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8d0d6d6921
- Flushing Areas before anything else. - Make sure to correctly fetch gravity when the integrate_forces function is used - Lazy reload body when layer and mask changes - Shapes are reloaded just before the physics step starts. - Improved some other parts of the code. - Added override keyword - Using LocalVector
161 lines
6.6 KiB
C++
161 lines
6.6 KiB
C++
/*************************************************************************/
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/* soft_body_bullet.h */
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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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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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#include "collision_object_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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#include "scene/resources/mesh.h"
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#include "servers/physics_server_3d.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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/**
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@author AndreaCatania
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*/
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class SoftBodyBullet : public CollisionObjectBullet {
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private:
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btSoftBody *bt_soft_body = nullptr;
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LocalVector<Vector<int>> indices_table;
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btSoftBody::Material *mat0; // This is just a copy of pointer managed by btSoftBody
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bool isScratched = false;
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Ref<Mesh> soft_mesh;
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int simulation_precision = 5;
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real_t total_mass = 1.;
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real_t linear_stiffness = 0.5; // [0,1]
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real_t areaAngular_stiffness = 0.5; // [0,1]
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real_t volume_stiffness = 0.5; // [0,1]
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real_t pressure_coefficient = 0.; // [-inf,+inf]
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real_t pose_matching_coefficient = 0.; // [0,1]
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real_t damping_coefficient = 0.01; // [0,1]
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real_t drag_coefficient = 0.; // [0,1]
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LocalVector<int> pinned_nodes;
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// Other property to add
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//btScalar kVC; // Volume conversation coefficient [0,+inf]
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//btScalar kDF; // Dynamic friction coefficient [0,1]
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//btScalar kMT; // Pose matching coefficient [0,1]
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//btScalar kCHR; // Rigid contacts hardness [0,1]
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//btScalar kKHR; // Kinetic contacts hardness [0,1]
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//btScalar kSHR; // Soft contacts hardness [0,1]
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public:
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SoftBodyBullet();
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~SoftBodyBullet();
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virtual void do_reload_body() override;
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virtual void set_space(SpaceBullet *p_space) override;
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virtual void do_reload_collision_filters() override {}
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virtual void on_collision_checker_start() override {}
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virtual void on_collision_checker_end() override {}
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virtual void on_enter_area(AreaBullet *p_area) override;
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virtual void on_exit_area(AreaBullet *p_area) override;
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_FORCE_INLINE_ btSoftBody *get_bt_soft_body() const { return bt_soft_body; }
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void update_rendering_server(class SoftBodyRenderingServerHandler *p_rendering_server_handler);
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void set_soft_mesh(const Ref<Mesh> &p_mesh);
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void destroy_soft_body();
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// Special function. This function has bad performance
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void set_soft_transform(const Transform &p_transform);
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void move_all_nodes(const Transform &p_transform);
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void set_node_position(int node_index, const Vector3 &p_global_position);
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void set_node_position(int node_index, const btVector3 &p_global_position);
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void get_node_position(int node_index, Vector3 &r_position) const;
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// Heavy function, Please cache this info
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void get_node_offset(int node_index, Vector3 &r_offset) const;
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// Heavy function, Please cache this info
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void get_node_offset(int node_index, btVector3 &r_offset) const;
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void set_node_mass(int node_index, btScalar p_mass);
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btScalar get_node_mass(int node_index) const;
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void reset_all_node_mass();
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void reset_all_node_positions();
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void set_activation_state(bool p_active);
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void set_total_mass(real_t p_val);
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_FORCE_INLINE_ real_t get_total_mass() const { return total_mass; }
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void set_linear_stiffness(real_t p_val);
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_FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
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void set_areaAngular_stiffness(real_t p_val);
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_FORCE_INLINE_ real_t get_areaAngular_stiffness() const { return areaAngular_stiffness; }
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void set_volume_stiffness(real_t p_val);
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_FORCE_INLINE_ real_t get_volume_stiffness() const { return volume_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_pose_matching_coefficient(real_t p_val);
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_FORCE_INLINE_ real_t get_pose_matching_coefficient() const { return pose_matching_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 set_trimesh_body_shape(Vector<int> p_indices, Vector<Vector3> p_vertices);
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void setup_soft_body();
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void pin_node(int p_node_index);
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void unpin_node(int p_node_index);
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int search_node_pinned(int p_node_index) const;
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};
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#endif // SOFT_BODY_BULLET_H
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