Bullet physics engine implementation

This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features.
Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc..
It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.

1 files changed, 385 insertions, 0 deletions

diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp
new file mode 100644
index 0000000000..2da65677f5
--- /dev/null
+++ b/modules/bullet/slider_joint_bullet.cpp
@@ -0,0 +1,385 @@
+/*************************************************************************/
+/*  slider_joint_bullet.cpp                                              */
+/*  Author: AndreaCatania                                                */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                    http://www.godotengine.org                         */
+/*************************************************************************/
+/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2017 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 "slider_joint_bullet.h"
+#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
+#include "bullet_types_converter.h"
+#include "bullet_utilities.h"
+#include "rigid_body_bullet.h"
+
+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);
+}
+
+const RigidBodyBullet *SliderJointBullet::getRigidBodyA() const {
+	return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyA().getUserPointer());
+}
+
+const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const {
+	return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer());
+}
+
+const Transform SliderJointBullet::getCalculatedTransformA() const {
+	btTransform btTransform = sliderConstraint->getCalculatedTransformA();
+	Transform gTrans;
+	B_TO_G(btTransform, gTrans);
+	return gTrans;
+}
+
+const Transform SliderJointBullet::getCalculatedTransformB() const {
+	btTransform btTransform = sliderConstraint->getCalculatedTransformB();
+	Transform gTrans;
+	B_TO_G(btTransform, gTrans);
+	return gTrans;
+}
+
+const Transform SliderJointBullet::getFrameOffsetA() const {
+	btTransform btTransform = sliderConstraint->getFrameOffsetA();
+	Transform gTrans;
+	B_TO_G(btTransform, gTrans);
+	return gTrans;
+}
+
+const Transform SliderJointBullet::getFrameOffsetB() const {
+	btTransform btTransform = sliderConstraint->getFrameOffsetB();
+	Transform gTrans;
+	B_TO_G(btTransform, gTrans);
+	return gTrans;
+}
+
+Transform SliderJointBullet::getFrameOffsetA() {
+	btTransform btTransform = sliderConstraint->getFrameOffsetA();
+	Transform gTrans;
+	B_TO_G(btTransform, gTrans);
+	return gTrans;
+}
+
+Transform SliderJointBullet::getFrameOffsetB() {
+	btTransform btTransform = sliderConstraint->getFrameOffsetB();
+	Transform gTrans;
+	B_TO_G(btTransform, gTrans);
+	return gTrans;
+}
+
+real_t SliderJointBullet::getLowerLinLimit() const {
+	return sliderConstraint->getLowerLinLimit();
+}
+
+void SliderJointBullet::setLowerLinLimit(real_t lowerLimit) {
+	sliderConstraint->setLowerLinLimit(lowerLimit);
+}
+real_t SliderJointBullet::getUpperLinLimit() const {
+	return sliderConstraint->getUpperLinLimit();
+}
+
+void SliderJointBullet::setUpperLinLimit(real_t upperLimit) {
+	sliderConstraint->setUpperLinLimit(upperLimit);
+}
+
+real_t SliderJointBullet::getLowerAngLimit() const {
+	return sliderConstraint->getLowerAngLimit();
+}
+
+void SliderJointBullet::setLowerAngLimit(real_t lowerLimit) {
+	sliderConstraint->setLowerAngLimit(lowerLimit);
+}
+
+real_t SliderJointBullet::getUpperAngLimit() const {
+	return sliderConstraint->getUpperAngLimit();
+}
+
+void SliderJointBullet::setUpperAngLimit(real_t upperLimit) {
+	sliderConstraint->setUpperAngLimit(upperLimit);
+}
+
+real_t SliderJointBullet::getSoftnessDirLin() const {
+	return sliderConstraint->getSoftnessDirLin();
+}
+
+real_t SliderJointBullet::getRestitutionDirLin() const {
+	return sliderConstraint->getRestitutionDirLin();
+}
+
+real_t SliderJointBullet::getDampingDirLin() const {
+	return sliderConstraint->getDampingDirLin();
+}
+
+real_t SliderJointBullet::getSoftnessDirAng() const {
+	return sliderConstraint->getSoftnessDirAng();
+}
+
+real_t SliderJointBullet::getRestitutionDirAng() const {
+	return sliderConstraint->getRestitutionDirAng();
+}
+
+real_t SliderJointBullet::getDampingDirAng() const {
+	return sliderConstraint->getDampingDirAng();
+}
+
+real_t SliderJointBullet::getSoftnessLimLin() const {
+	return sliderConstraint->getSoftnessLimLin();
+}
+
