1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
|
/**************************************************************************/
/* gltf_physics_body.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 "gltf_physics_body.h"
#include "scene/3d/area_3d.h"
#include "scene/3d/vehicle_body_3d.h"
void GLTFPhysicsBody::_bind_methods() {
ClassDB::bind_static_method("GLTFPhysicsBody", D_METHOD("from_node", "body_node"), &GLTFPhysicsBody::from_node);
ClassDB::bind_method(D_METHOD("to_node"), &GLTFPhysicsBody::to_node);
ClassDB::bind_static_method("GLTFPhysicsBody", D_METHOD("from_dictionary", "dictionary"), &GLTFPhysicsBody::from_dictionary);
ClassDB::bind_method(D_METHOD("to_dictionary"), &GLTFPhysicsBody::to_dictionary);
ClassDB::bind_method(D_METHOD("get_body_type"), &GLTFPhysicsBody::get_body_type);
ClassDB::bind_method(D_METHOD("set_body_type", "body_type"), &GLTFPhysicsBody::set_body_type);
ClassDB::bind_method(D_METHOD("get_mass"), &GLTFPhysicsBody::get_mass);
ClassDB::bind_method(D_METHOD("set_mass", "mass"), &GLTFPhysicsBody::set_mass);
ClassDB::bind_method(D_METHOD("get_linear_velocity"), &GLTFPhysicsBody::get_linear_velocity);
ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &GLTFPhysicsBody::set_linear_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &GLTFPhysicsBody::get_angular_velocity);
ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &GLTFPhysicsBody::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_center_of_mass"), &GLTFPhysicsBody::get_center_of_mass);
ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &GLTFPhysicsBody::set_center_of_mass);
ClassDB::bind_method(D_METHOD("get_inertia_tensor"), &GLTFPhysicsBody::get_inertia_tensor);
ClassDB::bind_method(D_METHOD("set_inertia_tensor", "inertia_tensor"), &GLTFPhysicsBody::set_inertia_tensor);
ADD_PROPERTY(PropertyInfo(Variant::STRING, "body_type"), "set_body_type", "get_body_type");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass"), "set_mass", "get_mass");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass"), "set_center_of_mass", "get_center_of_mass");
ADD_PROPERTY(PropertyInfo(Variant::BASIS, "inertia_tensor"), "set_inertia_tensor", "get_inertia_tensor");
}
String GLTFPhysicsBody::get_body_type() const {
return body_type;
}
void GLTFPhysicsBody::set_body_type(String p_body_type) {
body_type = p_body_type;
}
real_t GLTFPhysicsBody::get_mass() const {
return mass;
}
void GLTFPhysicsBody::set_mass(real_t p_mass) {
mass = p_mass;
}
Vector3 GLTFPhysicsBody::get_linear_velocity() const {
return linear_velocity;
}
void GLTFPhysicsBody::set_linear_velocity(Vector3 p_linear_velocity) {
linear_velocity = p_linear_velocity;
}
Vector3 GLTFPhysicsBody::get_angular_velocity() const {
return angular_velocity;
}
void GLTFPhysicsBody::set_angular_velocity(Vector3 p_angular_velocity) {
angular_velocity = p_angular_velocity;
}
Vector3 GLTFPhysicsBody::get_center_of_mass() const {
return center_of_mass;
}
void GLTFPhysicsBody::set_center_of_mass(const Vector3 &p_center_of_mass) {
center_of_mass = p_center_of_mass;
}
Basis GLTFPhysicsBody::get_inertia_tensor() const {
return inertia_tensor;
}
void GLTFPhysicsBody::set_inertia_tensor(Basis p_inertia_tensor) {
inertia_tensor = p_inertia_tensor;
}
Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_node(const CollisionObject3D *p_body_node) {
Ref<GLTFPhysicsBody> physics_body;
physics_body.instantiate();
ERR_FAIL_COND_V_MSG(!p_body_node, physics_body, "Tried to create a GLTFPhysicsBody from a CollisionObject3D node, but the given node was null.");
if (cast_to<CharacterBody3D>(p_body_node)) {
physics_body->body_type = "character";
} else if (cast_to<AnimatableBody3D>(p_body_node)) {
physics_body->body_type = "kinematic";
} else if (cast_to<RigidBody3D>(p_body_node)) {
const RigidBody3D *body = cast_to<const RigidBody3D>(p_body_node);
physics_body->mass = body->get_mass();
physics_body->linear_velocity = body->get_linear_velocity();
physics_body->angular_velocity = body->get_angular_velocity();
physics_body->center_of_mass = body->get_center_of_mass();
Vector3 inertia_diagonal = body->get_inertia();
physics_body->inertia_tensor = Basis(inertia_diagonal.x, 0, 0, 0, inertia_diagonal.y, 0, 0, 0, inertia_diagonal.z);
if (body->get_center_of_mass() != Vector3()) {
WARN_PRINT("GLTFPhysicsBody: This rigid body has a center of mass offset from the origin, which will be ignored when exporting to GLTF.");
}
if (cast_to<VehicleBody3D>(p_body_node)) {
physics_body->body_type = "vehicle";
} else {
physics_body->body_type = "rigid";
}
} else if (cast_to<StaticBody3D>(p_body_node)) {
physics_body->body_type = "static";
} else if (cast_to<Area3D>(p_body_node)) {
