godot/scene/3d/physics_body_3d.cpp

/*************************************************************************/
/*  physics_body_3d.cpp                                                  */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                      https://godotengine.org                          */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2020 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 "physics_body_3d.h"

#include "core/core_string_names.h"
#include "core/engine.h"
#include "core/list.h"
#include "core/method_bind_ext.gen.inc"
#include "core/object.h"
#include "core/rid.h"
#include "scene/3d/collision_shape_3d.h"
#include "scene/scene_string_names.h"
#include "servers/navigation_server_3d.h"

#ifdef TOOLS_ENABLED
#include "editor/plugins/node_3d_editor_plugin.h"
#endif

Vector3 PhysicsBody3D::get_linear_velocity() const {
	return Vector3();
}

Vector3 PhysicsBody3D::get_angular_velocity() const {
	return Vector3();
}

float PhysicsBody3D::get_inverse_mass() const {
	return 0;
}

void PhysicsBody3D::set_collision_layer(uint32_t p_layer) {
	collision_layer = p_layer;
	PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), p_layer);
}

uint32_t PhysicsBody3D::get_collision_layer() const {
	return collision_layer;
}

void PhysicsBody3D::set_collision_mask(uint32_t p_mask) {
	collision_mask = p_mask;
	PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), p_mask);
}

uint32_t PhysicsBody3D::get_collision_mask() const {
	return collision_mask;
}

void PhysicsBody3D::set_collision_mask_bit(int p_bit, bool p_value) {
	uint32_t mask = get_collision_mask();
	if (p_value) {
		mask |= 1 << p_bit;
	} else {
		mask &= ~(1 << p_bit);
	}
	set_collision_mask(mask);
}

bool PhysicsBody3D::get_collision_mask_bit(int p_bit) const {
	return get_collision_mask() & (1 << p_bit);
}

void PhysicsBody3D::set_collision_layer_bit(int p_bit, bool p_value) {
	uint32_t mask = get_collision_layer();
	if (p_value) {
		mask |= 1 << p_bit;
	} else {
		mask &= ~(1 << p_bit);
	}
	set_collision_layer(mask);
}

bool PhysicsBody3D::get_collision_layer_bit(int p_bit) const {
	return get_collision_layer() & (1 << p_bit);
}

TypedArray<PhysicsBody3D> PhysicsBody3D::get_collision_exceptions() {
	List<RID> exceptions;
	PhysicsServer3D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions);
	Array ret;
	for (List<RID>::Element *E = exceptions.front(); E; E = E->next()) {
		RID body = E->get();
		ObjectID instance_id = PhysicsServer3D::get_singleton()->body_get_object_instance_id(body);
		Object *obj = ObjectDB::get_instance(instance_id);
		PhysicsBody3D *physics_body = Object::cast_to<PhysicsBody3D>(obj);
		ret.append(physics_body);
	}
	return ret;
}

void PhysicsBody3D::add_collision_exception_with(Node *p_node) {
	ERR_FAIL_NULL(p_node);
	CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
	ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject3Ds.");
	PhysicsServer3D::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid());
}

void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
	ERR_FAIL_NULL(p_node);
	CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
	ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject3Ds.");
	PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
}

void PhysicsBody3D::_set_layers(uint32_t p_mask) {
	set_collision_layer(p_mask);
	set_collision_mask(p_mask);
}

uint32_t PhysicsBody3D::_get_layers() const {
	return get_collision_layer();
}

void PhysicsBody3D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody3D::set_collision_layer);
	ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody3D::get_collision_layer);

	ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsBody3D::set_collision_mask);
	ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsBody3D::get_collision_mask);

	ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &PhysicsBody3D::set_collision_mask_bit);
	ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &PhysicsBody3D::get_collision_mask_bit);

	ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody3D::set_collision_layer_bit);
	ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody3D::get_collision_layer_bit);

	ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody3D::_set_layers);
	ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody3D::_get_layers);

	ADD_GROUP("Collision", "collision_");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
}

PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) :
		CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(p_mode), false) {
	collision_layer = 1;
	collision_mask = 1;
}

void StaticBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
	if (physics_material_override.is_valid()) {
		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics))) {
			physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
		}
	}

	physics_material_override = p_physics_material_override;

	if (physics_material_override.is_valid()) {
		physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
	}
	_reload_physics_characteristics();
}

Ref<PhysicsMaterial> StaticBody3D::get_physics_material_override() const {
	return physics_material_override;
}

void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) {
	constant_linear_velocity = p_vel;
	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
}

void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) {
	constant_angular_velocity = p_vel;
	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
}

Vector3 StaticBody3D::get_constant_linear_velocity() const {
	return constant_linear_velocity;
}

Vector3 StaticBody3D::get_constant_angular_velocity() const {
	return constant_angular_velocity;
}

void StaticBody3D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity);
	ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity);
	ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity);
	ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity);

	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override);
	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override);

	ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions);
	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with);
	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with);

	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
}

StaticBody3D::StaticBody3D() :
		PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) {
}

StaticBody3D::~StaticBody3D() {}

void StaticBody3D::_reload_physics_characteristics() {
	if (physics_material_override.is_null()) {
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1);
	} else {
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce());
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction());
	}
}

void RigidBody3D::_body_enter_tree(ObjectID p_id) {
	Object *obj = ObjectDB::get_instance(p_id);
	Node *node = Object::cast_to<Node>(obj);
	ERR_FAIL_COND(!node);

	ERR_FAIL_COND(!contact_monitor);
	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
	ERR_FAIL_COND(!E);
	ERR_FAIL_COND(E->get().in_tree);