+real_t SliderJointBullet::getRestitutionLimLin() const {
+	return sliderConstraint->getRestitutionLimLin();
+}
+
+real_t SliderJointBullet::getDampingLimLin() const {
+	return sliderConstraint->getDampingLimLin();
+}
+
+real_t SliderJointBullet::getSoftnessLimAng() const {
+	return sliderConstraint->getSoftnessLimAng();
+}
+
+real_t SliderJointBullet::getRestitutionLimAng() const {
+	return sliderConstraint->getRestitutionLimAng();
+}
+
+real_t SliderJointBullet::getDampingLimAng() const {
+	return sliderConstraint->getDampingLimAng();
+}
+
+real_t SliderJointBullet::getSoftnessOrthoLin() const {
+	return sliderConstraint->getSoftnessOrthoLin();
+}
+
+real_t SliderJointBullet::getRestitutionOrthoLin() const {
+	return sliderConstraint->getRestitutionOrthoLin();
+}
+
+real_t SliderJointBullet::getDampingOrthoLin() const {
+	return sliderConstraint->getDampingOrthoLin();
+}
+
+real_t SliderJointBullet::getSoftnessOrthoAng() const {
+	return sliderConstraint->getSoftnessOrthoAng();
+}
+
+real_t SliderJointBullet::getRestitutionOrthoAng() const {
+	return sliderConstraint->getRestitutionOrthoAng();
+}
+
+real_t SliderJointBullet::getDampingOrthoAng() const {
+	return sliderConstraint->getDampingOrthoAng();
+}
+
+void SliderJointBullet::setSoftnessDirLin(real_t softnessDirLin) {
+	sliderConstraint->setSoftnessDirLin(softnessDirLin);
+}
+
+void SliderJointBullet::setRestitutionDirLin(real_t restitutionDirLin) {
+	sliderConstraint->setRestitutionDirLin(restitutionDirLin);
+}
+
+void SliderJointBullet::setDampingDirLin(real_t dampingDirLin) {
+	sliderConstraint->setDampingDirLin(dampingDirLin);
+}
+
+void SliderJointBullet::setSoftnessDirAng(real_t softnessDirAng) {
+	sliderConstraint->setSoftnessDirAng(softnessDirAng);
+}
+
+void SliderJointBullet::setRestitutionDirAng(real_t restitutionDirAng) {
+	sliderConstraint->setRestitutionDirAng(restitutionDirAng);
+}
+
+void SliderJointBullet::setDampingDirAng(real_t dampingDirAng) {
+	sliderConstraint->setDampingDirAng(dampingDirAng);
+}
+
+void SliderJointBullet::setSoftnessLimLin(real_t softnessLimLin) {
+	sliderConstraint->setSoftnessLimLin(softnessLimLin);
+}
+
+void SliderJointBullet::setRestitutionLimLin(real_t restitutionLimLin) {
+	sliderConstraint->setRestitutionLimLin(restitutionLimLin);
+}
+
+void SliderJointBullet::setDampingLimLin(real_t dampingLimLin) {
+	sliderConstraint->setDampingLimLin(dampingLimLin);
+}
+
+void SliderJointBullet::setSoftnessLimAng(real_t softnessLimAng) {
+	sliderConstraint->setSoftnessLimAng(softnessLimAng);
+}
+
+void SliderJointBullet::setRestitutionLimAng(real_t restitutionLimAng) {
+	sliderConstraint->setRestitutionLimAng(restitutionLimAng);
+}
+
+void SliderJointBullet::setDampingLimAng(real_t dampingLimAng) {
+	sliderConstraint->setDampingLimAng(dampingLimAng);
+}
+
+void SliderJointBullet::setSoftnessOrthoLin(real_t softnessOrthoLin) {
+	sliderConstraint->setSoftnessOrthoLin(softnessOrthoLin);
+}
+
+void SliderJointBullet::setRestitutionOrthoLin(real_t restitutionOrthoLin) {
+	sliderConstraint->setRestitutionOrthoLin(restitutionOrthoLin);
+}
+
+void SliderJointBullet::setDampingOrthoLin(real_t dampingOrthoLin) {
+	sliderConstraint->setDampingOrthoLin(dampingOrthoLin);
+}
+
+void SliderJointBullet::setSoftnessOrthoAng(real_t softnessOrthoAng) {
+	sliderConstraint->setSoftnessOrthoAng(softnessOrthoAng);
+}
+
+void SliderJointBullet::setRestitutionOrthoAng(real_t restitutionOrthoAng) {
+	sliderConstraint->setRestitutionOrthoAng(restitutionOrthoAng);
+}
+
+void SliderJointBullet::setDampingOrthoAng(real_t dampingOrthoAng) {
+	sliderConstraint->setDampingOrthoAng(dampingOrthoAng);
+}
+
+void SliderJointBullet::setPoweredLinMotor(bool onOff) {
+	sliderConstraint->setPoweredLinMotor(onOff);
+}
+
+bool SliderJointBullet::getPoweredLinMotor() {
+	return sliderConstraint->getPoweredLinMotor();
+}
+
+void SliderJointBullet::setTargetLinMotorVelocity(real_t targetLinMotorVelocity) {
+	sliderConstraint->setTargetLinMotorVelocity(targetLinMotorVelocity);
+}
+
+real_t SliderJointBullet::getTargetLinMotorVelocity() {
+	return sliderConstraint->getTargetLinMotorVelocity();
+}
+
+void SliderJointBullet::setMaxLinMotorForce(real_t maxLinMotorForce) {
+	sliderConstraint->setMaxLinMotorForce(maxLinMotorForce);
+}
+
+real_t SliderJointBullet::getMaxLinMotorForce() {
+	return sliderConstraint->getMaxLinMotorForce();
+}
+
+void SliderJointBullet::setPoweredAngMotor(bool onOff) {
+	sliderConstraint->setPoweredAngMotor(onOff);
