.h b/servers/visual/visual_server_wrap_mt.h index 48f0ec46f3..3ba761e4f3 100644 --- a/servers/visual/visual_server_wrap_mt.h +++ b/servers/visual/visual_server_wrap_mt.h @@ -64,7 +64,7 @@ class VisualServerWrapMT : public VisualServer { int pool_max_size; - //#define DEBUG_SYNC +//#define DEBUG_SYNC static VisualServerWrapMT *singleton_mt; @@ -152,6 +152,8 @@ public: FUNC2(mesh_set_blend_shape_mode, RID, BlendShapeMode) FUNC1RC(BlendShapeMode, mesh_get_blend_shape_mode, RID) + FUNC3RC(uint32_t, mesh_surface_get_stride_in_array, RID, int, int) + FUNC3RC(uint32_t, mesh_surface_get_offset_in_array, RID, int, int) FUNC4(mesh_surface_update_region, RID, int, int, const PoolVector &) FUNC3(mesh_surface_set_material, RID, int, RID) diff --git a/servers/visual_server.cpp b/servers/visual_server.cpp index a48f1cccae..200475742b 100644 --- a/servers/visual_server.cpp +++ b/servers/visual_server.cpp @@ -1569,6 +1569,9 @@ void VisualServer::_bind_methods() { ClassDB::bind_method(D_METHOD("mesh_get_blend_shape_count", "mesh"), &VisualServer::mesh_get_blend_shape_count); ClassDB::bind_method(D_METHOD("mesh_set_blend_shape_mode", "mesh", "mode"), &VisualServer::mesh_set_blend_shape_mode); ClassDB::bind_method(D_METHOD("mesh_get_blend_shape_mode", "mesh"), &VisualServer::mesh_get_blend_shape_mode); + ClassDB::bind_method(D_METHOD("mesh_surface_get_stride_in_array", "mesh", "surface", "array_index"), &VisualServer::mesh_surface_get_stride_in_array); + ClassDB::bind_method(D_METHOD("mesh_surface_get_offset_in_array", "mesh", "surface", "array_index"), &VisualServer::mesh_surface_get_offset_in_array); + ClassDB::bind_method(D_METHOD("mesh_surface_update_region", "mesh", "surface", "offset", "data"), &VisualServer::mesh_surface_update_region); ClassDB::bind_method(D_METHOD("mesh_surface_set_material", "mesh", "surface", "material"), &VisualServer::mesh_surface_set_material); ClassDB::bind_method(D_METHOD("mesh_surface_get_material", "mesh", "surface"), &VisualServer::mesh_surface_get_material); ClassDB::bind_method(D_METHOD("mesh_surface_get_array_len", "mesh", "surface"), &VisualServer::mesh_surface_get_array_len); diff --git a/servers/visual_server.h b/servers/visual_server.h index 968cb852ed..424de4ab63 100644 --- a/servers/visual_server.h +++ b/servers/visual_server.h @@ -265,6 +265,8 @@ public: virtual void mesh_set_blend_shape_mode(RID p_mesh, BlendShapeMode p_mode) = 0; virtual BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const = 0; + virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0; + virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0; virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector &p_data) = 0; virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material) = 0; -- cgit v1.2.3 From 17ebbfb56de980c5529c8a02a12141dd7bb766c8 Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Tue, 21 Nov 2017 01:36:32 +0100 Subject: Implemented Soft body - Soft Body Physics node - Soft Body Rendering - Soft body Editor - Soft body importer --- drivers/gles3/rasterizer_storage_gles3.cpp | 18 - drivers/gles3/rasterizer_storage_gles3.h | 2 - editor/icons/icon_soft_body.svg | 56 +++ editor/plugins/spatial_editor_plugin.h | 1 + editor/spatial_editor_gizmos.cpp | 108 ++++- editor/spatial_editor_gizmos.h | 17 + modules/bullet/bullet_physics_server.cpp | 174 ++++++- modules/bullet/bullet_physics_server.h | 43 +- modules/bullet/collision_object_bullet.cpp | 2 + modules/bullet/register_types.cpp | 4 + modules/bullet/soft_body_bullet.cpp | 474 ++++++++++++------ modules/bullet/soft_body_bullet.h | 103 ++-- modules/bullet/space_bullet.cpp | 8 +- modules/bullet/space_bullet.h | 6 +- scene/3d/collision_object.h | 1 + scene/3d/collision_shape.h | 1 + scene/3d/mesh_instance.cpp | 1 + scene/3d/mesh_instance.h | 1 + scene/3d/physics_body.cpp | 20 +- scene/3d/soft_body.cpp | 740 +++++++++++++++++++++++++++++ scene/3d/soft_body.h | 197 ++++++++ scene/register_scene_types.cpp | 2 + scene/resources/mesh.cpp | 53 ++- scene/resources/mesh.h | 4 + scene/resources/surface_tool.cpp | 1 + servers/physics/physics_server_sw.h | 66 +++ servers/physics_server.h | 66 +++ servers/visual/rasterizer.h | 2 - servers/visual/visual_server_raster.h | 3 - servers/visual/visual_server_wrap_mt.h | 4 +- servers/visual_server.cpp | 138 +++++- servers/visual_server.h | 6 +- 32 files changed, 2067 insertions(+), 255 deletions(-) create mode 100644 editor/icons/icon_soft_body.svg create mode 100644 scene/3d/soft_body.cpp create mode 100644 scene/3d/soft_body.h diff --git a/drivers/gles3/rasterizer_storage_gles3.cpp b/drivers/gles3/rasterizer_storage_gles3.cpp index 35e11bbdf2..9e389a353e 100644 --- a/drivers/gles3/rasterizer_storage_gles3.cpp +++ b/drivers/gles3/rasterizer_storage_gles3.cpp @@ -3229,24 +3229,6 @@ VS::BlendShapeMode RasterizerStorageGLES3::mesh_get_blend_shape_mode(RID p_mesh) return mesh->blend_shape_mode; } -uint32_t RasterizerStorageGLES3::mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const { - Mesh *mesh = mesh_owner.getornull(p_mesh); - ERR_FAIL_COND_V(!mesh, 0); - ERR_FAIL_INDEX_V(p_surface, mesh->surfaces.size(), 0); - ERR_FAIL_INDEX_V(p_array_index, VS::ARRAY_MAX, 0); - - return mesh->surfaces[p_surface]->attribs[p_array_index].stride; -} - -uint32_t RasterizerStorageGLES3::mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const { - Mesh *mesh = mesh_owner.getornull(p_mesh); - ERR_FAIL_COND_V(!mesh, 0); - ERR_FAIL_INDEX_V(p_surface, mesh->surfaces.size(), 0); - ERR_FAIL_INDEX_V(p_array_index, VS::ARRAY_MAX, 0); - - return mesh->surfaces[p_surface]->attribs[p_array_index].offset; -} - void RasterizerStorageGLES3::mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector &p_data) { Mesh *mesh = mesh_owner.getornull(p_mesh); diff --git a/drivers/gles3/rasterizer_storage_gles3.h b/drivers/gles3/rasterizer_storage_gles3.h index 7b8a09af15..1db577f23c 100644 --- a/drivers/gles3/rasterizer_storage_gles3.h +++ b/drivers/gles3/rasterizer_storage_gles3.h @@ -722,8 +722,6 @@ public: virtual void mesh_set_blend_shape_mode(RID p_mesh, VS::BlendShapeMode p_mode); virtual VS::BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const; - virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const; - virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const; virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector &p_data); virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material); diff --git a/editor/icons/icon_soft_body.svg b/editor/icons/icon_soft_body.svg new file mode 100644 index 0000000000..9930026b61 --- /dev/null +++ b/editor/icons/icon_soft_body.svg @@ -0,0 +1,56 @@ + + + + + + image/svg+xml + + + + + + + + diff --git a/editor/plugins/spatial_editor_plugin.h b/editor/plugins/spatial_editor_plugin.h index 637926a913..af882f6e05 100644 --- a/editor/plugins/spatial_editor_plugin.h +++ b/editor/plugins/spatial_editor_plugin.h @@ -60,6 +60,7 @@ public: virtual Variant get_handle_value(int p_idx) const; virtual void set_handle(int p_idx, Camera *p_camera, const Point2 &p_point); virtual void commit_handle(int p_idx, const Variant &p_restore, bool p_cancel = false); + virtual bool is_gizmo_handle_highlighted(int idx) const { return false; } virtual bool intersect_frustum(const Camera *p_camera, const Vector &p_frustum); virtual bool intersect_ray(Camera *p_camera, const Point2 &p_point, Vector3 &r_pos, Vector3 &r_normal, int *r_gizmo_handle = NULL, bool p_sec_first = false); diff --git a/editor/spatial_editor_gizmos.cpp b/editor/spatial_editor_gizmos.cpp index c45dea0df7..35544f711b 100644 --- a/editor/spatial_editor_gizmos.cpp +++ b/editor/spatial_editor_gizmos.cpp @@ -33,6 +33,7 @@ #include "geometry.h" #include "quick_hull.h" #include "scene/3d/camera.h" +#include "scene/3d/soft_body.h" #include "scene/resources/box_shape.h" #include "scene/resources/capsule_shape.h" #include "scene/resources/convex_polygon_shape.h" @@ -256,8 +257,12 @@ void EditorSpatialGizmo::add_handles(const Vector &p_handles, bool p_bi for (int i = 0; i < p_handles.size(); i++) { Color col(1, 1, 1, 1); + if (is_gizmo_handle_highlighted(i)) + col = Color(0, 0, 1, 0.9); + if (SpatialEditor::get_singleton()->get_over_gizmo_handle() != i) - col = Color(0.9, 0.9, 0.9, 0.9); + col.a = 0.8; + w[i] = col; } } @@ -1914,6 +1919,100 @@ VehicleWheelSpatialGizmo::VehicleWheelSpatialGizmo(VehicleWheel *p_car_wheel) { /////////// +void SoftBodySpatialGizmo::redraw() { + clear(); + + if (!soft_body || soft_body->get_mesh().is_null()) { + return; + } + + // find mesh + + Vector lines; + + soft_body->get_mesh()->generate_debug_mesh_lines(lines); + + if (!lines.size()) { + return; + } + + Vector points; + soft_body->get_mesh()->generate_debug_mesh_indices(points); + + soft_body->get_mesh()->clear_cache(); + + Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape"); + Ref material = create_material("shape_material", gizmo_color); + + add_lines(lines, material); + add_collision_segments(lines); + add_handles(points); +} + +bool SoftBodySpatialGizmo::intersect_ray(Camera *p_camera, const Point2 &p_point, Vector3 &r_pos, Vector3 &r_normal, int *r_gizmo_handle, bool p_sec_first) { + return EditorSpatialGizmo::intersect_ray(p_camera, p_point, r_pos, r_normal, r_gizmo_handle, p_sec_first); + + /* Perform a shape cast but doesn't work with softbody + PhysicsDirectSpaceState *space_state = PhysicsServer::get_singleton()->space_get_direct_state(SceneTree::get_singleton()->get_root()->get_world()->get_space()); + if (!physics_sphere_shape.is_valid()) { + physics_sphere_shape = PhysicsServer::get_singleton()->shape_create(PhysicsServer::SHAPE_SPHERE); + real_t radius = 0.02; + PhysicsServer::get_singleton()->shape_set_data(physics_sphere_shape, radius); + } + + Vector3 sphere_motion(p_camera->project_ray_normal(p_point)); + real_t closest_safe; + real_t closest_unsafe; + PhysicsDirectSpaceState::ShapeRestInfo result; + bool collided = space_state->cast_motion( + physics_sphere_shape, + p_camera->get_transform(), + sphere_motion * Vector3(1000, 1000, 1000), + 0.f, + closest_safe, + closest_unsafe, + Set(), + 0xFFFFFFFF, + 0xFFFFFFFF, + &result); + + if (collided) { + + if (result.collider_id == soft_body->get_instance_id()) { + print_line("Collided"); + } else { + print_line("Collided but with wrong object: " + itos(result.collider_id)); + } + } else { + print_line("Not collided, motion: x: " + rtos(sphere_motion[0]) + " y: " + rtos(sphere_motion[1]) + " z: " + rtos(sphere_motion[2])); + } + return false; + */ +} + +void SoftBodySpatialGizmo::commit_handle(int p_idx, const Variant &p_restore, bool p_cancel) { + soft_body->pin_point_toggle(p_idx); + redraw(); +} + +bool SoftBodySpatialGizmo::is_gizmo_handle_highlighted(int idx) const { + return soft_body->is_point_pinned(idx); +} + +SoftBodySpatialGizmo::SoftBodySpatialGizmo(SoftBody *p_soft_physics_body) : + EditorSpatialGizmo(), + soft_body(p_soft_physics_body) { + set_spatial_node(p_soft_physics_body); +} + +SoftBodySpatialGizmo::~SoftBodySpatialGizmo() { + //if (!physics_sphere_shape.is_valid()) { + // PhysicsServer::get_singleton()->free(physics_sphere_shape); + //} +} + +/////////// + String CollisionShapeSpatialGizmo::get_handle_name(int p_idx) const { Ref s = cs->get_shape(); @@ -4051,6 +4150,12 @@ Ref SpatialEditorGizmos::get_gizmo(Spatial *p_spatial) { return lsg; } + if (Object::cast_to(p_spatial)) { + + Ref misg = memnew(SoftBodySpatialGizmo(Object::cast_to(p_spatial))); + return misg; + } + if (Object::cast_to(p_spatial)) { Ref misg = memnew(MeshInstanceSpatialGizmo(Object::cast_to(p_spatial))); @@ -4081,6 +4186,7 @@ Ref SpatialEditorGizmos::get_gizmo(Spatial *p_spatial) { return misg; } */ + if (Object::cast_to(p_spatial)) { Ref misg = memnew(CollisionShapeSpatialGizmo(Object::cast_to(p_spatial))); diff --git a/editor/spatial_editor_gizmos.h b/editor/spatial_editor_gizmos.h index 924f82dc16..198d028516 100644 --- a/editor/spatial_editor_gizmos.h +++ b/editor/spatial_editor_gizmos.h @@ -331,6 +331,23 @@ public: BakedIndirectLightGizmo(BakedLightmap *p_baker = NULL); }; +class SoftBodySpatialGizmo : public EditorSpatialGizmo { + GDCLASS(SoftBodySpatialGizmo, EditorSpatialGizmo); + + class SoftBody *soft_body; + //RID physics_sphere_shape; // Used for raycast that doesn't work, in this moment, with softbody + +public: + void redraw(); + virtual bool intersect_ray(Camera *p_camera, const Point2 &p_point, Vector3 &r_pos, Vector3 &r_normal, int *r_gizmo_handle = NULL, bool p_sec_first = false); + virtual void commit_handle(int p_idx, const Variant &p_restore, bool p_cancel); + + virtual bool is_gizmo_handle_highlighted(int idx) const; + + SoftBodySpatialGizmo(SoftBody *p_soft_physics_body = NULL); + ~SoftBodySpatialGizmo(); +}; + class CollisionShapeSpatialGizmo : public EditorSpatialGizmo { GDCLASS(CollisionShapeSpatialGizmo, EditorSpatialGizmo); diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index 77484c9efc..2390c71b0a 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -169,7 +169,7 @@ real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const { } RID BulletPhysicsServer::space_create() { - SpaceBullet *space = bulletnew(SpaceBullet(false)); + SpaceBullet *space = bulletnew(SpaceBullet); CreateThenReturnRID(space_owner, space); } @@ -567,9 +567,6 @@ void BulletPhysicsServer::body_clear_shapes(RID p_body) { 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); @@ -867,6 +864,13 @@ RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) { CreateThenReturnRID(soft_body_owner, body); } +void BulletPhysicsServer::soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->update_visual_server(p_visual_server_handler); +} + void BulletPhysicsServer::soft_body_set_space(RID p_body, RID p_space) { SoftBodyBullet *body = soft_body_owner.get(p_body); ERR_FAIL_COND(!body); @@ -893,11 +897,11 @@ RID BulletPhysicsServer::soft_body_get_space(RID p_body) const { return space->get_self(); } -void BulletPhysicsServer::soft_body_set_trimesh_body_shape(RID p_body, PoolVector p_indices, PoolVector p_vertices, int p_triangles_num) { +void BulletPhysicsServer::soft_body_set_mesh(RID p_body, const REF &p_mesh) { SoftBodyBullet *body = soft_body_owner.get(p_body); ERR_FAIL_COND(!body); - body->set_trimesh_body_shape(p_indices, p_vertices, p_triangles_num); + body->set_soft_mesh(p_mesh); } void BulletPhysicsServer::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { @@ -975,14 +979,16 @@ void BulletPhysicsServer::soft_body_set_transform(RID p_body, const Transform &p SoftBodyBullet *body = soft_body_owner.get(p_body); ERR_FAIL_COND(!body); - body->set_transform(p_transform); + body->set_soft_transform(p_transform); } -Transform BulletPhysicsServer::soft_body_get_transform(RID p_body) const { +Vector3 BulletPhysicsServer::soft_body_get_vertex_position(RID p_body, int vertex_index) const { const SoftBodyBullet *body = soft_body_owner.get(p_body); - ERR_FAIL_COND_V(!body, Transform()); + Vector3 pos; + ERR_FAIL_COND_V(!body, pos); - return body->get_transform(); + body->get_node_position(vertex_index, pos); + return pos; } void BulletPhysicsServer::soft_body_set_ray_pickable(RID p_body, bool p_enable) { @@ -997,6 +1003,154 @@ bool BulletPhysicsServer::soft_body_is_ray_pickable(RID p_body) const { return body->is_ray_pickable(); } +void BulletPhysicsServer::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_simulation_precision(p_simulation_precision); +} + +int BulletPhysicsServer::soft_body_get_simulation_precision(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_simulation_precision(); +} + +void BulletPhysicsServer::soft_body_set_total_mass(RID p_body, real_t p_total_mass) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_total_mass(p_total_mass); +} + +real_t BulletPhysicsServer::soft_body_get_total_mass(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_total_mass(); +} + +void BulletPhysicsServer::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_linear_stiffness(p_stiffness); +} + +real_t BulletPhysicsServer::soft_body_get_linear_stiffness(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_linear_stiffness(); +} + +void BulletPhysicsServer::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_areaAngular_stiffness(p_stiffness); +} + +real_t BulletPhysicsServer::soft_body_get_areaAngular_stiffness(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_areaAngular_stiffness(); +} + +void BulletPhysicsServer::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_volume_stiffness(p_stiffness); +} + +real_t BulletPhysicsServer::soft_body_get_volume_stiffness(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_volume_stiffness(); +} + +void BulletPhysicsServer::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_pressure_coefficient(p_pressure_coefficient); +} + +real_t BulletPhysicsServer::soft_body_get_pressure_coefficient(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_pressure_coefficient(); +} + +void BulletPhysicsServer::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + return body->set_pose_matching_coefficient(p_pose_matching_coefficient); +} + +real_t BulletPhysicsServer::soft_body_get_pose_matching_coefficient(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_pose_matching_coefficient(); +} + +void BulletPhysicsServer::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_damping_coefficient(p_damping_coefficient); +} + +real_t BulletPhysicsServer::soft_body_get_damping_coefficient(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_damping_coefficient(); +} + +void BulletPhysicsServer::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_drag_coefficient(p_drag_coefficient); +} + +real_t BulletPhysicsServer::soft_body_get_drag_coefficient(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_drag_coefficient(); +} + +void BulletPhysicsServer::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_node_position(p_point_index, p_global_position); +} + +Vector3 BulletPhysicsServer::soft_body_get_point_global_position(RID p_body, int p_point_index) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.)); + Vector3 pos; + body->get_node_position(p_point_index, pos); + return pos; +} + +Vector3 BulletPhysicsServer::soft_body_get_point_offset(RID p_body, int p_point_index) const { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + Vector3 res; + body->get_node_offset(p_point_index, res); + return res; +} + +void BulletPhysicsServer::soft_body_remove_all_pinned_points(RID p_body) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->reset_all_node_mass(); +} + +void BulletPhysicsServer::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_node_mass(p_point_index, p_pin ? 0 : 1); +} + +bool BulletPhysicsServer::soft_body_is_point_pinned(RID p_body, int p_point_index) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0.f); + return body->get_node_mass(p_point_index); +} + PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const { JointBullet *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint, JOINT_PIN); diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index 06769106c3..2165845529 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -262,10 +262,12 @@ public: virtual RID soft_body_create(bool p_init_sleeping = false); + virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler); + 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 p_indices, PoolVector p_vertices, int p_triangles_num); + virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh); 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; @@ -280,12 +282,49 @@ public: 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; + /// Special function. This function has bad performance virtual void soft_body_set_transform(RID p_body, const Transform &p_transform); - virtual Transform soft_body_get_transform(RID p_body) const; + virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) 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; + virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision); + virtual int soft_body_get_simulation_precision(RID p_body); + + virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass); + virtual real_t soft_body_get_total_mass(RID p_body); + + virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness); + virtual real_t soft_body_get_linear_stiffness(RID p_body); + + virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness); + virtual real_t soft_body_get_areaAngular_stiffness(RID p_body); + + virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness); + virtual real_t soft_body_get_volume_stiffness(RID p_body); + + virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient); + virtual real_t soft_body_get_pressure_coefficient(RID p_body); + + virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient); + virtual real_t soft_body_get_pose_matching_coefficient(RID p_body); + + virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient); + virtual real_t soft_body_get_damping_coefficient(RID p_body); + + virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient); + virtual real_t soft_body_get_drag_coefficient(RID p_body); + + virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position); + virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index); + + virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const; + + virtual void soft_body_remove_all_pinned_points(RID p_body); + virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin); + virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index); + /* JOINT API */ virtual JointType joint_get_type(RID p_joint) const; diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index 57e4db708e..1d63318fd7 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -111,6 +111,8 @@ void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_coll void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) { exceptions.insert(p_ignoreCollisionObject->get_self()); + if (!bt_collision_object) + return; bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true); if (space) space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher()); diff --git a/modules/bullet/register_types.cpp b/modules/bullet/register_types.cpp index b75f7464ab..a76b0438b4 100644 --- a/modules/bullet/register_types.cpp +++ b/modules/bullet/register_types.cpp @@ -32,6 +32,7 @@ #include "bullet_physics_server.h" #include "class_db.h" +#include "project_settings.h" /** @author AndreaCatania @@ -47,6 +48,9 @@ void register_bullet_types() { #ifndef _3D_DISABLED PhysicsServerManager::register_server("Bullet", &_createBulletPhysicsCallback); PhysicsServerManager::set_default_server("Bullet", 1); + + GLOBAL_DEF("physics/3d/active_soft_world", true); + ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/active_soft_world", PropertyInfo(Variant::BOOL, "physics/3d/active_soft_world")); #endif } diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 5c20eb73f1..b3680d58db 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -32,42 +32,24 @@ #include "bullet_types_converter.h" #include "bullet_utilities.h" -#include "scene/3d/immediate_geometry.h" +#include "scene/3d/soft_body.h" #include "space_bullet.h" -/** - @author AndreaCatania -*/ - SoftBodyBullet::SoftBodyBullet() : CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY), - mass(1), + total_mass(1), simulation_precision(5), - stiffness(0.5f), - pressure_coefficient(50), - damping_coefficient(0.005), - drag_coefficient(0.005), + linear_stiffness(0.5), + areaAngular_stiffness(0.5), + volume_stiffness(0.5), + pressure_coefficient(0.), + pose_matching_coefficient(0.), + damping_coefficient(0.01), + drag_coefficient(0.), bt_soft_body(NULL), - soft_shape_type(SOFT_SHAPETYPE_NONE), - isScratched(false), - soft_body_shape_data(NULL) { - - test_geometry = memnew(ImmediateGeometry); - - red_mat = Ref(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; -} + isScratched(false) {} SoftBodyBullet::~SoftBodyBullet() { - bulletdelete(soft_body_shape_data); } void SoftBodyBullet::reload_body() { @@ -80,8 +62,6 @@ void SoftBodyBullet::reload_body() { void SoftBodyBullet::set_space(SpaceBullet *p_space) { if (space) { isScratched = false; - - // Remove this object from the physics world space->remove_soft_body(this); } @@ -90,86 +70,181 @@ void SoftBodyBullet::set_space(SpaceBullet *p_space) { if (space) { space->add_soft_body(this); } - - reload_soft_body(); } -void SoftBodyBullet::dispatch_callbacks() { - if (!bt_soft_body) { +void SoftBodyBullet::dispatch_callbacks() {} + +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::update_visual_server(SoftBodyVisualServerHandler *p_visual_server_handler) { + if (!bt_soft_body) return; + + /// Update visual server vertices + const btSoftBody::tNodeArray &nodes(bt_soft_body->m_nodes); + const int nodes_count = nodes.size(); + + Vector *vs_indices; + const void *vertex_position; + const void *vertex_normal; + + for (int vertex_index = 0; vertex_index < nodes_count; ++vertex_index) { + vertex_position = reinterpret_cast(&nodes[vertex_index].m_x); + vertex_normal = reinterpret_cast(&nodes[vertex_index].m_n); + + vs_indices = &indices_table[vertex_index]; + + const int vs_indices_size(vs_indices->size()); + for (int x = 0; x < vs_indices_size; ++x) { + p_visual_server_handler->set_vertex((*vs_indices)[x], vertex_position); + p_visual_server_handler->set_normal((*vs_indices)[x], vertex_normal); + } } - if (!test_is_in_scene) { - test_is_in_scene = true; - SceneTree::get_singleton()->get_current_scene()->add_child(test_geometry); + /// Generate AABB + btVector3 aabb_min; + btVector3 aabb_max; + bt_soft_body->getAabb(aabb_min, aabb_max); + + btVector3 size(aabb_max - aabb_min); + + AABB aabb; + B_TO_G(aabb_min, aabb.position); + B_TO_G(size, aabb.size); + + p_visual_server_handler->set_aabb(aabb); +} + +void SoftBodyBullet::set_soft_mesh(const Ref &p_mesh) { + + if (p_mesh.is_null() || !p_mesh->surface_is_softbody_friendly(0)) + soft_mesh.unref(); + else + soft_mesh = p_mesh; + + if (soft_mesh.is_null()) { + + destroy_soft_body(); + return; } - 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; - } + Array arrays = soft_mesh->surface_get_arrays(0); + ERR_FAIL_COND(!