1426cd3b3a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see". Backported from #70885.
415 lines
14 KiB
C++
415 lines
14 KiB
C++
/**************************************************************************/
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/* collision_object_bullet.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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 "collision_object_bullet.h"
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#include "area_bullet.h"
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#include "bullet_physics_server.h"
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#include "bullet_types_converter.h"
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#include "bullet_utilities.h"
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#include "shape_bullet.h"
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#include "space_bullet.h"
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#include <btBulletCollisionCommon.h>
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/**
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@author AndreaCatania
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*/
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// We enable dynamic AABB tree so that we can actually perform a broadphase on bodies with compound collision shapes.
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// This is crucial for the performance of kinematic bodies and for bodies with transforming shapes.
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#define enableDynamicAabbTree true
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CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {}
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void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) {
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G_TO_B(p_transform.get_basis().get_scale_abs(), scale);
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G_TO_B(p_transform, transform);
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UNSCALE_BT_BASIS(transform);
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}
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void CollisionObjectBullet::ShapeWrapper::set_transform(const btTransform &p_transform) {
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transform = p_transform;
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}
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btTransform CollisionObjectBullet::ShapeWrapper::get_adjusted_transform() const {
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if (shape->get_type() == PhysicsServer::SHAPE_HEIGHTMAP) {
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const HeightMapShapeBullet *hm_shape = (const HeightMapShapeBullet *)shape; // should be safe to cast now
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btTransform adjusted_transform;
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// Bullet centers our heightmap:
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// https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h#L33
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// This is really counter intuitive so we're adjusting for it
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adjusted_transform.setIdentity();
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adjusted_transform.setOrigin(btVector3(0.0, hm_shape->min_height + ((hm_shape->max_height - hm_shape->min_height) * 0.5), 0.0));
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adjusted_transform *= transform;
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return adjusted_transform;
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} else {
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return transform;
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}
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}
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void CollisionObjectBullet::ShapeWrapper::claim_bt_shape(const btVector3 &body_scale) {
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if (!bt_shape) {
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if (active) {
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bt_shape = shape->create_bt_shape(scale * body_scale);
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} else {
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bt_shape = ShapeBullet::create_shape_empty();
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}
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}
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}
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CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
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RIDBullet(),
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type(p_type),
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instance_id(0),
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collisionLayer(0),
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collisionMask(0),
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collisionsEnabled(true),
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m_isStatic(false),
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ray_pickable(false),
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bt_collision_object(nullptr),
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body_scale(1., 1., 1.),
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force_shape_reset(false),
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space(nullptr) {}
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CollisionObjectBullet::~CollisionObjectBullet() {
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for (int i = 0; i < areasOverlapped.size(); i++) {
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areasOverlapped[i]->remove_object_overlaps(this);
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}
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destroyBulletCollisionObject();
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}
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bool equal(real_t first, real_t second) {
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return Math::abs(first - second) <= 0.001f;
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}
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void CollisionObjectBullet::set_body_scale(const Vector3 &p_new_scale) {
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if (!equal(p_new_scale[0], body_scale[0]) || !equal(p_new_scale[1], body_scale[1]) || !equal(p_new_scale[2], body_scale[2])) {
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body_scale = p_new_scale;
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body_scale_changed();
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}
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}
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btVector3 CollisionObjectBullet::get_bt_body_scale() const {
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btVector3 s;
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G_TO_B(body_scale, s);
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return s;
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}
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void CollisionObjectBullet::body_scale_changed() {
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force_shape_reset = true;
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}
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void CollisionObjectBullet::destroyBulletCollisionObject() {
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bulletdelete(bt_collision_object);
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}
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void CollisionObjectBullet::setupBulletCollisionObject(btCollisionObject *p_collisionObject) {
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bt_collision_object = p_collisionObject;
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bt_collision_object->setUserPointer(this);
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bt_collision_object->setUserIndex(type);
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// Force the enabling of collision and avoid problems
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set_collision_enabled(collisionsEnabled);
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p_collisionObject->setCollisionFlags(p_collisionObject->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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}
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void CollisionObjectBullet::add_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
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exceptions.insert(p_ignoreCollisionObject->get_self());
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if (!bt_collision_object) {
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return;
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}
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bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, true);
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if (space) {
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space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
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}
