408 lines
17 KiB
C++
408 lines
17 KiB
C++
/**************************************************************************/
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/* gltf_physics_body.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 "gltf_physics_body.h"
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#include "scene/3d/physics/animatable_body_3d.h"
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#include "scene/3d/physics/area_3d.h"
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#include "scene/3d/physics/character_body_3d.h"
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#include "scene/3d/physics/static_body_3d.h"
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#include "scene/3d/physics/vehicle_body_3d.h"
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void GLTFPhysicsBody::_bind_methods() {
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ClassDB::bind_static_method("GLTFPhysicsBody", D_METHOD("from_node", "body_node"), &GLTFPhysicsBody::from_node);
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ClassDB::bind_method(D_METHOD("to_node"), &GLTFPhysicsBody::to_node);
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ClassDB::bind_static_method("GLTFPhysicsBody", D_METHOD("from_dictionary", "dictionary"), &GLTFPhysicsBody::from_dictionary);
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ClassDB::bind_method(D_METHOD("to_dictionary"), &GLTFPhysicsBody::to_dictionary);
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ClassDB::bind_method(D_METHOD("get_body_type"), &GLTFPhysicsBody::get_body_type);
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ClassDB::bind_method(D_METHOD("set_body_type", "body_type"), &GLTFPhysicsBody::set_body_type);
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ClassDB::bind_method(D_METHOD("get_mass"), &GLTFPhysicsBody::get_mass);
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ClassDB::bind_method(D_METHOD("set_mass", "mass"), &GLTFPhysicsBody::set_mass);
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ClassDB::bind_method(D_METHOD("get_linear_velocity"), &GLTFPhysicsBody::get_linear_velocity);
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ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &GLTFPhysicsBody::set_linear_velocity);
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ClassDB::bind_method(D_METHOD("get_angular_velocity"), &GLTFPhysicsBody::get_angular_velocity);
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ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &GLTFPhysicsBody::set_angular_velocity);
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ClassDB::bind_method(D_METHOD("get_center_of_mass"), &GLTFPhysicsBody::get_center_of_mass);
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ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &GLTFPhysicsBody::set_center_of_mass);
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ClassDB::bind_method(D_METHOD("get_inertia_diagonal"), &GLTFPhysicsBody::get_inertia_diagonal);
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ClassDB::bind_method(D_METHOD("set_inertia_diagonal", "inertia_diagonal"), &GLTFPhysicsBody::set_inertia_diagonal);
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ClassDB::bind_method(D_METHOD("get_inertia_orientation"), &GLTFPhysicsBody::get_inertia_orientation);
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ClassDB::bind_method(D_METHOD("set_inertia_orientation", "inertia_orientation"), &GLTFPhysicsBody::set_inertia_orientation);
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#ifndef DISABLE_DEPRECATED
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ClassDB::bind_method(D_METHOD("get_inertia_tensor"), &GLTFPhysicsBody::get_inertia_tensor);
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ClassDB::bind_method(D_METHOD("set_inertia_tensor", "inertia_tensor"), &GLTFPhysicsBody::set_inertia_tensor);
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#endif // DISABLE_DEPRECATED
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ADD_PROPERTY(PropertyInfo(Variant::STRING, "body_type"), "set_body_type", "get_body_type");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass"), "set_mass", "get_mass");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass"), "set_center_of_mass", "get_center_of_mass");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inertia_diagonal"), "set_inertia_diagonal", "get_inertia_diagonal");
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ADD_PROPERTY(PropertyInfo(Variant::QUATERNION, "inertia_orientation"), "set_inertia_orientation", "get_inertia_orientation");
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#ifndef DISABLE_DEPRECATED
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ADD_PROPERTY(PropertyInfo(Variant::BASIS, "inertia_tensor"), "set_inertia_tensor", "get_inertia_tensor");
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#endif // DISABLE_DEPRECATED
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}
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String GLTFPhysicsBody::get_body_type() const {
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switch (body_type) {
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case PhysicsBodyType::STATIC:
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return "static";
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case PhysicsBodyType::ANIMATABLE:
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return "animatable";
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case PhysicsBodyType::CHARACTER:
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return "character";
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case PhysicsBodyType::RIGID:
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return "rigid";
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case PhysicsBodyType::VEHICLE:
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return "vehicle";
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case PhysicsBodyType::TRIGGER:
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return "trigger";
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}
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// Unreachable, the switch cases handle all values the enum can take.