(soft_mesh->surface_get_format(0) & VS::ARRAY_FORMAT_INDEX)); + set_trimesh_body_shape(arrays[VS::ARRAY_INDEX], arrays[VS::ARRAY_VERTEX]); +} + +void SoftBodyBullet::destroy_soft_body() { + + if (!bt_soft_body) + return; + + if (space) { + /// Remove from world before deletion + space->remove_soft_body(this); } - test_geometry->end(); + + destroyBulletCollisionObject(); + bt_soft_body = NULL; +} + +void SoftBodyBullet::set_soft_transform(const Transform &p_transform) { + reset_all_node_positions(); + move_all_nodes(p_transform); } -void SoftBodyBullet::on_collision_filters_change() { +void SoftBodyBullet::move_all_nodes(const Transform &p_transform) { + if (!bt_soft_body) + return; + btTransform bt_transf; + G_TO_B(p_transform, bt_transf); + bt_soft_body->transform(bt_transf); } -void SoftBodyBullet::on_collision_checker_start() { +void SoftBodyBullet::set_node_position(int p_node_index, const Vector3 &p_global_position) { + btVector3 bt_pos; + G_TO_B(p_global_position, bt_pos); + set_node_position(p_node_index, bt_pos); } -void SoftBodyBullet::on_enter_area(AreaBullet *p_area) { +void SoftBodyBullet::set_node_position(int p_node_index, const btVector3 &p_global_position) { + if (bt_soft_body) { + bt_soft_body->m_nodes[p_node_index].m_x = p_global_position; + } } -void SoftBodyBullet::on_exit_area(AreaBullet *p_area) { +void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) const { + if (bt_soft_body) { + B_TO_G(bt_soft_body->m_nodes[p_node_index].m_x, r_position); + } } -void SoftBodyBullet::set_trimesh_body_shape(PoolVector p_indices, PoolVector p_vertices, int p_triangles_num) { +void SoftBodyBullet::get_node_offset(int p_node_index, Vector3 &r_offset) const { + if (soft_mesh.is_null()) + return; + + Array arrays = soft_mesh->surface_get_arrays(0); + PoolVector vertices(arrays[VS::ARRAY_VERTEX]); - 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; + if (0 <= p_node_index && vertices.size() > p_node_index) { + r_offset = vertices[p_node_index]; + } +} - set_body_shape_data(shape_data, SOFT_SHAPE_TYPE_TRIMESH); - reload_soft_body(); +void SoftBodyBullet::get_node_offset(int p_node_index, btVector3 &r_offset) const { + Vector3 off; + get_node_offset(p_node_index, off); + G_TO_B(off, r_offset); } -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_node_mass(int node_index, btScalar p_mass) { + if (0 >= p_mass) { + pin_node(node_index); + } else { + unpin_node(node_index); + } + if (bt_soft_body) { + bt_soft_body->setMass(node_index, p_mass); + } } -void SoftBodyBullet::set_transform(const Transform &p_transform) { - transform = p_transform; +btScalar SoftBodyBullet::get_node_mass(int node_index) const { 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); + return bt_soft_body->getMass(node_index); + } else { + return -1 == search_node_pinned(node_index) ? 1 : 0; } } -const Transform &SoftBodyBullet::get_transform() const { - return transform; +void SoftBodyBullet::reset_all_node_mass() { + if (bt_soft_body) { + for (int i = pinned_nodes.size() - 1; 0 <= i; --i) { + bt_soft_body->setMass(pinned_nodes[i], 1); + } + } + pinned_nodes.resize(0); } -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::reset_all_node_positions() { + if (soft_mesh.is_null()) + return; + + Array arrays = soft_mesh->surface_get_arrays(0); + PoolVector vs_vertices(arrays[VS::ARRAY_VERTEX]); + PoolVector::Read vs_vertices_read = vs_vertices.read(); + + for (int vertex_index = bt_soft_body->m_nodes.size() - 1; 0 <= vertex_index; --vertex_index) { + + G_TO_B(vs_vertices_read[indices_table[vertex_index][0]], bt_soft_body->m_nodes[vertex_index].m_x); + + bt_soft_body->m_nodes[vertex_index].m_q = bt_soft_body->m_nodes[vertex_index].m_x; + bt_soft_body->m_nodes[vertex_index].m_v = btVector3(0, 0, 0); + bt_soft_body->m_nodes[vertex_index].m_f = btVector3(0, 0, 0); } } @@ -181,22 +256,34 @@ void SoftBodyBullet::set_activation_state(bool p_active) { } } -void SoftBodyBullet::set_mass(real_t p_val) { +void SoftBodyBullet::set_total_mass(real_t p_val) { if (0 >= p_val) { p_val = 1; } - mass = p_val; + total_mass = p_val; if (bt_soft_body) { - bt_soft_body->setTotalMass(mass); + bt_soft_body->setTotalMass(total_mass); } } -void SoftBodyBullet::set_stiffness(real_t p_val) { - stiffness = p_val; +void SoftBodyBullet::set_linear_stiffness(real_t p_val) { + linear_stiffness = p_val; if (bt_soft_body) { - mat0->m_kAST = stiffness; - mat0->m_kLST = stiffness; - mat0->m_kVST = stiffness; + mat0->m_kLST = linear_stiffness; + } +} + +void SoftBodyBullet::set_areaAngular_stiffness(real_t p_val) { + areaAngular_stiffness = p_val; + if (bt_soft_body) { + mat0->m_kAST = areaAngular_stiffness; + } +} + +void SoftBodyBullet::set_volume_stiffness(real_t p_val) { + volume_stiffness = p_val; + if (bt_soft_body) { + mat0->m_kVST = volume_stiffness; } } @@ -204,6 +291,9 @@ void SoftBodyBullet::set_simulation_precision(int p_val) { simulation_precision = p_val; if (bt_soft_body) { bt_soft_body->m_cfg.piterations = simulation_precision; + bt_soft_body->m_cfg.viterations = simulation_precision; + bt_soft_body->m_cfg.diterations = simulation_precision; + bt_soft_body->m_cfg.citerations = simulation_precision; } } @@ -214,6 +304,13 @@ void SoftBodyBullet::set_pressure_coefficient(real_t p_val) { } } +void SoftBodyBullet::set_pose_matching_coefficient(real_t p_val) { + pose_matching_coefficient = p_val; + if (bt_soft_body) { + bt_soft_body->m_cfg.kMT = pose_matching_coefficient; + } +} + void SoftBodyBullet::set_damping_coefficient(real_t p_val) { damping_coefficient = p_val; if (bt_soft_body) { @@ -228,89 +325,156 @@ void SoftBodyBullet::set_drag_coefficient(real_t p_val) { } } -void SoftBodyBullet::reload_soft_body() { - +void SoftBodyBullet::set_trimesh_body_shape(PoolVector p_indices, PoolVector p_vertices) { + /// Assert the current soft body is destroyed destroy_soft_body(); - create_soft_body(); - if (bt_soft_body) { + /// Parse visual server indices to physical indices. + /// Merge all overlapping vertices and create a map of physical vertices to visual server - // 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); + { + /// This is the map of visual server indices to physics indices (So it's the inverse of idices_map), Thanks to it I don't need make a heavy search in the indices_map + Vector vs_indices_to_physics_table; - bt_soft_body->generateBendingConstraints(2, mat0); - mat0->m_kAST = stiffness; - mat0->m_kLST = stiffness; - mat0->m_kVST = stiffness; + { // Map vertices + indices_table.resize(0); - 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); - } -} + int index = 0; + Map unique_vertices; -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(soft_body_shape_data); - - Vector indices; - Vector 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::Read i_r = trimesh_data->m_triangles_indices.read(); - for (i = 0; i < indices_size; ++i) { - indices[i] = i_r[i]; + const int vs_vertices_size(p_vertices.size()); + + PoolVector::Read p_vertices_read = p_vertices.read(); + + for (int vs_vertex_index = 0; vs_vertex_index < vs_vertices_size; ++vs_vertex_index) { + + Map::Element *e = unique_vertices.find(p_vertices_read[vs_vertex_index]); + int vertex_id; + if (e) { + // Already rxisting + vertex_id = e->value(); + } else { + // Create new one + unique_vertices[p_vertices_read[vs_vertex_index]] = vertex_id = index++; + indices_table.push_back(Vector()); + } + + indices_table[vertex_id].push_back(vs_vertex_index); + vs_indices_to_physics_table.push_back(vertex_id); + } + } + + const int indices_map_size(indices_table.size()); + + Vector bt_vertices; + + { // Parse vertices to bullet + + bt_vertices.resize(indices_map_size * 3); + PoolVector::Read p_vertices_read = p_vertices.read(); + + for (int i = 0; i < indices_map_size; ++i) { + bt_vertices[3 * i + 0] = p_vertices_read[indices_table[i][0]].x; + bt_vertices[3 * i + 1] = p_vertices_read[indices_table[i][0]].y; + bt_vertices[3 * i + 2] = p_vertices_read[indices_table[i][0]].z; } - i_r = PoolVector::Read(); + } + + Vector bt_triangles; + const int triangles_size(p_indices.size() / 3); + + { // Parse indices + + bt_triangles.resize(triangles_size * 3); + + PoolVector::Read p_indices_read = p_indices.read(); - PoolVector::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]; + for (int i = 0; i < triangles_size; ++i) { + bt_triangles[3 * i + 0] = vs_indices_to_physics_table[p_indices_read[3 * i + 2]]; + bt_triangles[3 * i + 1] = vs_indices_to_physics_table[p_indices_read[3 * i + 1]]; + bt_triangles[3 * i + 2] = vs_indices_to_physics_table[p_indices_read[3 * i + 0]]; } - f_r = PoolVector::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; + btSoftBodyWorldInfo fake_world_info; + bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(fake_world_info, &bt_vertices[0], &bt_triangles[0], triangles_size, false); + setup_soft_body(); } +} + +void SoftBodyBullet::setup_soft_body() { + + if (!bt_soft_body) + return; + // Soft body setup setupBulletCollisionObject(bt_soft_body); - bt_soft_body->getCollisionShape()->setMargin(0.001f); + bt_soft_body->m_worldInfo = NULL; // Remove fake world info + bt_soft_body->getCollisionShape()->setMargin(0.01); bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT))); + + // Space setup + if (space) { + space->add_soft_body(this); + } + mat0 = bt_soft_body->appendMaterial(); + + // Assign soft body data + bt_soft_body->generateBendingConstraints(2, mat0); + + mat0->m_kLST = linear_stiffness; + mat0->m_kAST = areaAngular_stiffness; + mat0->m_kVST = volume_stiffness; + + // Clusters allow to have Soft vs Soft collision but doesn't work well right now + + //bt_soft_body->m_cfg.kSRHR_CL = 1;// Soft vs rigid hardness [0,1] (cluster only) + //bt_soft_body->m_cfg.kSKHR_CL = 1;// Soft vs kinematic hardness [0,1] (cluster only) + //bt_soft_body->m_cfg.kSSHR_CL = 1;// Soft vs soft hardness [0,1] (cluster only) + //bt_soft_body->m_cfg.kSR_SPLT_CL = 1; // Soft vs rigid impulse split [0,1] (cluster only) + //bt_soft_body->m_cfg.kSK_SPLT_CL = 1; // Soft vs kinematic impulse split [0,1] (cluster only) + //bt_soft_body->m_cfg.kSS_SPLT_CL = 1; // Soft vs Soft impulse split [0,1] (cluster only) + //bt_soft_body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS + btSoftBody::fCollision::VF_SS; + //bt_soft_body->generateClusters(64); + + bt_soft_body->m_cfg.piterations = simulation_precision; + bt_soft_body->m_cfg.viterations = simulation_precision; + bt_soft_body->m_cfg.diterations = simulation_precision; + bt_soft_body->m_cfg.citerations = 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->m_cfg.kMT = pose_matching_coefficient; + bt_soft_body->setTotalMass(total_mass); + + btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body); + bt_soft_body->updateBounds(); + + // Set pinned nodes + for (int i = pinned_nodes.size() - 1; 0 <= i; --i) { + bt_soft_body->setMass(pinned_nodes[i], 0); + } } -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); +void