Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) :
JointBullet() {
Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
btTransform btFrameA;
G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
G_TO_B(scaled_BFrame, btFrameB);
sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
} else {
sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), btFrameA, useLinearReferenceFrameA));
}
setup(sixDOFConstraint);
}
HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) :
JointBullet() {
Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
btTransform btFrameA;
G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
G_TO_B(scaled_BFrame, btFrameB);
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
} else {
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btFrameA));
}
setup(hingeConstraint);
}
SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB)
: JointBullet() {
btTransform btFrameA;
G_TO_B(frameInA, btFrameA);
if (rbB) {
btTransform btFrameB;
G_TO_B(frameInB, btFrameB);
sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true));
} else {
sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), btFrameA, true));
}
setup(sliderConstraint);
}
RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) {
SoftBodyBullet *body = bulletnew(SoftBodyBullet);
body->set_collision_layer(1);
body->set_collision_mask(1);
if (p_init_sleeping)
body->set_activation_state(false);
CreateThenReturnRID(soft_body_owner, body);
}
RID BulletPhysicsServer::body_create(BodyMode p_mode, bool p_init_sleeping) {
RigidBodyBullet *body = bulletnew(RigidBodyBullet);
body->set_mode(p_mode);
body->set_collision_layer(1);
body->set_collision_mask(1);
if (p_init_sleeping)
body->set_state(BODY_STATE_SLEEPING, p_init_sleeping);
CreateThenReturnRID(rigid_body_owner, body);
}
void SoftBodyBullet::set_trimesh_body_shape(PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) {
TrimeshSoftShapeData *shape_data = bulletnew(TrimeshSoftShapeData);
shape_data->m_triangles_indices = p_indices;
shape_data->m_vertices = p_vertices;
shape_data->m_triangles_num = p_triangles_num;
set_body_shape_data(shape_data, SOFT_SHAPE_TYPE_TRIMESH);
reload_soft_body();
}
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);
}
HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) :
JointBullet() {
btVector3 btPivotA;
btVector3 btAxisA;
G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA);
G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);
if (rbB) {
btVector3 btPivotB;
btVector3 btAxisB;
G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
G_TO_B(axisInB * rbB->get_body_scale(), btAxisB);
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB));
} else {
hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), btPivotA, btAxisA));
}
setup(hingeConstraint);
}
SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
JointBullet() {
Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
btTransform btFrameA;
G_TO_B(scaled_AFrame, btFrameA);
if (rbB) {
Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
btTransform btFrameB;
G_TO_B(scaled_BFrame, btFrameB);
sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true));
} else {
sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), btFrameA, true));
}
setup(sliderConstraint);
}
void RigidCollisionObjectBullet::reload_shapes() {
if (mainShape && mainShape->isCompound()) {
// Destroy compound
bulletdelete(mainShape);
}
mainShape = NULL;
ShapeWrapper *shpWrapper;
const int shape_count = shapes.size();
// Reset shape if required
if (force_shape_reset) {
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
bulletdelete(shpWrapper->bt_shape);
}
force_shape_reset = false;
}
const btVector3 body_scale(get_bt_body_scale());
// Try to optimize by not using compound
if (1 == shape_count) {
shpWrapper = &shapes.write[0];
if (shpWrapper->transform.getOrigin().isZero() && shpWrapper->transform.getBasis() == shpWrapper->transform.getBasis().getIdentity()) {
shpWrapper->claim_bt_shape(body_scale);
mainShape = shpWrapper->bt_shape;
main_shape_changed();
return;
}
}
// Optimization not possible use a compound shape
btCompoundShape *compoundShape = bulletnew(btCompoundShape(enableDynamicAabbTree, shape_count));
for (int i(0); i < shape_count; ++i) {
shpWrapper = &shapes.write[i];
shpWrapper->claim_bt_shape(body_scale);
btTransform scaled_shape_transform(shpWrapper->transform);
scaled_shape_transform.getOrigin() *= body_scale;
compoundShape->addChildShape(scaled_shape_transform, shpWrapper->bt_shape);
}
compoundShape->recalculateLocalAabb();
mainShape = compoundShape;
main_shape_changed();
}
RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
JointAssertSpace(body_A, "A", RID());
RigidBodyBullet *body_B = NULL;
if (p_body_B.is_valid()) {
body_B = rigid_body_owner.get(p_body_B);
JointAssertSpace(body_B, "B", RID());
JointAssertSameSpace(body_A, body_B, RID());
}
JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
AddJointToSpace(body_A, joint, true);
CreateThenReturnRID(joint_owner, joint);
}
RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
ShapeBullet *shape = NULL;
switch (p_shape) {
case SHAPE_PLANE: {
shape = bulletnew(PlaneShapeBullet);
} break;
case SHAPE_SPHERE: {
shape = bulletnew(SphereShapeBullet);
} break;
case SHAPE_BOX: {
shape = bulletnew(BoxShapeBullet);
} break;
case SHAPE_CAPSULE: {
shape = bulletnew(CapsuleShapeBullet);
} break;
case SHAPE_CONVEX_POLYGON: {
shape = bulletnew(ConvexPolygonShapeBullet);
} break;
case SHAPE_CONCAVE_POLYGON: {
shape = bulletnew(ConcavePolygonShapeBullet);
} break;
case SHAPE_HEIGHTMAP: {
shape = bulletnew(HeightMapShapeBullet);
} break;
case SHAPE_RAY: {
shape = bulletnew(RayShapeBullet);
} break;
case SHAPE_CUSTOM:
defaul:
ERR_FAIL_V(RID());
break;
}
CreateThenReturnRID(shape_owner, shape)
}
RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) {
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A, RID());
JointAssertSpace(body_A, "A", RID());
RigidBodyBullet *body_B = NULL;
if (p_body_B.is_valid()) {
body_B = rigid_body_owner.get(p_body_B);
JointAssertSpace(body_B, "B", RID());
JointAssertSameSpace(body_A, body_B, RID());
}
ERR_FAIL_COND_V(body_A == body_B, RID());
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
AddJointToSpace(body_A, joint, true);
CreateThenReturnRID(joint_owner, joint);
}
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];
}
RID BulletPhysicsServer::area_create() {
AreaBullet *area = bulletnew(AreaBullet);
area->set_collision_layer(1);
area->set_collision_mask(1);
CreateThenReturnRID(area_owner, area)
}
RID BulletPhysicsServer::space_create() {
SpaceBullet *space = bulletnew(SpaceBullet(false));
CreateThenReturnRID(space_owner, space);
}