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// Omitting this works on Clang but not GCC or MSVC. If reached, it's UB.
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return "rigid";
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}
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void GLTFPhysicsBody::set_body_type(String p_body_type) {
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if (p_body_type == "static") {
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body_type = PhysicsBodyType::STATIC;
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} else if (p_body_type == "animatable") {
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body_type = PhysicsBodyType::ANIMATABLE;
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} else if (p_body_type == "character") {
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body_type = PhysicsBodyType::CHARACTER;
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} else if (p_body_type == "rigid") {
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body_type = PhysicsBodyType::RIGID;
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} else if (p_body_type == "vehicle") {
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body_type = PhysicsBodyType::VEHICLE;
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} else if (p_body_type == "trigger") {
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body_type = PhysicsBodyType::TRIGGER;
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} else {
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ERR_PRINT("Error setting GLTF physics body type: The body type must be one of \"static\", \"animatable\", \"character\", \"rigid\", \"vehicle\", or \"trigger\".");
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}
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}
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GLTFPhysicsBody::PhysicsBodyType GLTFPhysicsBody::get_physics_body_type() const {
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return body_type;
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}
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void GLTFPhysicsBody::set_physics_body_type(PhysicsBodyType p_body_type) {
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body_type = p_body_type;
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}
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real_t GLTFPhysicsBody::get_mass() const {
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return mass;
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}
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void GLTFPhysicsBody::set_mass(real_t p_mass) {
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mass = p_mass;
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}
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Vector3 GLTFPhysicsBody::get_linear_velocity() const {
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return linear_velocity;
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}
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void GLTFPhysicsBody::set_linear_velocity(Vector3 p_linear_velocity) {
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linear_velocity = p_linear_velocity;
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}
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Vector3 GLTFPhysicsBody::get_angular_velocity() const {
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return angular_velocity;
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}
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void GLTFPhysicsBody::set_angular_velocity(Vector3 p_angular_velocity) {
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angular_velocity = p_angular_velocity;
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}
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Vector3 GLTFPhysicsBody::get_center_of_mass() const {
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return center_of_mass;
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}
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void GLTFPhysicsBody::set_center_of_mass(const Vector3 &p_center_of_mass) {
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center_of_mass = p_center_of_mass;
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}
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Vector3 GLTFPhysicsBody::get_inertia_diagonal() const {
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return inertia_diagonal;
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}
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void GLTFPhysicsBody::set_inertia_diagonal(const Vector3 &p_inertia_diagonal) {
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inertia_diagonal = p_inertia_diagonal;
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}
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Quaternion GLTFPhysicsBody::get_inertia_orientation() const {
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return inertia_orientation;
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}
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void GLTFPhysicsBody::set_inertia_orientation(const Quaternion &p_inertia_orientation) {
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inertia_orientation = p_inertia_orientation;
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}
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#ifndef DISABLE_DEPRECATED
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Basis GLTFPhysicsBody::get_inertia_tensor() const {
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return Basis::from_scale(inertia_diagonal);
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}
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void GLTFPhysicsBody::set_inertia_tensor(Basis p_inertia_tensor) {
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inertia_diagonal = p_inertia_tensor.get_main_diagonal();
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}
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#endif // DISABLE_DEPRECATED
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Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_node(const CollisionObject3D *p_body_node) {
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Ref<GLTFPhysicsBody> physics_body;
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physics_body.instantiate();
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ERR_FAIL_NULL_V_MSG(p_body_node, physics_body, "Tried to create a GLTFPhysicsBody from a CollisionObject3D node, but the given node was null.");
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if (cast_to<CharacterBody3D>(p_body_node)) {
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physics_body->body_type = PhysicsBodyType::CHARACTER;
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} else if (cast_to<AnimatableBody3D>(p_body_node)) {
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physics_body->body_type = PhysicsBodyType::ANIMATABLE;
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} else if (cast_to<RigidBody3D>(p_body_node)) {
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const RigidBody3D *body = cast_to<const RigidBody3D>(p_body_node);
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physics_body->mass = body->get_mass();
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physics_body->linear_velocity = body->get_linear_velocity();
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physics_body->angular_velocity = body->get_angular_velocity();
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physics_body->center_of_mass = body->get_center_of_mass();
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physics_body->inertia_diagonal = body->get_inertia();
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if (body->get_center_of_mass() != Vector3()) {
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WARN_PRINT("GLTFPhysicsBody: This rigid body has a center of mass offset from the origin, which will be ignored when exporting to GLTF.");
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}
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if (cast_to<VehicleBody3D>(p_body_node)) {
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physics_body->body_type = PhysicsBodyType::VEHICLE;
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} else {
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physics_body->body_type = PhysicsBodyType::RIGID;
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}
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} else if (cast_to<StaticBody3D>(p_body_node)) {
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physics_body->body_type = PhysicsBodyType::STATIC;
