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.
257 lines
9.1 KiB
C++
257 lines
9.1 KiB
C++
/**************************************************************************/
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/* shape_bullet.h */
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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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#ifndef SHAPE_BULLET_H
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#define SHAPE_BULLET_H
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#include "core/math/geometry.h"
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#include "core/variant.h"
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#include "rid_bullet.h"
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#include "servers/physics_server.h"
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#if defined(__clang__) && (__clang_major__ >= 13)
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#pragma clang diagnostic push
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#pragma clang diagnostic ignored "-Wdeprecated-copy-with-user-provided-copy"
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#endif
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#include <LinearMath/btAlignedObjectArray.h>
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#include <LinearMath/btScalar.h>
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#include <LinearMath/btVector3.h>
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#if defined(__clang__) && (__clang_major__ >= 13)
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#pragma clang diagnostic pop
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#endif
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/**
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@author AndreaCatania
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*/
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class ShapeBullet;
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class btCollisionShape;
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class ShapeOwnerBullet;
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class btBvhTriangleMeshShape;
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class ShapeBullet : public RIDBullet {
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Map<ShapeOwnerBullet *, int> owners;
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real_t margin;
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protected:
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/// return self
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btCollisionShape *prepare(btCollisionShape *p_btShape) const;
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void notifyShapeChanged();
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public:
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ShapeBullet();
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virtual ~ShapeBullet();
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btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_extra_edge = 0);
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0) = 0;
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void add_owner(ShapeOwnerBullet *p_owner);
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void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
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bool is_owner(ShapeOwnerBullet *p_owner) const;
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const Map<ShapeOwnerBullet *, int> &get_owners() const;
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void set_margin(real_t p_margin);
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real_t get_margin() const;
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/// Setup the shape
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virtual void set_data(const Variant &p_data) = 0;
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virtual Variant get_data() const = 0;
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virtual PhysicsServer::ShapeType get_type() const = 0;
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public:
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static class btEmptyShape *create_shape_empty();
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static class btStaticPlaneShape *create_shape_plane(const btVector3 &planeNormal, btScalar planeConstant);
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static class btSphereShape *create_shape_sphere(btScalar radius);
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static class btBoxShape *create_shape_box(const btVector3 &boxHalfExtents);
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static class btCapsuleShapeZ *create_shape_capsule(btScalar radius, btScalar height);
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static class btCylinderShape *create_shape_cylinder(btScalar radius, btScalar height);
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/// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface();
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static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
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static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1));
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static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
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static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope);
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};
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class PlaneShapeBullet : public ShapeBullet {
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Plane plane;
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public:
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PlaneShapeBullet();
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(const Plane &p_plane);
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};
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class SphereShapeBullet : public ShapeBullet {
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real_t radius;
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public:
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SphereShapeBullet();
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_FORCE_INLINE_ real_t get_radius() { return radius; }
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(real_t p_radius);
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};
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class BoxShapeBullet : public ShapeBullet {
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btVector3 half_extents;
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public:
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BoxShapeBullet();
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_FORCE_INLINE_ const btVector3 &get_half_extents() { return half_extents; }
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(const Vector3 &p_half_extents);
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};
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class CapsuleShapeBullet : public ShapeBullet {
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real_t height;
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real_t radius;
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public:
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CapsuleShapeBullet();
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_FORCE_INLINE_ real_t get_height() { return height; }
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_FORCE_INLINE_ real_t get_radius() { return radius; }
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(real_t p_height, real_t p_radius);
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};
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class CylinderShapeBullet : public ShapeBullet {
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real_t height;
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real_t radius;
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public:
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CylinderShapeBullet();
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_FORCE_INLINE_ real_t get_height() { return height; }
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_FORCE_INLINE_ real_t get_radius() { return radius; }
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0);
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private:
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void setup(real_t p_height, real_t p_radius);
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};
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class ConvexPolygonShapeBullet : public ShapeBullet {
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public:
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btAlignedObjectArray<btVector3> vertices;
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ConvexPolygonShapeBullet();
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virtual void set_data(const Variant &p_data);
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void get_vertices(Vector<Vector3> &out_vertices);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(const Vector<Vector3> &p_vertices);
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};
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class ConcavePolygonShapeBullet : public ShapeBullet {
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class btBvhTriangleMeshShape *meshShape;
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public:
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PoolVector<Vector3> faces;
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ConcavePolygonShapeBullet();
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virtual ~ConcavePolygonShapeBullet();
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(PoolVector<Vector3> p_faces);
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};
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class HeightMapShapeBullet : public ShapeBullet {
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public:
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PoolVector<real_t> heights;
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int width;
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int depth;
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real_t min_height;
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real_t max_height;
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HeightMapShapeBullet();
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
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};
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class RayShapeBullet : public ShapeBullet {
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public:
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real_t length;
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bool slips_on_slope;
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RayShapeBullet();
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virtual void set_data(const Variant &p_data);
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virtual Variant get_data() const;
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virtual PhysicsServer::ShapeType get_type() const;
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virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
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private:
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void setup(real_t p_length, bool p_slips_on_slope);
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};
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#endif // SHAPE_BULLET_H
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