physics_body->body_type = "trigger";
}
return physics_body;
}
CollisionObject3D *GLTFPhysicsBody::to_node() const {
if (body_type == "character") {
CharacterBody3D *body = memnew(CharacterBody3D);
return body;
}
if (body_type == "kinematic") {
AnimatableBody3D *body = memnew(AnimatableBody3D);
return body;
}
if (body_type == "vehicle") {
VehicleBody3D *body = memnew(VehicleBody3D);
body->set_mass(mass);
body->set_linear_velocity(linear_velocity);
body->set_angular_velocity(angular_velocity);
body->set_inertia(inertia_tensor.get_main_diagonal());
body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM);
body->set_center_of_mass(center_of_mass);
return body;
}
if (body_type == "rigid") {
RigidBody3D *body = memnew(RigidBody3D);
body->set_mass(mass);
body->set_linear_velocity(linear_velocity);
body->set_angular_velocity(angular_velocity);
body->set_inertia(inertia_tensor.get_main_diagonal());
body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM);
body->set_center_of_mass(center_of_mass);
return body;
}
if (body_type == "static") {
StaticBody3D *body = memnew(StaticBody3D);
return body;
}
if (body_type == "trigger") {
Area3D *body = memnew(Area3D);
return body;
}
ERR_FAIL_V_MSG(nullptr, "Error converting GLTFPhysicsBody to a node: Body type '" + body_type + "' is unknown.");
}
Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_dictionary(const Dictionary p_dictionary) {
Ref<GLTFPhysicsBody> physics_body;
physics_body.instantiate();
ERR_FAIL_COND_V_MSG(!p_dictionary.has("type"), physics_body, "Failed to parse GLTF physics body, missing required field 'type'.");
const String &body_type = p_dictionary["type"];
physics_body->body_type = body_type;
if (p_dictionary.has("mass")) {
physics_body->mass = p_dictionary["mass"];
}
if (p_dictionary.has("linearVelocity")) {
const Array &arr = p_dictionary["linearVelocity"];
if (arr.size() == 3) {
physics_body->set_linear_velocity(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The linear velocity vector must have exactly 3 numbers.");
}
}
if (p_dictionary.has("angularVelocity")) {
const Array &arr = p_dictionary["angularVelocity"];
if (arr.size() == 3) {
physics_body->set_angular_velocity(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The angular velocity vector must have exactly 3 numbers.");
}
}
if (p_dictionary.has("centerOfMass")) {
const Array &arr = p_dictionary["centerOfMass"];
if (arr.size() == 3) {
physics_body->set_center_of_mass(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The center of mass vector must have exactly 3 numbers.");
}
}
if (p_dictionary.has("inertiaTensor")) {
const Array &arr = p_dictionary["inertiaTensor"];
if (arr.size() == 9) {
// Only use the diagonal elements of the inertia tensor matrix (principal axes).
physics_body->set_inertia_tensor(Basis(arr[0], arr[1], arr[2], arr[3], arr[4], arr[5], arr[6], arr[7], arr[8]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The inertia tensor must be a 3x3 matrix (9 number array).");
}
}
if (body_type != "character" && body_type != "kinematic" && body_type != "rigid" && body_type != "static" && body_type != "trigger" && body_type != "vehicle") {
ERR_PRINT("Error parsing GLTF physics body: Body type '" + body_type + "' is unknown.");
}
return physics_body;
}
Dictionary GLTFPhysicsBody::to_dictionary() const {
Dictionary d;
d["type"] = body_type;
if (mass != 1.0) {
d["mass"] = mass;
}
if (linear_velocity != Vector3()) {
Array velocity_array;
velocity_array.resize(3);
velocity_array[0] = linear_velocity.x;
velocity_array[1] = linear_velocity.y;
velocity_array[2] = linear_velocity.z;
d["linearVelocity"] = velocity_array;
}
if (angular_velocity != Vector3()) {
Array velocity_array;
velocity_array.resize(3);
velocity_array[0] = angular_velocity.x;
velocity_array[1] = angular_velocity.y;
velocity_array[2] = angular_velocity.z;
d["angularVelocity"] = velocity_array;
}
if (center_of_mass != Vector3()) {
Array center_of_mass_array;
center_of_mass_array.resize(3);
center_of_mass_array[0] = center_of_mass.x;
center_of_mass_array[1] = center_of_mass.y;
center_of_mass_array[2] = center_of_mass.z;
d["centerOfMass"] = center_of_mass_array;
}
if (inertia_tensor != Basis(0, 0, 0, 0, 0, 0, 0, 0, 0)) {
Array inertia_array;
inertia_array.resize(9);
inertia_array.fill(0.0);
inertia_array[0] = inertia_tensor[0][0];
inertia_array[1] = inertia_tensor[0][1];
inertia_array[2] = inertia_tensor[0][2];
inertia_array[3] = inertia_tensor[1][0];
inertia_array[4] = inertia_tensor[1][1];
inertia_array[5] = inertia_tensor[1][2];
inertia_array[6] = inertia_tensor[2][0];
inertia_array[7] = inertia_tensor[2][1];
inertia_array[8] = inertia_tensor[2][2];
d["inertiaTensor"] = inertia_array;
}
return d;
}
|
