Cppcheck report - Godot - branch: 3.x, commit: cd92ad0f69a842d94dc2d56f83cbd8f724ed2959 (2024-12-15): modules/bullet/rigid_body_bullet.h

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/*  rigid_body_bullet.h                                                   */
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#ifndef RIGID_BODY_BULLET_H
#define RIGID_BODY_BULLET_H

#include "collision_object_bullet.h"
#include "space_bullet.h"

#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h>
#include <LinearMath/btTransform.h>

/**
	@author AndreaCatania
*/

class AreaBullet;
class SpaceBullet;
class btRigidBody;
class GodotMotionState;

class BulletPhysicsDirectBodyState : public PhysicsDirectBodyState {
	GDCLASS(BulletPhysicsDirectBodyState, PhysicsDirectBodyState);

public:
	RigidBodyBullet *body = nullptr;

	BulletPhysicsDirectBodyState() {}

	virtual Vector3 get_total_gravity() const;
	virtual float get_total_angular_damp() const;
	virtual float get_total_linear_damp() const;

	virtual Vector3 get_center_of_mass() const;
	virtual Basis get_principal_inertia_axes() const;
	// get the mass
	virtual float get_inverse_mass() const;
	// get density of this body space
	virtual Vector3 get_inverse_inertia() const;
	// get density of this body space
	virtual Basis get_inverse_inertia_tensor() const;

	virtual void set_linear_velocity(const Vector3 &p_velocity);
	virtual Vector3 get_linear_velocity() const;

	virtual void set_angular_velocity(const Vector3 &p_velocity);
	virtual Vector3 get_angular_velocity() const;

	virtual void set_transform(const Transform &p_transform);
	virtual Transform get_transform() const;

	virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const;

	virtual void add_central_force(const Vector3 &p_force);
	virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos);
	virtual void add_torque(const Vector3 &p_torque);
	virtual void apply_central_impulse(const Vector3 &p_impulse);
	virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
	virtual void apply_torque_impulse(const Vector3 &p_impulse);

	virtual void set_sleep_state(bool p_enable);
	virtual bool is_sleeping() const;

	virtual int get_contact_count() const;

	virtual Vector3 get_contact_local_position(int p_contact_idx) const;
	virtual Vector3 get_contact_local_normal(int p_contact_idx) const;
	virtual float get_contact_impulse(int p_contact_idx) const;
	virtual int get_contact_local_shape(int p_contact_idx) const;

	virtual RID get_contact_collider(int p_contact_idx) const;
	virtual Vector3 get_contact_collider_position(int p_contact_idx) const;
	virtual ObjectID get_contact_collider_id(int p_contact_idx) const;
	virtual int get_contact_collider_shape(int p_contact_idx) const;
	virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const;

	virtual real_t get_step() const;
	virtual void integrate_forces() {
		// Skip the execution of this function
	}

	virtual PhysicsDirectSpaceState *get_space_state();
};

class RigidBodyBullet : public RigidCollisionObjectBullet {
public:
	struct CollisionData {
		RigidBodyBullet *otherObject;
		int other_object_shape;
		int local_shape;
		Vector3 hitLocalLocation;
		Vector3 hitWorldLocation;
		Vector3 hitNormal;
		float appliedImpulse;
	};

	struct ForceIntegrationCallback {
		ObjectID id;
		StringName method;
		Variant udata;
	};

	/// Used to hold shapes
	struct KinematicShape {
		class btConvexShape *shape;
		btTransform transform;

		KinematicShape() :
				shape(nullptr) {}
		bool is_active() const { return shape; }
	};

	struct KinematicUtilities {
		RigidBodyBullet *owner;
		btScalar safe_margin;
		Vector<KinematicShape> shapes;

		KinematicUtilities(RigidBodyBullet *p_owner);
<--- Struct 'KinematicUtilities' has a constructor with 1 argument that is not explicit. [+]
Struct 'KinematicUtilities' has a constructor with 1 argument that is not explicit. Such constructors should in general be explicit for type safety reasons. Using the explicit keyword in the constructor means some mistakes when using the class can be avoided.
		~KinematicUtilities();

		void setSafeMargin(btScalar p_margin);
		/// Used to set the default shape to ghost
		void copyAllOwnerShapes();

	private:
		void just_delete_shapes(int new_size);
	};

private:
	BulletPhysicsDirectBodyState *direct_access = nullptr;
	friend class BulletPhysicsDirectBodyState;

	// This is required only for Kinematic movement
	KinematicUtilities *kinematic_utilities;

	PhysicsServer::BodyMode mode;
	GodotMotionState *godotMotionState;
	btRigidBody *btBody;
	uint16_t locked_axis;
	real_t mass;
	real_t gravity_scale;
	real_t linearDamp;
	real_t angularDamp;
	Vector3 total_gravity;
	real_t total_linear_damp;
	real_t total_angular_damp;
	bool can_sleep;
	bool omit_forces_integration;
	bool can_integrate_forces;