	E->get().in_tree = true;

	contact_monitor->locked = true;

	emit_signal(SceneStringNames::get_singleton()->body_entered, node);

	for (int i = 0; i < E->get().shapes.size(); i++) {
		emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
	}

	contact_monitor->locked = false;
}

void RigidBody3D::_body_exit_tree(ObjectID p_id) {
	Object *obj = ObjectDB::get_instance(p_id);
	Node *node = Object::cast_to<Node>(obj);
	ERR_FAIL_COND(!node);
	ERR_FAIL_COND(!contact_monitor);
	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
	ERR_FAIL_COND(!E);
	ERR_FAIL_COND(!E->get().in_tree);
	E->get().in_tree = false;

	contact_monitor->locked = true;

	emit_signal(SceneStringNames::get_singleton()->body_exited, node);

	for (int i = 0; i < E->get().shapes.size(); i++) {
		emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
	}

	contact_monitor->locked = false;
}

void RigidBody3D::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape) {
	bool body_in = p_status == 1;
	ObjectID objid = p_instance;

	Object *obj = ObjectDB::get_instance(objid);
	Node *node = Object::cast_to<Node>(obj);

	ERR_FAIL_COND(!contact_monitor);
	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(objid);

	ERR_FAIL_COND(!body_in && !E);

	if (body_in) {
		if (!E) {
			E = contact_monitor->body_map.insert(objid, BodyState());
			//E->get().rc=0;
			E->get().in_tree = node && node->is_inside_tree();
			if (node) {
				node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree), make_binds(objid));
				node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree), make_binds(objid));
				if (E->get().in_tree) {
					emit_signal(SceneStringNames::get_singleton()->body_entered, node);
				}
			}
		}
		//E->get().rc++;
		if (node) {
			E->get().shapes.insert(ShapePair(p_body_shape, p_local_shape));
		}

		if (E->get().in_tree) {
			emit_signal(SceneStringNames::get_singleton()->body_shape_entered, objid, node, p_body_shape, p_local_shape);
		}

	} else {
		//E->get().rc--;

		if (node) {
			E->get().shapes.erase(ShapePair(p_body_shape, p_local_shape));
		}

		bool in_tree = E->get().in_tree;

		if (E->get().shapes.empty()) {
			if (node) {
				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
				if (in_tree) {
					emit_signal(SceneStringNames::get_singleton()->body_exited, node);
				}
			}

			contact_monitor->body_map.erase(E);
		}
		if (node && in_tree) {
			emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape);
		}
	}
}

struct _RigidBodyInOut {
	ObjectID id;
	int shape;
	int local_shape;
};

void RigidBody3D::_direct_state_changed(Object *p_state) {
#ifdef DEBUG_ENABLED
	state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
#else
	state = (PhysicsDirectBodyState3D *)p_state; //trust it
#endif

	set_ignore_transform_notification(true);
	set_global_transform(state->get_transform());
	linear_velocity = state->get_linear_velocity();
	angular_velocity = state->get_angular_velocity();
	inverse_inertia_tensor = state->get_inverse_inertia_tensor();
	if (sleeping != state->is_sleeping()) {
		sleeping = state->is_sleeping();
		emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
	}
	if (get_script_instance()) {
		get_script_instance()->call("_integrate_forces", state);
	}
	set_ignore_transform_notification(false);

	if (contact_monitor) {
		contact_monitor->locked = true;

		//untag all
		int rc = 0;
		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
			for (int i = 0; i < E->get().shapes.size(); i++) {
				E->get().shapes[i].tagged = false;
				rc++;
			}
		}

		_RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut));
		int toadd_count = 0; //state->get_contact_count();
		RigidBody3D_RemoveAction *toremove = (RigidBody3D_RemoveAction *)alloca(rc * sizeof(RigidBody3D_RemoveAction));
		int toremove_count = 0;

		//put the ones to add

		for (int i = 0; i < state->get_contact_count(); i++) {
			ObjectID obj = state->get_contact_collider_id(i);
			int local_shape = state->get_contact_local_shape(i);
			int shape = state->get_contact_collider_shape(i);

			//bool found=false;

			Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(obj);
			if (!E) {
				toadd[toadd_count].local_shape = local_shape;
				toadd[toadd_count].id = obj;
				toadd[toadd_count].shape = shape;
				toadd_count++;
				continue;
			}

			ShapePair sp(shape, local_shape);
			int idx = E->get().shapes.find(sp);
			if (idx == -1) {
				toadd[toadd_count].local_shape = local_shape;
				toadd[toadd_count].id = obj;
				toadd[toadd_count].shape = shape;
				toadd_count++;
				continue;
			}

			E->get().shapes[idx].tagged = true;
		}

		//put the ones to remove

		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
			for (int i = 0; i < E->get().shapes.size(); i++) {
				if (!E->get().shapes[i].tagged) {
					toremove[toremove_count].body_id = E->key();
					toremove[toremove_count].pair = E->get().shapes[i];
					toremove_count++;
				}
			}
		}

		//process remotions

		for (int i = 0; i < toremove_count; i++) {
			_body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape);
		}

		//process aditions

		for (int i = 0; i < toadd_count; i++) {
			_body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape);
		}

		contact_monitor->locked = false;
	}

	state = nullptr;
}

void RigidBody3D::_notification(int p_what) {
#ifdef TOOLS_ENABLED
	if (p_what == NOTIFICATION_ENTER_TREE) {
		if (Engine::get_singleton()->is_editor_hint()) {
			set_notify_local_transform(true); //used for warnings and only in editor
		}
	}

	if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) {
		if (Engine::get_singleton()->is_editor_hint()) {
			update_configuration_warning();
		}
	}

#endif
}

void RigidBody3D::set_mode(Mode p_mode) {
	mode = p_mode;
	switch (p_mode) {
		case MODE_RIGID: {
			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID);
		} break;
		case MODE_STATIC: {
			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC);

		} break;
		case MODE_CHARACTER: {
			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_CHARACTER);

		} break;
		case MODE_KINEMATIC: {
			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC);
		} break;
	}
	update_configuration_warning();
}

RigidBody3D::Mode RigidBody3D::get_mode() const {
	return mode;
}

void RigidBody3D::set_mass(real_t p_mass) {
	ERR_FAIL_COND(p_mass <= 0);
	mass = p_mass;
	_change_notify("mass");
	_change_notify("weight");
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass);
}

real_t RigidBody3D::get_mass() const {
	return mass;
}

void RigidBody3D::set_weight(real_t p_weight) {
	set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)));
}

real_t RigidBody3D::get_weight() const {
	return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8));
}

void RigidBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
	if (physics_material_override.is_valid()) {
		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics))) {
			physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
		}
	}

	physics_material_override = p_physics_material_override;

	if (physics_material_override.is_valid()) {
		physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
	}
	_reload_physics_characteristics();
}

