mirror of
https://github.com/godotengine/godot.git
synced 2024-11-27 09:16:35 +08:00
163 lines
6.6 KiB
C++
163 lines
6.6 KiB
C++
/*************************************************************************/
|
|
/* soft_body_bullet.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
|
|
#ifndef SOFT_BODY_BULLET_H
|
|
#define SOFT_BODY_BULLET_H
|
|
|
|
#include "collision_object_bullet.h"
|
|
#include "scene/resources/material.h" // TODO remove this please
|
|
|
|
#ifdef None
|
|
/// This is required to remove the macro None defined by x11 compiler because this word "None" is used internally by Bullet
|
|
#undef None
|
|
#define x11_None 0L
|
|
#endif
|
|
|
|
#include "BulletSoftBody/btSoftBodyHelpers.h"
|
|
#include "collision_object_bullet.h"
|
|
#include "scene/resources/mesh.h"
|
|
#include "servers/physics_server_3d.h"
|
|
|
|
#ifdef x11_None
|
|
/// This is required to re add the macro None defined by x11 compiler
|
|
#undef x11_None
|
|
#define None 0L
|
|
#endif
|
|
|
|
/**
|
|
@author AndreaCatania
|
|
*/
|
|
|
|
class SoftBodyBullet : public CollisionObjectBullet {
|
|
private:
|
|
btSoftBody *bt_soft_body = nullptr;
|
|
Vector<Vector<int>> indices_table;
|
|
btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
|
|
bool isScratched = false;
|
|
|
|
Ref<Mesh> soft_mesh;
|
|
|
|
int simulation_precision = 5;
|
|
real_t total_mass = 1.;
|
|
real_t linear_stiffness = 0.5; // [0,1]
|
|
real_t areaAngular_stiffness = 0.5; // [0,1]
|
|
real_t volume_stiffness = 0.5; // [0,1]
|
|
real_t pressure_coefficient = 0.; // [-inf,+inf]
|
|
real_t pose_matching_coefficient = 0.; // [0,1]
|
|
real_t damping_coefficient = 0.01; // [0,1]
|
|
real_t drag_coefficient = 0.; // [0,1]
|
|
Vector<int> pinned_nodes;
|
|
|
|
// Other property to add
|
|
//btScalar kVC; // Volume conversation coefficient [0,+inf]
|
|
//btScalar kDF; // Dynamic friction coefficient [0,1]
|
|
//btScalar kMT; // Pose matching coefficient [0,1]
|
|
//btScalar kCHR; // Rigid contacts hardness [0,1]
|
|
//btScalar kKHR; // Kinetic contacts hardness [0,1]
|
|
//btScalar kSHR; // Soft contacts hardness [0,1]
|
|
|
|
public:
|
|
SoftBodyBullet();
|
|
~SoftBodyBullet();
|
|
|
|
virtual void reload_body();
|
|
virtual void set_space(SpaceBullet *p_space);
|
|
|
|
virtual void dispatch_callbacks() {}
|
|
virtual void on_collision_filters_change() {}
|
|
virtual void on_collision_checker_start() {}
|
|
virtual void on_collision_checker_end() {}
|
|
virtual void on_enter_area(AreaBullet *p_area);
|
|
virtual void on_exit_area(AreaBullet *p_area);
|
|
|
|
_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
|
|
|
|
void update_rendering_server(class SoftBodyRenderingServerHandler *p_rendering_server_handler);
|
|
|
|
void set_soft_mesh(const Ref<Mesh> &p_mesh);
|
|
void destroy_soft_body();
|
|
|
|
// Special function. This function has bad performance
|
|
void set_soft_transform(const Transform &p_transform);
|
|
|
|
void move_all_nodes(const Transform &p_transform);
|
|
void set_node_position(int node_index, const Vector3 &p_global_position);
|
|
void set_node_position(int node_index, const btVector3 &p_global_position);
|
|
void get_node_position(int node_index, Vector3 &r_position) const;
|
|
// Heavy function, Please cache this info
|
|
void get_node_offset(int node_index, Vector3 &r_offset) const;
|
|
// Heavy function, Please cache this info
|
|
void get_node_offset(int node_index, btVector3 &r_offset) const;
|
|
|
|
void set_node_mass(int node_index, btScalar p_mass);
|
|
btScalar get_node_mass(int node_index) const;
|
|
void reset_all_node_mass();
|
|
void reset_all_node_positions();
|
|
|
|
void set_activation_state(bool p_active);
|
|
|
|
void set_total_mass(real_t p_val);
|
|
_FORCE_INLINE_ real_t get_total_mass() const { return total_mass; }
|
|
|
|
void set_linear_stiffness(real_t p_val);
|
|
_FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
|
|
|
|
void set_areaAngular_stiffness(real_t p_val);
|
|
_FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; }
|
|
|
|
void set_volume_stiffness(real_t p_val);
|
|
_FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_stiffness; }
|
|
|
|
void set_simulation_precision(int p_val);
|
|
_FORCE_INLINE_ int get_simulation_precision() const { return simulation_precision; }
|
|
|
|
void set_pressure_coefficient(real_t p_val);
|
|
_FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; }
|
|
|
|
void set_pose_matching_coefficient(real_t p_val);
|
|
_FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_coefficient; }
|
|
|
|
void set_damping_coefficient(real_t p_val);
|
|
_FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; }
|
|
|
|
void set_drag_coefficient(real_t p_val);
|
|
_FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; }
|
|
|
|
private:
|
|
void set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices);
|
|
void setup_soft_body();
|
|
|
|
void pin_node(int p_node_index);
|
|
void unpin_node(int p_node_index);
|
|
int search_node_pinned(int p_node_index) const;
|
|
};
|
|
|
|
#endif // SOFT_BODY_BULLET_H
|