+}
+
+bool SliderJointBullet::getPoweredAngMotor() {
+	return sliderConstraint->getPoweredAngMotor();
+}
+
+void SliderJointBullet::setTargetAngMotorVelocity(real_t targetAngMotorVelocity) {
+	sliderConstraint->setTargetAngMotorVelocity(targetAngMotorVelocity);
+}
+
+real_t SliderJointBullet::getTargetAngMotorVelocity() {
+	return sliderConstraint->getTargetAngMotorVelocity();
+}
+
+void SliderJointBullet::setMaxAngMotorForce(real_t maxAngMotorForce) {
+	sliderConstraint->setMaxAngMotorForce(maxAngMotorForce);
+}
+
+real_t SliderJointBullet::getMaxAngMotorForce() {
+	return sliderConstraint->getMaxAngMotorForce();
+}
+
+real_t SliderJointBullet::getLinearPos() {
+	return sliderConstraint->getLinearPos();
+	;
+}
+
+void SliderJointBullet::set_param(PhysicsServer::SliderJointParam p_param, real_t p_value) {
+	switch (p_param) {
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: setUpperLinLimit(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: setLowerLinLimit(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: setSoftnessLimLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: setRestitutionLimLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: setDampingLimLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: setSoftnessDirLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: setRestitutionDirLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: setDampingDirLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: setDampingOrthoLin(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: setUpperAngLimit(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: setLowerAngLimit(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: setSoftnessLimAng(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: setRestitutionLimAng(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: setDampingLimAng(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: setSoftnessDirAng(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: setRestitutionDirAng(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: setDampingDirAng(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: setSoftnessOrthoAng(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: setRestitutionOrthoAng(p_value); break;
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: setDampingOrthoAng(p_value); break;
+	}
+}
+
+real_t SliderJointBullet::get_param(PhysicsServer::SliderJointParam p_param) const {
+	switch (p_param) {
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return getUpperLinLimit();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER: return getLowerLinLimit();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS: return getSoftnessLimLin();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION: return getRestitutionLimLin();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING: return getDampingLimLin();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS: return getSoftnessDirLin();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION: return getRestitutionDirLin();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_MOTION_DAMPING: return getDampingDirLin();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS: return getSoftnessOrthoLin();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION: return getRestitutionOrthoLin();
+		case PhysicsServer::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING: return getDampingOrthoLin();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER: return getUpperAngLimit();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER: return getLowerAngLimit();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS: return getSoftnessLimAng();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION: return getRestitutionLimAng();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING: return getDampingLimAng();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS: return getSoftnessDirAng();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION: return getRestitutionDirAng();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_MOTION_DAMPING: return getDampingDirAng();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS: return getSoftnessOrthoAng();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION: return getRestitutionOrthoAng();
+		case PhysicsServer::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING: return getDampingOrthoAng();
+		default:
+			return 0;
+	}
+}