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/*************************************************************************/
/* soft_body_bullet.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_BULLET_H
#define SOFT_BODY_BULLET_H
#include "collision_object_bullet.h"
#include "scene/resources/material.h" // TODO remove this please
#ifdef None
/// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet
#undef None
#define x11_None 0L
#endif
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "collision_object_bullet.h"
#include "scene/resources/mesh.h"
#include "servers/physics_server_3d.h"
#ifdef x11_None
/// This is required to re add the macro None defined by x11 compiler
#undef x11_None
#define None 0L
#endif
/**
@author AndreaCatania
*/
class SoftBodyBullet : public CollisionObjectBullet {
private:
btSoftBody *bt_soft_body = nullptr;
Vector<Vector<int>> indices_table;
btSoftBody::Material *mat0 = nullptr; // This is just a copy of pointer managed by btSoftBody
bool isScratched = false;
Ref<Mesh> soft_mesh;
int simulation_precision = 5;
real_t total_mass = 1.;
real_t linear_stiffness = 0.5; // [0,1]
real_t angular_stiffness = 0.5; // [0,1]
real_t volume_stiffness = 0.5; // [0,1]
real_t pressure_coefficient = 0.; // [-inf,+inf]
real_t pose_matching_coefficient = 0.; // [0,1]
real_t damping_coefficient = 0.01; // [0,1]
real_t drag_coefficient = 0.; // [0,1]
Vector<int> pinned_nodes;
// 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();
~SoftBodyBullet();
virtual void reload_body();
virtual void set_space(SpaceBullet *p_space);
virtual void dispatch_callbacks() {}
virtual void on_collision_filters_change() {}
virtual void on_collision_checker_start() {}
virtual void on_collision_checker_end() {}
virtual void on_enter_area(AreaBullet *p_area);
virtual void on_exit_area(AreaBullet *p_area);
_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
void update_rendering_server(class SoftBodyRenderingServerHandler *p_rendering_server_handler);
void set_soft_mesh(const Ref<Mesh> &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_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_angular_stiffness(real_t p_val);
_FORCE_INLINE_ real_t get_angular_stiffness() const { return angular_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 set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> 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
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