Ref<PhysicsMaterial> RigidBody3D::get_physics_material_override() const {
	return physics_material_override;
}

void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) {
	gravity_scale = p_gravity_scale;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
}

real_t RigidBody3D::get_gravity_scale() const {
	return gravity_scale;
}

void RigidBody3D::set_linear_damp(real_t p_linear_damp) {
	ERR_FAIL_COND(p_linear_damp < -1);
	linear_damp = p_linear_damp;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp);
}

real_t RigidBody3D::get_linear_damp() const {
	return linear_damp;
}

void RigidBody3D::set_angular_damp(real_t p_angular_damp) {
	ERR_FAIL_COND(p_angular_damp < -1);
	angular_damp = p_angular_damp;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp);
}

real_t RigidBody3D::get_angular_damp() const {
	return angular_damp;
}

void RigidBody3D::set_axis_velocity(const Vector3 &p_axis) {
	Vector3 v = state ? state->get_linear_velocity() : linear_velocity;
	Vector3 axis = p_axis.normalized();
	v -= axis * axis.dot(v);
	v += p_axis;
	if (state) {
		set_linear_velocity(v);
	} else {
		PhysicsServer3D::get_singleton()->body_set_axis_velocity(get_rid(), p_axis);
		linear_velocity = v;
	}
}

void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) {
	linear_velocity = p_velocity;
	if (state) {
		state->set_linear_velocity(linear_velocity);
	} else {
		PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
	}
}

Vector3 RigidBody3D::get_linear_velocity() const {
	return linear_velocity;
}

void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) {
	angular_velocity = p_velocity;
	if (state) {
		state->set_angular_velocity(angular_velocity);
	} else {
		PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
	}
}

Vector3 RigidBody3D::get_angular_velocity() const {
	return angular_velocity;
}

Basis RigidBody3D::get_inverse_inertia_tensor() {
	return inverse_inertia_tensor;
}

void RigidBody3D::set_use_custom_integrator(bool p_enable) {
	if (custom_integrator == p_enable) {
		return;
	}

	custom_integrator = p_enable;
	PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
}

bool RigidBody3D::is_using_custom_integrator() {
	return custom_integrator;
}

void RigidBody3D::set_sleeping(bool p_sleeping) {
	sleeping = p_sleeping;
	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_SLEEPING, sleeping);
}

void RigidBody3D::set_can_sleep(bool p_active) {
	can_sleep = p_active;
	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active);
}

bool RigidBody3D::is_able_to_sleep() const {
	return can_sleep;
}

bool RigidBody3D::is_sleeping() const {
	return sleeping;
}

void RigidBody3D::set_max_contacts_reported(int p_amount) {
	max_contacts_reported = p_amount;
	PhysicsServer3D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount);
}

int RigidBody3D::get_max_contacts_reported() const {
	return max_contacts_reported;
}

void RigidBody3D::add_central_force(const Vector3 &p_force) {
	PhysicsServer3D::get_singleton()->body_add_central_force(get_rid(), p_force);
}

void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
	PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
	singleton->body_add_force(get_rid(), p_force, p_position);
}

void RigidBody3D::add_torque(const Vector3 &p_torque) {
	PhysicsServer3D::get_singleton()->body_add_torque(get_rid(), p_torque);
}

void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) {
	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
}

void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
	PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
	singleton->body_apply_impulse(get_rid(), p_impulse, p_position);
}

void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
	PhysicsServer3D::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse);
}

void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) {
	ccd = p_enable;
	PhysicsServer3D::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable);
}

bool RigidBody3D::is_using_continuous_collision_detection() const {
	return ccd;
}

void RigidBody3D::set_contact_monitor(bool p_enabled) {
	if (p_enabled == is_contact_monitor_enabled()) {
		return;
	}

	if (!p_enabled) {
		ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead.");

		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
			//clean up mess
			Object *obj = ObjectDB::get_instance(E->key());
			Node *node = Object::cast_to<Node>(obj);

			if (node) {
				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
			}
		}

		memdelete(contact_monitor);
		contact_monitor = nullptr;
	} else {
		contact_monitor = memnew(ContactMonitor);
		contact_monitor->locked = false;
	}
}

bool RigidBody3D::is_contact_monitor_enabled() const {
	return contact_monitor != nullptr;
}

void RigidBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
}

bool RigidBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
}

Array RigidBody3D::get_colliding_bodies() const {
	ERR_FAIL_COND_V(!contact_monitor, Array());

	Array ret;
	ret.resize(contact_monitor->body_map.size());
	int idx = 0;
	for (const Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
		Object *obj = ObjectDB::get_instance(E->key());
		if (!obj) {
			ret.resize(ret.size() - 1); //ops
		} else {
			ret[idx++] = obj;
		}
	}

	return ret;
}

String RigidBody3D::get_configuration_warning() const {
	Transform t = get_transform();

	String warning = CollisionObject3D::get_configuration_warning();

	if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) {
		if (warning != String()) {
			warning += "\n\n";
		}
		warning += TTR("Size changes to RigidBody3D (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.");
	}

	return warning;
}

void RigidBody3D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody3D::set_mode);
	ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody3D::get_mode);

	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass);
	ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass);

	ClassDB::bind_method(D_METHOD("set_weight", "weight"), &RigidBody3D::set_weight);
	ClassDB::bind_method(D_METHOD("get_weight"), &RigidBody3D::get_weight);

	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody3D::set_physics_material_override);
	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody3D::get_physics_material_override);

	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody3D::set_linear_velocity);
	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody3D::get_linear_velocity);

	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity);
	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity);

	ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor);

	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale);
	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale);

	ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody3D::set_linear_damp);
	ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody3D::get_linear_damp);

