Merge pull request #46937 from nekomatata/soft-body-support

SoftBody support in GodotPhysics 3D

1 files changed, 19 insertions, 44 deletions

diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp
index a8980984a7..2c8727baf2 100644
--- a/modules/bullet/soft_body_bullet.cpp
+++ b/modules/bullet/soft_body_bullet.cpp
@@ -65,7 +65,7 @@ void SoftBodyBullet::on_enter_area(AreaBullet *p_area) {}
 
 void SoftBodyBullet::on_exit_area(AreaBullet *p_area) {}
 
-void SoftBodyBullet::update_rendering_server(SoftBodyRenderingServerHandler *p_rendering_server_handler) {
+void SoftBodyBullet::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
 	if (!bt_soft_body) {
 		return;
 	}
@@ -141,6 +141,24 @@ void SoftBodyBullet::set_soft_transform(const Transform &p_transform) {
 	move_all_nodes(p_transform);
 }
 
+AABB SoftBodyBullet::get_bounds() const {
+	if (!bt_soft_body) {
+		return AABB();
+	}
+
+	btVector3 aabb_min;
+	btVector3 aabb_max;
+	bt_soft_body->getAabb(aabb_min, aabb_max);
+
+	btVector3 size(aabb_max - aabb_min);
+
+	AABB aabb;
+	B_TO_G(aabb_min, aabb.position);
+	B_TO_G(size, aabb.size);
+
+	return aabb;
+}
+
 void SoftBodyBullet::move_all_nodes(const Transform &p_transform) {
 	if (!bt_soft_body) {
 		return;
@@ -169,25 +187,6 @@ void SoftBodyBullet::get_node_position(int p_node_index, Vector3 &r_position) co
 	}
 }
 
-void SoftBodyBullet::get_node_offset(int p_node_index, Vector3 &r_offset) const {
-	if (soft_mesh.is_null()) {
-		return;
-	}
-
-	Array arrays = soft_mesh->surface_get_arrays(0);
-	Vector<Vector3> vertices(arrays[RS::ARRAY_VERTEX]);
-
-	if (0 <= p_node_index && vertices.size() > p_node_index) {
-		r_offset = vertices[p_node_index];
-	}
-}
-
-void SoftBodyBullet::get_node_offset(int p_node_index, btVector3 &r_offset) const {
-	Vector3 off;
-	get_node_offset(p_node_index, off);
-	G_TO_B(off, r_offset);
-}
-
 void SoftBodyBullet::set_node_mass(int node_index, btScalar p_mass) {
 	if (0 >= p_mass) {
 		pin_node(node_index);
@@ -259,20 +258,6 @@ void SoftBodyBullet::set_linear_stiffness(real_t p_val) {
 	}
 }
 
-void SoftBodyBullet::set_angular_stiffness(real_t p_val) {
-	angular_stiffness = p_val;
-	if (bt_soft_body) {
-		mat0->m_kAST = angular_stiffness;
-	}
-}
-
-void SoftBodyBullet::set_volume_stiffness(real_t p_val) {
-	volume_stiffness = p_val;
-	if (bt_soft_body) {
-		mat0->m_kVST = volume_stiffness;
-	}
-}
-
 void SoftBodyBullet::set_simulation_precision(int p_val) {
 	simulation_precision = p_val;
 	if (bt_soft_body) {
@@ -290,13 +275,6 @@ void SoftBodyBullet::set_pressure_coefficient(real_t p_val) {
 	}
 }
 
-void SoftBodyBullet::set_pose_matching_coefficient(real_t p_val) {
-	pose_matching_coefficient = p_val;
-	if (bt_soft_body) {
-		bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
-	}
-}
-
 void SoftBodyBullet::set_damping_coefficient(real_t p_val) {
 	damping_coefficient = p_val;
 	if (bt_soft_body) {
@@ -409,8 +387,6 @@ void SoftBodyBullet::setup_soft_body() {
 	bt_soft_body->generateBendingConstraints(2, mat0);
 
 	mat0->m_kLST = linear_stiffness;
-	mat0->m_kAST = angular_stiffness;
-	mat0->m_kVST = volume_stiffness;
 
 	// Clusters allow to have Soft vs Soft collision but doesn't work well right now
 
@@ -430,7 +406,6 @@ void SoftBodyBullet::setup_soft_body() {
 	bt_soft_body->m_cfg.kDP = damping_coefficient;
 	bt_soft_body->m_cfg.kDG = drag_coefficient;
 	bt_soft_body->m_cfg.kPR = pressure_coefficient;
-	bt_soft_body->m_cfg.kMT = pose_matching_coefficient;
 	bt_soft_body->setTotalMass(total_mass);
 
 	btSoftBodyHelpers::ReoptimizeLinkOrder(bt_soft_body);