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} else if (cast_to<Area3D>(p_body_node)) {
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physics_body->body_type = PhysicsBodyType::TRIGGER;
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}
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return physics_body;
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}
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CollisionObject3D *GLTFPhysicsBody::to_node() const {
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switch (body_type) {
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case PhysicsBodyType::CHARACTER: {
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CharacterBody3D *body = memnew(CharacterBody3D);
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return body;
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}
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case PhysicsBodyType::ANIMATABLE: {
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AnimatableBody3D *body = memnew(AnimatableBody3D);
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return body;
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}
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case PhysicsBodyType::VEHICLE: {
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VehicleBody3D *body = memnew(VehicleBody3D);
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body->set_mass(mass);
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body->set_linear_velocity(linear_velocity);
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body->set_angular_velocity(angular_velocity);
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body->set_inertia(inertia_diagonal);
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body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM);
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body->set_center_of_mass(center_of_mass);
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return body;
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}
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case PhysicsBodyType::RIGID: {
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RigidBody3D *body = memnew(RigidBody3D);
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body->set_mass(mass);
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body->set_linear_velocity(linear_velocity);
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body->set_angular_velocity(angular_velocity);
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body->set_inertia(inertia_diagonal);
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body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM);
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body->set_center_of_mass(center_of_mass);
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return body;
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}
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case PhysicsBodyType::STATIC: {
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StaticBody3D *body = memnew(StaticBody3D);
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return body;
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}
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case PhysicsBodyType::TRIGGER: {
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Area3D *body = memnew(Area3D);
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return body;
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}
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}
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// Unreachable, the switch cases handle all values the enum can take.
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// Omitting this works on Clang but not GCC or MSVC. If reached, it's UB.
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return nullptr;
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}
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Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_dictionary(const Dictionary p_dictionary) {
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Ref<GLTFPhysicsBody> physics_body;
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physics_body.instantiate();
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Dictionary motion;
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if (p_dictionary.has("motion")) {
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motion = p_dictionary["motion"];
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#ifndef DISABLE_DEPRECATED
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} else {
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motion = p_dictionary;
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#endif // DISABLE_DEPRECATED
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}
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if (motion.has("type")) {
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// Read the body type. This representation sits between glTF's and Godot's physics nodes.
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// While we may only read "static", "kinematic", or "dynamic" from a valid glTF file, we
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// want to allow another extension to override this to another Godot node type mid-import.
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// For example, a vehicle extension may want to override the body type to "vehicle"
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// so Godot generates a VehicleBody3D node. Therefore we distinguish by importing
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// "dynamic" as "rigid", and "kinematic" as "animatable", in the GLTFPhysicsBody code.
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String body_type_string = motion["type"];
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if (body_type_string == "static") {
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physics_body->body_type = PhysicsBodyType::STATIC;
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} else if (body_type_string == "kinematic") {
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physics_body->body_type = PhysicsBodyType::ANIMATABLE;
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} else if (body_type_string == "dynamic") {
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physics_body->body_type = PhysicsBodyType::RIGID;
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#ifndef DISABLE_DEPRECATED
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} else if (body_type_string == "character") {
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physics_body->body_type = PhysicsBodyType::CHARACTER;
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} else if (body_type_string == "rigid") {
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physics_body->body_type = PhysicsBodyType::RIGID;
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} else if (body_type_string == "vehicle") {
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physics_body->body_type = PhysicsBodyType::VEHICLE;
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} else if (body_type_string == "trigger") {
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physics_body->body_type = PhysicsBodyType::TRIGGER;
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#endif // DISABLE_DEPRECATED
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} else {
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ERR_PRINT("Error parsing GLTF physics body: The body type in the GLTF file \"" + body_type_string + "\" was not recognized.");
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}
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}
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if (motion.has("mass")) {
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physics_body->mass = motion["mass"];
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}
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if (motion.has("linearVelocity")) {
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const Array &arr = motion["linearVelocity"];
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if (arr.size() == 3) {
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physics_body->set_linear_velocity(Vector3(arr[0], arr[1], arr[2]));
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} else {
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ERR_PRINT("Error parsing GLTF physics body: The linear velocity vector must have exactly 3 numbers.");
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}
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}
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if (motion.has("angularVelocity")) {
