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.
162 lines
6.6 KiB
C++
162 lines
6.6 KiB
C++
/**************************************************************************/
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/* soft_body_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 SOFT_BODY_BULLET_H
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#define SOFT_BODY_BULLET_H
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#include "collision_object_bullet.h"
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#include "scene/resources/material.h" // TODO remove this please
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#ifdef None
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/// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet
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#undef None
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#define x11_None 0L
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#endif
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "collision_object_bullet.h"
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#include "scene/resources/mesh.h"
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#include "servers/physics_server.h"
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#ifdef x11_None
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/// This is required to re add the macro None defined by x11 compiler
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#undef x11_None
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#define None 0L
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#endif
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/**
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@author AndreaCatania
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*/
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class SoftBodyBullet : public CollisionObjectBullet {
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private:
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btSoftBody *bt_soft_body;
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Vector<Vector<int>> indices_table;
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btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
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bool isScratched;
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Ref<Mesh> soft_mesh;
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int simulation_precision;
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real_t total_mass;
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real_t linear_stiffness; // [0,1]
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real_t areaAngular_stiffness; // [0,1]
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real_t volume_stiffness; // [0,1]
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real_t pressure_coefficient; // [-inf,+inf]
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real_t pose_matching_coefficient; // [0,1]
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real_t damping_coefficient; // [0,1]
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real_t drag_coefficient; // [0,1]
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Vector<int> pinned_nodes;
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// Other property to add
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//btScalar kVC; // Volume conversation coefficient [0,+inf]
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//btScalar kDF; // Dynamic friction coefficient [0,1]
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//btScalar kMT; // Pose matching coefficient [0,1]
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//btScalar kCHR; // Rigid contacts hardness [0,1]
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//btScalar kKHR; // Kinetic contacts hardness [0,1]
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//btScalar kSHR; // Soft contacts hardness [0,1]
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public:
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SoftBodyBullet();
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~SoftBodyBullet();
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virtual void reload_body();
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virtual void set_space(SpaceBullet *p_space);
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virtual void dispatch_callbacks() {}
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virtual void on_collision_filters_change() {}
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virtual void on_collision_checker_start() {}
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virtual void on_collision_checker_end() {}
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virtual void on_enter_area(AreaBullet *p_area);
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virtual void on_exit_area(AreaBullet *p_area);
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_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
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void update_visual_server(class SoftBodyVisualServerHandler *p_visual_server_handler);
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void set_soft_mesh(const Ref<Mesh> &p_mesh);
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void destroy_soft_body();
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// Special function. This function has bad performance
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void set_soft_transform(const Transform &p_transform);
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void move_all_nodes(const Transform &p_transform);
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void set_node_position(int node_index, const Vector3 &p_global_position);
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void set_node_position(int node_index, const btVector3 &p_global_position);
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void get_node_position(int node_index, Vector3 &r_position) const;
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// Heavy function, Please cache this info
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void get_node_offset(int node_index, Vector3 &r_offset) const;
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// Heavy function, Please cache this info
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void get_node_offset(int node_index, btVector3 &r_offset) const;
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void set_node_mass(int node_index, btScalar p_mass);
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btScalar get_node_mass(int node_index) const;
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void reset_all_node_mass();
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void reset_all_node_positions();
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void set_activation_state(bool p_active);
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void set_total_mass(real_t p_val);
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_FORCE_INLINE_ real_t get_total_mass() const { return total_mass; }
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void set_linear_stiffness(real_t p_val);
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_FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
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void set_areaAngular_stiffness(real_t p_val);
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_FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; }
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void set_volume_stiffness(real_t p_val);
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_FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; }
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void set_simulation_precision(int p_val);
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_FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; }
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void set_pressure_coefficient(real_t p_val);
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_FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; }
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void set_pose_matching_coefficient(real_t p_val);
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_FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_coefficient; }
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void set_damping_coefficient(real_t p_val);
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_FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; }
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void set_drag_coefficient(real_t p_val);
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_FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; }
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private:
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void set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices);
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void setup_soft_body();
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void pin_node(int p_node_index);
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void unpin_node(int p_node_index);
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int search_node_pinned(int p_node_index) const;
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};
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#endif // SOFT_BODY_BULLET_H
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