SoftBodyBullet::pin_node(int p_node_index) { + if (-1 == search_node_pinned(p_node_index)) { + pinned_nodes.push_back(p_node_index); } - destroyBulletCollisionObject(); - bt_soft_body = NULL; +} + +void SoftBodyBullet::unpin_node(int p_node_index) { + const int id = search_node_pinned(p_node_index); + if (-1 != id) { + pinned_nodes.remove(id); + } +} + +int SoftBodyBullet::search_node_pinned(int p_node_index) const { + for (int i = pinned_nodes.size() - 1; 0 <= i; --i) { + if (p_node_index == pinned_nodes[i]) { + return i; + } + } + return -1; } diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index 9895643b84..c775193584 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -40,7 +40,10 @@ #define x11_None 0L #endif -#include +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "collision_object_bullet.h" +#include "scene/resources/mesh.h" +#include "servers/physics_server.h" #ifdef x11_None /// This is required to re add the macro None defined by x11 compiler @@ -52,39 +55,34 @@ @author AndreaCatania */ -struct SoftShapeData {}; -struct TrimeshSoftShapeData : public SoftShapeData { - PoolVector m_triangles_indices; - PoolVector m_vertices; - int m_triangles_num; -}; - class SoftBodyBullet : public CollisionObjectBullet { -public: - enum SoftShapeType { - SOFT_SHAPETYPE_NONE = 0, - SOFT_SHAPE_TYPE_TRIMESH - }; private: btSoftBody *bt_soft_body; + Vector > indices_table; btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody - SoftShapeType soft_shape_type; bool isScratched; - SoftShapeData *soft_body_shape_data; + Ref soft_mesh; - Transform transform; int simulation_precision; - real_t mass; - real_t stiffness; // [0,1] + real_t total_mass; + real_t linear_stiffness; // [0,1] + real_t areaAngular_stiffness; // [0,1] + real_t volume_stiffness; // [0,1] real_t pressure_coefficient; // [-inf,+inf] + real_t pose_matching_coefficient; // [0,1] real_t damping_coefficient; // [0,1] real_t drag_coefficient; // [0,1] + Vector pinned_nodes; - class ImmediateGeometry *test_geometry; // TODO remove this please - Ref red_mat; // TODO remove this please - bool test_is_in_scene; // TODO remove this please + // Other property to add + //btScalar kVC; // Volume conversation coefficient [0,+inf] + //btScalar kDF; // Dynamic friction coefficient [0,1] + //btScalar kMT; // Pose matching coefficient [0,1] + //btScalar kCHR; // Rigid contacts hardness [0,1] + //btScalar kKHR; // Kinetic contacts hardness [0,1] + //btScalar kSHR; // Soft contacts hardness [0,1] public: SoftBodyBullet(); @@ -101,39 +99,64 @@ public: _FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; } - void set_trimesh_body_shape(PoolVector p_indices, PoolVector p_vertices, int p_triangles_num); - void set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type); + void update_visual_server(class SoftBodyVisualServerHandler *p_visual_server_handler); - void set_transform(const Transform &p_transform); - /// This function doesn't return the exact COM transform. - /// It returns the origin only of first node (vertice) of current soft body - /// --- - /// The soft body doesn't have a fixed center of mass, but is a group of nodes (vertices) - /// that each has its own position in the world. - /// For this reason return the correct COM is not so simple and must be calculate - /// Check this to improve this function http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=8803 - const Transform &get_transform() const; - void get_first_node_origin(btVector3 &p_out_origin) const; + void set_soft_mesh(const Ref &p_mesh); + void destroy_soft_body(); + + // Special function. This function has bad performance + void set_soft_transform(const Transform &p_transform); + + void move_all_nodes(const Transform &p_transform); + void set_node_position(int node_index, const Vector3 &p_global_position); + void set_node_position(int node_index, const btVector3 &p_global_position); + void get_node_position(int node_index, Vector3 &r_position) const; + // Heavy function, Please cache this info + void get_node_offset(int node_index, Vector3 &r_offset) const; + // Heavy function, Please cache this info + void get_node_offset(int node_index, btVector3 &r_offset) const; + + void set_node_mass(int node_index, btScalar p_mass); + btScalar get_node_mass(int node_index) const; + void reset_all_node_mass(); + void reset_all_node_positions(); void set_activation_state(bool p_active); - void set_mass(real_t p_val); - _FORCE_INLINE_ real_t get_mass() const { return mass; } - void set_stiffness(real_t p_val); - _FORCE_INLINE_ real_t get_stiffness() const { return stiffness; } + void set_total_mass(real_t p_val); + _FORCE_INLINE_ real_t get_total_mass() const { return total_mass; } + + void set_linear_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; } + + void set_areaAngular_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; } + + void set_volume_stiffness(real_t p_val); + _FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; } + void set_simulation_precision(int p_val); _FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; } + void set_pressure_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; } + + void set_pose_matching_coefficient(real_t p_val); + _FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_coefficient; } + void set_damping_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; } + void set_drag_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; } private: - void reload_soft_body(); - void create_soft_body(); - void destroy_soft_body(); + void set_trimesh_body_shape(PoolVector p_indices, PoolVector p_vertices); + void setup_soft_body(); + + void pin_node(int p_node_index); + void unpin_node(int p_node_index); + int search_node_pinned(int p_node_index) const; }; #endif // SOFT_BODY_BULLET_H diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index 331c4a5eba..132c3739d6 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -36,6 +36,7 @@ #include "constraint_bullet.h" #include "godot_collision_configuration.h" #include "godot_collision_dispatcher.h" +#include "project_settings.h" #include "rigid_body_bullet.h" #include "servers/physics_server.h" #include "soft_body_bullet.h" @@ -325,7 +326,7 @@ Vector3 BulletPhysicsDirectSpaceState::get_closest_point_to_object_volume(RID p_ } } -SpaceBullet::SpaceBullet(bool p_create_soft_world) : +SpaceBullet::SpaceBullet() : broadphase(NULL), dispatcher(NULL), solver(NULL), @@ -338,7 +339,7 @@ SpaceBullet::SpaceBullet(bool p_create_soft_world) : gravityMagnitude(10), contactDebugCount(0) { - create_empty_world(p_create_soft_world); + create_empty_world(GLOBAL_DEF("physics/3d/active_soft_world", true)); direct_access = memnew(BulletPhysicsDirectSpaceState(this)); } @@ -355,6 +356,7 @@ void SpaceBullet::flush_queries() { } void SpaceBullet::step(real_t p_delta_time) { + delta_time = p_delta_time; dynamicsWorld->stepSimulation(p_delta_time, 0, 0); } @@ -483,6 +485,7 @@ void SpaceBullet::reload_collision_filters(RigidBodyBullet *p_body) { void SpaceBullet::add_soft_body(SoftBodyBullet *p_body) { if (is_using_soft_world()) { if (p_body->get_bt_soft_body()) { + p_body->get_bt_soft_body()->m_worldInfo = get_soft_body_world_info(); static_cast(dynamicsWorld)->addSoftBody(p_body->get_bt_soft_body(), p_body->get_collision_layer(), p_body->get_collision_mask()); } } else { @@ -494,6 +497,7 @@ void SpaceBullet::remove_soft_body(SoftBodyBullet *p_body) { if (is_using_soft_world()) { if (p_body->get_bt_soft_body()) { static_cast(dynamicsWorld)->removeSoftBody(p_body->get_bt_soft_body()); + p_body->get_bt_soft_body()->m_worldInfo = NULL; } } } diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index a6c2786878..006c6462cf 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -84,7 +84,7 @@ public: }; class SpaceBullet : public RIDBullet { -private: + friend class AreaBullet; friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep); friend class BulletPhysicsDirectSpaceState; @@ -109,12 +109,14 @@ private: Vector contactDebug; int contactDebugCount; + real_t delta_time; public: - SpaceBullet(bool p_create_soft_world); + SpaceBullet(); virtual ~SpaceBullet(); void flush_queries(); + real_t get_delta_time() { return delta_time; } void step(real_t p_delta_time); _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; } diff --git a/scene/3d/collision_object.h b/scene/3d/collision_object.h index f31d65e411..f8ef04b78f 100644 --- a/scene/3d/collision_object.h +++ b/scene/3d/collision_object.h @@ -39,6 +39,7 @@ class CollisionObject : public Spatial { GDCLASS(CollisionObject, Spatial); bool area; + RID rid; struct ShapeData { diff --git a/scene/3d/collision_shape.h b/scene/3d/collision_shape.h index c9c91a5824..6ca8e80ea1 100644 --- a/scene/3d/collision_shape.h +++ b/scene/3d/collision_shape.h @@ -49,6 +49,7 @@ class CollisionShape : public Spatial { void resource_changed(RES res); bool disabled; +protected: void _create_debug_shape(); void _update_in_shape_owner(bool p_xform_only = false); diff --git a/scene/3d/mesh_instance.cpp b/scene/3d/mesh_instance.cpp index e836a6154a..722eadb9ca 100644 --- a/scene/3d/mesh_instance.cpp +++ b/scene/3d/mesh_instance.cpp @@ -36,6 +36,7 @@ #include "scene/resources/material.h" #include "scene/scene_string_names.h" #include "skeleton.h" + bool MeshInstance::_set(const StringName &p_name, const Variant &p_value) { //this is not _too_ bad performance wise, really. it only arrives here if the property was not set anywhere else. diff --git a/scene/3d/mesh_instance.h b/scene/3d/mesh_instance.h index 5d359cd4d5..0dfec538f9 100644 --- a/scene/3d/mesh_instance.h +++ b/scene/3d/mesh_instance.h @@ -41,6 +41,7 @@ class MeshInstance : public GeometryInstance { GDCLASS(MeshInstance, GeometryInstance); +protected: Ref mesh; NodePath skeleton_path; diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp index 8c5d4da117..7529a0e524 100644 --- a/scene/3d/physics_body.cpp +++ b/scene/3d/physics_body.cpp @@ -122,23 +122,23 @@ bool PhysicsBody::get_collision_layer_bit(int p_bit) const { void PhysicsBody::add_collision_exception_with(Node *p_node) { ERR_FAIL_NULL(p_node); - PhysicsBody *physics_body = Object::cast_to(p_node); - if (!physics_body) { - ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type"); + CollisionObject *collision_object = Object::cast_to(p_node); + if (!collision_object) { + ERR_EXPLAIN("Collision exception only works between two CollisionObject"); } - ERR_FAIL_COND(!physics_body); - PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), physics_body->get_rid()); + ERR_FAIL_COND(!collision_object); + PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid()); } void PhysicsBody::remove_collision_exception_with(Node *p_node) { ERR_FAIL_NULL(p_node); - PhysicsBody *physics_body = Object::cast_to(p_node); - if (!physics_body) { - ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type"); + CollisionObject *collision_object = Object::cast_to(p_node); + if (!collision_object) { + ERR_EXPLAIN("Collision exception only works between two CollisionObject"); } - ERR_FAIL_COND(!physics_body); - PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), physics_body->get_rid()); + ERR_FAIL_COND(!collision_object); + PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid()); } void PhysicsBody::_set_layers(uint32_t p_mask) { diff --git a/scene/3d/soft_body.cpp b/scene/3d/soft_body.cpp new file mode 100644 index 0000000000..8498dc34c0 --- /dev/null +++ b/scene/3d/soft_body.cpp @@ -0,0 +1,740 @@ +/*************************************************************************/ +/* soft_physics_body.