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Diffstat (limited to 'Source/Physics/bulletworld.h')
| -rw-r--r-- | Source/Physics/bulletworld.h | 222 |
1 files changed, 222 insertions, 0 deletions
diff --git a/Source/Physics/bulletworld.h b/Source/Physics/bulletworld.h new file mode 100644 index 00000000..7c62bafa --- /dev/null +++ b/Source/Physics/bulletworld.h @@ -0,0 +1,222 @@ +//----------------------------------------------------------------------------- +// Name: bulletworld.h +// Developer: Wolfire Games LLC +// Description: +// License: Read below +//----------------------------------------------------------------------------- +// +// Copyright 2022 Wolfire Games LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +//----------------------------------------------------------------------------- +#pragma once + +#include <Math/vec3.h> +#include <Math/mat4.h> + +#include <Physics/bulletcollision.h> +#include <Physics/bulletobject.h> + +#include <Asset/Asset/texture.h> + +#include <BulletSoftBody/btSoftBody.h> +#include <BulletSoftBody/btSoftRigidDynamicsWorld.h> +#include <LinearMath/btAlignedObjectArray.h> +#include <opengl.h> + +#include <memory> +#include <list> +#include <vector> +#include <set> + +class btBroadphaseInterface; +class btCollisionDispatcher; +class btConstraintSolver; +class btDefaultCollisionConfiguration; +class btDiscreteDynamicsWorld; +class btCollisionShape; +class BulletObject; +class Model; +class ContactSlideCallback; +class ContactInfoCallback; +class SweptSlideCallback; +struct SlideCollisionInfo; +struct SimpleRayResultCallbackInfo; +class btPoint2PointConstraint; +class btTypedConstraint; +class btCollisionObject; +class btManifoldPoint; +class btShapeHull; +class btBvhTriangleMeshShape; +class btCompoundShape; +class btConvexHullShape; +class btConvexShape; +class btRigidBody; +class btGImpactMeshShape; + +typedef unsigned char BWFlags; + +const int DecalsOnlyFilter = (1<<6); + +struct CollideInfo { + vec3 normal; + bool true_impact; +}; + +enum BWFlagValues { + BW_NO_FLAGS = 0, + BW_NO_STATIC_COLLISIONS = (1<<0), + BW_NO_DYNAMIC_COLLISIONS = (1<<1), + BW_STATIC = (1<<3), + BW_DECALS_ONLY = (1<<4), + BW_ABSTRACT_ITEM = (1<<5) +}; + +class BulletWorld { +public: + BulletWorld(); + ~BulletWorld(); + + void Init(); + void Dispose(); + + void Update( float timestep); + void Draw(const TextureRef& light_cube); + + // Collision checks + vec3 CheckCapsuleCollision(const vec3 &start, const vec3 &end, float radius); + vec3 CheckCapsuleCollisionSlide(const vec3 &start, const vec3 &end, float radius); + const btCollisionObject* CheckRayCollision( const vec3 &start, const vec3 &end, vec3 *point = NULL, vec3 *normal = NULL, bool static_col = true) const; + void CheckRayCollisionInfo( const vec3 &start, const vec3 &end, SimpleRayResultCallbackInfo &cb, bool static_only = true); + void CheckRayTriCollisionInfo( const vec3 &start, const vec3 &end, SimpleRayTriResultCallback &cb, bool static_only = true); + vec3 CheckSphereCollisionSlide(const vec3 &start, float radius); + void GetSphereCollisions(const vec3 &pos, float radius, btCollisionWorld::ContactResultCallback &cb); + void GetSweptSphereCollisions(const vec3 &start, const vec3 &end, float radius, SweptSlideCallback &callback); + void GetSweptBoxCollisions(const vec3 &start, const vec3 &end, const vec3 &dimensions, SweptSlideCallback &callback); + void GetSweptShapeCollisions(const vec3 &start, const vec3 &end, const btConvexShape &shape, SweptSlideCallback &callback); + void