400 lines
13 KiB
C++
400 lines
13 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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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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#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 Transform3D &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() == PhysicsServer3D::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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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 Transform3D &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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Transform3D CollisionObjectBullet::get_transform() const {
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Transform3D 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() {
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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 Transform3D &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 Transform3D &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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Transform3D RigidCollisionObjectBullet::get_shape_transform(int p_index) const {
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Transform3D 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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