|
@@ -1,410 +0,0 @@
|
|
|
-/*************************************************************************/
|
|
|
-/* test_physics_3d.cpp */
|
|
|
-/*************************************************************************/
|
|
|
-/* This file is part of: */
|
|
|
-/* GODOT ENGINE */
|
|
|
-/* https://godotengine.org */
|
|
|
-/*************************************************************************/
|
|
|
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
|
|
|
-/* Copyright (c) 2014-2022 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. */
|
|
|
-/*************************************************************************/
|
|
|
-
|
|
|
-#include "test_physics_3d.h"
|
|
|
-
|
|
|
-#include "core/math/convex_hull.h"
|
|
|
-#include "core/math/geometry_3d.h"
|
|
|
-#include "core/os/main_loop.h"
|
|
|
-#include "servers/physics_server_3d.h"
|
|
|
-#include "servers/rendering_server.h"
|
|
|
-
|
|
|
-class TestPhysics3DMainLoop : public MainLoop {
|
|
|
- GDCLASS(TestPhysics3DMainLoop, MainLoop);
|
|
|
-
|
|
|
- enum {
|
|
|
- LINK_COUNT = 20,
|
|
|
- };
|
|
|
-
|
|
|
- RID test_cube;
|
|
|
-
|
|
|
- RID plane;
|
|
|
- RID sphere;
|
|
|
- RID light;
|
|
|
- RID camera;
|
|
|
- RID mover;
|
|
|
- RID scenario;
|
|
|
- RID space;
|
|
|
-
|
|
|
- RID character;
|
|
|
-
|
|
|
- real_t ofs_x, ofs_y;
|
|
|
-
|
|
|
- Point2 joy_direction;
|
|
|
-
|
|
|
- List<RID> bodies;
|
|
|
- Map<PhysicsServer3D::ShapeType, RID> type_shape_map;
|
|
|
- Map<PhysicsServer3D::ShapeType, RID> type_mesh_map;
|
|
|
-
|
|
|
- void body_changed_transform(Object *p_state, RID p_visual_instance) {
|
|
|
- PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state;
|
|
|
- RenderingServer *vs = RenderingServer::get_singleton();
|
|
|
- Transform3D t = state->get_transform();
|
|
|
- vs->instance_set_transform(p_visual_instance, t);
|
|
|
- }
|
|
|
-
|
|
|
- bool quit;
|
|
|
-
|
|
|
-protected:
|
|
|
- RID create_body(PhysicsServer3D::ShapeType p_shape, PhysicsServer3D::BodyMode p_body, const Transform3D p_location, bool p_active_default = true, const Transform3D &p_shape_xform = Transform3D()) {
|
|
|
- RenderingServer *vs = RenderingServer::get_singleton();
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
-
|
|
|
- RID mesh_instance = vs->instance_create2(type_mesh_map[p_shape], scenario);
|
|
|
- RID body = ps->body_create();
|
|
|
- ps->body_set_mode(body, p_body);
|
|
|
- ps->body_set_state(body, PhysicsServer3D::BODY_STATE_SLEEPING, !p_active_default);
|
|
|
- ps->body_set_space(body, space);
|
|
|
- ps->body_set_param(body, PhysicsServer3D::BODY_PARAM_BOUNCE, 0.0);
|
|
|
- //todo set space
|
|
|
- ps->body_add_shape(body, type_shape_map[p_shape]);
|
|
|
- ps->body_set_force_integration_callback(body, callable_mp(this, &TestPhysics3DMainLoop::body_changed_transform), mesh_instance);
|
|
|
-
|
|
|
- ps->body_set_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM, p_location);
|
|
|
- bodies.push_back(body);
|
|
|
-
|
|
|
- if (p_body == PhysicsServer3D::BODY_MODE_STATIC) {
|
|
|
- vs->instance_set_transform(mesh_instance, p_location);
|
|
|
- }
|
|
|
- return body;
|
