void SoftBodyBullet::setup_soft_body() {
if (!bt_soft_body)
return;
// Soft body setup
setupBulletCollisionObject(bt_soft_body);
bt_soft_body->m_worldInfo = NULL; // Remove fake world info
bt_soft_body->getCollisionShape()->setMargin(0.01);
bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
// Space setup
if (space) {
space->add_soft_body(this);
}
mat0 = bt_soft_body->appendMaterial();
// Assign soft body data
bt_soft_body->generateBendingConstraints(2, mat0);
mat0->m_kLST = linear_stiffness;
mat0->m_kAST = areaAngular_stiffness;
mat0->m_kVST = volume_stiffness;
// Clusters allow to have Soft vs Soft collision but doesn't work well right now
//bt_soft_body->m_cfg.kSRHR_CL = 1;// Soft vs rigid hardness [0,1] (cluster only)
//bt_soft_body->m_cfg.kSKHR_CL = 1;// Soft vs kinematic hardness [0,1] (cluster only)
//bt_soft_body->m_cfg.kSSHR_CL = 1;// Soft vs soft hardness [0,1] (cluster only)
//bt_soft_body->m_cfg.kSR_SPLT_CL = 1; // Soft vs rigid impulse split [0,1] (cluster only)
//bt_soft_body->m_cfg.kSK_SPLT_CL = 1; // Soft vs kinematic impulse split [0,1] (cluster only)
//bt_soft_body->m_cfg.kSS_SPLT_CL = 1; // Soft vs Soft impulse split [0,1] (cluster only)
//bt_soft_body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS + btSoftBody::fCollision::VF_SS;
//bt_soft_body->generateClusters(64);
bt_soft_body->m_cfg.piterations = simulation_precision;
bt_soft_body->m_cfg.viterations = simulation_precision;
bt_soft_body->m_cfg.diterations = simulation_precision;
bt_soft_body->m_cfg.citerations = simulation_precision;
bt_soft_body->m_cfg.kDP = damping_coefficient;
bt_soft_body->m_cfg.kDG = drag_coefficient;
bt_soft_body->m_cfg.kPR = pressure_coefficient;
bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
bt_soft_body->setTotalMass(total_mass);
btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body);
bt_soft_body->updateBounds();
// Set pinned nodes
for (int i = pinned_nodes.size() - 1; 0 <= i; --i) {
bt_soft_body->setMass(pinned_nodes[i], 0);
}
}
void SoftBodyBullet::create_soft_body() {
if (!space || !soft_body_shape_data) {
return;
}
ERR_FAIL_COND(!space->is_using_soft_world());
switch (soft_shape_type) {
case SOFT_SHAPE_TYPE_TRIMESH: {
TrimeshSoftShapeData *trimesh_data = static_cast<TrimeshSoftShapeData *>(soft_body_shape_data);
Vector<int> indices;
Vector<btScalar> vertices;
int i;
const int indices_size = trimesh_data->m_triangles_indices.size();
const int vertices_size = trimesh_data->m_vertices.size();
indices.resize(indices_size);
vertices.resize(vertices_size * 3);
PoolVector<int>::Read i_r = trimesh_data->m_triangles_indices.read();
for (i = 0; i < indices_size; ++i) {
indices[i] = i_r[i];
}
i_r = PoolVector<int>::Read();
PoolVector<Vector3>::Read f_r = trimesh_data->m_vertices.read();
for (int j = i = 0; i < vertices_size; ++i, j += 3) {
vertices[j + 0] = f_r[i][0];
vertices[j + 1] = f_r[i][1];
vertices[j + 2] = f_r[i][2];
}
f_r = PoolVector<Vector3>::Read();
bt_soft_body = btSoftBodyHelpers::CreateFromTriMesh(*space->get_soft_body_world_info(), vertices.ptr(), indices.ptr(), trimesh_data->m_triangles_num);
} break;
default:
ERR_PRINT("Shape type not supported");
return;
}
setupBulletCollisionObject(bt_soft_body);
bt_soft_body->getCollisionShape()->setMargin(0.001f);
bt_soft_body->setCollisionFlags(bt_soft_body->getCollisionFlags() & (~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT)));
mat0 = bt_soft_body->appendMaterial();
}
RigidBodyBullet::RigidBodyBullet() :
RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_RIGID_BODY),
kinematic_utilities(NULL),
locked_axis(0),
gravity_scale(1),
mass(1),
linearDamp(0),
angularDamp(0),
can_sleep(true),
omit_forces_integration(false),
restitution_combine_mode(PhysicsServer::COMBINE_MODE_INHERIT),
friction_combine_mode(PhysicsServer::COMBINE_MODE_INHERIT),
force_integration_callback(NULL),
isTransformChanged(false),
previousActiveState(true),
maxCollisionsDetection(0),
collisionsCount(0),
maxAreasWhereIam(10),
areaWhereIamCount(0),
countGravityPointSpaces(0),
isScratchedSpaceOverrideModificator(false) {
godotMotionState = bulletnew(GodotMotionState(this));
// Initial properties
const btVector3 localInertia(0, 0, 0);
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, godotMotionState, compoundShape, localInertia);
btBody = bulletnew(btRigidBody(cInfo));
setupBulletCollisionObject(btBody);
set_mode(PhysicsServer::BODY_MODE_RIGID);
reload_axis_lock();
areasWhereIam.resize(maxAreasWhereIam);
for (int i = areasWhereIam.size() - 1; 0 <= i; --i) {
areasWhereIam.write[i] = NULL;
}
btBody->setSleepingThresholds(0.2, 0.2);
}
AreaBullet::AreaBullet() :
RigidCollisionObjectBullet(CollisionObjectBullet::TYPE_AREA),
monitorable(true),
isScratched(false),
spOv_mode(PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED),
spOv_gravityPoint(false),
spOv_gravityPointDistanceScale(0),
spOv_gravityPointAttenuation(1),
spOv_gravityVec(0, -1, 0),
spOv_gravityMag(10),
spOv_linearDump(0.1),
spOv_angularDump(1),
spOv_priority(0) {
btGhost = bulletnew(btGhostObject);
btGhost->setCollisionShape(compoundShape);
setupBulletCollisionObject(btGhost);
/// Collision objects with a callback still have collision response with dynamic rigid bodies.
/// In order to use collision objects as trigger, you have to disable the collision response.
set_collision_enabled(false);
for (int i = 0; i < 5; ++i)
call_event_res_ptr[i] = &call_event_res[i];
}