	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody3D::set_angular_damp);
	ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody3D::get_angular_damp);

	ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody3D::set_max_contacts_reported);
	ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody3D::get_max_contacts_reported);

	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody3D::set_use_custom_integrator);
	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody3D::is_using_custom_integrator);

	ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody3D::set_contact_monitor);
	ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody3D::is_contact_monitor_enabled);

	ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody3D::set_use_continuous_collision_detection);
	ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody3D::is_using_continuous_collision_detection);

	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity);

	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody3D::add_central_force);
	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force, Vector3());
	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque);

	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse);
	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3());
	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse);

	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping);
	ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody3D::is_sleeping);

	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody3D::set_can_sleep);
	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep);

	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody3D::_direct_state_changed);

	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody3D::set_axis_lock);
	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody3D::get_axis_lock);

	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies);

	BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectBodyState3D")));

	ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight");
	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
	ADD_GROUP("Axis Lock", "axis_lock_");
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);
	ADD_GROUP("Linear", "linear_");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
	ADD_GROUP("Angular", "angular_");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp");

	ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
	ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
	ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
	ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
	ADD_SIGNAL(MethodInfo("sleeping_state_changed"));

	BIND_ENUM_CONSTANT(MODE_RIGID);
	BIND_ENUM_CONSTANT(MODE_STATIC);
	BIND_ENUM_CONSTANT(MODE_CHARACTER);
	BIND_ENUM_CONSTANT(MODE_KINEMATIC);
}

RigidBody3D::RigidBody3D() :
		PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) {
	mode = MODE_RIGID;

	mass = 1;
	max_contacts_reported = 0;
	state = nullptr;

	gravity_scale = 1;
	linear_damp = -1;
	angular_damp = -1;

	//angular_velocity=0;
	sleeping = false;
	ccd = false;

	custom_integrator = false;
	contact_monitor = nullptr;
	can_sleep = true;

	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
}

RigidBody3D::~RigidBody3D() {
	if (contact_monitor) {
		memdelete(contact_monitor);
	}
}

void RigidBody3D::_reload_physics_characteristics() {
	if (physics_material_override.is_null()) {
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1);
	} else {
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce());
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction());
	}
}

//////////////////////////////////////////////////////
//////////////////////////

Ref<KinematicCollision3D> KinematicBody3D::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only) {
	Collision col;
	if (move_and_collide(p_motion, p_infinite_inertia, col, p_exclude_raycast_shapes, p_test_only)) {
		if (motion_cache.is_null()) {
			motion_cache.instance();
			motion_cache->owner = this;
		}

		motion_cache->collision = col;

		return motion_cache;
	}

	return Ref<KinematicCollision3D>();
}

Vector3 KinematicBody3D::get_linear_velocity() const {
	return linear_velocity;
}

Vector3 KinematicBody3D::get_angular_velocity() const {
	return angular_velocity;
}

bool KinematicBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) {
	Transform gt = get_global_transform();
	PhysicsServer3D::MotionResult result;
	bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes);

	if (colliding) {
		r_collision.collider_metadata = result.collider_metadata;
		r_collision.collider_shape = result.collider_shape;
		r_collision.collider_vel = result.collider_velocity;
		r_collision.collision = result.collision_point;
		r_collision.normal = result.collision_normal;
		r_collision.collider = result.collider_id;
		r_collision.collider_rid = result.collider;
		r_collision.travel = result.motion;
		r_collision.remainder = result.remainder;
		r_collision.local_shape = result.collision_local_shape;
	}

	for (int i = 0; i < 3; i++) {
		if (locked_axis & (1 << i)) {
			result.motion[i] = 0;
		}
	}

	if (!p_test_only) {
		gt.origin += result.motion;
		set_global_transform(gt);
	}

	return colliding;
}

//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
#define FLOOR_ANGLE_THRESHOLD 0.01

Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
	Vector3 body_velocity = p_linear_velocity;
	Vector3 body_velocity_normal = body_velocity.normalized();
	Vector3 up_direction = p_up_direction.normalized();

	for (int i = 0; i < 3; i++) {
		if (locked_axis & (1 << i)) {
			body_velocity[i] = 0;
		}
	}

	// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
	Vector3 motion = (floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());

	on_floor = false;
	on_floor_body = RID();
	on_ceiling = false;
	on_wall = false;
	colliders.clear();
	floor_normal = Vector3();
	floor_velocity = Vector3();

	while (p_max_slides) {
		Collision collision;
		bool found_collision = false;

		for (int i = 0; i < 2; ++i) {
			bool collided;
			if (i == 0) { //collide
				collided = move_and_collide(motion, p_infinite_inertia, collision);
				if (!collided) {
					motion = Vector3(); //clear because no collision happened and motion completed
				}
			} else { //separate raycasts (if any)
				collided = separate_raycast_shapes(p_infinite_inertia, collision);
				if (collided) {
					collision.remainder = motion; //keep
					collision.travel = Vector3();
				}
			}

			if (collided) {
				found_collision = true;

				colliders.push_back(collision);
				motion = collision.remainder;

				if (up_direction == Vector3()) {
					//all is a wall
					on_wall = true;
				} else {
					if (Math::acos(collision.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor

						on_floor = true;
						floor_normal = collision.normal;
						on_floor_body = collision.collider_rid;
						floor_velocity = collision.collider_vel;

						if (p_stop_on_slope) {
							if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) {
								Transform gt = get_global_transform();
								gt.origin -= collision.travel.slide(up_direction);
								set_global_transform(gt);
								return Vector3();
							}
						}
					} else if (Math::acos(collision.normal.dot(-up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
						on_ceiling = true;
					} else {
						on_wall = true;
					}
				}

				motion = motion.slide(collision.normal);
				body_velocity = body_velocity.slide(collision.normal);

				for (int j = 0; j < 3; j++) {
					if (locked_axis & (1 << j)) {
						body_velocity[j] = 0;
					}
				}
			}
		}

		if (!found_collision || motion == Vector3()) {
			break;
		}

		--p_max_slides;
	}

	return body_velocity;
}

Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
	Vector3 up_direction = p_up_direction.normalized();
	bool was_on_floor = on_floor;