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.h" +#include "os/os.h" +#include "scene/3d/collision_object.h" +#include "scene/3d/skeleton.h" +#include "servers/physics_server.h" + +SoftBodyVisualServerHandler::SoftBodyVisualServerHandler() {} + +void SoftBodyVisualServerHandler::prepare(RID p_mesh, int p_surface) { + clear(); + + ERR_FAIL_COND(!p_mesh.is_valid()); + + mesh = p_mesh; + surface = p_surface; + + const uint32_t surface_format = VS::get_singleton()->mesh_surface_get_format(mesh, surface); + const int surface_vertex_len = VS::get_singleton()->mesh_surface_get_array_len(mesh, p_surface); + const int surface_index_len = VS::get_singleton()->mesh_surface_get_array_index_len(mesh, p_surface); + uint32_t surface_offsets[VS::ARRAY_MAX]; + + buffer = VS::get_singleton()->mesh_surface_get_array(mesh, surface); + stride = VS::get_singleton()->mesh_surface_make_offsets_from_format(surface_format, surface_vertex_len, surface_index_len, surface_offsets); + offset_vertices = surface_offsets[VS::ARRAY_VERTEX]; + offset_normal = surface_offsets[VS::ARRAY_NORMAL]; +} + +void SoftBodyVisualServerHandler::clear() { + + if (mesh.is_valid()) { + buffer.resize(0); + } + + mesh = RID(); +} + +void SoftBodyVisualServerHandler::open() { + write_buffer = buffer.write(); +} + +void SoftBodyVisualServerHandler::close() { + write_buffer = PoolVector::Write(); +} + +void SoftBodyVisualServerHandler::commit_changes() { + VS::get_singleton()->mesh_surface_update_region(mesh, surface, 0, buffer); +} + +void SoftBodyVisualServerHandler::set_vertex(int p_vertex_id, const void *p_vector3) { + copymem(&write_buffer[p_vertex_id * stride + offset_vertices], p_vector3, sizeof(float) * 3); +} + +void SoftBodyVisualServerHandler::set_normal(int p_vertex_id, const void *p_vector3) { + copymem(&write_buffer[p_vertex_id * stride + offset_normal], p_vector3, sizeof(float) * 3); +} + +void SoftBodyVisualServerHandler::set_aabb(const AABB &p_aabb) { + VS::get_singleton()->mesh_set_custom_aabb(mesh, p_aabb); +} + +SoftBody::PinnedPoint::PinnedPoint() : + point_index(-1), + spatial_attachment(NULL) { +} + +SoftBody::PinnedPoint::PinnedPoint(const PinnedPoint &obj_tocopy) { + point_index = obj_tocopy.point_index; + spatial_attachment_path = obj_tocopy.spatial_attachment_path; + spatial_attachment = obj_tocopy.spatial_attachment; + vertex_offset_transform = obj_tocopy.vertex_offset_transform; +} + +void SoftBody::_update_pickable() { + if (!is_inside_tree()) + return; + bool pickable = ray_pickable && is_inside_tree() && is_visible_in_tree(); + PhysicsServer::get_singleton()->soft_body_set_ray_pickable(physics_rid, pickable); +} + +bool SoftBody::_set(const StringName &p_name, const Variant &p_value) { + String name = p_name; + String which = name.get_slicec('/', 0); + + if ("pinned_points" == which) { + + return _set_property_pinned_points_indices(p_value); + + } else if ("attachments" == which) { + + int idx = name.get_slicec('/', 1).to_int(); + String what = name.get_slicec('/', 2); + + return _set_property_pinned_points_attachment(idx, what, p_value); + } + + return false; +} + +bool SoftBody::_get(const StringName &p_name, Variant &r_ret) const { + String name = p_name; + String which = name.get_slicec('/', 0); + + if ("pinned_points" == which) { + Array arr_ret; + const int pinned_points_indices_size = pinned_points_indices.size(); + PoolVector::Read r = pinned_points_indices.read(); + arr_ret.resize(pinned_points_indices_size); + + for (int i = 0; i < pinned_points_indices_size; ++i) { + arr_ret[i] = r[i].point_index; + } + + r_ret = arr_ret; + return true; + + } else if ("attachments" == which) { + + int idx = name.get_slicec('/', 1).to_int(); + String what = name.get_slicec('/', 2); + + return _get_property_pinned_points(idx, what, r_ret); + } + + return false; +} + +void SoftBody::_get_property_list(List *p_list) const { + + const int pinned_points_indices_size = pinned_points_indices.size(); + + p_list->push_back(PropertyInfo(Variant::POOL_INT_ARRAY, "pinned_points")); + + for (int i = 0; i < pinned_points_indices_size; ++i) { + p_list->push_back(PropertyInfo(Variant::INT, "attachments/" + itos(i) + "/point_index")); + p_list->push_back(PropertyInfo(Variant::NODE_PATH, "attachments/" + itos(i) + "/spatial_attachment_path")); + } +} + +bool SoftBody::_set_property_pinned_points_indices(const Array &p_indices) { + + const int p_indices_size = p_indices.size(); + + { // Remove the pined points on physics server that will be removed by resize + PoolVector::Read r = pinned_points_indices.read(); + if (p_indices_size < pinned_points_indices.size()) { + for (int i = pinned_points_indices.size() - 1; i >= p_indices_size; --i) { + pin_point(r[i].point_index, false); + } + } + } + + pinned_points_indices.resize(p_indices_size); + + PoolVector::Write w = pinned_points_indices.write(); + int point_index; + for (int i = 0; i < p_indices_size; ++i) { + point_index = p_indices.get(i); + if (w[i].point_index != point_index) { + if (-1 != w[i].point_index) + pin_point(w[i].point_index, false); + w[i].point_index = point_index; + pin_point(w[i].point_index, true); + } + } + return true; +} + +bool SoftBody::_set_property_pinned_points_attachment(int p_item, const String &p_what, const Variant &p_value) { + if (pinned_points_indices.size() <= p_item) { + return false; + } + + if ("spatial_attachment_path" == p_what) { + PoolVector::Write w = pinned_points_indices.write(); + pin_point(w[p_item].point_index, true, p_value); + } else { + return false; + } + + return true; +} + +bool SoftBody::_get_property_pinned_points(int p_item, const String &p_what, Variant &r_ret) const { + if (pinned_points_indices.size() <= p_item) { + return false; + } + PoolVector::Read r = pinned_points_indices.read(); + + if ("point_index" == p_what) { + r_ret = r[p_item].point_index; + } else if ("spatial_attachment_path" == p_what) { + r_ret = r[p_item].spatial_attachment_path; + } else { + return false; + } + + return true; +} + +void SoftBody::_changed_callback(Object *p_changed, const char *p_prop) { +#ifdef TOOLS_ENABLED + if (p_changed == this) { + update_configuration_warning(); + } +#endif +} + +void SoftBody::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_WORLD: { + + if (Engine::get_singleton()->is_editor_hint()) + add_change_receptor(this); + + RID space = get_world()->get_space(); + PhysicsServer::get_singleton()->soft_body_set_space(physics_rid, space); + PhysicsServer::get_singleton()->soft_body_set_transform(physics_rid, get_global_transform()); + update_physics_server(); + } break; + case NOTIFICATION_READY: { + if (!parent_collision_ignore.is_empty()) + add_collision_exception_with(get_node(parent_collision_ignore)); + + } break; + case NOTIFICATION_TRANSFORM_CHANGED: { + + if (!simulation_started) { + PhysicsServer::get_singleton()->soft_body_set_transform(physics_rid, get_global_transform()); + + _update_cache_pin_points_datas(); + // Submit bone attachment + const int pinned_points_indices_size = pinned_points_indices.size(); + PoolVector::Read r = pinned_points_indices.read(); + for (int i = 0; i < pinned_points_indices_size; ++i) { + if (!r[i].spatial_attachment) { + // Use soft body position to update the point position + PhysicsServer::get_singleton()->soft_body_move_point(physics_rid, r[i].point_index, (get_global_transform() * r[i].vertex_offset_transform).origin); + } else { + PhysicsServer::get_singleton()->soft_body_move_point(physics_rid, r[i].point_index, (r[i].spatial_attachment->get_global_transform() * r[i].vertex_offset_transform).origin); + } + } + } + } break; + case NOTIFICATION_VISIBILITY_CHANGED: { + + _update_pickable(); + + } break; + case NOTIFICATION_EXIT_WORLD: { + + PhysicsServer::get_singleton()->soft_body_set_space(physics_rid, RID()); + + } break; + } + +#ifdef TOOLS_ENABLED + + if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) { + if (Engine::get_singleton()->is_editor_hint()) { + update_configuration_warning(); + } + } + +#endif +} + +void SoftBody::_bind_methods() { + + ClassDB::bind_method(D_METHOD("_draw_soft_mesh"), &SoftBody::_draw_soft_mesh); + + ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &SoftBody::set_collision_mask); + ClassDB::bind_method(D_METHOD("get_collision_mask"), &SoftBody::get_collision_mask); + + ClassDB::bind_method(D_METHOD("set_collision_layer", "collision_layer"), &SoftBody::set_collision_layer); + ClassDB::bind_method(D_METHOD("get_collision_layer"), &SoftBody::get_collision_layer); + + ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &SoftBody::set_collision_mask_bit); + ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &SoftBody::get_collision_mask_bit); + + ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &SoftBody::set_collision_layer_bit); + ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &SoftBody::get_collision_layer_bit); + + ClassDB::bind_method(D_METHOD("set_parent_collision_ignore", "parent_collision_ignore"), &SoftBody::set_parent_collision_ignore); + ClassDB::bind_method(D_METHOD("get_parent_collision_ignore"), &SoftBody::get_parent_collision_ignore); + + ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &SoftBody::add_collision_exception_with); + ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &SoftBody::remove_collision_exception_with); + + ClassDB::bind_method(D_METHOD("set_simulation_precision", "simulation_precision"), &SoftBody::set_simulation_precision); + ClassDB::bind_method(D_METHOD("get_simulation_precision"), &SoftBody::get_simulation_precision); + + ClassDB::bind_method(D_METHOD("set_total_mass", "mass"), &SoftBody::set_total_mass); + ClassDB::bind_method(D_METHOD("get_total_mass"), &SoftBody::get_total_mass); + + ClassDB::bind_method(D_METHOD("set_linear_stiffness", "linear_stiffness"), &SoftBody::set_linear_stiffness); + ClassDB::bind_method(D_METHOD("get_linear_stiffness"), &SoftBody::get_linear_stiffness); + + ClassDB::bind_method(D_METHOD("set_areaAngular_stiffness", "areaAngular_stiffness"), &SoftBody::set_areaAngular_stiffness); + ClassDB::bind_method(D_METHOD("get_areaAngular_stiffness"), &SoftBody::get_areaAngular_stiffness); + + ClassDB::bind_method(D_METHOD("set_volume_stiffness", "volume_stiffness"), &SoftBody::set_volume_stiffness); + ClassDB::bind_method(D_METHOD("get_volume_stiffness"), &SoftBody::get_volume_stiffness); + + ClassDB::bind_method(D_METHOD("set_pressure_coefficient", "pressure_coefficient"), &SoftBody::set_pressure_coefficient); + ClassDB::bind_method(D_METHOD("get_pressure_coefficient"), &SoftBody::get_pressure_coefficient); + + ClassDB::bind_method(D_METHOD("set_pose_matching_coefficient", "pose_matching_coefficient"), &SoftBody::set_pose_matching_coefficient); + ClassDB::bind_method(D_METHOD("get_pose_matching_coefficient"), &SoftBody::get_pose_matching_coefficient); + + ClassDB::bind_method(D_METHOD("set_damping_coefficient", "damping_coefficient"), &SoftBody::set_damping_coefficient); + ClassDB::bind_method(D_METHOD("get_damping_coefficient"), &SoftBody::get_damping_coefficient); + + ClassDB::bind_method(D_METHOD("set_drag_coefficient", "drag_coefficient"), &SoftBody::set_drag_coefficient); + ClassDB::bind_method(D_METHOD("get_drag_coefficient"), &SoftBody::get_drag_coefficient); + + ClassDB::bind_method(D_METHOD("set_ray_pickable", "ray_pickable"), &SoftBody::set_ray_pickable); + ClassDB::bind_method(D_METHOD("is_ray_pickable"), &SoftBody::is_ray_pickable); + + ADD_GROUP("Collision", "collision_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask"); + + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "parent_collision_ignore", PROPERTY_HINT_PROPERTY_OF_VARIANT_TYPE, "Parent collision object"), "set_parent_collision_ignore", "get_parent_collision_ignore"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "simulation_precision", PROPERTY_HINT_RANGE, "1,100,1"), "set_simulation_precision", "get_simulation_precision"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "total_mass", PROPERTY_HINT_RANGE, "0.01,10000,1"), "set_total_mass", "get_total_mass"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "linear_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_linear_stiffness", "get_linear_stiffness"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "areaAngular_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_areaAngular_stiffness", "get_areaAngular_stiffness"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "volume_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_volume_stiffness", "get_volume_stiffness"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "pressure_coefficient"), "set_pressure_coefficient", "get_pressure_coefficient"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "damping_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_damping_coefficient", "get_damping_coefficient"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "drag_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_drag_coefficient", "get_drag_coefficient"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "pose_matching_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_pose_matching_coefficient", "get_pose_matching_coefficient"); +} + +String SoftBody::get_configuration_warning() const { + + String warning = MeshInstance::get_configuration_warning(); + + if (get_mesh().is_null()) { + if (!warning.empty()) + warning += "\n\n"; + + warning += TTR("This body will be ignored until you set a mesh"); + } + + Transform t = get_transform(); + if ((ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(0).length() - 1.0) > 0.05)) { + if (!warning.empty()) + warning += "\n\n"; + + warning += TTR("Size changes to SoftBody will be overriden by the physics engine when running.