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}
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void CollisionObjectBullet::remove_collision_exception(const CollisionObjectBullet *p_ignoreCollisionObject) {
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exceptions.erase(p_ignoreCollisionObject->get_self());
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if (!bt_collision_object) {
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return;
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}
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bt_collision_object->setIgnoreCollisionCheck(p_ignoreCollisionObject->bt_collision_object, false);
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if (space) {
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space->get_broadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bt_collision_object->getBroadphaseHandle(), space->get_dispatcher());
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}
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}
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bool CollisionObjectBullet::has_collision_exception(const CollisionObjectBullet *p_otherCollisionObject) const {
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return exceptions.has(p_otherCollisionObject->get_self());
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}
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void CollisionObjectBullet::set_collision_enabled(bool p_enabled) {
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collisionsEnabled = p_enabled;
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if (!bt_collision_object) {
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return;
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}
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if (collisionsEnabled) {
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bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() & (~btCollisionObject::CF_NO_CONTACT_RESPONSE));
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} else {
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bt_collision_object->setCollisionFlags(bt_collision_object->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
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}
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}
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bool CollisionObjectBullet::is_collisions_response_enabled() {
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return collisionsEnabled;
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}
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void CollisionObjectBullet::notify_new_overlap(AreaBullet *p_area) {
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if (areasOverlapped.find(p_area) == -1) {
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areasOverlapped.push_back(p_area);
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}
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}
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void CollisionObjectBullet::on_exit_area(AreaBullet *p_area) {
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areasOverlapped.erase(p_area);
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}
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void CollisionObjectBullet::set_godot_object_flags(int flags) {
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bt_collision_object->setUserIndex2(flags);
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updated = true;
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}
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int CollisionObjectBullet::get_godot_object_flags() const {
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return bt_collision_object->getUserIndex2();
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}
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void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
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set_body_scale(p_global_transform.basis.get_scale_abs());
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btTransform bt_transform;
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G_TO_B(p_global_transform, bt_transform);
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UNSCALE_BT_BASIS(bt_transform);
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set_transform__bullet(bt_transform);
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}
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Transform CollisionObjectBullet::get_transform() const {
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Transform t;
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B_TO_G(get_transform__bullet(), t);
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t.basis.scale(body_scale);
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return t;
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}
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void CollisionObjectBullet::set_transform__bullet(const btTransform &p_global_transform) {
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bt_collision_object->setWorldTransform(p_global_transform);
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notify_transform_changed();
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}
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const btTransform &CollisionObjectBullet::get_transform__bullet() const {
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return bt_collision_object->getWorldTransform();
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}
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void CollisionObjectBullet::notify_transform_changed() {
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updated = true;
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}
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RigidCollisionObjectBullet::RigidCollisionObjectBullet(Type p_type) :
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CollisionObjectBullet(p_type),
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mainShape(nullptr) {
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}
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RigidCollisionObjectBullet::~RigidCollisionObjectBullet() {
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remove_all_shapes(true, true);
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if (mainShape && mainShape->isCompound()) {
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bulletdelete(mainShape);
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}
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}
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void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform, bool p_disabled) {
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shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled));
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p_shape->add_owner(this);
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reload_shapes();
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}
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void RigidCollisionObjectBullet::set_shape(int p_index, ShapeBullet *p_shape) {
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ShapeWrapper &shp = shapes.write[p_index];
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shp.shape->remove_owner(this);
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p_shape->add_owner(this);
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shp.shape = p_shape;
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reload_shapes();
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}
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int RigidCollisionObjectBullet::get_shape_count() const {
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return shapes.size();
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}
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ShapeBullet *RigidCollisionObjectBullet::get_shape(int p_index) const {
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return shapes[p_index].shape;
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}
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btCollisionShape *RigidCollisionObjectBullet::get_bt_shape(int p_index) const {
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return shapes[p_index].bt_shape;
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}
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int RigidCollisionObjectBullet::find_shape(ShapeBullet *p_shape) const {
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const int size = shapes.size();
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for (int i = 0; i < size; ++i) {
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if (shapes[i].shape == p_shape) {
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return i;
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}
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}
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return -1;
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}
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void RigidCollisionObjectBullet::remove_shape_full(ShapeBullet *p_shape) {
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// Remove the shape, all the times it appears
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// Reverse order required for delete.