	Vector<CollisionData> collisions;
	Vector<RigidBodyBullet *> collision_traces_1;
	Vector<RigidBodyBullet *> collision_traces_2;
	Vector<RigidBodyBullet *> *prev_collision_traces;
	Vector<RigidBodyBullet *> *curr_collision_traces;

	// these parameters are used to avoid vector resize
	int maxCollisionsDetection;
	int collisionsCount;
	int prev_collision_count;

	Vector<AreaBullet *> areasWhereIam;
	// these parameters are used to avoid vector resize
	int maxAreasWhereIam;
	int areaWhereIamCount;
	// Used to know if the area is used as gravity point
	int countGravityPointSpaces;
	bool isScratchedSpaceOverrideModificator;

	bool previousActiveState; // Last check state

	ForceIntegrationCallback *force_integration_callback;

public:
	RigidBodyBullet();
	~RigidBodyBullet();

	BulletPhysicsDirectBodyState *get_direct_state() const { return direct_access; }

	void init_kinematic_utilities();
	void destroy_kinematic_utilities();
	_FORCE_INLINE_ KinematicUtilities *get_kinematic_utilities() const { return kinematic_utilities; }

	_FORCE_INLINE_ btRigidBody *get_bt_rigid_body() { return btBody; }

	virtual void main_shape_changed();<--- Function in derived class
	virtual void reload_body();<--- Function in derived class
	virtual void set_space(SpaceBullet *p_space);<--- Function in derived class

	virtual void dispatch_callbacks();<--- Function in derived class
	void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
	void scratch_space_override_modificator();

	virtual void on_collision_filters_change();<--- Function in derived class
	virtual void on_collision_checker_start();<--- Function in derived class
	virtual void on_collision_checker_end();<--- Function in derived class

	void set_max_collisions_detection(int p_maxCollisionsDetection) {
		ERR_FAIL_COND(0 > p_maxCollisionsDetection);

		maxCollisionsDetection = p_maxCollisionsDetection;

		collisions.resize(p_maxCollisionsDetection);
		collision_traces_1.resize(p_maxCollisionsDetection);
		collision_traces_2.resize(p_maxCollisionsDetection);

		collisionsCount = 0;
		prev_collision_count = MIN(prev_collision_count, p_maxCollisionsDetection);
	}
	int get_max_collisions_detection() {
		return maxCollisionsDetection;
	}

	bool can_add_collision() { return collisionsCount < maxCollisionsDetection; }
	bool add_collision_object(RigidBodyBullet *p_otherObject, const Vector3 &p_hitWorldLocation, const Vector3 &p_hitLocalLocation, const Vector3 &p_hitNormal, const float &p_appliedImpulse, int p_other_shape_index, int p_local_shape_index);
	bool was_colliding(RigidBodyBullet *p_other_object);

	void set_activation_state(bool p_active);
	bool is_active() const;

	void set_omit_forces_integration(bool p_omit);
	_FORCE_INLINE_ bool get_omit_forces_integration() const { return omit_forces_integration; }

	void set_param(PhysicsServer::BodyParameter p_param, real_t);
	real_t get_param(PhysicsServer::BodyParameter p_param) const;

	void set_mode(PhysicsServer::BodyMode p_mode);
	PhysicsServer::BodyMode get_mode() const;

	void set_state(PhysicsServer::BodyState p_state, const Variant &p_variant);
	Variant get_state(PhysicsServer::BodyState p_state) const;

	void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
	void apply_central_impulse(const Vector3 &p_impulse);
	void apply_torque_impulse(const Vector3 &p_impulse);

	void apply_force(const Vector3 &p_force, const Vector3 &p_pos);
	void apply_central_force(const Vector3 &p_force);
	void apply_torque(const Vector3 &p_torque);

	void set_applied_force(const Vector3 &p_force);
	Vector3 get_applied_force() const;
	void set_applied_torque(const Vector3 &p_torque);
	Vector3 get_applied_torque() const;

	void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock);
	bool is_axis_locked(PhysicsServer::BodyAxis p_axis) const;
	void reload_axis_lock();

	/// Doc:
	/// https://web.archive.org/web/20180404091446/http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Anti_tunneling_by_Motion_Clamping
	void set_continuous_collision_detection(bool p_enable);
	bool is_continuous_collision_detection_enabled() const;

	void set_linear_velocity(const Vector3 &p_velocity);
	Vector3 get_linear_velocity() const;

	void set_angular_velocity(const Vector3 &p_velocity);
	Vector3 get_angular_velocity() const;

	virtual void set_transform__bullet(const btTransform &p_global_transform);<--- Function in derived class
	virtual const btTransform &get_transform__bullet() const;<--- Function in derived class

	virtual void reload_shapes();<--- Function in derived class<--- reload_shapes is a virtual function

	virtual void on_enter_area(AreaBullet *p_area);<--- Function in derived class
	virtual void on_exit_area(AreaBullet *p_area);<--- Function in derived class
	void reload_space_override_modificator();

	/// Kinematic
	void reload_kinematic_shapes();

	virtual void notify_transform_changed();<--- Function in derived class

private:
	void _internal_set_mass(real_t p_mass);
};

#endif // RIGID_BODY_BULLET_H