304 lines
9.7 KiB
C++
304 lines
9.7 KiB
C++
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/*************************************************************************/
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/* soft_body_bullet.cpp */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "soft_body_bullet.h"
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#include "bullet_types_converter.h"
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#include "bullet_utilities.h"
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#include "space_bullet.h"
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#include "scene/3d/immediate_geometry.h"
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SoftBodyBullet::SoftBodyBullet()
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: CollisionObjectBullet(CollisionObjectBullet::TYPE_SOFT_BODY), mass(1), simulation_precision(5), stiffness(0.5f), pressure_coefficient(50), damping_coefficient(0.005), drag_coefficient(0.005), bt_soft_body(NULL), soft_shape_type(SOFT_SHAPETYPE_NONE), isScratched(false), soft_body_shape_data(NULL) {
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test_geometry = memnew(ImmediateGeometry);
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red_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial));
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red_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
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red_mat->set_line_width(20.0);
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red_mat->set_feature(SpatialMaterial::FEATURE_TRANSPARENT, true);
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red_mat->set_flag(SpatialMaterial::FLAG_ALBEDO_FROM_VERTEX_COLOR, true);
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red_mat->set_flag(SpatialMaterial::FLAG_SRGB_VERTEX_COLOR, true);
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red_mat->set_albedo(Color(1, 0, 0, 1));
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test_geometry->set_material_override(red_mat);
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test_is_in_scene = false;
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}
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SoftBodyBullet::~SoftBodyBullet() {
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bulletdelete(soft_body_shape_data);
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}
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void SoftBodyBullet::reload_body() {
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if (space) {
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space->remove_soft_body(this);
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space->add_soft_body(this);
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}
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}
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void SoftBodyBullet::set_space(SpaceBullet *p_space) {
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if (space) {
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isScratched = false;
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// Remove this object from the physics world
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space->remove_soft_body(this);
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}
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space = p_space;
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if (space) {
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space->add_soft_body(this);
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}
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reload_soft_body();
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}
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void SoftBodyBullet::dispatch_callbacks() {
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if (!bt_soft_body) {
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return;
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}
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if (!test_is_in_scene) {
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test_is_in_scene = true;
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SceneTree::get_singleton()->get_current_scene()->add_child(test_geometry);
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}
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test_geometry->clear();
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test_geometry->begin(Mesh::PRIMITIVE_LINES, NULL);
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bool first = true;
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Vector3 pos;
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for (int i = 0; i < bt_soft_body->m_nodes.size(); ++i) {
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const btSoftBody::Node &n = bt_soft_body->m_nodes[i];
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B_TO_G(n.m_x, pos);
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test_geometry->add_vertex(pos);
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if (!first) {
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test_geometry->add_vertex(pos);
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} else {
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first = false;
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}
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}
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test_geometry->end();
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}
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void SoftBodyBullet::on_collision_filters_change() {
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}
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void SoftBodyBullet::on_collision_checker_start() {
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}
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void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {
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}
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void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {
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}
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void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) {
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TrimeshSoftShapeData *shape_data = bulletnew(TrimeshSoftShapeData);
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shape_data->m_triangles_indices = p_indices;
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shape_data->m_vertices = p_vertices;
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shape_data->m_triangles_num = p_triangles_num;
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set_body_shape_data(shape_data, SOFT_SHAPE_TYPE_TRIMESH);
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reload_soft_body();
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}
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void SoftBodyBullet::set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type) {
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bulletdelete(soft_body_shape_data);
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soft_body_shape_data = p_soft_shape_data;
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soft_shape_type = p_type;
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}
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void SoftBodyBullet::set_transform(const Transform &p_transform) {
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transform = p_transform;
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if (bt_soft_body) {
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// TODO the softbody set new transform considering the current transform as center of world
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// like if it's local transform, so I must fix this by setting nwe transform considering the old
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btTransform bt_trans;
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G_TO_B(transform, bt_trans);
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//bt_soft_body->transform(bt_trans);
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}
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}
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const Transform &SoftBodyBullet::get_transform() const {
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return transform;
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}
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void SoftBodyBullet::get_first_node_origin(btVector3 &p_out_origin) const {
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if (bt_soft_body && bt_soft_body->m_nodes.size()) {
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p_out_origin = bt_soft_body->m_nodes[0].m_x;
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} else {
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p_out_origin.setZero();
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}
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}
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void SoftBodyBullet::set_activation_state(bool p_active) {
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if (p_active) {
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bt_soft_body->setActivationState(ACTIVE_TAG);
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} else {