GetSweptCylinderCollisions(const vec3 &start, const vec3 &end, float radius, float height, SweptSlideCallback &callback); + void GetShapeCollisions(const vec3 &pos, btCollisionShape& shape, btCollisionWorld::ContactResultCallback &callback); + void GetShapeCollisions(const mat4 &_transform, btCollisionShape& shape, btCollisionWorld::ContactResultCallback &callback); + void GetCylinderCollisions(const vec3 &pos, float radius, float height, ContactSlideCallback &callback); + bool CheckCollision( BulletObject* obj_a, BulletObject* obj_b ); + int CheckRayCollisionObj( const vec3 &start, const vec3 &end, const BulletObject& obj, vec3 *point, vec3 *normal); + void SphereCollisionTriList(const vec3 &pos, float radius, TriListResults &tri_list); + void BoxCollisionTriList(const vec3 &pos, const vec3 &dimensions, TriListResults &tri_list); + void GetBoxCollisions( const vec3 &pos, const vec3 &dimensions, btCollisionWorld::ContactResultCallback &cb ); + void GetPairCollisions( btCollisionObject& a, btCollisionObject& b, btCollisionWorld::ContactResultCallback &cb ); + void GetScaledSphereCollisions(const vec3 &pos, float radius, const vec3 &scale, btCollisionWorld::ContactResultCallback &callback); + std::map<void*, std::set<void*> > &GetCollisions(); + void GetConvexHullCollisions( const std::string &path, const mat4 &transform, btCollisionWorld::ContactResultCallback &cb ); + // Collision response + vec3 ApplySphereSlide(const vec3 &pos, float radius, SlideCollisionInfo& info); + vec3 ApplyScaledSphereSlide(const vec3 &pos, float radius, const vec3 &scale, SlideCollisionInfo& info); + // Creating objects + BulletObject* CreateBox(const vec3 &position, const vec3 &dimensions, BWFlags flags = 0); + BulletObject* CreateRigidBody( SharedShapePtr shape, float mass, BWFlags flags = 0, vec3 *com = NULL); + BulletObject* CreateCapsule(vec3 start, vec3 end, float radius, float mass = 1.0f, BWFlags flags = 0, vec3 *com = NULL); + BulletObject* CreatePlane( const vec3& normal, float d ); + BulletObject* CreateConvexModel( vec3 pos, std::string path, vec3 *offset = NULL, BWFlags flags = 0 ); + btBvhTriangleMeshShape* CreateMeshShape( const Model *the_mesh, ShapeDisposalData &data); + BulletObject* CreateStaticHull( const std::string &path); + BulletObject* CreateConvexObject( const std::vector<vec3> &verts, const std::vector<int> &faces, bool is_static = false); + BulletObject* CreateSphere( const vec3 &position, float radius, BWFlags flags); + BulletObject* CreateStaticMesh( const Model *the_mesh, int id, BWFlags flags); + // Creating constraints + btTypedConstraint* AddBallJoint( BulletObject* obj_a, BulletObject* obj_b, const vec3 &world_point ); + btTypedConstraint* AddFixedJoint( BulletObject* obj_a, BulletObject* obj_b, const vec3 &anchor ); + btTypedConstraint* AddNullConstraint( BulletObject* obj_a, BulletObject* obj_b ); + btTypedConstraint* AddHingeJoint( BulletObject* obj_a, BulletObject* obj_b, const vec3 &anchor, const vec3 &axis, float low_limit, float high_limit, float *initial_angle_ptr ); + btTypedConstraint* AddAngleConstraints( BulletObject* obj_a, BulletObject* obj_b, const vec3 &anchor, float limit ); + btTypedConstraint* AddAngularStop(BulletObject* obj_a, BulletObject* obj_b, const vec3& _anchor, const vec3& axis1, const vec3& axis2, const vec3& axis3, float low_stop, float high_stop); + void CreateTempDragConstraint( BulletObject* obj, const vec3 &from, const vec3 &to ); + void CreateBoneConstraint( BulletObject* obj, const vec3 &from, const