godot/scene/3d/physical_bone_simulator_3d.cpp
2024-06-11 14:43:17 +09:00

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/**************************************************************************/
/* physical_bone_simulator_3d.cpp */
/**************************************************************************/
/* 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. */
/**************************************************************************/
#include "physical_bone_simulator_3d.h"
void PhysicalBoneSimulator3D::_skeleton_changed(Skeleton3D *p_old, Skeleton3D *p_new) {
if (p_old) {
if (p_old->is_connected(SNAME("bone_list_changed"), callable_mp(this, &PhysicalBoneSimulator3D::_bone_list_changed))) {
p_old->disconnect(SNAME("bone_list_changed"), callable_mp(this, &PhysicalBoneSimulator3D::_bone_list_changed));
}
if (p_old->is_connected(SceneStringName(pose_updated), callable_mp(this, &PhysicalBoneSimulator3D::_pose_updated))) {
p_old->disconnect(SceneStringName(pose_updated), callable_mp(this, &PhysicalBoneSimulator3D::_pose_updated));
}
}
if (p_new) {
if (!p_new->is_connected(SNAME("bone_list_changed"), callable_mp(this, &PhysicalBoneSimulator3D::_bone_list_changed))) {
p_new->connect(SNAME("bone_list_changed"), callable_mp(this, &PhysicalBoneSimulator3D::_bone_list_changed));
}
if (!p_new->is_connected(SceneStringName(pose_updated), callable_mp(this, &PhysicalBoneSimulator3D::_pose_updated))) {
p_new->connect(SceneStringName(pose_updated), callable_mp(this, &PhysicalBoneSimulator3D::_pose_updated));
}
}
_bone_list_changed();
}
void PhysicalBoneSimulator3D::_bone_list_changed() {
bones.clear();
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return;
}
for (int i = 0; i < skeleton->get_bone_count(); i++) {
SimulatedBone sb;
sb.parent = skeleton->get_bone_parent(i);
sb.child_bones = skeleton->get_bone_children(i);
bones.push_back(sb);
}
_rebuild_physical_bones_cache();
_pose_updated();
}
void PhysicalBoneSimulator3D::_pose_updated() {
Skeleton3D *skeleton = get_skeleton();
if (!skeleton || simulating) {
return;
}
ERR_FAIL_COND(skeleton->get_bone_count() != bones.size());
for (int i = 0; i < skeleton->get_bone_count(); i++) {
bones.write[i].global_pose = skeleton->get_bone_global_pose(i);
}
}
void PhysicalBoneSimulator3D::_set_active(bool p_active) {
if (!Engine::get_singleton()->is_editor_hint()) {
_reset_physical_bones_state();
}
}
void PhysicalBoneSimulator3D::_reset_physical_bones_state() {
for (int i = 0; i < bones.size(); i += 1) {
if (bones[i].physical_bone) {
bones[i].physical_bone->reset_physics_simulation_state();
}
}
}
bool PhysicalBoneSimulator3D::is_simulating_physics() const {
return simulating;
}
int PhysicalBoneSimulator3D::find_bone(const String &p_name) const {
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return -1;
}
return skeleton->find_bone(p_name);
}
String PhysicalBoneSimulator3D::get_bone_name(int p_bone) const {
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return String();
}
return skeleton->get_bone_name(p_bone);
}
int PhysicalBoneSimulator3D::get_bone_count() const {
return bones.size();
}
bool PhysicalBoneSimulator3D::is_bone_parent_of(int p_bone, int p_parent_bone_id) const {
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return false;
}
return skeleton->is_bone_parent_of(p_bone, p_parent_bone_id);
}
void PhysicalBoneSimulator3D::bind_physical_bone_to_bone(int p_bone, PhysicalBone3D *p_physical_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
ERR_FAIL_COND(bones[p_bone].physical_bone);
ERR_FAIL_NULL(p_physical_bone);
bones.write[p_bone].physical_bone = p_physical_bone;
_rebuild_physical_bones_cache();
}
void PhysicalBoneSimulator3D::unbind_physical_bone_from_bone(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].physical_bone = nullptr;
_rebuild_physical_bones_cache();
}
PhysicalBone3D *PhysicalBoneSimulator3D::get_physical_bone(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
return bones[p_bone].physical_bone;
}
PhysicalBone3D *PhysicalBoneSimulator3D::get_physical_bone_parent(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
if (bones[p_bone].cache_parent_physical_bone) {
return bones[p_bone].cache_parent_physical_bone;
}
return _get_physical_bone_parent(p_bone);
}
PhysicalBone3D *PhysicalBoneSimulator3D::_get_physical_bone_parent(int p_bone) {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, nullptr);
const int parent_bone = bones[p_bone].parent;
if (parent_bone < 0) {
return nullptr;
}
PhysicalBone3D *pb = bones[parent_bone].physical_bone;
if (pb) {
return pb;
} else {
return get_physical_bone_parent(parent_bone);
}
}
void PhysicalBoneSimulator3D::_rebuild_physical_bones_cache() {
const int b_size = bones.size();
for (int i = 0; i < b_size; ++i) {
PhysicalBone3D *parent_pb = _get_physical_bone_parent(i);
if (parent_pb != bones[i].cache_parent_physical_bone) {
bones.write[i].cache_parent_physical_bone = parent_pb;
if (bones[i].physical_bone) {
bones[i].physical_bone->_on_bone_parent_changed();
}
}
}
}
#ifndef DISABLE_DEPRECATED
void _pb_stop_simulation_compat(Node *p_node) {
PhysicalBoneSimulator3D *ps = Object::cast_to<PhysicalBoneSimulator3D>(p_node);
if (ps) {
return; // Prevent conflict.