	Vector3 ret = move_and_slide(p_linear_velocity, up_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia);
	if (!was_on_floor || p_snap == Vector3()) {
		return ret;
	}

	Collision col;
	Transform gt = get_global_transform();

	if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) {
		bool apply = true;
		if (up_direction != Vector3()) {
			if (Math::acos(col.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) {
				on_floor = true;
				floor_normal = col.normal;
				on_floor_body = col.collider_rid;
				floor_velocity = col.collider_vel;
				if (p_stop_on_slope) {
					// move and collide may stray the object a bit because of pre un-stucking,
					// so only ensure that motion happens on floor direction in this case.
					col.travel = col.travel.project(up_direction);
				}
			} else {
				apply = false; //snapped with floor direction, but did not snap to a floor, do not snap.
			}
		}
		if (apply) {
			gt.origin += col.travel;
			set_global_transform(gt);
		}
	}

	return ret;
}

bool KinematicBody3D::is_on_floor() const {
	return on_floor;
}

bool KinematicBody3D::is_on_wall() const {
	return on_wall;
}

bool KinematicBody3D::is_on_ceiling() const {
	return on_ceiling;
}

Vector3 KinematicBody3D::get_floor_normal() const {
	return floor_normal;
}

Vector3 KinematicBody3D::get_floor_velocity() const {
	return floor_velocity;
}

bool KinematicBody3D::test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia) {
	ERR_FAIL_COND_V(!is_inside_tree(), false);

	return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia);
}

bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) {
	PhysicsServer3D::SeparationResult sep_res[8]; //max 8 rays

	Transform gt = get_global_transform();

	Vector3 recover;
	int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin);
	int deepest = -1;
	float deepest_depth;
	for (int i = 0; i < hits; i++) {
		if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
			deepest = i;
			deepest_depth = sep_res[i].collision_depth;
		}
	}

	gt.origin += recover;
	set_global_transform(gt);

	if (deepest != -1) {
		r_collision.collider = sep_res[deepest].collider_id;
		r_collision.collider_metadata = sep_res[deepest].collider_metadata;
		r_collision.collider_shape = sep_res[deepest].collider_shape;
		r_collision.collider_vel = sep_res[deepest].collider_velocity;
		r_collision.collision = sep_res[deepest].collision_point;
		r_collision.normal = sep_res[deepest].collision_normal;
		r_collision.local_shape = sep_res[deepest].collision_local_shape;
		r_collision.travel = recover;
		r_collision.remainder = Vector3();

		return true;
	} else {
		return false;
	}
}

void KinematicBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
	if (p_lock) {
		locked_axis |= p_axis;
	} else {
		locked_axis &= (~p_axis);
	}
	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
}

bool KinematicBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
}

void KinematicBody3D::set_safe_margin(float p_margin) {
	margin = p_margin;
	PhysicsServer3D::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin);
}

float KinematicBody3D::get_safe_margin() const {
	return margin;
}

int KinematicBody3D::get_slide_count() const {
	return colliders.size();
}

KinematicBody3D::Collision KinematicBody3D::get_slide_collision(int p_bounce) const {
	ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Collision());
	return colliders[p_bounce];
}

Ref<KinematicCollision3D> KinematicBody3D::_get_slide_collision(int p_bounce) {
	ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Ref<KinematicCollision3D>());
	if (p_bounce >= slide_colliders.size()) {
		slide_colliders.resize(p_bounce + 1);
	}

	if (slide_colliders[p_bounce].is_null()) {
		slide_colliders.write[p_bounce].instance();
		slide_colliders.write[p_bounce]->owner = this;
	}

	slide_colliders.write[p_bounce]->collision = colliders[p_bounce];
	return slide_colliders[p_bounce];
}

void KinematicBody3D::_notification(int p_what) {
	if (p_what == NOTIFICATION_ENTER_TREE) {
		// Reset move_and_slide() data.
		on_floor = false;
		on_floor_body = RID();
		on_ceiling = false;
		on_wall = false;
		colliders.clear();
		floor_velocity = Vector3();
	}
}

void KinematicBody3D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &KinematicBody3D::_direct_state_changed);

	ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false));
	ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
	ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));

	ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody3D::test_move, DEFVAL(true));

	ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody3D::is_on_floor);
	ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody3D::is_on_ceiling);
	ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody3D::is_on_wall);
	ClassDB::bind_method(D_METHOD("get_floor_normal"), &KinematicBody3D::get_floor_normal);
	ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody3D::get_floor_velocity);

	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &KinematicBody3D::set_axis_lock);
	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &KinematicBody3D::get_axis_lock);

	ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody3D::set_safe_margin);
	ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody3D::get_safe_margin);

	ClassDB::bind_method(D_METHOD("get_slide_count"), &KinematicBody3D::get_slide_count);
	ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody3D::_get_slide_collision);

	ADD_GROUP("Axis Lock", "axis_lock_");
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);

	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin");
}

void KinematicBody3D::_direct_state_changed(Object *p_state) {
#ifdef DEBUG_ENABLED
	PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
#else
	PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
#endif

	linear_velocity = state->get_linear_velocity();
	angular_velocity = state->get_angular_velocity();
}

KinematicBody3D::KinematicBody3D() :
		PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) {
	locked_axis = 0;
	on_floor = false;
	on_ceiling = false;
	on_wall = false;

	set_safe_margin(0.001);
	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
}

KinematicBody3D::~KinematicBody3D() {
	if (motion_cache.is_valid()) {
		motion_cache->owner = nullptr;
	}

	for (int i = 0; i < slide_colliders.size(); i++) {
		if (slide_colliders[i].is_valid()) {
			slide_colliders.write[i]->owner = nullptr;
		}
	}
}

///////////////////////////////////////

Vector3 KinematicCollision3D::get_position() const {
	return collision.collision;
}