|
|
- }
|
|
|
-
|
|
|
- RID create_world_boundary(const Plane &p_plane) {
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
-
|
|
|
- RID world_boundary_shape = ps->shape_create(PhysicsServer3D::SHAPE_WORLD_BOUNDARY);
|
|
|
- ps->shape_set_data(world_boundary_shape, p_plane);
|
|
|
-
|
|
|
- RID b = ps->body_create();
|
|
|
- ps->body_set_mode(b, PhysicsServer3D::BODY_MODE_STATIC);
|
|
|
-
|
|
|
- ps->body_set_space(b, space);
|
|
|
- ps->body_add_shape(b, world_boundary_shape);
|
|
|
- return b;
|
|
|
- }
|
|
|
-
|
|
|
- void configure_body(RID p_body, real_t p_mass, real_t p_friction, real_t p_bounce) {
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
- ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_MASS, p_mass);
|
|
|
- ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_FRICTION, p_friction);
|
|
|
- ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_BOUNCE, p_bounce);
|
|
|
- }
|
|
|
-
|
|
|
- void initialize_shapes() {
|
|
|
- RenderingServer *vs = RenderingServer::get_singleton();
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
-
|
|
|
- /* SPHERE SHAPE */
|
|
|
- RID sphere_mesh = vs->make_sphere_mesh(10, 20, 0.5);
|
|
|
- type_mesh_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_mesh;
|
|
|
-
|
|
|
- RID sphere_shape = ps->shape_create(PhysicsServer3D::SHAPE_SPHERE);
|
|
|
- ps->shape_set_data(sphere_shape, 0.5);
|
|
|
- type_shape_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_shape;
|
|
|
-
|
|
|
- /* BOX SHAPE */
|
|
|
-
|
|
|
- Vector<Plane> box_planes = Geometry3D::build_box_planes(Vector3(0.5, 0.5, 0.5));
|
|
|
- RID box_mesh = vs->mesh_create();
|
|
|
- Geometry3D::MeshData box_data = Geometry3D::build_convex_mesh(box_planes);
|
|
|
- vs->mesh_add_surface_from_mesh_data(box_mesh, box_data);
|
|
|
- type_mesh_map[PhysicsServer3D::SHAPE_BOX] = box_mesh;
|
|
|
-
|
|
|
- RID box_shape = ps->shape_create(PhysicsServer3D::SHAPE_BOX);
|
|
|
- ps->shape_set_data(box_shape, Vector3(0.5, 0.5, 0.5));
|
|
|
- type_shape_map[PhysicsServer3D::SHAPE_BOX] = box_shape;
|
|
|
-
|
|
|
- /* CAPSULE SHAPE */
|
|
|
-
|
|
|
- Vector<Plane> capsule_planes = Geometry3D::build_capsule_planes(0.5, 0.7, 12, Vector3::AXIS_Z);
|
|
|
-
|
|
|
- RID capsule_mesh = vs->mesh_create();
|
|
|
- Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes);
|
|
|
- vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data);
|
|
|
-
|
|
|
- type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh;
|
|
|
-
|
|
|
- RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE);
|
|
|
- Dictionary capsule_params;
|
|
|
- capsule_params["radius"] = 0.5;
|
|
|
- capsule_params["height"] = 1.4;
|
|
|
- ps->shape_set_data(capsule_shape, capsule_params);
|
|
|
- type_shape_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_shape;
|
|
|
-
|
|
|
- /* CONVEX SHAPE */
|
|
|
-
|
|
|
- Vector<Plane> convex_planes = Geometry3D::build_cylinder_planes(0.5, 0.7, 5, Vector3::AXIS_Z);
|
|
|
-
|
|
|
- RID convex_mesh = vs->mesh_create();
|
|
|
- Geometry3D::MeshData convex_data = Geometry3D::build_convex_mesh(convex_planes);
|
|
|