\nChange the size in children collision shapes instead."); + } + + return warning; +} + +void SoftBody::_draw_soft_mesh() { + if (get_mesh().is_null()) + return; + + if (!visual_server_handler.is_ready()) { + + visual_server_handler.prepare(get_mesh()->get_rid(), 0); + + /// Necessary in order to render the mesh correctly (Soft body nodes are in global space) + simulation_started = true; + call_deferred("set_as_toplevel", true); + call_deferred("set_transform", Transform()); + } + + visual_server_handler.open(); + PhysicsServer::get_singleton()->soft_body_update_visual_server(physics_rid, &visual_server_handler); + visual_server_handler.close(); + + visual_server_handler.commit_changes(); +} + +void SoftBody::update_physics_server() { + + if (Engine::get_singleton()->is_editor_hint()) + return; + + if (get_mesh().is_valid()) { + + become_mesh_owner(); + PhysicsServer::get_singleton()->soft_body_set_mesh(physics_rid, get_mesh()); + VS::get_singleton()->connect("frame_pre_draw", this, "_draw_soft_mesh"); + } else { + + PhysicsServer::get_singleton()->soft_body_set_mesh(physics_rid, NULL); + VS::get_singleton()->disconnect("frame_pre_draw", this, "_draw_soft_mesh"); + } +} + +void SoftBody::become_mesh_owner() { + if (mesh.is_null()) + return; + + if (!mesh_owner) { + mesh_owner = true; + + ERR_FAIL_COND(!mesh->get_surface_count()); + + // Get current mesh array and create new mesh array with necessary flag for softbody + Array surface_arrays = mesh->surface_get_arrays(0); + Array surface_blend_arrays = mesh->surface_get_blend_shape_arrays(0); + uint32_t surface_format = mesh->surface_get_format(0); + + surface_format &= ~(Mesh::ARRAY_COMPRESS_VERTEX | Mesh::ARRAY_COMPRESS_NORMAL); + surface_format |= Mesh::ARRAY_FLAG_USE_DYNAMIC_UPDATE; + + Ref soft_mesh; + soft_mesh.instance(); + soft_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, surface_arrays, surface_blend_arrays, surface_format); + + set_mesh(soft_mesh); + + Vector > copy_materials; + copy_materials.append_array(materials); + for (int i = copy_materials.size() - 1; 0 <= i; --i) { + set_surface_material(i, copy_materials[i]); + } + } +} + +void SoftBody::set_collision_mask(uint32_t p_mask) { + collision_mask = p_mask; + PhysicsServer::get_singleton()->soft_body_set_collision_mask(physics_rid, p_mask); +} + +uint32_t SoftBody::get_collision_mask() const { + return collision_mask; +} +void SoftBody::set_collision_layer(uint32_t p_layer) { + collision_layer = p_layer; + PhysicsServer::get_singleton()->soft_body_set_collision_layer(physics_rid, p_layer); +} + +uint32_t SoftBody::get_collision_layer() const { + return collision_layer; +} + +void SoftBody::set_collision_mask_bit(int p_bit, bool p_value) { + uint32_t mask = get_collision_mask(); + if (p_value) + mask |= 1 << p_bit; + else + mask &= ~(1 << p_bit); + set_collision_mask(mask); +} + +bool SoftBody::get_collision_mask_bit(int p_bit) const { + return get_collision_mask() & (1 << p_bit); +} + +void SoftBody::set_collision_layer_bit(int p_bit, bool p_value) { + uint32_t layer = get_collision_layer(); + if (p_value) + layer |= 1 << p_bit; + else + layer &= ~(1 << p_bit); + set_collision_layer(layer); +} + +bool SoftBody::get_collision_layer_bit(int p_bit) const { + return get_collision_layer() & (1 << p_bit); +} + +void SoftBody::set_parent_collision_ignore(const NodePath &p_parent_collision_ignore) { + parent_collision_ignore = p_parent_collision_ignore; +} + +const NodePath &SoftBody::get_parent_collision_ignore() const { + return parent_collision_ignore; +} + +void SoftBody::set_pinned_points_indices(PoolVector p_pinned_points_indices) { + pinned_points_indices = p_pinned_points_indices; + PoolVector::Read w = pinned_points_indices.read(); + for (int i = pinned_points_indices.size() - 1; 0 <= i; --i) { + pin_point(p_pinned_points_indices[i].point_index, true); + } +} + +PoolVector SoftBody::get_pinned_points_indices() { + return pinned_points_indices; +} + +void SoftBody::add_collision_exception_with(Node *p_node) { + ERR_FAIL_NULL(p_node); + CollisionObject *collision_object = Object::cast_to(p_node); + if (!collision_object) { + ERR_EXPLAIN("Collision exception only works between two CollisionObject"); + } + ERR_FAIL_COND(!collision_object); + PhysicsServer::get_singleton()->soft_body_add_collision_exception(physics_rid, collision_object->get_rid()); +} + +void SoftBody::remove_collision_exception_with(Node *p_node) { + ERR_FAIL_NULL(p_node); + CollisionObject *collision_object = Object::cast_to(p_node); + if (!collision_object) { + ERR_EXPLAIN("Collision exception only works between two CollisionObject"); + } + ERR_FAIL_COND(!collision_object); + PhysicsServer::get_singleton()->soft_body_remove_collision_exception(physics_rid, collision_object->get_rid()); +} + +int SoftBody::get_simulation_precision() { + return PhysicsServer::get_singleton()->soft_body_get_simulation_precision(physics_rid); +} + +void SoftBody::set_simulation_precision(int p_simulation_precision) { + PhysicsServer::get_singleton()->soft_body_set_simulation_precision(physics_rid, p_simulation_precision); +} + +real_t SoftBody::get_total_mass() { + return PhysicsServer::get_singleton()->soft_body_get_total_mass(physics_rid); +} + +void SoftBody::set_total_mass(real_t p_total_mass) { + PhysicsServer::get_singleton()->soft_body_set_total_mass(physics_rid, p_total_mass); +} + +void SoftBody::set_linear_stiffness(real_t p_linear_stiffness) { + PhysicsServer::get_singleton()->soft_body_set_linear_stiffness(physics_rid, p_linear_stiffness); +} + +real_t SoftBody::get_linear_stiffness() { + return PhysicsServer::get_singleton()->soft_body_get_linear_stiffness(physics_rid); +} + +void SoftBody::set_areaAngular_stiffness(real_t p_areaAngular_stiffness) { + PhysicsServer::get_singleton()->soft_body_set_areaAngular_stiffness(physics_rid, p_areaAngular_stiffness); +} + +real_t SoftBody::get_areaAngular_stiffness() { + return PhysicsServer::get_singleton()->soft_body_get_areaAngular_stiffness(physics_rid); +} + +void SoftBody::set_volume_stiffness(real_t p_volume_stiffness) { + PhysicsServer::get_singleton()->soft_body_set_volume_stiffness(physics_rid, p_volume_stiffness); +} + +real_t SoftBody::get_volume_stiffness() { + return PhysicsServer::get_singleton()->soft_body_get_volume_stiffness(physics_rid); +} + +real_t SoftBody::get_pressure_coefficient() { + return PhysicsServer::get_singleton()->soft_body_get_pressure_coefficient(physics_rid); +} + +void SoftBody::set_pose_matching_coefficient(real_t p_pose_matching_coefficient) { + PhysicsServer::get_singleton()->soft_body_set_pose_matching_coefficient(physics_rid, p_pose_matching_coefficient); +} + +real_t SoftBody::get_pose_matching_coefficient() { + return PhysicsServer::get_singleton()->soft_body_get_pose_matching_coefficient(physics_rid); +} + +void SoftBody::set_pressure_coefficient(real_t p_pressure_coefficient) { + PhysicsServer::get_singleton()->soft_body_set_pressure_coefficient(physics_rid, p_pressure_coefficient); +} + +real_t SoftBody::get_damping_coefficient() { + return PhysicsServer::get_singleton()->soft_body_get_damping_coefficient(physics_rid); +} + +void SoftBody::set_damping_coefficient(real_t p_damping_coefficient) { + PhysicsServer::get_singleton()->soft_body_set_damping_coefficient(physics_rid, p_damping_coefficient); +} + +real_t SoftBody::get_drag_coefficient() { + return PhysicsServer::get_singleton()->soft_body_get_drag_coefficient(physics_rid); +} + +void SoftBody::set_drag_coefficient(real_t p_drag_coefficient) { + PhysicsServer::get_singleton()->soft_body_set_drag_coefficient(physics_rid, p_drag_coefficient); +} + +Vector3 SoftBody::get_point_transform(int p_point_index) { + return PhysicsServer::get_singleton()->soft_body_get_point_global_position(physics_rid, p_point_index); +} + +void SoftBody::pin_point_toggle(int p_point_index) { + pin_point(p_point_index, !(-1 != _has_pinned_point(p_point_index))); +} + +void SoftBody::pin_point(int p_point_index, bool pin, const NodePath &p_spatial_attachment_path) { + _pin_point_on_physics_server(p_point_index, pin); + if (pin) { + _add_pinned_point(p_point_index, p_spatial_attachment_path); + } else { + _remove_pinned_point(p_point_index); + } +} + +bool SoftBody::is_point_pinned(int p_point_index) const { + return -1 != _has_pinned_point(p_point_index); +} + +void SoftBody::set_ray_pickable(bool p_ray_pickable) { + + ray_pickable = p_ray_pickable; + _update_pickable(); +} + +bool SoftBody::is_ray_pickable() const { + + return ray_pickable; +} + +SoftBody::SoftBody() : + MeshInstance(), + physics_rid(PhysicsServer::get_singleton()->soft_body_create()), + mesh_owner(false), + collision_mask(1), + collision_layer(1), + simulation_started(false), + pinned_points_cache_dirty(true) { + + PhysicsServer::get_singleton()->body_attach_object_instance_id(physics_rid, get_instance_id()); +} + +SoftBody::~SoftBody() { +} + +void SoftBody::reset_softbody_pin() { + PhysicsServer::get_singleton()->soft_body_remove_all_pinned_points(physics_rid); + PoolVector::Read pps = pinned_points_indices.read(); + for (int i = pinned_points_indices.size() - 1; 0 < i; --i) { + PhysicsServer::get_singleton()->soft_body_pin_point(physics_rid, pps[i].point_index, true); + } +} + +void SoftBody::_update_cache_pin_points_datas() { + if (pinned_points_cache_dirty) { + pinned_points_cache_dirty = false; + + PoolVector::Write w = pinned_points_indices.write(); + for (int i = pinned_points_indices.size() - 1; 0 <= i; --i) { + + if (!w[i].spatial_attachment_path.is_empty()) { + w[i].spatial_attachment = Object::cast_to(get_node(w[i].spatial_attachment_path)); + if (w[i].spatial_attachment) { + + Transform point_global_transform(get_global_transform()); + point_global_transform.translate(PhysicsServer::get_singleton()->soft_body_get_point_offset(physics_rid, w[i].point_index)); + + // Local transform relative to spatial attachment node + w[i].vertex_offset_transform = w[i].spatial_attachment->get_global_transform().affine_inverse() * point_global_transform; + continue; + } else { + ERR_PRINTS("The node with path: " + String(w[i].spatial_attachment_path) + " was not found or is not a spatial node."); + } + } + // Local transform relative to Soft body + w[i].vertex_offset_transform.origin = PhysicsServer::get_singleton()->soft_body_get_point_offset(physics_rid, w[i].point_index); + w[i].vertex_offset_transform.basis = Basis(); + } + } +} + +void SoftBody::_pin_point_on_physics_server(int p_point_index, bool pin) { + PhysicsServer::get_singleton()->soft_body_pin_point(physics_rid, p_point_index, pin); +} + +void SoftBody::_add_pinned_point(int p_point_index, const NodePath &p_spatial_attachment_path) { + SoftBody::PinnedPoint *pinned_point; + if (-1 == _get_pinned_point(p_point_index, pinned_point)) { + // Create new + PinnedPoint pp; + pp.point_index = p_point_index; + pp.spatial_attachment_path = p_spatial_attachment_path; + pinned_points_indices.push_back(pp); + } else { + // Update + pinned_point->point_index = p_point_index; + pinned_point->spatial_attachment_path = p_spatial_attachment_path; + } +} + +void SoftBody::_remove_pinned_point(int p_point_index) { + const int id(_has_pinned_point(p_point_index)); + if (-1 != id) { + pinned_points_indices.remove(id); + } +} + +int SoftBody::_get_pinned_point(int p_point_index, SoftBody::PinnedPoint *&r_point) const { + const int id = _has_pinned_point(p_point_index); + if (-1 == id) { + r_point = NULL; + return -1; + } else { + r_point = const_cast(&pinned_points_indices.read()[id]); + return id; + } +} + +int SoftBody::_has_pinned_point(int p_point_index) const { + PoolVector::Read r = pinned_points_indices.read(); + for (int i = pinned_points_indices.size() - 1; 0 <= i; --i) { + if (p_point_index == r[i].point_index) { + return i; + } + } + return -1; +} diff --git a/scene/3d/soft_body.h b/scene/3d/soft_body.h new file mode 100644 index 0000000000..f44f337698 --- /dev/null +++ b/scene/3d/soft_body.h @@ -0,0 +1,197 @@ +/*************************************************************************/ +/* soft_physics_body.