Vector3 KinematicCollision3D::get_normal() const {
	return collision.normal;
}

Vector3 KinematicCollision3D::get_travel() const {
	return collision.travel;
}

Vector3 KinematicCollision3D::get_remainder() const {
	return collision.remainder;
}

Object *KinematicCollision3D::get_local_shape() const {
	if (!owner) {
		return nullptr;
	}
	uint32_t ownerid = owner->shape_find_owner(collision.local_shape);
	return owner->shape_owner_get_owner(ownerid);
}

Object *KinematicCollision3D::get_collider() const {
	if (collision.collider.is_valid()) {
		return ObjectDB::get_instance(collision.collider);
	}

	return nullptr;
}

ObjectID KinematicCollision3D::get_collider_id() const {
	return collision.collider;
}

Object *KinematicCollision3D::get_collider_shape() const {
	Object *collider = get_collider();
	if (collider) {
		CollisionObject3D *obj2d = Object::cast_to<CollisionObject3D>(collider);
		if (obj2d) {
			uint32_t ownerid = obj2d->shape_find_owner(collision.collider_shape);
			return obj2d->shape_owner_get_owner(ownerid);
		}
	}

	return nullptr;
}

int KinematicCollision3D::get_collider_shape_index() const {
	return collision.collider_shape;
}

Vector3 KinematicCollision3D::get_collider_velocity() const {
	return collision.collider_vel;
}

Variant KinematicCollision3D::get_collider_metadata() const {
	return Variant();
}

void KinematicCollision3D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("get_position"), &KinematicCollision3D::get_position);
	ClassDB::bind_method(D_METHOD("get_normal"), &KinematicCollision3D::get_normal);
	ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision3D::get_travel);
	ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision3D::get_remainder);
	ClassDB::bind_method(D_METHOD("get_local_shape"), &KinematicCollision3D::get_local_shape);
	ClassDB::bind_method(D_METHOD("get_collider"), &KinematicCollision3D::get_collider);
	ClassDB::bind_method(D_METHOD("get_collider_id"), &KinematicCollision3D::get_collider_id);
	ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicCollision3D::get_collider_shape);
	ClassDB::bind_method(D_METHOD("get_collider_shape_index"), &KinematicCollision3D::get_collider_shape_index);
	ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicCollision3D::get_collider_velocity);
	ClassDB::bind_method(D_METHOD("get_collider_metadata"), &KinematicCollision3D::get_collider_metadata);

	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "position"), "", "get_position");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "normal"), "", "get_normal");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "travel"), "", "get_travel");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "remainder"), "", "get_remainder");
	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "local_shape"), "", "get_local_shape");
	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id"), "", "get_collider_id");
	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider_shape"), "", "get_collider_shape");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape_index"), "", "get_collider_shape_index");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collider_velocity"), "", "get_collider_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::NIL, "collider_metadata", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NIL_IS_VARIANT), "", "get_collider_metadata");
}

KinematicCollision3D::KinematicCollision3D() {
	collision.collider_shape = 0;
	collision.local_shape = 0;
	owner = nullptr;
}

///////////////////////////////////////

bool PhysicalBone3D::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
	return false;
}

bool PhysicalBone3D::JointData::_get(const StringName &p_name, Variant &r_ret) const {
	return false;
}

void PhysicalBone3D::JointData::_get_property_list(List<PropertyInfo> *p_list) const {
}

void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) {
	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
}

void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position);
}

void PhysicalBone3D::reset_physics_simulation_state() {
	if (simulate_physics) {
		_start_physics_simulation();
	} else {
		_stop_physics_simulation();
	}
}

void PhysicalBone3D::reset_to_rest_position() {
	if (parent_skeleton) {
		if (-1 == bone_id) {
			set_global_transform(parent_skeleton->get_global_transform() * body_offset);
		} else {
			set_global_transform(parent_skeleton->get_global_transform() * parent_skeleton->get_bone_global_pose(bone_id) * body_offset);
		}
	}
}

bool PhysicalBone3D::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
	if (JointData::_set(p_name, p_value, j)) {
		return true;
	}

	if ("joint_constraints/bias" == p_name) {
		bias = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_BIAS, bias);
		}

	} else if ("joint_constraints/damping" == p_name) {
		damping = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_DAMPING, damping);
		}

	} else if ("joint_constraints/impulse_clamp" == p_name) {
		impulse_clamp = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, impulse_clamp);
		}

	} else {
		return false;
	}

	return true;
}

bool PhysicalBone3D::PinJointData::_get(const StringName &p_name, Variant &r_ret) const {
	if (JointData::_get(p_name, r_ret)) {
		return true;
	}

	if ("joint_constraints/bias" == p_name) {
		r_ret = bias;
	} else if ("joint_constraints/damping" == p_name) {
		r_ret = damping;
	} else if ("joint_constraints/impulse_clamp" == p_name) {
		r_ret = impulse_clamp;
	} else {
		return false;
	}

	return true;
}

void PhysicalBone3D::PinJointData::_get_property_list(List<PropertyInfo> *p_list) const {
	JointData::_get_property_list(p_list);

	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01"));
}

bool PhysicalBone3D::ConeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
	if (JointData::_set(p_name, p_value, j)) {
		return true;
	}

	if ("joint_constraints/swing_span" == p_name) {
		swing_span = Math::deg2rad(real_t(p_value));
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, swing_span);
		}

	} else if ("joint_constraints/twist_span" == p_name) {
		twist_span = Math::deg2rad(real_t(p_value));
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, twist_span);
		}

	} else if ("joint_constraints/bias" == p_name) {
		bias = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, bias);
		}

	} else if ("joint_constraints/softness" == p_name) {
		softness = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, softness);
		}

	} else if ("joint_constraints/relaxation" == p_name) {
		relaxation = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, relaxation);
		}

