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/*************************************************************************/
/* space_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 SPACE_BULLET_H
#define SPACE_BULLET_H
#include "core/templates/vector.h"
#include "core/variant/variant.h"
#include "godot_result_callbacks.h"
#include "rid_bullet.h"
#include "servers/physics_server_3d.h"
#include <BulletCollision/BroadphaseCollision/btBroadphaseProxy.h>
#include <BulletCollision/BroadphaseCollision/btOverlappingPairCache.h>
#include <LinearMath/btScalar.h>
#include <LinearMath/btTransform.h>
#include <LinearMath/btVector3.h>
/**
@author AndreaCatania
*/
class AreaBullet;
class btBroadphaseInterface;
class btCollisionDispatcher;
class btConstraintSolver;
class btDefaultCollisionConfiguration;
class btDynamicsWorld;
class btDiscreteDynamicsWorld;
class btEmptyShape;
class btGhostPairCallback;
class btSoftRigidDynamicsWorld;
struct btSoftBodyWorldInfo;
class ConstraintBullet;
class CollisionObjectBullet;
class RigidBodyBullet;
class SpaceBullet;
class SoftBodyBullet;
class btGjkEpaPenetrationDepthSolver;
extern ContactAddedCallback gContactAddedCallback;
class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState3D {
GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState3D);
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<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
/// Returns the list of contacts pairs in this order: Local contact, other body contact
virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
};
class SpaceBullet : public RIDBullet {
friend class AreaBullet;
friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep);
friend class BulletPhysicsDirectSpaceState;
btBroadphaseInterface *broadphase = nullptr;
btDefaultCollisionConfiguration *collisionConfiguration = nullptr;
btCollisionDispatcher *dispatcher = nullptr;
btConstraintSolver *solver = nullptr;
btDiscreteDynamicsWorld *dynamicsWorld = nullptr;
btSoftBodyWorldInfo *soft_body_world_info = nullptr;
btGhostPairCallback *ghostPairCallback = nullptr;
GodotFilterCallback *godotFilterCallback = nullptr;
btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver = nullptr;
btVoronoiSimplexSolver *gjk_simplex_solver = nullptr;
BulletPhysicsDirectSpaceState *direct_access;
Vector3 gravityDirection = Vector3(0, -1, 0);
real_t gravityMagnitude = 10.0;
real_t linear_damp = 0.0;
real_t angular_damp = 0.0;
Vector<AreaBullet *> areas;
Vector<Vector3> contactDebug;
int contactDebugCount = 0;
real_t delta_time = 0.;
public:
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() const { return broadphase; }
_FORCE_INLINE_ btDefaultCollisionConfiguration *get_collision_configuration() const { return collisionConfiguration; }
_FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() const { return dispatcher; }
_FORCE_INLINE_ btConstraintSolver *get_solver() const { return solver; }
_FORCE_INLINE_ btDiscreteDynamicsWorld *get_dynamic_world() const { return dynamicsWorld; }
_FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() const { 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(PhysicsServer3D::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(PhysicsServer3D::AreaParameter p_param);
void set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value);
real_t get_param(PhysicsServer3D::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_constraints(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.is_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.write[contactDebugCount++] = p_contact;
}
}
_FORCE_INLINE_ Vector<Vector3> 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();
real_t get_linear_damp() const { return linear_damp; }
real_t get_angular_damp() const { return angular_damp; }
bool test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes);
int test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin);
private:
void create_empty_world(bool p_create_soft_world);
void destroy_world();
void check_ghost_overlaps();
void check_body_collision();
struct RecoverResult {
bool hasPenetration = false;
btVector3 normal = btVector3(0, 0, 0);
btVector3 pointWorld = btVector3(0, 0, 0);
btScalar penetration_distance = 1e20; // Negative mean penetration
int other_compound_shape_index = 0;
const btCollisionObject *other_collision_object = nullptr;
int local_shape_most_recovered = 0;
RecoverResult() {}
};
bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
/// This is an API that recover a kinematic object from penetration
/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
/// This is an API that recover a kinematic object from penetration
/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_delta_recover_movement, RecoverResult *r_recover_result = nullptr);
int add_separation_result(PhysicsServer3D::SeparationResult *r_results, const SpaceBullet::RecoverResult &p_recover_result, int p_shape_id, const btCollisionObject *p_other_object) const;
int recover_from_penetration_ray(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, bool p_infinite_inertia, int p_result_max, btVector3 &r_delta_recover_movement, PhysicsServer3D::SeparationResult *r_results);
};
#endif
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