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_PHYSICS_BODY_H +#define SOFT_PHYSICS_BODY_H + +#include "scene/3d/mesh_instance.h" + +class SoftBody; + +class SoftBodyVisualServerHandler { + + friend class SoftBody; + + RID mesh; + int surface; + PoolVector buffer; + uint32_t stride; + uint32_t offset_vertices; + uint32_t offset_normal; + + PoolVector::Write write_buffer; + +private: + SoftBodyVisualServerHandler(); + bool is_ready() { return mesh.is_valid(); } + void prepare(RID p_mesh_rid, int p_surface); + void clear(); + void open(); + void close(); + void commit_changes(); + +public: + void set_vertex(int p_vertex_id, const void *p_vector3); + void set_normal(int p_vertex_id, const void *p_vector3); + void set_aabb(const AABB &p_aabb); +}; + +class SoftBody : public MeshInstance { + GDCLASS(SoftBody, MeshInstance); + +public: + struct PinnedPoint { + int point_index; + NodePath spatial_attachment_path; + Spatial *spatial_attachment; // Cache + /// This is the offset from the soft body to point or attachment to point + /// Depend if the spatial_attachment_node is NULL or not + Transform vertex_offset_transform; // Cache + + PinnedPoint(); + PinnedPoint(const PinnedPoint &obj_tocopy); + }; + +private: + SoftBodyVisualServerHandler visual_server_handler; + + RID physics_rid; + + bool mesh_owner; + uint32_t collision_mask; + uint32_t collision_layer; + NodePath parent_collision_ignore; + PoolVector pinned_points_indices; + bool simulation_started; + bool pinned_points_cache_dirty; + + Ref debug_mesh_cache; + class MeshInstance *debug_mesh; + + bool capture_input_on_drag; + bool ray_pickable; + + void _update_pickable(); + +protected: + bool _set(const StringName &p_name, const Variant &p_value); + bool _get(const StringName &p_name, Variant &r_ret) const; + void _get_property_list(List *p_list) const; + + bool _set_property_pinned_points_indices(const Array &p_indices); + bool _set_property_pinned_points_attachment(int p_item, const String &p_what, const Variant &p_value); + bool _get_property_pinned_points(int p_item, const String &p_what, Variant &r_ret) const; + + virtual void _changed_callback(Object *p_changed, const char *p_prop); + + void _notification(int p_what); + static void _bind_methods(); + + virtual String get_configuration_warning() const; + +protected: + void _draw_soft_mesh(); + +public: + void update_physics_server(); + void become_mesh_owner(); + + void set_collision_mask(uint32_t p_mask); + uint32_t get_collision_mask() const; + + void set_collision_layer(uint32_t p_layer); + uint32_t get_collision_layer() const; + + void set_collision_mask_bit(int p_bit, bool p_value); + bool get_collision_mask_bit(int p_bit) const; + + void set_collision_layer_bit(int p_bit, bool p_value); + bool get_collision_layer_bit(int p_bit) const; + + void set_parent_collision_ignore(const NodePath &p_parent_collision_ignore); + const NodePath &get_parent_collision_ignore() const; + + void set_pinned_points_indices(PoolVector p_pinned_points_indices); + PoolVector get_pinned_points_indices(); + + void set_simulation_precision(int p_simulation_precision); + int get_simulation_precision(); + + void set_total_mass(real_t p_total_mass); + real_t get_total_mass(); + + void set_linear_stiffness(real_t p_linear_stiffness); + real_t get_linear_stiffness(); + + void set_areaAngular_stiffness(real_t p_areaAngular_stiffness); + real_t get_areaAngular_stiffness(); + + void set_volume_stiffness(real_t p_volume_stiffness); + real_t get_volume_stiffness(); + + void set_pressure_coefficient(real_t p_pressure_coefficient); + real_t get_pressure_coefficient(); + + void set_pose_matching_coefficient(real_t p_pose_matching_coefficient); + real_t get_pose_matching_coefficient(); + + void set_damping_coefficient(real_t p_damping_coefficient); + real_t get_damping_coefficient(); + + void set_drag_coefficient(real_t p_drag_coefficient); + real_t get_drag_coefficient(); + + void add_collision_exception_with(Node *p_node); + void remove_collision_exception_with(Node *p_node); + + Vector3 get_point_transform(int p_point_index); + + void pin_point_toggle(int p_point_index); + void pin_point(int p_point_index, bool pin, const NodePath &p_spatial_attachment_path = NodePath()); + bool is_point_pinned(int p_point_index) const; + + void set_ray_pickable(bool p_ray_pickable); + bool is_ray_pickable() const; + + SoftBody(); + ~SoftBody(); + +private: + void reset_softbody_pin(); + void _update_cache_pin_points_datas(); + void _pin_point_on_physics_server(int p_point_index, bool pin); + void _add_pinned_point(int p_point_index, const NodePath &p_spatial_attachment_path); + void _remove_pinned_point(int p_point_index); + int _get_pinned_point(int p_point_index, PinnedPoint *&r_point) const; + int _has_pinned_point(int p_point_index) const; +}; + +#endif // SOFT_PHYSICS_BODY_H diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp index ee94b64c20..0d69c037fe 100644 --- a/scene/register_scene_types.cpp +++ b/scene/register_scene_types.cpp @@ -199,6 +199,7 @@ #include "scene/3d/remote_transform.h" #include "scene/3d/room_instance.h" #include "scene/3d/skeleton.h" +#include "scene/3d/soft_body.h" #include "scene/3d/sprite_3d.h" #include "scene/3d/vehicle_body.h" #include "scene/3d/visibility_notifier.h" @@ -428,6 +429,7 @@ void register_scene_types() { ClassDB::register_class(); ClassDB::register_class(); ClassDB::register_class(); + ClassDB::register_class(); ClassDB::register_class(); ClassDB::register_class(); diff --git a/scene/resources/mesh.cpp b/scene/resources/mesh.cpp index b0620d3363..fe87dcdd2c 100644 --- a/scene/resources/mesh.cpp +++ b/scene/resources/mesh.cpp @@ -40,7 +40,6 @@ void Mesh::_clear_triangle_mesh() const { triangle_mesh.unref(); - ; } Ref Mesh::generate_triangle_mesh() const { @@ -110,6 +109,54 @@ Ref Mesh::generate_triangle_mesh() const { return triangle_mesh; } +void Mesh::generate_debug_mesh_lines(Vector &r_lines) { + + Ref tm = generate_triangle_mesh(); + if (tm.is_null()) + return; + + PoolVector triangle_indices; + tm->get_indices(&triangle_indices); + const int triangles_num = tm->get_triangles().size(); + PoolVector vertices = tm->get_vertices(); + + r_lines.resize(tm->get_triangles().size() * 6); // 3 lines x 2 points each line + + PoolVector::Read ind_r = triangle_indices.read(); + PoolVector::Read ver_r = vertices.read(); + for (int j = 0, x = 0, i = 0; i < triangles_num; j += 6, x += 3, ++i) { + // Triangle line 1 + r_lines[j + 0] = ver_r[ind_r[x + 0]]; + r_lines[j + 1] = ver_r[ind_r[x + 1]]; + + // Triangle line 2 + r_lines[j + 2] = ver_r[ind_r[x + 1]]; + r_lines[j + 3] = ver_r[ind_r[x + 2]]; + + // Triangle line 3 + r_lines[j + 4] = ver_r[ind_r[x + 2]]; + r_lines[j + 5] = ver_r[ind_r[x + 0]]; + } +} +void Mesh::generate_debug_mesh_indices(Vector &r_points) { + Ref tm = generate_triangle_mesh(); + if (tm.is_null()) + return; + + PoolVector vertices = tm->get_vertices(); + + int vertices_size = vertices.size(); + r_points.resize(vertices_size); + for (int i = 0; i < vertices_size; ++i) { + r_points[i] = vertices[i]; + } +} + +bool Mesh::surface_is_softbody_friendly(int p_idx) const { + const uint32_t surface_format = surface_get_format(p_idx); + return (surface_format & Mesh::ARRAY_FLAG_USE_DYNAMIC_UPDATE && (!(surface_format & Mesh::ARRAY_COMPRESS_VERTEX)) && (!(surface_format & Mesh::ARRAY_COMPRESS_NORMAL))); +} + PoolVector Mesh::get_faces() const { Ref tm = generate_triangle_mesh(); @@ -484,6 +531,10 @@ void Mesh::_bind_methods() { BIND_ENUM_CONSTANT(ARRAY_MAX); } +void Mesh::clear_cache() { + _clear_triangle_mesh(); +} + Mesh::Mesh() { } diff --git a/scene/resources/mesh.h b/scene/resources/mesh.h index a3fb068569..2127eaae4c 100644 --- a/scene/resources/mesh.h +++ b/scene/resources/mesh.h @@ -123,6 +123,7 @@ public: virtual int get_surface_count() const = 0; virtual int surface_get_array_len(int p_idx) const = 0; virtual int surface_get_array_index_len(int p_idx) const = 0; + virtual bool surface_is_softbody_friendly(int p_idx) const; virtual Array surface_get_arrays(int p_surface) const = 0; virtual Array surface_get_blend_shape_arrays(int p_surface) const = 0; virtual uint32_t surface_get_format(int p_idx) const = 0; @@ -133,6 +134,8 @@ public: PoolVector get_faces() const; Ref generate_triangle_mesh() const; + void generate_debug_mesh_lines(Vector &r_lines); + void generate_debug_mesh_indices(Vector &r_points); Ref create_trimesh_shape() const; Ref create_convex_shape() const; @@ -143,6 +146,7 @@ public: void set_lightmap_size_hint(const Vector2 &p_size); Size2 get_lightmap_size_hint() const; + void clear_cache(); Mesh(); }; diff --git a/scene/resources/surface_tool.cpp b/scene/resources/surface_tool.cpp index 5a42873d79..3df9ab26a4 100644 --- a/scene/resources/surface_tool.cpp +++ b/scene/resources/surface_tool.cpp @@ -421,6 +421,7 @@ Ref SurfaceTool::commit(const Ref &p_existing, uint32_t p_ Array a = commit_to_arrays(); mesh->add_surface_from_arrays(primitive, a, Array(), p_flags); + if (material.is_valid()) mesh->surface_set_material(surface, material); diff --git a/servers/physics/physics_server_sw.h b/servers/physics/physics_server_sw.h index d8c73abb16..7e9700d026 100644 --- a/servers/physics/physics_server_sw.h +++ b/servers/physics/physics_server_sw.h @@ -234,6 +234,72 @@ public: // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body); + /* SOFT BODY */ + + virtual RID soft_body_create(bool p_init_sleeping = false) { return RID(); } + + virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) {} + + virtual void soft_body_set_space(RID p_body, RID p_space) {} + virtual RID soft_body_get_space(RID p_body) const { return RID(); } + + 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 { return 0; } + + 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 { return 0; } + + 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 *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 { return Variant(); } + + virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) {} + virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const { return Vector3(); } + + virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) {} + virtual bool soft_body_is_ray_pickable(RID p_body) const { return false; } + + virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {} + virtual int soft_body_get_simulation_precision(RID p_body) { return 0; } + + virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) {} + virtual real_t soft_body_get_total_mass(RID p_body) { return 0.; } + + virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {} + virtual real_t soft_body_get_linear_stiffness(RID p_body) { return 0.; } + + virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {} + virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) { return 0.; } + + virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {} + virtual real_t soft_body_get_volume_stiffness(RID p_body) { return 0.; } + + virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {} + virtual real_t soft_body_get_pressure_coefficient(RID p_body) { return 0.; } + + virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {} + virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) { return 0.; } + + virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {} + virtual real_t soft_body_get_damping_coefficient(RID p_body) { return 0.; } + + virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {} + virtual real_t soft_body_get_drag_coefficient(RID p_body) { return 0.; } + + virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) {} + + virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {} + virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) { return Vector3(); } + + virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const { return Vector3(); } + + virtual void soft_body_remove_all_pinned_points(RID p_body) {} + virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {} + virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) { return 0; } + /* JOINT API */ virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B); diff --git a/servers/physics_server.h b/servers/physics_server.h index 91e7f58319..497d23c555 100644 --- a/servers/physics_server.h +++ b/servers/physics_server.h @@ -490,6 +490,72 @@ public: virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL) = 0; + /* SOFT BODY */ + + virtual RID soft_body_create(bool p_init_sleeping = false) = 0; + + virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) = 0; + + virtual void soft_body_set_space(RID p_body, RID p_space) = 0; + virtual RID soft_body_get_space(RID p_body) const = 0; + + virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) = 0; + + virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) = 0; + virtual uint32_t soft_body_get_collision_layer(RID p_body) const = 0; + + virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) = 0; + virtual uint32_t soft_body_get_collision_mask(RID p_body) const = 0; + + virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) = 0; + virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) = 0; + virtual void soft_body_get_collision_exceptions(RID p_body, List *p_exceptions) = 0; + + virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0; + virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const = 0; + + virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) = 0; + virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const = 0; + + virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0; + virtual bool soft_body_is_ray_pickable(RID p_body) const = 0; + + virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) = 0; + virtual int soft_body_get_simulation_precision(RID p_body) = 0; + + virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) = 0; + virtual real_t soft_body_get_total_mass(RID p_body) = 0; + + virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) = 0; + virtual real_t soft_body_get_linear_stiffness(RID p_body) = 0; + + virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) = 0; + virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) = 0; + + virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) = 0; + virtual real_t soft_body_get_volume_stiffness(RID p_body) = 0; + + virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) = 0; + virtual real_t soft_body_get_pressure_coefficient(RID p_body) = 0; + + virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) = 0; + virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) = 0; + + virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) = 0; + virtual real_t soft_body_get_damping_coefficient(RID p_body) = 0; + + virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) = 0; + virtual real_t soft_body_get_drag_coefficient(RID p_body) = 0; + + virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) = 0; + virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) = 0; + + virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const = 0; + + virtual void soft_body_remove_all_pinned_points(RID p_body) = 0; + virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) = 0; + virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) = 0; + /* JOINT API */ enum JointType { diff --git a/servers/visual/rasterizer.h b/servers/visual/rasterizer.h index 38849721f8..9cb8e8286c 100644 --- a/servers/visual/rasterizer.h +++ b/servers/visual/rasterizer.h @@ -252,8 +252,6 @@ public: virtual void mesh_set_blend_shape_mode(RID p_mesh, VS::BlendShapeMode p_mode) = 0; virtual VS::BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const = 0; - virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0; - virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0; virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector &p_data) = 0; virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material) = 0; diff --git a/servers/visual/visual_server_raster.h b/servers/visual/visual_server_raster.h index c2bf1110f0..ec0d02ed2a 100644 --- a/servers/visual/visual_server_raster.h +++ b/servers/visual/visual_server_raster.h @@ -97,7 +97,6 @@ public: #define DISPLAY_CHANGED \ changes++; #endif - // print_line(String("CHANGED: ") + __FUNCTION__); #define BIND0R(m_r, m_name) \ m_r m_name() { return BINDBASE->m_name(); } @@ -219,8 +218,6 @@ public: BIND2(mesh_set_blend_shape_mode, RID, BlendShapeMode) BIND1RC(BlendShapeMode, mesh_get_blend_shape_mode, RID) - BIND3RC(uint32_t, mesh_surface_get_stride_in_array, RID, int, int) - BIND3RC(uint32_t, mesh_surface_get_offset_in_array, RID, int, int) BIND4(mesh_surface_update_region, RID, int, int, const PoolVector &) BIND3(mesh_surface_set_material, RID, int, RID) diff --git a/servers/visual/visual_server_wrap_mt.h b/servers/visual/visual_server_wrap_mt.h index 3ba761e4f3..48f0ec46f3 100644 --- a/servers/visual/visual_server_wrap_mt.h +++ b/servers/visual/visual_server_wrap_mt.h @@ -64,7 +64,7 @@ class VisualServerWrapMT : public VisualServer { int pool_max_size; -//#define DEBUG_SYNC + //#define DEBUG_SYNC static VisualServerWrapMT *singleton_mt; @@ -152,8 +152,6 @@ public: FUNC2(mesh_set_blend_shape_mode, RID, BlendShapeMode) FUNC1RC(BlendShapeMode, mesh_get_blend_shape_mode, RID) - FUNC3RC(uint32_t, mesh_surface_get_stride_in_array, RID, int, int) - FUNC3RC(uint32_t, mesh_surface_get_offset_in_array, RID, int, int) FUNC4(mesh_surface_update_region, RID, int, int, const PoolVector &) FUNC3(mesh_surface_set_material, RID, int, RID) diff --git a/servers/visual_server.cpp b/servers/visual_server.cpp index 200475742b..f08f8b277e 100644 --- a/servers/visual_server.cpp +++ b/servers/visual_server.cpp @@ -795,6 +795,140 @@ Error VisualServer::_surface_set_data(Array p_arrays, uint32_t p_format, uint32_ return OK; } +uint32_t VisualServer::mesh_surface_get_format_offset(uint32_t p_format, int p_vertex_len, int p_index_len, int p_array_index) const { + uint32_t offsets[ARRAY_MAX]; + mesh_surface_make_offsets_from_format(p_format, p_vertex_len, p_index_len, offsets); + return offsets[p_array_index]; +} + +uint32_t VisualServer::mesh_surface_get_format_stride(uint32_t p_format, int p_vertex_len, int p_index_len) const { + uint32_t offsets[ARRAY_MAX]; + return mesh_surface_make_offsets_from_format(p_format, p_vertex_len, p_index_len, offsets); +} + +uint32_t VisualServer::mesh_surface_make_offsets_from_format(uint32_t p_format, int p_vertex_len, int p_index_len, uint32_t *r_offsets) const { + + int total_elem_size = 0; + + for (int i = 0; i < VS::ARRAY_MAX; i++) { + + r_offsets[i] = 0; //reset + + if (!(p_format & (1 << i))) // no array + continue; + + int elem_size = 0; + + switch (i) { + + case VS::ARRAY_VERTEX: { + + if (p_format & ARRAY_FLAG_USE_2D_VERTICES) { + elem_size = 2; + } else { + elem_size = 3; + } + + if (p_format & ARRAY_COMPRESS_VERTEX) { + elem_size *= sizeof(int16_t); + } else { + elem_size *= sizeof(float); + } + + if (elem_size == 6) { + elem_size = 8; + } + + } break; + case VS::ARRAY_NORMAL: { + + if (p_format & ARRAY_COMPRESS_NORMAL) { + elem_size = sizeof(uint32_t); + } else { + elem_size = sizeof(float) * 3; + } + + } break; + + case VS::ARRAY_TANGENT: { + if (p_format & ARRAY_COMPRESS_TANGENT) { + elem_size = sizeof(uint32_t); + } else { + elem_size = sizeof(float) * 4; + } + + } break; + case VS::ARRAY_COLOR: { + + if (p_format & ARRAY_COMPRESS_COLOR) { + elem_size = sizeof(uint32_t); + } else { + elem_size = sizeof(float) * 4; + } + } break; + case VS::ARRAY_TEX_UV: { + if (p_format & ARRAY_COMPRESS_TEX_UV) { + elem_size = sizeof(uint32_t); + } else { + elem_size = sizeof(float) * 2; + } + + } break; + + case VS::ARRAY_TEX_UV2: { + if (p_format & ARRAY_COMPRESS_TEX_UV2) { + elem_size = sizeof(uint32_t); + } else { + elem_size = sizeof(float) * 2; + } + + } break; + case VS::ARRAY_WEIGHTS: { + + if (p_format & ARRAY_COMPRESS_WEIGHTS) { + elem_size = sizeof(uint16_t) * 4; + } else { + elem_size = sizeof(float) * 4; + } + + } break; + case VS::ARRAY_BONES: { + + if (p_format & ARRAY_FLAG_USE_16_BIT_BONES) { + elem_size = sizeof(uint16_t) * 4; + } else { + elem_size = sizeof(uint32_t); + } + + } break; + case VS::ARRAY_INDEX: { + + if (p_index_len <= 0) { + ERR_PRINT("index_array_len==NO_INDEX_ARRAY"); + break; + } + /* determine whether using 16 or 32 bits indices */ + if (p_vertex_len >= (1 << 16)) { + + elem_size = 4; + + } else { + elem_size = 2; + } + r_offsets[i] = elem_size; + continue; + } break; + default: { + ERR_FAIL_V(0); + } + } + + r_offsets[i] = total_elem_size; + total_elem_size += elem_size; + } + return total_elem_size; +} + void VisualServer::mesh_add_surface_from_arrays(RID p_mesh, PrimitiveType p_primitive, const Array &p_arrays, const Array &p_blend_shapes, uint32_t p_compress_format) { ERR_FAIL_INDEX(p_primitive, VS::PRIMITIVE_MAX); @@ -1564,13 +1698,13 @@ void VisualServer::_bind_methods() { ClassDB::bind_method(D_METHOD("material_set_next_pass", "material", "next_material"), &VisualServer::material_set_next_pass); ClassDB::bind_method(D_METHOD("mesh_create"), &VisualServer::mesh_create); + ClassDB::bind_method(D_METHOD("mesh_surface_get_format_offset", "format", "vertex_len", "index_len", "array_index"), &VisualServer::mesh_surface_get_format_offset); + ClassDB::bind_method(D_METHOD("mesh_surface_get_format_stride", "format", "vertex_len", "index_len"), &VisualServer::mesh_surface_get_format_stride); ClassDB::bind_method(D_METHOD("mesh_add_surface_from_arrays", "mesh", "primtive", "arrays", "blend_shapes", "compress_format"), &VisualServer::mesh_add_surface_from_arrays, DEFVAL(Array()), DEFVAL(ARRAY_COMPRESS_DEFAULT)); ClassDB::bind_method(D_METHOD("mesh_set_blend_shape_count", "mesh", "amount"), &VisualServer::mesh_set_blend_shape_count); ClassDB::bind_method(D_METHOD("mesh_get_blend_shape_count", "mesh"), &VisualServer::mesh_get_blend_shape_count); ClassDB::bind_method(D_METHOD("mesh_set_blend_shape_mode", "mesh", "mode"), &VisualServer::mesh_set_blend_shape_mode); ClassDB::bind_method(D_METHOD("mesh_get_blend_shape_mode", "mesh"), &VisualServer::mesh_get_blend_shape_mode); - ClassDB::bind_method(D_METHOD("mesh_surface_get_stride_in_array", "mesh", "surface", "array_index"), &VisualServer::mesh_surface_get_stride_in_array); - ClassDB::bind_method(D_METHOD("mesh_surface_get_offset_in_array", "mesh", "surface", "array_index"), &VisualServer::mesh_surface_get_offset_in_array); ClassDB::bind_method(D_METHOD("mesh_surface_update_region", "mesh", "surface", "offset", "data"), &VisualServer::mesh_surface_update_region); ClassDB::bind_method(D_METHOD("mesh_surface_set_material", "mesh", "surface", "material"), &VisualServer::mesh_surface_set_material); ClassDB::bind_method(D_METHOD("mesh_surface_get_material", "mesh", "surface"), &VisualServer::mesh_surface_get_material); diff --git a/servers/visual_server.h b/servers/visual_server.h index 424de4ab63..acf13b5711 100644 --- a/servers/visual_server.h +++ b/servers/visual_server.h @@ -251,6 +251,10 @@ public: virtual RID mesh_create() = 0; + virtual uint32_t mesh_surface_get_format_offset(uint32_t p_format, int p_vertex_len, int p_index_len, int p_array_index) const; + virtual uint32_t mesh_surface_get_format_stride(uint32_t p_format, int p_vertex_len, int p_index_len) const; + /// Returns stride + virtual uint32_t mesh_surface_make_offsets_from_format(uint32_t p_format, int p_vertex_len, int p_index_len, uint32_t *r_offsets) const; virtual void mesh_add_surface_from_arrays(RID p_mesh, PrimitiveType p_primitive, const Array &p_arrays, const Array &p_blend_shapes = Array(), uint32_t p_compress_format = ARRAY_COMPRESS_DEFAULT); virtual void mesh_add_surface(RID p_mesh, uint32_t p_format, PrimitiveType p_primitive, const PoolVector &p_array, int p_vertex_count, const PoolVector &p_index_array, int p_index_count, const AABB &p_aabb, const Vector > &p_blend_shapes = Vector >(), const Vector &p_bone_aabbs = Vector()) = 0; @@ -265,8 +269,6 @@ public: virtual void mesh_set_blend_shape_mode(RID p_mesh, BlendShapeMode p_mode) = 0; virtual BlendShapeMode mesh_get_blend_shape_mode(RID p_mesh) const = 0; - virtual uint32_t mesh_surface_get_stride_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0; - virtual uint32_t mesh_surface_get_offset_in_array(RID p_mesh, int p_surface, int p_array_index) const = 0; virtual void mesh_surface_update_region(RID p_mesh, int p_surface, int p_offset, const PoolVector &p_data) = 0; virtual void mesh_surface_set_material(RID p_mesh, int p_surface, RID p_material) = 0; -- cgit v1.2.3