/**************************************************************************/
/* jolt_soft_body_3d.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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. */
/**************************************************************************/
#pragma once
#include "jolt_object_3d.h"
#include "servers/physics_3d/physics_server_3d.h"
#include <Jolt/Jolt.h>
#include <Jolt/Physics/SoftBody/SoftBodyCreationSettings.h>
#include <Jolt/Physics/SoftBody/SoftBodySharedSettings.h>
class JoltArea3D;
class JoltSpace3D;
class JoltSoftBody3D final : public JoltObject3D {
HashSet<int> pinned_vertices;
LocalVector<int> mesh_to_physics;
LocalVector<JoltArea3D *> areas;
LocalVector<Vector3> normals;
LocalVector<RID> exceptions;
RID mesh;
JPH::SoftBodyCreationSettings *jolt_settings = new JPH::SoftBodyCreationSettings();
float mass = 1.0f;
float pressure = 0.0f;
float linear_damping = 0.01f;
float stiffness_coefficient = 0.5f;
float shrinking_factor = 0.0f;
int simulation_precision = 5;
virtual JPH::BroadPhaseLayer _get_broad_phase_layer() const override;
virtual JPH::ObjectLayer _get_object_layer() const override;
virtual void _space_changing() override;
virtual void _space_changed() override;
virtual void _add_to_space() override;
JPH::SoftBodySharedSettings *_create_shared_settings();
void _apply_environmental_forces(float p_step);
void _update_mass();
void _update_pressure();
void _update_damping();
void _update_simulation_precision();
void _update_group_filter();
void _try_rebuild();
void _mesh_changed();
void _simulation_precision_changed();
void _mass_changed();
void _pressure_changed();
void _damping_changed();
void _pins_changed();
void _vertices_changed();
void _exceptions_changed();
void _motion_changed();
void _transform_changed();
void _areas_changed();
public:
JoltSoftBody3D();
virtual ~JoltSoftBody3D() override;
void add_collision_exception(const RID &p_excepted_body);
void remove_collision_exception(const RID &p_excepted_body);
bool has_collision_exception(const RID &p_excepted_body) const;
const LocalVector<RID> &get_collision_exceptions() const { return exceptions; }
void add_area(JoltArea3D *p_area);
void remove_area(JoltArea3D *p_area);
virtual bool can_interact_with(const JoltBody3D &p_other) const override;
virtual bool can_interact_with(const JoltSoftBody3D &p_other) const override;
virtual bool can_interact_with(const JoltArea3D &p_other) const override;
virtual bool reports_contacts() const override { return false; }
virtual Vector3 get_velocity_at_position(const Vector3 &p_position) const override;
virtual void pre_step(float p_step) override;
void set_mesh(const RID &p_mesh);
bool is_pickable() const { return pickable; }
void set_pickable(bool p_enabled) { pickable = p_enabled; }
bool is_sleeping() const;
void set_is_sleeping(bool p_enabled);
bool is_sleep_allowed() const;
void set_is_sleep_allowed(bool p_enabled);
void put_to_sleep() { set_is_sleeping(true); }
void wake_up() { set_is_sleeping(false); }
int get_simulation_precision() const { return simulation_precision; }
void set_simulation_precision(int p_precision);
float get_mass() const { return mass; }
void set_mass(float p_mass);
float get_stiffness_coefficient() const;
void set_stiffness_coefficient(float p_coefficient);
float get_shrinking_factor() const;
void set_shrinking_factor(float p_shrinking_factor);
float get_pressure() const { return pressure; }
void set_pressure(float p_pressure);
float get_linear_damping() const { return linear_damping; }
void set_linear_damping(float p_damping);
float get_drag() const;
void set_drag(float p_drag);
Variant get_state(PhysicsServer3D::BodyState p_state) const;
void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_value);
Transform3D get_transform() const;
void set_transform(const Transform3D &p_transform);
AABB get_bounds() const;
void update_rendering_server(PhysicsServer3DRenderingServerHandler *p_rendering_server_handler);
Vector3 get_vertex_position(int p_index);
void set_vertex_position(int p_index, const Vector3 &p_position);
void pin_vertex(int p_index);
void unpin_vertex(int p_index);
void unpin_all_vertices();
bool is_vertex_pinned(int p_index) const;
void apply_vertex_impulse(int p_index, const Vector3 &p_impulse);
void apply_vertex_force(int p_index, const Vector3 &p_force);
void apply_central_impulse(const Vector3 &p_impulse);
void apply_central_force(const Vector3 &p_force);
};