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/*************************************************************************/
/* 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 btGjkEpaPenetrationDepthSolver;
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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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;
btGjkEpaPenetrationDepthSolver *gjk_epa_pen_solver;
btVoronoiSimplexSolver *gjk_simplex_solver;
BulletPhysicsDirectSpaceState *direct_access;
Vector3 gravityDirection;
real_t gravityMagnitude;
Vector<AreaBullet *> areas;
Vector<Vector3> 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<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();
bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, 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();
struct RecoverResult {
bool hasPenetration;
btVector3 pointNormalWorld;
btVector3 pointWorld;
btScalar penetration_distance; // Negative is penetration
int other_compound_shape_index;
const btCollisionObject *other_collision_object;
int local_shape_most_recovered;
RecoverResult()
: hasPenetration(false) {}
};
bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &out_recover_position, RecoverResult *recover_result = NULL);
};
#endif
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