}
for (int i = p_node->get_child_count() - 1; i >= 0; --i) {
_pb_stop_simulation_compat(p_node->get_child(i));
}
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node);
if (pb) {
pb->set_simulate_physics(false);
}
}
#endif // _DISABLE_DEPRECATED
void _pb_stop_simulation(Node *p_node) {
for (int i = p_node->get_child_count() - 1; i >= 0; --i) {
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node->get_child(i));
if (!pb) {
continue;
}
_pb_stop_simulation(pb);
}
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node);
if (pb) {
pb->set_simulate_physics(false);
}
}
void PhysicalBoneSimulator3D::physical_bones_stop_simulation() {
simulating = false;
_reset_physical_bones_state();
#ifndef DISABLE_DEPRECATED
if (is_compat) {
Skeleton3D *sk = get_skeleton();
if (sk) {
_pb_stop_simulation_compat(sk);
}
} else {
_pb_stop_simulation(this);
}
#else
_pb_stop_simulation(this);
#endif // _DISABLE_DEPRECATED
}
#ifndef DISABLE_DEPRECATED
void _pb_start_simulation_compat(const PhysicalBoneSimulator3D *p_simulator, Node *p_node, const Vector<int> &p_sim_bones) {
PhysicalBoneSimulator3D *ps = Object::cast_to<PhysicalBoneSimulator3D>(p_node);
if (ps) {
return; // Prevent conflict.
}
for (int i = p_node->get_child_count() - 1; i >= 0; --i) {
_pb_start_simulation_compat(p_simulator, p_node->get_child(i), p_sim_bones);
}
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node);
if (pb) {
if (p_sim_bones.is_empty()) { // If no bones are specified, activate ragdoll on full body.
pb->set_simulate_physics(true);
} else {
for (int i = p_sim_bones.size() - 1; i >= 0; --i) {
if (p_sim_bones[i] == pb->get_bone_id() || p_simulator->is_bone_parent_of(pb->get_bone_id(), p_sim_bones[i])) {
pb->set_simulate_physics(true);
break;
}
}
}
}
}
#endif // _DISABLE_DEPRECATED
void _pb_start_simulation(const PhysicalBoneSimulator3D *p_simulator, Node *p_node, const Vector<int> &p_sim_bones) {
for (int i = p_node->get_child_count() - 1; i >= 0; --i) {
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node->get_child(i));
if (!pb) {
continue;
}
_pb_start_simulation(p_simulator, pb, p_sim_bones);
}
PhysicalBone3D *pb = Object::cast_to<PhysicalBone3D>(p_node);
if (pb) {
if (p_sim_bones.is_empty()) { // If no bones are specified, activate ragdoll on full body.
