fb4871c919
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
136 lines
5.7 KiB
C++
136 lines
5.7 KiB
C++
/*************************************************************************/
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/* soft_body_bullet.h */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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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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#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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#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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#include "scene/resources/material.h" // TODO remove thsi please
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struct SoftShapeData {};
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struct TrimeshSoftShapeData : public SoftShapeData {
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PoolVector<int> m_triangles_indices;
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PoolVector<Vector3> m_vertices;
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int m_triangles_num;
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};
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class SoftBodyBullet : public CollisionObjectBullet {
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public:
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enum SoftShapeType {
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SOFT_SHAPETYPE_NONE = 0,
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SOFT_SHAPE_TYPE_TRIMESH
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};
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private:
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btSoftBody *bt_soft_body;
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btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
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SoftShapeType soft_shape_type;
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bool isScratched;
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SoftShapeData *soft_body_shape_data;
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Transform transform;
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int simulation_precision;
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real_t mass;
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real_t stiffness; // [0,1]
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real_t pressure_coefficient; // [-inf,+inf]
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real_t damping_coefficient; // [0,1]
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real_t drag_coefficient; // [0,1]
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class ImmediateGeometry *test_geometry; // TODO remove this please
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Ref<SpatialMaterial> red_mat; // TODO remove this please
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bool test_is_in_scene; // TODO remove this please
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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_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 set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num);
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void set_body_shape_data(SoftShapeData *p_soft_shape_data, SoftShapeType p_type);
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void set_transform(const Transform &p_transform);
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/// This function doesn't return the exact COM transform.
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/// It returns the origin only of first node (vertice) of current soft body
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/// ---
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/// The soft body doesn't have a fixed center of mass, but is a group of nodes (vertices)
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/// that each has its own position in the world.
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/// For this reason return the correct COM is not so simple and must be calculate
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/// Check this to improve this function http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=8803
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const Transform &get_transform() const;
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void get_first_node_origin(btVector3 &p_out_origin) const;
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void set_activation_state(bool p_active);
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void set_mass(real_t p_val);
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_FORCE_INLINE_ real_t get_mass() const { return mass; }
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void set_stiffness(real_t p_val);
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_FORCE_INLINE_ real_t get_stiffness() const { return 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_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 reload_soft_body();
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void create_soft_body();
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void destroy_soft_body();
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};
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#endif // SOFT_BODY_BULLET_H
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