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for (int i = shapes.size() - 1; 0 <= i; --i) {
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if (p_shape == shapes[i].shape) {
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internal_shape_destroy(i);
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shapes.remove(i);
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}
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}
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reload_shapes();
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}
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void RigidCollisionObjectBullet::remove_shape_full(int p_index) {
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ERR_FAIL_INDEX(p_index, get_shape_count());
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internal_shape_destroy(p_index);
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shapes.remove(p_index);
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reload_shapes();
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}
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void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBody, bool p_force_not_reload) {
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// Reverse order required for delete.
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for (int i = shapes.size() - 1; 0 <= i; --i) {
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internal_shape_destroy(i, p_permanentlyFromThisBody);
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}
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shapes.clear();
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if (!p_force_not_reload) {
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reload_shapes();
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}
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}
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void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) {
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ERR_FAIL_INDEX(p_index, get_shape_count());
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shapes.write[p_index].set_transform(p_transform);
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shape_changed(p_index);
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}
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const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_index) const {
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return shapes[p_index].transform;
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}
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Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
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Transform trs;
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B_TO_G(shapes[p_index].transform, trs);
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return trs;
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}
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void RigidCollisionObjectBullet::set_shape_disabled(int p_index, bool p_disabled) {
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if (shapes[p_index].active != p_disabled) {
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return;
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}
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shapes.write[p_index].active = !p_disabled;
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shape_changed(p_index);
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}
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bool RigidCollisionObjectBullet::is_shape_disabled(int p_index) {
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return !shapes[p_index].active;
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}
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void RigidCollisionObjectBullet::shape_changed(int p_shape_index) {
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ShapeWrapper &shp = shapes.write[p_shape_index];
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if (shp.bt_shape == mainShape) {
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mainShape = nullptr;
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}
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bulletdelete(shp.bt_shape);
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reload_shapes();
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}
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void RigidCollisionObjectBullet::reload_shapes() {
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if (mainShape && mainShape->isCompound()) {
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// Destroy compound
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bulletdelete(mainShape);
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}
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mainShape = nullptr;
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ShapeWrapper *shpWrapper;
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const int shape_count = shapes.size();
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// Reset shape if required
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if (force_shape_reset) {
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for (int i(0); i < shape_count; ++i) {
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shpWrapper = &shapes.write[i];
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bulletdelete(shpWrapper->bt_shape);
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}
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force_shape_reset = false;
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}
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const btVector3 body_scale(get_bt_body_scale());
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// Try to optimize by not using compound
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if (1 == shape_count) {
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shpWrapper = &shapes.write[0];
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btTransform transform = shpWrapper->get_adjusted_transform();
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if (transform.getOrigin().isZero() && transform.getBasis() == transform.getBasis().getIdentity()) {
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shpWrapper->claim_bt_shape(body_scale);
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mainShape = shpWrapper->bt_shape;
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main_shape_changed();
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return;
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}
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}
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// Optimization not possible use a compound shape
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btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
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for (int i(0); i < shape_count; ++i) {
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shpWrapper = &shapes.write[i];
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shpWrapper->claim_bt_shape(body_scale);
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btTransform scaled_shape_transform(shpWrapper->get_adjusted_transform());
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scaled_shape_transform.getOrigin() *= body_scale;
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compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
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}
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compoundShape->recalculateLocalAabb();
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mainShape = compoundShape;
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main_shape_changed();
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}
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void RigidCollisionObjectBullet::body_scale_changed() {
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CollisionObjectBullet::body_scale_changed();
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reload_shapes();
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}
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void RigidCollisionObjectBullet::internal_shape_destroy(int p_index, bool p_permanentlyFromThisBody) {
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ShapeWrapper &shp = shapes.write[p_index];
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shp.shape->remove_owner(this, p_permanentlyFromThisBody);
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if (shp.bt_shape == mainShape) {
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mainShape = nullptr;
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}
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bulletdelete(shp.bt_shape);
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}
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