	} else {
		return false;
	}

	return true;
}

bool PhysicalBone3D::ConeJointData::_get(const StringName &p_name, Variant &r_ret) const {
	if (JointData::_get(p_name, r_ret)) {
		return true;
	}

	if ("joint_constraints/swing_span" == p_name) {
		r_ret = Math::rad2deg(swing_span);
	} else if ("joint_constraints/twist_span" == p_name) {
		r_ret = Math::rad2deg(twist_span);
	} else if ("joint_constraints/bias" == p_name) {
		r_ret = bias;
	} else if ("joint_constraints/softness" == p_name) {
		r_ret = softness;
	} else if ("joint_constraints/relaxation" == p_name) {
		r_ret = relaxation;
	} else {
		return false;
	}

	return true;
}

void PhysicalBone3D::ConeJointData::_get_property_list(List<PropertyInfo> *p_list) const {
	JointData::_get_property_list(p_list);

	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/swing_span", PROPERTY_HINT_RANGE, "-180,180,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1,or_lesser,or_greater"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
}

bool PhysicalBone3D::HingeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
	if (JointData::_set(p_name, p_value, j)) {
		return true;
	}

	if ("joint_constraints/angular_limit_enabled" == p_name) {
		angular_limit_enabled = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->hinge_joint_set_flag(j, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, angular_limit_enabled);
		}

	} else if ("joint_constraints/angular_limit_upper" == p_name) {
		angular_limit_upper = Math::deg2rad(real_t(p_value));
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, angular_limit_upper);
		}

	} else if ("joint_constraints/angular_limit_lower" == p_name) {
		angular_limit_lower = Math::deg2rad(real_t(p_value));
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, angular_limit_lower);
		}

	} else if ("joint_constraints/angular_limit_bias" == p_name) {
		angular_limit_bias = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, angular_limit_bias);
		}

	} else if ("joint_constraints/angular_limit_softness" == p_name) {
		angular_limit_softness = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, angular_limit_softness);
		}

	} else if ("joint_constraints/angular_limit_relaxation" == p_name) {
		angular_limit_relaxation = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, angular_limit_relaxation);
		}

	} else {
		return false;
	}

	return true;
}

bool PhysicalBone3D::HingeJointData::_get(const StringName &p_name, Variant &r_ret) const {
	if (JointData::_get(p_name, r_ret)) {
		return true;
	}

	if ("joint_constraints/angular_limit_enabled" == p_name) {
		r_ret = angular_limit_enabled;
	} else if ("joint_constraints/angular_limit_upper" == p_name) {
		r_ret = Math::rad2deg(angular_limit_upper);
	} else if ("joint_constraints/angular_limit_lower" == p_name) {
		r_ret = Math::rad2deg(angular_limit_lower);
	} else if ("joint_constraints/angular_limit_bias" == p_name) {
		r_ret = angular_limit_bias;
	} else if ("joint_constraints/angular_limit_softness" == p_name) {
		r_ret = angular_limit_softness;
	} else if ("joint_constraints/angular_limit_relaxation" == p_name) {
		r_ret = angular_limit_relaxation;
	} else {
		return false;
	}

	return true;
}

void PhysicalBone3D::HingeJointData::_get_property_list(List<PropertyInfo> *p_list) const {
	JointData::_get_property_list(p_list);

	p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/angular_limit_enabled"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
}

bool PhysicalBone3D::SliderJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
	if (JointData::_set(p_name, p_value, j)) {
		return true;
	}

	if ("joint_constraints/linear_limit_upper" == p_name) {
		linear_limit_upper = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, linear_limit_upper);
		}

	} else if ("joint_constraints/linear_limit_lower" == p_name) {
		linear_limit_lower = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, linear_limit_lower);
		}

	} else if ("joint_constraints/linear_limit_softness" == p_name) {
		linear_limit_softness = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, linear_limit_softness);
		}

	} else if ("joint_constraints/linear_limit_restitution" == p_name) {
		linear_limit_restitution = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, linear_limit_restitution);
		}

	} else if ("joint_constraints/linear_limit_damping" == p_name) {
		linear_limit_damping = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, linear_limit_restitution);
		}

	} else if ("joint_constraints/angular_limit_upper" == p_name) {
		angular_limit_upper = Math::deg2rad(real_t(p_value));
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, angular_limit_upper);
		}

	} else if ("joint_constraints/angular_limit_lower" == p_name) {
		angular_limit_lower = Math::deg2rad(real_t(p_value));
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, angular_limit_lower);
		}

	} else if ("joint_constraints/angular_limit_softness" == p_name) {
		angular_limit_softness = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness);
		}

	} else if ("joint_constraints/angular_limit_restitution" == p_name) {
		angular_limit_restitution = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness);
		}

	} else if ("joint_constraints/angular_limit_damping" == p_name) {
		angular_limit_damping = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, angular_limit_damping);
		}

	} else {
		return false;
	}

	return true;
}

bool PhysicalBone3D::SliderJointData::_get(const StringName &p_name, Variant &r_ret) const {
	if (JointData::_get(p_name, r_ret)) {
		return true;
	}

	if ("joint_constraints/linear_limit_upper" == p_name) {
		r_ret = linear_limit_upper;
	} else if ("joint_constraints/linear_limit_lower" == p_name) {
		r_ret = linear_limit_lower;
	} else if ("joint_constraints/linear_limit_softness" == p_name) {
		r_ret = linear_limit_softness;
	} else if ("joint_constraints/linear_limit_restitution" == p_name) {
		r_ret = linear_limit_restitution;
	} else if ("joint_constraints/linear_limit_damping" == p_name) {
		r_ret = linear_limit_damping;
	} else if ("joint_constraints/angular_limit_upper" == p_name) {
		r_ret = Math::rad2deg(angular_limit_upper);
	} else if ("joint_constraints/angular_limit_lower" == p_name) {
		r_ret = Math::rad2deg(angular_limit_lower);
	} else if ("joint_constraints/angular_limit_softness" == p_name) {
		r_ret = angular_limit_softness;
	} else if ("joint_constraints/angular_limit_restitution" == p_name) {
		r_ret = angular_limit_restitution;
	} else if ("joint_constraints/angular_limit_damping" == p_name) {
		r_ret = angular_limit_damping;
	} else {
		return false;
	}

	return true;
}

void PhysicalBone3D::SliderJointData::_get_property_list(List<PropertyInfo> *p_list) const {
	JointData::_get_property_list(p_list);

