1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
|
/*************************************************************************/
/* collision_object_bullet.cpp */
/* Author: AndreaCatania */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "collision_object_bullet.h"
#include "area_bullet.h"
#include "btBulletCollisionCommon.h"
#include "bullet_physics_server.h"
#include "bullet_types_converter.h"
#include "bullet_utilities.h"
#include "shape_bullet.h"
#include "space_bullet.h"
#define enableDynamicAabbTree true
#define initialChildCapacity 1
CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) {
G_TO_B(p_transform, transform);
}
void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
transform = p_transform;
}
CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
RIDBullet(),
space(NULL),
type(p_type),
collisionsEnabled(true),
m_isStatic(false),
bt_collision_object(NULL),
body_scale(1., 1., 1.),
force_shape_reset(false) {}
CollisionObjectBullet::~CollisionObjectBullet() {
// Remove all overlapping
for (int i = areasOverlapped.size() - 1; 0 <= i; --i) {
areasOverlapped[i]->remove_overlapping_instantly(this);
}
// not required
// areasOverlapped.clear();
destroyBulletCollisionObject();
}
bool equal(real_t first, real_t second) {
return Math::abs(first - second) <= 0.001f;
}
void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
body_scale = p_new_scale;
on_body_scale_changed();
}
}
btVector3 CollisionObjectBullet::get_bt_body_scale() const {
btVector3 s;
G_TO_B(body_scale, s);
return s;
}
void CollisionObjectBullet::on_body_scale_changed() {
force_shape_reset = true;
}
void CollisionObjectBullet::destroyBulletCollisionObject() {
bulletdelete(bt_collision_object);
}
void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_collisionObject) {
bt_collision_object = p_collisionObject;
bt_collision_object->setUserPointer(this);
bt_collision_object->setUserIndex(type);
// Force the enabling of collision and avoid problems
set_collision_enabled(collisionsEnabled);
}
void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.insert(p_ignoreCollisionObject->get_self());
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
if (space)
space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
exceptions.erase(p_ignoreCollisionObject->get_self());
bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false);
if (space)
space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
}
bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
return !bt_collision_object->checkCollideWith(p_otherCollisionObject->bt_collision_object);
}
void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
collisionsEnabled = p_enabled;
if (collisionsEnabled) {
bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE));
} else {
bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
}
}
bool CollisionObjectBullet::is_collisions_response_enabled() {
return collisionsEnabled;
}
void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) {
areasOverlapped.push_back(p_area);
}
void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) {
areasOverlapped.erase(p_area);
}
void CollisionObjectBullet::set_godot_object_flags(int flags) {
bt_collision_object->setUserIndex2(flags);
}
int CollisionObjectBullet::get_godot_object_flags() const {
return bt_collision_object->getUserIndex2();
}
void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
btTransform btTrans;
Basis decomposed_basis;
Vector3 decomposed_scale = p_global_transform.get_basis().rotref_posscale_decomposition(decomposed_basis);
G_TO_B(p_global_transform.get_origin(), btTrans.getOrigin());
G_TO_B(decomposed_basis, btTrans.getBasis());
set_body_scale(decomposed_scale);
set_transform__bullet(btTrans);
}
Transform CollisionObjectBullet::get_transform() const {
Transform t;
B_TO_G(get_transform__bullet(), t);
t.basis.scale(body_scale);
return t;
}
void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) {
bt_collision_object->setWorldTransform(p_global_transform);
}
const btTransform &CollisionObjectBullet::get_transform__bullet() const {
return bt_collision_object->getWorldTransform();
}
RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) :
CollisionObjectBullet(p_type),
