/*************************************************************************/ /* test_physics_3d.cpp */ /*************************************************************************/ /* 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. */ /*************************************************************************/ #include "test_physics_3d.h" #include "core/math/convex_hull.h" #include "core/math/geometry_3d.h" #include "core/os/main_loop.h" #include "servers/physics_server_3d.h" #include "servers/rendering_server.h" class TestPhysics3DMainLoop : public MainLoop { GDCLASS(TestPhysics3DMainLoop, MainLoop); enum { LINK_COUNT = 20, }; RID test_cube; RID plane; RID sphere; RID light; RID camera; RID mover; RID scenario; RID space; RID character; real_t ofs_x, ofs_y; Point2 joy_direction; List bodies; Map type_shape_map; Map type_mesh_map; void body_changed_transform(Object *p_state, RID p_visual_instance) { PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; RenderingServer *vs = RenderingServer::get_singleton(); Transform3D t = state->get_transform(); vs->instance_set_transform(p_visual_instance, t); } bool quit; protected: RID create_body(PhysicsServer3D::ShapeType p_shape, PhysicsServer3D::BodyMode p_body, const Transform3D p_location, bool p_active_default = true, const Transform3D &p_shape_xform = Transform3D()) { RenderingServer *vs = RenderingServer::get_singleton(); PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); RID mesh_instance = vs->instance_create2(type_mesh_map[p_shape], scenario); RID body = ps->body_create(); ps->body_set_mode(body, p_body); ps->body_set_state(body, PhysicsServer3D::BODY_STATE_SLEEPING, !p_active_default); ps->body_set_space(body, space); ps->body_set_param(body, PhysicsServer3D::BODY_PARAM_BOUNCE, 0.0); //todo set space ps->body_add_shape(body, type_shape_map[p_shape]); ps->body_set_force_integration_callback(body, callable_mp(this, &TestPhysics3DMainLoop::body_changed_transform), mesh_instance); ps->body_set_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM, p_location); bodies.push_back(body); if (p_body == PhysicsServer3D::BODY_MODE_STATIC) { vs->instance_set_transform(mesh_instance, p_location); } return body; } RID create_world_boundary(const Plane &p_plane) { PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); RID world_boundary_shape = ps->shape_create(PhysicsServer3D::SHAPE_WORLD_BOUNDARY); ps->shape_set_data(world_boundary_shape, p_plane); RID b = ps->body_create(); ps->body_set_mode(b, PhysicsServer3D::BODY_MODE_STATIC); ps->body_set_space(b, space); ps->body_add_shape(b, world_boundary_shape); return b; } void configure_body(RID p_body, real_t p_mass, real_t p_friction, real_t p_bounce) { PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_MASS, p_mass); ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_FRICTION, p_friction); ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_BOUNCE, p_bounce); } void initialize_shapes() { RenderingServer *vs = RenderingServer::get_singleton(); PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); /* SPHERE SHAPE */ RID sphere_mesh = vs->make_sphere_mesh(10, 20, 0.5); type_mesh_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_mesh; RID sphere_shape = ps->shape_create(PhysicsServer3D::SHAPE_SPHERE); ps->shape_set_data(sphere_shape, 0.5); type_shape_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_shape; /* BOX SHAPE */ Vector box_planes = Geometry3D::build_box_planes(Vector3(0.5, 0.5, 0.5)); RID box_mesh = vs->mesh_create(); Geometry3D::MeshData box_data = Geometry3D::build_convex_mesh(box_planes); vs->mesh_add_surface_from_mesh_data(box_mesh, box_data); type_mesh_map[PhysicsServer3D::SHAPE_BOX] = box_mesh; RID box_shape = ps->shape_create(PhysicsServer3D::SHAPE_BOX); ps->shape_set_data(box_shape, Vector3(0.5, 0.5, 0.5)); type_shape_map[PhysicsServer3D::SHAPE_BOX] = box_shape; /* CAPSULE SHAPE */ Vector capsule_planes = Geometry3D::build_capsule_planes(0.5, 0.7, 12, Vector3::AXIS_Z); RID capsule_mesh = vs->mesh_create(); Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes); vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data); type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh; RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE); Dictionary capsule_params; capsule_params["radius"] = 0.5; capsule_params["height"] = 1.4; ps->shape_set_data(capsule_shape, capsule_params); type_shape_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_shape; /* CONVEX SHAPE */ Vector convex_planes = Geometry3D::build_cylinder_planes(0.5, 0.7, 5, Vector3::AXIS_Z); RID convex_mesh = vs->mesh_create(); Geometry3D::MeshData convex_data = Geometry3D::build_convex_mesh(convex_planes); ConvexHullComputer::convex_hull(convex_data.vertices, convex_data); vs->mesh_add_surface_from_mesh_data(convex_mesh, convex_data); type_mesh_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_mesh; RID convex_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONVEX_POLYGON); ps->shape_set_data(convex_shape, convex_data.vertices); type_shape_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_shape; } void make_trimesh(Vector p_faces, const Transform3D &p_xform = Transform3D()) { RenderingServer *vs = RenderingServer::get_singleton(); PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); RID trimesh_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONCAVE_POLYGON); Dictionary trimesh_params; trimesh_params["faces"] = p_faces; trimesh_params["backface_collision"] = false; ps->shape_set_data(trimesh_shape, trimesh_params); Vector normals; // for drawing for (int i = 0; i < p_faces.size() / 3; i++) { Plane p(p_faces[i * 3 + 0], p_faces[i * 3 + 1], p_faces[i * 3 + 2]); normals.push_back(p.normal); normals.push_back(p.normal); normals.push_back(p.normal); } RID trimesh_mesh = vs->mesh_create(); Array d; d.resize(RS::ARRAY_MAX); d[RS::ARRAY_VERTEX] = p_faces; d[RS::ARRAY_NORMAL] = normals; vs->mesh_add_surface_from_arrays(trimesh_mesh, RS::PRIMITIVE_TRIANGLES, d); RID triins = vs->instance_create2(trimesh_mesh, scenario); RID tribody = ps->body_create(); ps->body_set_mode(tribody, PhysicsServer3D::BODY_MODE_STATIC); ps->body_set_space(tribody, space); //todo set space ps->body_add_shape(tribody, trimesh_shape); Transform3D tritrans = p_xform; ps->body_set_state(tribody, PhysicsServer3D::BODY_STATE_TRANSFORM, tritrans); vs->instance_set_transform(triins, tritrans); } void make_grid(int p_width, int p_height, real_t p_cellsize, real_t p_cellheight, const Transform3D &p_xform = Transform3D()) { Vector> grid; grid.resize(p_width); for (int i = 0; i < p_width; i++) { grid.write[i].resize(p_height); for (int j = 0; j < p_height; j++) { grid.write[i].write[j] = 1.0 + Math::random(-p_cellheight, p_cellheight); } } Vector faces; for (int i = 1; i < p_width; i++) { for (int j = 1; j < p_height; j++) { #define MAKE_VERTEX(m_x, m_z) \ faces.push_back(Vector3((m_x - p_width / 2) * p_cellsize, grid[m_x][m_z], (m_z - p_height / 2) * p_cellsize)) MAKE_VERTEX(i, j - 1); MAKE_VERTEX(i, j); MAKE_VERTEX(i - 1, j); MAKE_VERTEX(i - 1, j - 1); MAKE_VERTEX(i, j - 1); MAKE_VERTEX(i - 1, j); } } make_trimesh(faces, p_xform); } public: virtual void input_event(const Ref &p_event) { Ref mm = p_event; if (mm.is_valid() && (mm->get_button_mask() & MouseButton::MASK_MIDDLE) != MouseButton::NONE) { ofs_y -= mm->get_relative().y / 200.0; ofs_x += mm->get_relative().x / 200.0; } if (mm.is_valid() && (mm->get_button_mask() & MouseButton::MASK_LEFT) != MouseButton::NONE) { real_t y = -mm->get_relative().y / 20.0; real_t x = mm->get_relative().x / 20.0; if (mover.is_valid()) { PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); Transform3D t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM); t.origin += Vector3(x, y, 0); ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t); } } } virtual void request_quit() { quit = true; } virtual void initialize() override { ofs_x = ofs_y = 0; initialize_shapes(); PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); space = ps->space_create(); ps->space_set_active(space, true); RenderingServer *vs = RenderingServer::get_singleton(); /* LIGHT */ RID lightaux = vs->directional_light_create(); scenario = vs->scenario_create(); vs->light_set_shadow(lightaux, true); light = vs->instance_create2(lightaux, scenario); Transform3D t; t.rotate(Vector3(1.0, 0, 0), 0.6); vs->instance_set_transform(light, t); /* CAMERA */ camera = vs->camera_create(); RID viewport = vs->viewport_create(); Size2i screen_size = DisplayServer::get_singleton()->window_get_size(); vs->viewport_set_size(viewport, screen_size.x, screen_size.y); vs->viewport_attach_to_screen(viewport, Rect2(Vector2(), screen_size)); vs->viewport_set_active(viewport, true); vs->viewport_attach_camera(viewport, camera); vs->viewport_set_scenario(viewport, scenario); vs->camera_set_perspective(camera, 60, 0.1, 40.0); vs->camera_set_transform(camera, Transform3D(Basis(), Vector3(0, 9, 12))); Transform3D gxf; gxf.basis.scale(Vector3(1.4, 0.4, 1.4)); gxf.origin = Vector3(-2, 1, -2); make_grid(5, 5, 2.5, 1, gxf); test_fall(); quit = false; } virtual bool physics_process(double p_time) override { if (mover.is_valid()) { static real_t joy_speed = 10; PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); Transform3D t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM); t.origin += Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time, 0); ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t); }; Transform3D cameratr; cameratr.rotate(Vector3(0, 1, 0), ofs_x); cameratr.rotate(Vector3(1, 0, 0), -ofs_y); cameratr.translate(Vector3(0, 2, 8)); RenderingServer *vs = RenderingServer::get_singleton(); vs->camera_set_transform(camera, cameratr); return quit; } virtual void finalize() override { } void test_joint() { } void test_hinge() { } void test_character() { RenderingServer *vs = RenderingServer::get_singleton(); PhysicsServer3D *ps = PhysicsServer3D::get_singleton(); Vector capsule_planes = Geometry3D::build_capsule_planes(0.5, 1, 12, 5, Vector3::AXIS_Y); RID capsule_mesh = vs->mesh_create(); Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes); vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data); type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh; RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE); Dictionary capsule_params; capsule_params["radius"] = 0.5; capsule_params["height"] = 1; Transform3D shape_xform; shape_xform.rotate(Vector3(1, 0, 0), Math_PI / 2.0); //shape_xform.origin=Vector3(1,1,1); ps->shape_set_data(capsule_shape, capsule_params); RID mesh_instance = vs->instance_create2(capsule_mesh, scenario); character = ps->body_create(); ps->body_set_mode(character, PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR); ps->body_set_space(character, space); //todo add space ps->body_add_shape(character, capsule_shape); ps->body_set_force_integration_callback(character, callable_mp(this, &TestPhysics3DMainLoop::body_changed_transform), mesh_instance); ps->body_set_state(character, PhysicsServer3D::BODY_STATE_TRANSFORM, Transform3D(Basis(), Vector3(-2, 5, -2))); bodies.push_back(character); } void test_fall() { for (int i = 0; i < 35; i++) { static const PhysicsServer3D::ShapeType shape_idx[] = { PhysicsServer3D::SHAPE_CAPSULE, PhysicsServer3D::SHAPE_BOX, PhysicsServer3D::SHAPE_SPHERE, PhysicsServer3D::SHAPE_CONVEX_POLYGON }; PhysicsServer3D::ShapeType type = shape_idx[i % 4]; Transform3D t; t.origin = Vector3(0.0 * i, 3.5 + 1.1 * i, 0.7 + 0.0 * i); t.basis.rotate(Vector3(0.2, -1, 0), Math_PI / 2 * 0.6); create_body(type, PhysicsServer3D::BODY_MODE_DYNAMIC, t); } create_world_boundary(Plane(Vector3(0, 1, 0), -1)); } void test_activate() { create_body(PhysicsServer3D::SHAPE_BOX, PhysicsServer3D::BODY_MODE_DYNAMIC, Transform3D(Basis(), Vector3(0, 2, 0)), true); create_world_boundary(Plane(Vector3(0, 1, 0), -1)); } virtual bool process(double p_time) override { return false; } TestPhysics3DMainLoop() { } }; namespace TestPhysics3D { MainLoop *test() { return memnew(TestPhysics3DMainLoop); } } // namespace TestPhysics3D