vec3 &to ); + void CreateSpikeConstraint( BulletObject* obj, const vec3 &from, const vec3 &to, const vec3 &pos ); + void ClearBoneConstraints(); + // Manipulating constraints + void RemoveJoint( btTypedConstraint** bt_joint ); + void ApplyD6Torque( btTypedConstraint* constraint, float axis_0_torque ); + vec3 GetD6Axis( btTypedConstraint* constraint, int which ); + void CreateD6TempTwist( btTypedConstraint* constraint, float how_much ); + vec3 GetConstraintAnchor( btTypedConstraint* joint ); + void SetD6Limits( btTypedConstraint* joint, vec3 low, vec3 high ); + void RemoveTempConstraints(); + static void UpdateFixedJoint( btTypedConstraint* _constraint, const mat4 &mat_a, const mat4 &mat_b ); + void SetJointStrength( btTypedConstraint* joint, float strength ); + // Update functions + void HandleCollisionEffects(); + void UpdateBulletObjectTransforms(); + void HandleContactEffect(const btCollisionObject* obj_a, const btCollisionObject* obj_b, const btManifoldPoint& pt); + void UpdateAABB(); + // Linking and unlinking + void UnlinkObject( BulletObject* bullet_object ); + void LinkObject( BulletObject* bullet_object ); + void LinkConstraint( btTypedConstraint* constraint ); + void UnlinkConstraint( btTypedConstraint* constraint ); + void UnlinkObjectPermanent( BulletObject* bullet_object ); + void RemoveObject( BulletObject** _bullet_object ); + void RemoveStaticObject( BulletObject** _bullet_object ); + // Misc + void SetGravity(const vec3 &gravity); + void MergeShape( BulletObject& a, const BulletObject& b ); + void UpdateSingleAABB( BulletObject* bullet_object ); + int NumObjects(); + void FinalizeStaticEntries(); + static mat4 GetCapsuleTransform(vec3 start, vec3 end); + static btGImpactMeshShape* CreateDynamicMeshShape( std::vector<int> &indices, std::vector<float> &vertices, ShapeDisposalData &data); + btSoftBody* AddCloth(const vec3 &pos); + void CreateCustomHullShape( const std::string& key, const std::vector<vec3>& points); +public: + btSoftBodyWorldInfo soft_body_world_info_; +#ifdef ALLOW_SOFTBODY + btSoftRigidDynamicsWorld* dynamics_world_; +#else + btDiscreteDynamicsWorld* dynamics_world_; +#endif + btBroadphaseInterface* broadphase_interface_; + btCollisionDispatcher* collision_dispatcher_; + btConstraintSolver* constraint_solver_; + btDefaultCollisionConfiguration* collision_configuration_; + + typedef std::list<BulletObject*> BulletObjectList; + BulletObjectList dynamic_objects_; + BulletObjectList static_objects_; + + std::vector<std::pair<BulletObject*,btTypedConstraint*> >temp_constraints_; + std::vector<std::pair<BulletObject*,btTypedConstraint*> >fixed_constraints_; + + struct StaticEntry { + int model_id; + mat4 transform; + void *owner_object; + }; + + std::vector<StaticEntry> static_entries; + std::vector<int> vert_indices; + std::vector<float> vertices; + BulletObject* merged_obj; + + std::map<void*, std::set<void*> > collision_report_; + typedef std::map<std::string, btConvexHullShape*> HullShapeCacheMap; + HullShapeCacheMap hull_shape_cache_; + + btConvexHullShape& GetHullShape( const std::string & path ); + void Reset(); +}; + +GLuint CreateHullDisplayList( btShapeHull * hull ); +btConvexHullShape* CreateConvexHullShape(const std::string &path, GLuint *display_list, vec3 *offset = NULL); +btConvexHullShape* CreateConvexHullShape(const std::vector<vec3> &verts); +mat4 GetBoneMat(const vec3 &start, const vec3 &end); + +void GetSimplifiedHull(const std::vector<vec3> &input, std::vector<vec3> &output, std::vector<int> &faces); |