/*************************************************************************/ /* space_bullet.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2020 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/variant.h" #include "core/vector.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 Transform &p_xform, float 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 Transform &p_xform, const Vector3 &p_motion, float p_margin, float &r_closest_safe, float &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 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_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; 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_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; btVoronoiSimplexSolver *gjk_simplex_solver; BulletPhysicsDirectSpaceState *direct_access; Vector3 gravityDirection = Vector3(0, -1, 0); real_t gravityMagnitude = 10; real_t linear_damp = 0.0; real_t angular_damp = 0.0; Vector<CollisionObjectBullet *> collision_objects; 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 register_collision_object(CollisionObjectBullet *p_object); void unregister_collision_object(CollisionObjectBullet *p_object); 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.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 Transform &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 Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, float 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