/*************************************************************************/ /* soft_body_3d_sw.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef SOFT_BODY_3D_SW_H #define SOFT_BODY_3D_SW_H #include "collision_object_3d_sw.h" #include "core/math/aabb.h" #include "core/math/dynamic_bvh.h" #include "core/math/vector3.h" #include "core/templates/local_vector.h" #include "core/templates/set.h" #include "core/templates/vset.h" #include "scene/resources/mesh.h" class Constraint3DSW; class SoftBody3DSW : public CollisionObject3DSW { Ref soft_mesh; struct Node { Vector3 s; // Source position Vector3 x; // Position Vector3 q; // Previous step position/Test position Vector3 f; // Force accumulator Vector3 v; // Velocity Vector3 bv; // Biased Velocity Vector3 n; // Normal real_t area = 0.0; // Area real_t im = 0.0; // 1/mass DynamicBVH::ID leaf; // Leaf data uint32_t index = 0; }; struct Link { Vector3 c3; // gradient Node *n[2] = { nullptr, nullptr }; // Node pointers real_t rl = 0.0; // Rest length real_t c0 = 0.0; // (ima+imb)*kLST real_t c1 = 0.0; // rl^2 real_t c2 = 0.0; // |gradient|^2/c0 }; struct Face { Node *n[3] = { nullptr, nullptr, nullptr }; // Node pointers Vector3 normal; // Normal real_t ra = 0.0; // Rest area DynamicBVH::ID leaf; // Leaf data uint32_t index = 0; }; LocalVector nodes; LocalVector links; LocalVector faces; DynamicBVH node_tree; DynamicBVH face_tree; LocalVector map_visual_to_physics; AABB bounds; real_t collision_margin = 0.05; real_t total_mass = 1.0; real_t inv_total_mass = 1.0; int iteration_count = 5; real_t linear_stiffness = 0.5; // [0,1] real_t pressure_coefficient = 0.0; // [-inf,+inf] real_t damping_coefficient = 0.01; // [0,1] real_t drag_coefficient = 0.0; // [0,1] LocalVector pinned_vertices; SelfList active_list; Set constraints; VSet exceptions; uint64_t island_step = 0; public: SoftBody3DSW(); const AABB &get_bounds() const { return bounds; } void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant); Variant get_state(PhysicsServer3D::BodyState p_state) const; _FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); } _FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); } _FORCE_INLINE_ const Set &get_constraints() const { return constraints; } _FORCE_INLINE_ void clear_constraints() { constraints.clear(); } _FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); } _FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); } _FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); } _FORCE_INLINE_ const VSet &get_exceptions() const { return exceptions; } _FORCE_INLINE_ uint64_t get_island_step() const { return island_step; } _FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; } virtual void set_space(Space3DSW *p_space); void set_mesh(const Ref &p_mesh); void update_rendering_server(RenderingServerHandler *p_rendering_server_handler); Vector3 get_vertex_position(int p_index) const; void set_vertex_position(int p_index, const Vector3 &p_position); void pin_vertex(int p_index); void unpin_vertex(int p_index); void unpin_all_vertices(); bool is_vertex_pinned(int p_index) const; uint32_t get_node_count() const; real_t get_node_inv_mass(uint32_t p_node_index) const; Vector3 get_node_position(uint32_t p_node_index) const; Vector3 get_node_velocity(uint32_t p_node_index) const; Vector3 get_node_biased_velocity(uint32_t p_node_index) const; void apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse); void apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse); uint32_t get_face_count() const; void get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const; Vector3 get_face_normal(uint32_t p_face_index) const; void set_iteration_count(int p_val); _FORCE_INLINE_ real_t get_iteration_count() const { return iteration_count; } void set_total_mass(real_t p_val); _FORCE_INLINE_ real_t get_total_mass() const { return total_mass; } _FORCE_INLINE_ real_t get_total_inv_mass() const { return inv_total_mass; } void set_collision_margin(real_t p_val); _FORCE_INLINE_ real_t get_collision_margin() const { return collision_margin; } void set_linear_stiffness(real_t p_val); _FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; } void set_pressure_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; } void set_damping_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; } void set_drag_coefficient(real_t p_val); _FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; } void predict_motion(real_t p_delta); void solve_constraints(real_t p_delta); _FORCE_INLINE_ uint32_t get_node_index(void *p_node) const { return ((Node *)p_node)->index; } _FORCE_INLINE_ uint32_t get_face_index(void *p_face) const { return ((Face *)p_face)->index; } // Return true to stop the query. // p_index is the node index for AABB query, face index for Ray query. typedef bool (*QueryResultCallback)(uint32_t p_index, void *p_userdata); void query_aabb(const AABB &p_aabb, QueryResultCallback p_result_callback, void *p_userdata); void query_ray(const Vector3 &p_from, const Vector3 &p_to, QueryResultCallback p_result_callback, void *p_userdata); protected: virtual void _shapes_changed(); private: void update_normals(); void update_bounds(); void update_constants(); void update_area(); void reset_link_rest_lengths(); void update_link_constants(); void apply_nodes_transform(const Transform &p_transform); void add_velocity(const Vector3 &p_velocity); void apply_forces(); bool create_from_trimesh(const Vector &p_indices, const Vector &p_vertices); void generate_bending_constraints(int p_distance); void reoptimize_link_order(); void append_link(uint32_t p_node1, uint32_t p_node2); void append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3); void solve_links(real_t kst, real_t ti); void initialize_face_tree(); void update_face_tree(real_t p_delta); void initialize_shape(bool p_force_move = true); void deinitialize_shape(); void destroy(); }; class SoftBodyShape3DSW : public Shape3DSW { SoftBody3DSW *soft_body = nullptr; public: SoftBody3DSW *get_soft_body() const { return soft_body; } virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SOFT_BODY; } virtual void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const { r_min = r_max = 0.0; } virtual Vector3 get_support(const Vector3 &p_normal) const { return Vector3(); } virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; } virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const; virtual bool intersect_point(const Vector3 &p_point) const; virtual Vector3 get_closest_point_to(const Vector3 &p_point) const; virtual Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); } virtual void set_data(const Variant &p_data) {} virtual Variant get_data() const { return Variant(); } void update_bounds(); SoftBodyShape3DSW(SoftBody3DSW *p_soft_body); ~SoftBodyShape3DSW() {} }; #endif // SOFT_BODY_3D_SW_H