pb->set_simulate_physics(true);
} else {
for (int i = p_sim_bones.size() - 1; i >= 0; --i) {
if (p_sim_bones[i] == pb->get_bone_id() || p_simulator->is_bone_parent_of(pb->get_bone_id(), p_sim_bones[i])) {
pb->set_simulate_physics(true);
break;
}
}
}
}
}
void PhysicalBoneSimulator3D::physical_bones_start_simulation_on(const TypedArray<StringName> &p_bones) {
simulating = true;
_reset_physical_bones_state();
_pose_updated();
Vector<int> sim_bones;
if (p_bones.size() > 0) {
sim_bones.resize(p_bones.size());
int c = 0;
for (int i = sim_bones.size() - 1; i >= 0; --i) {
int bone_id = find_bone(p_bones[i]);
if (bone_id != -1) {
sim_bones.write[c++] = bone_id;
}
}
sim_bones.resize(c);
}
#ifndef DISABLE_DEPRECATED
if (is_compat) {
Skeleton3D *sk = get_skeleton();
if (sk) {
_pb_start_simulation_compat(this, sk, sim_bones);
}
} else {
_pb_start_simulation(this, this, sim_bones);
}
#else
_pb_start_simulation(this, this, sim_bones);
#endif // _DISABLE_DEPRECATED
}
void _physical_bones_add_remove_collision_exception(bool p_add, Node *p_node, RID p_exception) {
for (int i = p_node->get_child_count() - 1; i >= 0; --i) {
_physical_bones_add_remove_collision_exception(p_add, p_node->get_child(i), p_exception);
}
CollisionObject3D *co = Object::cast_to<CollisionObject3D>(p_node);
if (co) {
if (p_add) {
PhysicsServer3D::get_singleton()->body_add_collision_exception(co->get_rid(), p_exception);
} else {
PhysicsServer3D::get_singleton()->body_remove_collision_exception(co->get_rid(), p_exception);
}
}
}
void PhysicalBoneSimulator3D::physical_bones_add_collision_exception(RID p_exception) {
_physical_bones_add_remove_collision_exception(true, this, p_exception);
}
void PhysicalBoneSimulator3D::physical_bones_remove_collision_exception(RID p_exception) {
_physical_bones_add_remove_collision_exception(false, this, p_exception);
}
Transform3D PhysicalBoneSimulator3D::get_bone_global_pose(int p_bone) const {
const int bone_size = bones.size();
ERR_FAIL_INDEX_V(p_bone, bone_size, Transform3D());
return bones[p_bone].global_pose;
}
void PhysicalBoneSimulator3D::set_bone_global_pose(int p_bone, const Transform3D &p_pose) {
const int bone_size = bones.size();
ERR_FAIL_INDEX(p_bone, bone_size);
bones.write[p_bone].global_pose = p_pose;
}
void PhysicalBoneSimulator3D::_process_modification() {
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return;
}
if (!enabled) {
for (int i = 0; i < bones.size(); i++) {
if (bones[i].physical_bone) {
if (bones[i].physical_bone->is_simulating_physics() == false) {
bones[i].physical_bone->reset_to_rest_position();
}
}
}
} else {
ERR_FAIL_COND(skeleton->get_bone_count() != bones.size());
for (int i = 0; i < skeleton->get_bone_count(); i++) {
if (!bones[i].physical_bone) {
continue;
}
skeleton->set_bone_global_pose(i, bones[i].global_pose);
}
// TODO:
// The above method is performance heavy and needs to be improved.
// Ideally, the processing of set_bone_global_pose within Skeleton3D should be improved,
// but the workaround available now is to convert the global pose to a local pose on the SkeletonModifier side.
// However, the follow method needs recursive processing for deformations within PhysicalBoneSimulator3D to account for update order.
/*
ERR_FAIL_COND(skeleton->get_bone_count() != bones.size());
LocalVector<Transform3D> local_poses;
for (int i = 0; i < skeleton->get_bone_count(); i++) {
Transform3D pt;
if (skeleton->get_bone_parent(i) >= 0) {
pt = get_bone_global_pose(skeleton->get_bone_parent(i));
}
local_poses.push_back(pt.affine_inverse() * bones[i].global_pose);
}
for (int i = 0; i < skeleton->get_bone_count(); i++) {
if (!bones[i].physical_bone) {
continue;
}
skeleton->set_bone_pose_position(i, local_poses[i].origin);
skeleton->set_bone_pose_rotation(i, local_poses[i].basis.get_rotation_quaternion());
skeleton->set_bone_pose_scale(i, local_poses[i].basis.get_scale());
}
*/
}
}
void PhysicalBoneSimulator3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBoneSimulator3D::is_simulating_physics);
ClassDB::bind_method(D_METHOD("physical_bones_stop_simulation"), &PhysicalBoneSimulator3D::physical_bones_stop_simulation);
ClassDB::bind_method(D_METHOD("physical_bones_start_simulation", "bones"), &PhysicalBoneSimulator3D::physical_bones_start_simulation_on, DEFVAL(Array()));
ClassDB::bind_method(D_METHOD("physical_bones_add_collision_exception", "exception"), &PhysicalBoneSimulator3D::physical_bones_add_collision_exception);
ClassDB::bind_method(D_METHOD("physical_bones_remove_collision_exception", "exception"), &PhysicalBoneSimulator3D::physical_bones_remove_collision_exception);
}
PhysicalBoneSimulator3D::PhysicalBoneSimulator3D() {
}