- ConvexHullComputer::convex_hull(convex_data.vertices, convex_data);
|
|
|
- vs->mesh_add_surface_from_mesh_data(convex_mesh, convex_data);
|
|
|
-
|
|
|
- type_mesh_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_mesh;
|
|
|
-
|
|
|
- RID convex_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONVEX_POLYGON);
|
|
|
- ps->shape_set_data(convex_shape, convex_data.vertices);
|
|
|
- type_shape_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_shape;
|
|
|
- }
|
|
|
-
|
|
|
- void make_trimesh(Vector<Vector3> p_faces, const Transform3D &p_xform = Transform3D()) {
|
|
|
- RenderingServer *vs = RenderingServer::get_singleton();
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
- RID trimesh_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONCAVE_POLYGON);
|
|
|
- Dictionary trimesh_params;
|
|
|
- trimesh_params["faces"] = p_faces;
|
|
|
- trimesh_params["backface_collision"] = false;
|
|
|
- ps->shape_set_data(trimesh_shape, trimesh_params);
|
|
|
- Vector<Vector3> normals; // for drawing
|
|
|
- for (int i = 0; i < p_faces.size() / 3; i++) {
|
|
|
- Plane p(p_faces[i * 3 + 0], p_faces[i * 3 + 1], p_faces[i * 3 + 2]);
|
|
|
- normals.push_back(p.normal);
|
|
|
- normals.push_back(p.normal);
|
|
|
- normals.push_back(p.normal);
|
|
|
- }
|
|
|
-
|
|
|
- RID trimesh_mesh = vs->mesh_create();
|
|
|
- Array d;
|
|
|
- d.resize(RS::ARRAY_MAX);
|
|
|
- d[RS::ARRAY_VERTEX] = p_faces;
|
|
|
- d[RS::ARRAY_NORMAL] = normals;
|
|
|
- vs->mesh_add_surface_from_arrays(trimesh_mesh, RS::PRIMITIVE_TRIANGLES, d);
|
|
|
-
|
|
|
- RID triins = vs->instance_create2(trimesh_mesh, scenario);
|
|
|
-
|
|
|
- RID tribody = ps->body_create();
|
|
|
- ps->body_set_mode(tribody, PhysicsServer3D::BODY_MODE_STATIC);
|
|
|
- ps->body_set_space(tribody, space);
|
|
|
- //todo set space
|
|
|
- ps->body_add_shape(tribody, trimesh_shape);
|
|
|
- Transform3D tritrans = p_xform;
|
|
|
- ps->body_set_state(tribody, PhysicsServer3D::BODY_STATE_TRANSFORM, tritrans);
|
|
|
- vs->instance_set_transform(triins, tritrans);
|
|
|
- }
|
|
|
-
|
|
|
- void make_grid(int p_width, int p_height, real_t p_cellsize, real_t p_cellheight, const Transform3D &p_xform = Transform3D()) {
|
|
|
- Vector<Vector<real_t>> grid;
|
|
|
-
|
|
|
- grid.resize(p_width);
|
|
|
-
|
|
|
- for (int i = 0; i < p_width; i++) {
|
|
|
- grid.write[i].resize(p_height);
|
|
|
-
|
|
|
- for (int j = 0; j < p_height; j++) {
|
|
|
- grid.write[i].write[j] = 1.0 + Math::random(-p_cellheight, p_cellheight);
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- Vector<Vector3> faces;
|
|
|
-
|
|
|
- for (int i = 1; i < p_width; i++) {
|
|
|
- for (int j = 1; j < p_height; j++) {
|
|
|
-#define MAKE_VERTEX(m_x, m_z) \
|
|
|
- faces.push_back(Vector3((m_x - p_width / 2) * p_cellsize, grid[m_x][m_z], (m_z - p_height / 2) * p_cellsize))
|
|
|
-
|
|
|
- MAKE_VERTEX(i, j - 1);
|
|
|
- MAKE_VERTEX(i, j);
|
|
|
- MAKE_VERTEX(i - 1, j);
|
|
|
-
|
|
|
- MAKE_VERTEX(i - 1, j - 1);
|
|
|
- MAKE_VERTEX(i, j - 1);
|
|
|
- MAKE_VERTEX(i - 1, j);
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- make_trimesh(faces, p_xform);
|
|
|
- }
|
|
|
-
|
|
|