compoundShape(bulletnew(btCompoundShape(enableDynamicAabbTree, initialChildCapacity))) {
}
RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
remove_all_shapes(true);
bt_collision_object->setCollisionShape(NULL);
bulletdelete(compoundShape);
}
/* Not used
void RigidCollisionObjectBullet::_internal_replaceShape(btCollisionShape *p_old_shape, btCollisionShape *p_new_shape) {
bool at_least_one_was_changed = false;
btTransform old_transf;
// Inverse because I need remove the shapes
// Fetch all shapes to be sure to remove all shapes
for (int i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) {
if (compoundShape->getChildShape(i) == p_old_shape) {
old_transf = compoundShape->getChildTransform(i);
compoundShape->removeChildShapeByIndex(i);
compoundShape->addChildShape(old_transf, p_new_shape);
at_least_one_was_changed = true;
}
}
if (at_least_one_was_changed) {
on_shapes_changed();
}
}*/
void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform) {
shapes.push_back(ShapeWrapper(p_shape, p_transform, true));
p_shape->add_owner(this);
on_shapes_changed();
}
void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
ShapeWrapper &shp = shapes[p_index];
shp.shape->remove_owner(this);
p_shape->add_owner(this);
shp.shape = p_shape;
on_shapes_changed();
}
void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
ERR_FAIL_INDEX(p_index, get_shape_count());
shapes[p_index].set_transform(p_transform);
on_shapes_changed();
}
void RigidCollisionObjectBullet::remove_shape(ShapeBullet *p_shape) {
// Remove the shape, all the times it appears
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
if (p_shape == shapes[i].shape) {
internal_shape_destroy(i);
shapes.remove(i);
}
}
on_shapes_changed();
}
void RigidCollisionObjectBullet::remove_shape(int p_index) {
ERR_FAIL_INDEX(p_index, get_shape_count());
internal_shape_destroy(p_index);
shapes.remove(p_index);
on_shapes_changed();
}
void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody) {
// Reverse order required for delete.
for (int i = shapes.size() - 1; 0 <= i; --i) {
internal_shape_destroy(i, p_permanentlyFromThisBody);
}
shapes.clear();
on_shapes_changed();
}
int RigidCollisionObjectBullet::get_shape_count() const {
return shapes.size();
}
ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const {
return shapes[p_index].shape;
}
btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
return shapes[p_index].bt_shape;
}
Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
Transform trs;
B_TO_G(shapes[p_index].transform, trs);
return trs;
}
void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_shape) {
const int size = shapes.size();
for (int i = 0; i < size; ++i) {
if (shapes[i].shape == p_shape) {
bulletdelete(shapes[i].bt_shape);
}
}
on_shapes_changed();
}
void RigidCollisionObjectBullet::on_shapes_changed() {
int i;
// Remove all shapes, reverse order for performance reason (Array resize)
for (i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) {
compoundShape->removeChildShapeByIndex(i);
}
ShapeWrapper *shpWrapper;
const int shapes_size = shapes.size();
// Reset shape if required
if (force_shape_reset) {
for (i = 0; i < shapes_size; ++i) {
shpWrapper = &shapes[i];
bulletdelete(shpWrapper->bt_shape);
}
force_shape_reset = false;
}
// Insert all shapes
for (i = 0; i < shapes_size; ++i) {
shpWrapper = &shapes[i];
if (shpWrapper->active) {
if (!shpWrapper->bt_shape) {
shpWrapper->bt_shape = shpWrapper->shape->create_bt_shape();
}
compoundShape->addChildShape(shpWrapper->transform, shpWrapper->bt_shape);
} else {
compoundShape->addChildShape(shpWrapper->transform, BulletPhysicsServer::get_empty_shape());
}
}
compoundShape->setLocalScaling(get_bt_body_scale());
compoundShape->recalculateLocalAabb();
}
void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
shapes[p_index].active = !p_disabled;
on_shapes_changed();
}
bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
return !shapes[p_index].active;
}
void RigidCollisionObjectBullet::on_body_scale_changed() {
CollisionObjectBullet::on_body_scale_changed();
on_shapes_changed();
}
void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
ShapeWrapper &shp = shapes[p_index];
shp.shape->remove_owner(this, p_permanentlyFromThisBody);
bulletdelete(shp.bt_shape);
}
|