/*************************************************************************/ /* space_bullet.h */ /* Author: AndreaCatania */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* http://www.godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef SPACE_BULLET_H #define SPACE_BULLET_H #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" #include "LinearMath/btScalar.h" #include "LinearMath/btTransform.h" #include "LinearMath/btVector3.h" #include "core/variant.h" #include "core/vector.h" #include "godot_result_callbacks.h" #include "rid_bullet.h" #include "servers/physics_server.h" class AreaBullet; class btBroadphaseInterface; class btCollisionDispatcher; class btConstraintSolver; class btDefaultCollisionConfiguration; class btDynamicsWorld; class btDiscreteDynamicsWorld; class btEmptyShape; class btGhostPairCallback; class btSoftRigidDynamicsWorld; class btSoftBodyWorldInfo; class ConstraintBullet; class CollisionObjectBullet; class RigidBodyBullet; class SpaceBullet; class SoftBodyBullet; class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState { GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState) private: SpaceBullet *space; public: BulletPhysicsDirectSpaceState(SpaceBullet *p_space); virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false); virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL); /// Returns the list of contacts pairs in this order: Local contact, other body contact virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const; }; class SpaceBullet : public RIDBullet { private: friend class AreaBullet; friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep); friend class BulletPhysicsDirectSpaceState; btBroadphaseInterface *broadphase; btDefaultCollisionConfiguration *collisionConfiguration; btCollisionDispatcher *dispatcher; btConstraintSolver *solver; btDiscreteDynamicsWorld *dynamicsWorld; btGhostPairCallback *ghostPairCallback; GodotFilterCallback *godotFilterCallback; btSoftBodyWorldInfo *soft_body_world_info; BulletPhysicsDirectSpaceState *direct_access; Vector3 gravityDirection; real_t gravityMagnitude; Vector areas; Vector contactDebug; int contactDebugCount; public: SpaceBullet(bool p_create_soft_world); virtual ~SpaceBullet(); void flush_queries(); void step(real_t p_delta_time); _FORCE_INLINE_ btBroadphaseInterface *get_broadphase() { return broadphase; } _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; } _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; } _FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; } /// Used to set some parameters to Bullet world /// @param p_param: /// AREA_PARAM_GRAVITY to set the gravity magnitude of entire world /// AREA_PARAM_GRAVITY_VECTOR to set the gravity direction of entire world void set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value); /// Used to get some parameters to Bullet world /// @param p_param: /// AREA_PARAM_GRAVITY to get the gravity magnitude of entire world /// AREA_PARAM_GRAVITY_VECTOR to get the gravity direction of entire world Variant get_param(PhysicsServer::AreaParameter p_param); void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value); real_t get_param(PhysicsServer::SpaceParameter p_param); void add_area(AreaBullet *p_area); void remove_area(AreaBullet *p_area); void reload_collision_filters(AreaBullet *p_area); void add_rigid_body(RigidBodyBullet *p_body); void remove_rigid_body(RigidBodyBullet *p_body); void reload_collision_filters(RigidBodyBullet *p_body); void add_soft_body(SoftBodyBullet *p_body); void remove_soft_body(SoftBodyBullet *p_body); void reload_collision_filters(SoftBodyBullet *p_body); void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false); void remove_constraint(ConstraintBullet *p_constraint); int get_num_collision_objects() const; void remove_all_collision_objects(); BulletPhysicsDirectSpaceState *get_direct_state(); void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); } _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); } _FORCE_INLINE_ void reset_debug_contact_count() { contactDebugCount = 0; } _FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) { if (contactDebugCount < contactDebug.size()) contactDebug[contactDebugCount++] = p_contact; } _FORCE_INLINE_ Vector get_debug_contacts() { return contactDebug; } _FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; } const Vector3 &get_gravity_direction() const { return gravityDirection; } real_t get_gravity_magnitude() const { return gravityMagnitude; } void update_gravity(); bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result); private: void create_empty_world(bool p_create_soft_world); void destroy_world(); void check_ghost_overlaps(); void check_body_collision(); bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position); }; #endif