-public:
|
|
|
- virtual void input_event(const Ref<InputEvent> &p_event) {
|
|
|
- Ref<InputEventMouseMotion> mm = p_event;
|
|
|
- if (mm.is_valid() && (mm->get_button_mask() & MouseButton::MASK_MIDDLE) != MouseButton::NONE) {
|
|
|
- ofs_y -= mm->get_relative().y / 200.0;
|
|
|
- ofs_x += mm->get_relative().x / 200.0;
|
|
|
- }
|
|
|
-
|
|
|
- if (mm.is_valid() && (mm->get_button_mask() & MouseButton::MASK_LEFT) != MouseButton::NONE) {
|
|
|
- real_t y = -mm->get_relative().y / 20.0;
|
|
|
- real_t x = mm->get_relative().x / 20.0;
|
|
|
-
|
|
|
- if (mover.is_valid()) {
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
- Transform3D t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM);
|
|
|
- t.origin += Vector3(x, y, 0);
|
|
|
-
|
|
|
- ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t);
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- virtual void request_quit() {
|
|
|
- quit = true;
|
|
|
- }
|
|
|
- virtual void initialize() override {
|
|
|
- ofs_x = ofs_y = 0;
|
|
|
- initialize_shapes();
|
|
|
-
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
- space = ps->space_create();
|
|
|
- ps->space_set_active(space, true);
|
|
|
-
|
|
|
- RenderingServer *vs = RenderingServer::get_singleton();
|
|
|
-
|
|
|
- /* LIGHT */
|
|
|
- RID lightaux = vs->directional_light_create();
|
|
|
- scenario = vs->scenario_create();
|
|
|
- vs->light_set_shadow(lightaux, true);
|
|
|
- light = vs->instance_create2(lightaux, scenario);
|
|
|
- Transform3D t;
|
|
|
- t.rotate(Vector3(1.0, 0, 0), 0.6);
|
|
|
- vs->instance_set_transform(light, t);
|
|
|
-
|
|
|
- /* CAMERA */
|
|
|
-
|
|
|
- camera = vs->camera_create();
|
|
|
-
|
|
|
- RID viewport = vs->viewport_create();
|
|
|
- Size2i screen_size = DisplayServer::get_singleton()->window_get_size();
|
|
|
- vs->viewport_set_size(viewport, screen_size.x, screen_size.y);
|
|
|
- vs->viewport_attach_to_screen(viewport, Rect2(Vector2(), screen_size));
|
|
|
- vs->viewport_set_active(viewport, true);
|
|
|
- vs->viewport_attach_camera(viewport, camera);
|
|
|
- vs->viewport_set_scenario(viewport, scenario);
|
|
|
-
|
|
|
- vs->camera_set_perspective(camera, 60, 0.1, 40.0);
|
|
|
- vs->camera_set_transform(camera, Transform3D(Basis(), Vector3(0, 9, 12)));
|
|
|
-
|
|
|
- Transform3D gxf;
|
|
|
- gxf.basis.scale(Vector3(1.4, 0.4, 1.4));
|
|
|
- gxf.origin = Vector3(-2, 1, -2);
|
|
|
- make_grid(5, 5, 2.5, 1, gxf);
|
|
|
- test_fall();
|
|
|
- quit = false;
|
|
|
- }
|
|
|
- virtual bool physics_process(double p_time) override {
|
|
|
- if (mover.is_valid()) {
|
|
|
- static real_t joy_speed = 10;
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
- Transform3D t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM);
|
|
|
- t.origin += Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time, 0);
|
|
|
- ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t);
|
|
|
- };
|
|
|
-
|
|
|
- Transform3D cameratr;
|
|
|
- cameratr.rotate(Vector3(0, 1, 0), ofs_x);
|
|
|
- cameratr.rotate(Vector3(1, 0, 0), -ofs_y);
|
|
|
- cameratr.translate(Vector3(0, 2, 8));
|
|
|
- RenderingServer *vs = RenderingServer::get_singleton();