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const Array &arr = motion["angularVelocity"];
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if (arr.size() == 3) {
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physics_body->set_angular_velocity(Vector3(arr[0], arr[1], arr[2]));
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} else {
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ERR_PRINT("Error parsing GLTF physics body: The angular velocity vector must have exactly 3 numbers.");
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}
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}
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if (motion.has("centerOfMass")) {
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const Array &arr = motion["centerOfMass"];
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if (arr.size() == 3) {
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physics_body->set_center_of_mass(Vector3(arr[0], arr[1], arr[2]));
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} else {
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ERR_PRINT("Error parsing GLTF physics body: The center of mass vector must have exactly 3 numbers.");
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}
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}
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if (motion.has("inertiaDiagonal")) {
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const Array &arr = motion["inertiaDiagonal"];
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if (arr.size() == 3) {
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physics_body->set_inertia_diagonal(Vector3(arr[0], arr[1], arr[2]));
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} else {
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ERR_PRINT("Error parsing GLTF physics body: The inertia diagonal vector must have exactly 3 numbers.");
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}
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}
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if (motion.has("inertiaOrientation")) {
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const Array &arr = motion["inertiaOrientation"];
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if (arr.size() == 4) {
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physics_body->set_inertia_orientation(Quaternion(arr[0], arr[1], arr[2], arr[3]));
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} else {
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ERR_PRINT("Error parsing GLTF physics body: The inertia orientation quaternion must have exactly 4 numbers.");
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}
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}
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return physics_body;
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}
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Dictionary GLTFPhysicsBody::to_dictionary() const {
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Dictionary ret;
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if (body_type == PhysicsBodyType::TRIGGER) {
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// The equivalent of a Godot Area3D node in glTF is a node that
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// defines that it is a trigger, but does not have a shape.
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Dictionary trigger;
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ret["trigger"] = trigger;
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return ret;
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}
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// All non-trigger body types are defined using the motion property.
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Dictionary motion;
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// When stored in memory, the body type can correspond to a Godot
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// node type. However, when exporting to glTF, we need to squash
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// this down to one of "static", "kinematic", or "dynamic".
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if (body_type == PhysicsBodyType::STATIC) {
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motion["type"] = "static";
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} else if (body_type == PhysicsBodyType::ANIMATABLE || body_type == PhysicsBodyType::CHARACTER) {
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motion["type"] = "kinematic";
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} else {
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motion["type"] = "dynamic";
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}
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if (mass != 1.0) {
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motion["mass"] = mass;
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}
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if (linear_velocity != Vector3()) {
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Array velocity_array;
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velocity_array.resize(3);
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velocity_array[0] = linear_velocity.x;
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velocity_array[1] = linear_velocity.y;
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velocity_array[2] = linear_velocity.z;
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motion["linearVelocity"] = velocity_array;
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}
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if (angular_velocity != Vector3()) {
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Array velocity_array;
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velocity_array.resize(3);
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velocity_array[0] = angular_velocity.x;
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velocity_array[1] = angular_velocity.y;
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velocity_array[2] = angular_velocity.z;
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motion["angularVelocity"] = velocity_array;
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}
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if (center_of_mass != Vector3()) {
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Array center_of_mass_array;
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center_of_mass_array.resize(3);
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center_of_mass_array[0] = center_of_mass.x;
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center_of_mass_array[1] = center_of_mass.y;
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center_of_mass_array[2] = center_of_mass.z;
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motion["centerOfMass"] = center_of_mass_array;
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}
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if (inertia_diagonal != Vector3()) {
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Array inertia_array;
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inertia_array.resize(3);
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inertia_array[0] = inertia_diagonal[0];
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inertia_array[1] = inertia_diagonal[1];
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inertia_array[2] = inertia_diagonal[2];
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motion["inertiaDiagonal"] = inertia_array;
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}
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if (inertia_orientation != Quaternion()) {
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Array inertia_array;
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inertia_array.resize(4);
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inertia_array[0] = inertia_orientation[0];
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inertia_array[1] = inertia_orientation[1];
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inertia_array[2] = inertia_orientation[2];
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inertia_array[3] = inertia_orientation[3];
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motion["inertiaDiagonal"] = inertia_array;
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}
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ret["motion"] = motion;
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return ret;
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}
|