godot/modules/bullet/rigid_body_bullet.h

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/*  rigid_body_bullet.h                                                  */
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#ifndef BODYBULLET_H
#define BODYBULLET_H

#include "collision_object_bullet.h"
#include "space_bullet.h"

#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
#include <LinearMath/btTransform.h>

/**
	@author AndreaCatania
*/

class AreaBullet;
class SpaceBullet;
class btRigidBody;
class GodotMotionState;
class BulletPhysicsDirectBodyState3D;

/// This class could be used in multi thread with few changes but currently
/// is set to be only in one single thread.
///
/// In the system there is only one object at a time that manage all bodies and is
/// created by BulletPhysicsServer3D and is held by the "singleton" variable of this class
/// Each time something require it, the body must be set again.
class BulletPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
	GDCLASS(BulletPhysicsDirectBodyState3D, PhysicsDirectBodyState3D);

	static BulletPhysicsDirectBodyState3D *singleton;

public:
	/// This class avoid the creation of more object of this class
	static void initSingleton() {
		if (!singleton) {
			singleton = memnew(BulletPhysicsDirectBodyState3D);
		}
	}

	static void destroySingleton() {
		memdelete(singleton);
		singleton = nullptr;
	}

	static void singleton_setDeltaTime(real_t p_deltaTime) {
		singleton->deltaTime = p_deltaTime;
	}

	static BulletPhysicsDirectBodyState3D *get_singleton(RigidBodyBullet *p_body) {
		singleton->body = p_body;
		return singleton;
	}

public:
	RigidBodyBullet *body;
	real_t deltaTime;

private:
	BulletPhysicsDirectBodyState3D() {}

public:
	virtual Vector3 get_total_gravity() const;
	virtual float get_total_angular_damp() const;
	virtual float get_total_linear_damp() const;

	virtual Vector3 get_center_of_mass() const;
	virtual Basis get_principal_inertia_axes() const;
	// get the mass
	virtual float get_inverse_mass() const;
	// get density of this body space
	virtual Vector3 get_inverse_inertia() const;
	// get density of this body space
	virtual Basis get_inverse_inertia_tensor() const;

	virtual void set_linear_velocity(const Vector3 &p_velocity);
	virtual Vector3 get_linear_velocity() const;

	virtual void set_angular_velocity(const Vector3 &p_velocity);
	virtual Vector3 get_angular_velocity() const;

	virtual void set_transform(const Transform &p_transform);
	virtual Transform get_transform() const;

	virtual void add_central_force(const Vector3 &p_force);
	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
	virtual void add_torque(const Vector3 &p_torque);
	virtual void apply_central_impulse(const Vector3 &p_impulse);
	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
	virtual void apply_torque_impulse(const Vector3 &p_impulse);

	virtual void set_sleep_state(bool p_sleep);
	virtual bool is_sleeping() const;

	virtual int get_contact_count() const;

	virtual Vector3 get_contact_local_position(int p_contact_idx) const;
	virtual Vector3 get_contact_local_normal(int p_contact_idx) const;
	virtual float get_contact_impulse(int p_contact_idx) const;
	virtual int get_contact_local_shape(int p_contact_idx) const;

	virtual RID get_contact_collider(int p_contact_idx) const;
	virtual Vector3 get_contact_collider_position(int p_contact_idx) const;
	virtual ObjectID get_contact_collider_id(int p_contact_idx) const;
	virtual int get_contact_collider_shape(int p_contact_idx) const;
	virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const;

	virtual real_t get_step() const { return deltaTime; }
	virtual void integrate_forces() {
		// Skip the execution of this function
	}

	virtual PhysicsDirectSpaceState3D *get_space_state();
};

class RigidBodyBullet : public RigidCollisionObjectBullet {
public:
	struct CollisionData {
		RigidBodyBullet *otherObject;
		int other_object_shape;
		int local_shape;
		Vector3 hitLocalLocation;
		Vector3 hitWorldLocation;
		Vector3 hitNormal;
		float appliedImpulse;
	};

	struct ForceIntegrationCallback {
		ObjectID id;
		StringName method;
		Variant udata;
	};

	/// Used to hold shapes
	struct KinematicShape {
		class btConvexShape *shape = nullptr;
		btTransform transform;

		KinematicShape() {}
		bool is_active() const { return shape; }
	};

	struct KinematicUtilities {
		RigidBodyBullet *owner;
		btScalar safe_margin;
		Vector<KinematicShape> shapes;

		KinematicUtilities(RigidBodyBullet *p_owner);
		~KinematicUtilities();

		void setSafeMargin(btScalar p_margin);
		/// Used to set the default shape to ghost
		void copyAllOwnerShapes();

	private:
		void just_delete_shapes(int new_size);
	};

private:
	friend class BulletPhysicsDirectBodyState3D;