|
|
|
- vs->camera_set_transform(camera, cameratr);
|
|
|
-
|
|
|
- return quit;
|
|
|
- }
|
|
|
- virtual void finalize() override {
|
|
|
- }
|
|
|
-
|
|
|
- void test_joint() {
|
|
|
- }
|
|
|
-
|
|
|
- void test_hinge() {
|
|
|
- }
|
|
|
-
|
|
|
- void test_character() {
|
|
|
- RenderingServer *vs = RenderingServer::get_singleton();
|
|
|
- PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
|
|
|
-
|
|
|
- Vector<Plane> capsule_planes = Geometry3D::build_capsule_planes(0.5, 1, 12, 5, Vector3::AXIS_Y);
|
|
|
-
|
|
|
- RID capsule_mesh = vs->mesh_create();
|
|
|
- Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes);
|
|
|
- vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data);
|
|
|
- type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh;
|
|
|
-
|
|
|
- RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE);
|
|
|
- Dictionary capsule_params;
|
|
|
- capsule_params["radius"] = 0.5;
|
|
|
- capsule_params["height"] = 1;
|
|
|
- Transform3D shape_xform;
|
|
|
- shape_xform.rotate(Vector3(1, 0, 0), Math_PI / 2.0);
|
|
|
- //shape_xform.origin=Vector3(1,1,1);
|
|
|
- ps->shape_set_data(capsule_shape, capsule_params);
|
|
|
-
|
|
|
- RID mesh_instance = vs->instance_create2(capsule_mesh, scenario);
|
|
|
- character = ps->body_create();
|
|
|
- ps->body_set_mode(character, PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR);
|
|
|
- ps->body_set_space(character, space);
|
|
|
- //todo add space
|
|
|
- ps->body_add_shape(character, capsule_shape);
|
|
|
- ps->body_set_force_integration_callback(character, callable_mp(this, &TestPhysics3DMainLoop::body_changed_transform), mesh_instance);
|
|
|
-
|
|
|
- ps->body_set_state(character, PhysicsServer3D::BODY_STATE_TRANSFORM, Transform3D(Basis(), Vector3(-2, 5, -2)));
|
|
|
- bodies.push_back(character);
|
|
|
- }
|
|
|
-
|
|
|
- void test_fall() {
|
|
|
- for (int i = 0; i < 35; i++) {
|
|
|
- static const PhysicsServer3D::ShapeType shape_idx[] = {
|
|
|
- PhysicsServer3D::SHAPE_CAPSULE,
|
|
|
- PhysicsServer3D::SHAPE_BOX,
|
|
|
- PhysicsServer3D::SHAPE_SPHERE,
|
|
|
- PhysicsServer3D::SHAPE_CONVEX_POLYGON
|
|
|
- };
|
|
|
-
|
|
|
- PhysicsServer3D::ShapeType type = shape_idx[i % 4];
|
|
|
-
|
|
|
- Transform3D t;
|
|
|
-
|
|
|
- t.origin = Vector3(0.0 * i, 3.5 + 1.1 * i, 0.7 + 0.0 * i);
|
|
|
- t.basis.rotate(Vector3(0.2, -1, 0), Math_PI / 2 * 0.6);
|
|
|
-
|
|
|
- create_body(type, PhysicsServer3D::BODY_MODE_DYNAMIC, t);
|
|
|
- }
|
|
|
-
|
|
|
- create_world_boundary(Plane(Vector3(0, 1, 0), -1));
|
|
|
- }
|
|
|
-
|
|
|
- void test_activate() {
|
|
|
- create_body(PhysicsServer3D::SHAPE_BOX, PhysicsServer3D::BODY_MODE_DYNAMIC, Transform3D(Basis(), Vector3(0, 2, 0)), true);
|
|
|
- create_world_boundary(Plane(Vector3(0, 1, 0), -1));
|
|
|
- }
|
|
|
-
|
|
|
- virtual bool process(double p_time) override {
|
|
|
- return false;
|
|
|
- }
|
|
|
-
|
|
|
- TestPhysics3DMainLoop() {
|
|
|
- }
|
|
|
-};
|
|
|
-
|
|
|
-namespace TestPhysics3D {
|
|
|
-
|
|
|
-MainLoop *test() {
|
|
|
- return memnew(TestPhysics3DMainLoop);
|
|
|
-}
|
|
|
-} // namespace TestPhysics3D
|