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bt_soft_body->setActivationState(WANTS_DEACTIVATION);
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}
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}
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void SoftBodyBullet::set_mass(real_t p_val) {
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if (0 >= p_val) {
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p_val = 1;
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}
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mass = p_val;
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if (bt_soft_body) {
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bt_soft_body->setTotalMass(mass);
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}
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}
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void SoftBodyBullet::set_stiffness(real_t p_val) {
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stiffness = p_val;
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if (bt_soft_body) {
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mat0->m_kAST = stiffness;
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mat0->m_kLST = stiffness;
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mat0->m_kVST = stiffness;
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}
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}
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void SoftBodyBullet::set_simulation_precision(int p_val) {
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simulation_precision = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.piterations = simulation_precision;
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}
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}
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void SoftBodyBullet::set_pressure_coefficient(real_t p_val) {
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pressure_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kPR = pressure_coefficient;
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}
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}
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void SoftBodyBullet::set_damping_coefficient(real_t p_val) {
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damping_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kDP = damping_coefficient;
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}
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}
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void SoftBodyBullet::set_drag_coefficient(real_t p_val) {
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drag_coefficient = p_val;
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if (bt_soft_body) {
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bt_soft_body->m_cfg.kDG = drag_coefficient;
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}
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}
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void SoftBodyBullet::reload_soft_body() {
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destroy_soft_body();
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create_soft_body();
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if (bt_soft_body) {
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// TODO the softbody set new transform considering the current transform as center of world
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// like if it's local transform, so I must fix this by setting nwe transform considering the old
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btTransform bt_trans;
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G_TO_B(transform, bt_trans);
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bt_soft_body->transform(bt_trans);
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bt_soft_body->generateBendingConstraints(2, mat0);
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mat0->m_kAST = stiffness;
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mat0->m_kLST = stiffness;
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mat0->m_kVST = stiffness;
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bt_soft_body->m_cfg.piterations = simulation_precision;
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bt_soft_body->m_cfg.kDP = damping_coefficient;
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bt_soft_body->m_cfg.kDG = drag_coefficient;
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bt_soft_body->m_cfg.kPR = pressure_coefficient;
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bt_soft_body->setTotalMass(mass);
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}
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if (space) {
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// TODO remove this please
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space->add_soft_body(this);
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}
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}
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void SoftBodyBullet::create_soft_body() {
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if (!space || !soft_body_shape_data) {
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return;
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}
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ERR_FAIL_COND(!space->is_using_soft_world());
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switch (soft_shape_type) {
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case SOFT_SHAPE_TYPE_TRIMESH: {
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TrimeshSoftShapeData *trimesh_data = static_cast<TrimeshSoftShapeData *>(soft_body_shape_data);
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Vector<int> indices;
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Vector<btScalar> vertices;
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int i;
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const int indices_size = trimesh_data->m_triangles_indices.size();
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const int vertices_size = trimesh_data->m_vertices.size();
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indices.resize(indices_size);
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vertices.resize(vertices_size * 3);
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PoolVector<int>::Read i_r = trimesh_data->m_triangles_indices.read();
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for (i = 0; i < indices_size; ++i) {
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indices[i] = i_r[i];
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}
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i_r = PoolVector<int>::Read();
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PoolVector<Vector3>::Read f_r = trimesh_data->m_vertices.read();
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for (int j = i = 0; i < vertices_size; ++i, j += 3) {
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vertices[j + 0] = f_r[i][0];
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vertices[j + 1] = f_r[i][1];
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vertices[j + 2] = f_r[i][2];
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}
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f_r = PoolVector<Vector3>::Read();
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bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(*space->get_soft_body_world_info(), vertices.ptr(), indices.ptr(), trimesh_data->m_triangles_num);
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} break;
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default:
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ERR_PRINT("Shape type not supported");
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return;
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}
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setupBulletCollisionObject(bt_soft_body);
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bt_soft_body->getCollisionShape()->setMargin(0.001f);
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bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
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mat0 = bt_soft_body->appendMaterial();
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}
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void SoftBodyBullet::destroy_soft_body() {
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if (space) {
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/// This step is required to assert that the body is not into the world during deletion
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/// This step is required since to change the body shape the body must be re-created.
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/// Here is handled the case when the body is assigned into a world and the body
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/// shape is changed.
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space->remove_soft_body(this);
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}
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destroyBulletCollisionObject();
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bt_soft_body = NULL;
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}
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