	// This is required only for Kinematic movement
	KinematicUtilities *kinematic_utilities = nullptr;

	PhysicsServer3D::BodyMode mode;
	GodotMotionState *godotMotionState;
	btRigidBody *btBody;
	uint16_t locked_axis = 0;
	real_t mass = 1;
	real_t gravity_scale = 1;
	real_t linearDamp = 0;
	real_t angularDamp = 0;
	bool can_sleep = true;
	bool omit_forces_integration = false;
	bool can_integrate_forces = false;

	Vector<CollisionData> collisions;
	Vector<RigidBodyBullet *> collision_traces_1;
	Vector<RigidBodyBullet *> collision_traces_2;
	Vector<RigidBodyBullet *> *prev_collision_traces;
	Vector<RigidBodyBullet *> *curr_collision_traces;

	// these parameters are used to avoid vector resize
	int maxCollisionsDetection = 0;
	int collisionsCount = 0;
	int prev_collision_count = 0;

	Vector<AreaBullet *> areasWhereIam;
	// these parameters are used to avoid vector resize
	int maxAreasWhereIam = 10;
	int areaWhereIamCount = 0;
	// Used to know if the area is used as gravity point
	int countGravityPointSpaces = 0;
	bool isScratchedSpaceOverrideModificator = false;

	bool previousActiveState = true; // Last check state

	ForceIntegrationCallback *force_integration_callback = nullptr;

public:
	RigidBodyBullet();
	~RigidBodyBullet();

	void init_kinematic_utilities();
	void destroy_kinematic_utilities();
	_FORCE_INLINE_ KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }

	_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }

	virtual void main_shape_changed();
	virtual void reload_body();
	virtual void set_space(SpaceBullet *p_space);

	virtual void dispatch_callbacks();
	void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
	void scratch_space_override_modificator();

	virtual void on_collision_filters_change();
	virtual void on_collision_checker_start();
	virtual void on_collision_checker_end();

	void set_max_collisions_detection(int p_maxCollisionsDetection) {
		ERR_FAIL_COND(0 > p_maxCollisionsDetection);

		maxCollisionsDetection = p_maxCollisionsDetection;

		collisions.resize(p_maxCollisionsDetection);
		collision_traces_1.resize(p_maxCollisionsDetection);
		collision_traces_2.resize(p_maxCollisionsDetection);

		collisionsCount = 0;
		prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
	}
	int get_max_collisions_detection() {
		return maxCollisionsDetection;
	}

	bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
	bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
	bool was_colliding(RigidBodyBullet *p_other_object);

	void assert_no_constraints();

	void set_activation_state(bool p_active);
	bool is_active() const;

	void set_omit_forces_integration(bool p_omit);
	_FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }

	void set_param(PhysicsServer3D::BodyParameter p_param, real_t);
	real_t get_param(PhysicsServer3D::BodyParameter p_param) const;

	void set_mode(PhysicsServer3D::BodyMode p_mode);
	PhysicsServer3D::BodyMode get_mode() const;

	void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
	Variant get_state(PhysicsServer3D::BodyState p_state) const;

	void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
	void apply_central_impulse(const Vector3 &p_impulse);
	void apply_torque_impulse(const Vector3 &p_impulse);

	void apply_force(const Vector3 &p_force, const Vector3 &p_pos);
	void apply_central_force(const Vector3 &p_force);
	void apply_torque(const Vector3 &p_torque);

	void set_applied_force(const Vector3 &p_force);
	Vector3 get_applied_force() const;
	void set_applied_torque(const Vector3 &p_torque);
	Vector3 get_applied_torque() const;

	void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock);
	bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const;
	void reload_axis_lock();

	/// Doc:
	/// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
	void set_continuous_collision_detection(bool p_enable);
	bool is_continuous_collision_detection_enabled() const;

	void set_linear_velocity(const Vector3 &p_velocity);
	Vector3 get_linear_velocity() const;

	void set_angular_velocity(const Vector3 &p_velocity);
	Vector3 get_angular_velocity() const;

	virtual void set_transform__bullet(const btTransform &p_global_transform);
	virtual const btTransform &get_transform__bullet() const;

	virtual void reload_shapes();

	virtual void on_enter_area(AreaBullet *p_area);
	virtual void on_exit_area(AreaBullet *p_area);
	void reload_space_override_modificator();

	/// Kinematic
	void reload_kinematic_shapes();

	virtual void notify_transform_changed();

private:
	void _internal_set_mass(real_t p_mass);
};

#endif