	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_upper"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_lower"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"));

	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"));
}

bool PhysicalBone3D::SixDOFJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
	if (JointData::_set(p_name, p_value, j)) {
		return true;
	}

	String path = p_name;

	Vector3::Axis axis;
	{
		const String axis_s = path.get_slicec('/', 1);
		if ("x" == axis_s) {
			axis = Vector3::AXIS_X;
		} else if ("y" == axis_s) {
			axis = Vector3::AXIS_Y;
		} else if ("z" == axis_s) {
			axis = Vector3::AXIS_Z;
		} else {
			return false;
		}
	}

	String var_name = path.get_slicec('/', 2);

	if ("linear_limit_enabled" == var_name) {
		axis_data[axis].linear_limit_enabled = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, axis_data[axis].linear_limit_enabled);
		}

	} else if ("linear_limit_upper" == var_name) {
		axis_data[axis].linear_limit_upper = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, axis_data[axis].linear_limit_upper);
		}

	} else if ("linear_limit_lower" == var_name) {
		axis_data[axis].linear_limit_lower = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, axis_data[axis].linear_limit_lower);
		}

	} else if ("linear_limit_softness" == var_name) {
		axis_data[axis].linear_limit_softness = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness);
		}

	} else if ("linear_spring_enabled" == var_name) {
		axis_data[axis].linear_spring_enabled = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled);
		}

	} else if ("linear_spring_stiffness" == var_name) {
		axis_data[axis].linear_spring_stiffness = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness);
		}

	} else if ("linear_spring_damping" == var_name) {
		axis_data[axis].linear_spring_damping = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping);
		}

	} else if ("linear_equilibrium_point" == var_name) {
		axis_data[axis].linear_equilibrium_point = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point);
		}

	} else if ("linear_restitution" == var_name) {
		axis_data[axis].linear_restitution = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, axis_data[axis].linear_restitution);
		}

	} else if ("linear_damping" == var_name) {
		axis_data[axis].linear_damping = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, axis_data[axis].linear_damping);
		}

	} else if ("angular_limit_enabled" == var_name) {
		axis_data[axis].angular_limit_enabled = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, axis_data[axis].angular_limit_enabled);
		}

	} else if ("angular_limit_upper" == var_name) {
		axis_data[axis].angular_limit_upper = Math::deg2rad(real_t(p_value));
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, axis_data[axis].angular_limit_upper);
		}

	} else if ("angular_limit_lower" == var_name) {
		axis_data[axis].angular_limit_lower = Math::deg2rad(real_t(p_value));
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, axis_data[axis].angular_limit_lower);
		}

	} else if ("angular_limit_softness" == var_name) {
		axis_data[axis].angular_limit_softness = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, axis_data[axis].angular_limit_softness);
		}

	} else if ("angular_restitution" == var_name) {
		axis_data[axis].angular_restitution = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, axis_data[axis].angular_restitution);
		}

	} else if ("angular_damping" == var_name) {
		axis_data[axis].angular_damping = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, axis_data[axis].angular_damping);
		}

	} else if ("erp" == var_name) {
		axis_data[axis].erp = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp);
		}

	} else if ("angular_spring_enabled" == var_name) {
		axis_data[axis].angular_spring_enabled = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled);
		}

	} else if ("angular_spring_stiffness" == var_name) {
		axis_data[axis].angular_spring_stiffness = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness);
		}

	} else if ("angular_spring_damping" == var_name) {
		axis_data[axis].angular_spring_damping = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping);
		}

	} else if ("angular_equilibrium_point" == var_name) {
		axis_data[axis].angular_equilibrium_point = p_value;
		if (j.is_valid()) {
			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point);
		}

	} else {
		return false;
	}

	return true;
}

bool PhysicalBone3D::SixDOFJointData::_get(const StringName &p_name, Variant &r_ret) const {
	if (JointData::_get(p_name, r_ret)) {
		return true;
	}

	String path = p_name;

	int axis;
	{
		const String axis_s = path.get_slicec('/', 1);
		if ("x" == axis_s) {
			axis = 0;
		} else if ("y" == axis_s) {
			axis = 1;
		} else if ("z" == axis_s) {
			axis = 2;
		} else {
			return false;
		}
	}

	String var_name = path.get_slicec('/', 2);

	if ("linear_limit_enabled" == var_name) {
		r_ret = axis_data[axis].linear_limit_enabled;
	} else if ("linear_limit_upper" == var_name) {
		r_ret = axis_data[axis].linear_limit_upper;
	} else if ("linear_limit_lower" == var_name) {
		r_ret = axis_data[axis].linear_limit_lower;
	} else if ("linear_limit_softness" == var_name) {
		r_ret = axis_data[axis].linear_limit_softness;
	} else if ("linear_spring_enabled" == var_name) {
		r_ret = axis_data[axis].linear_spring_enabled;
	} else if ("linear_spring_stiffness" == var_name) {
		r_ret = axis_data[axis].linear_spring_stiffness;
	} else if ("linear_spring_damping" == var_name) {
		r_ret = axis_data[axis].linear_spring_damping;
	} else if ("linear_equilibrium_point" == var_name) {
		r_ret = axis_data[axis].linear_equilibrium_point;
	} else if ("linear_restitution" == var_name) {
		r_ret = axis_data[axis].linear_restitution;
	} else if ("linear_damping" == var_name) {
		r_ret = axis_data[axis].linear_damping;
	} else if ("angular_limit_enabled" == var_name) {
		r_ret = axis_data[axis].angular_limit_enabled;
	} else if ("angular_limit_upper" == var_name) {
		r_ret = Math::rad2deg(axis_data[axis].angular_limit_upper);
	} else if ("angular_limit_lower" == var_name) {
		r_ret = Math::rad2deg(axis_data[axis].angular_limit_lower);
	} else if ("angular_limit_softness" == var_name) {
		r_ret = axis_data[axis].angular_limit_softness;
	} else if ("angular_restitution" == var_name) {
		r_ret = axis_data[axis].angular_restitution;
	} else if ("angular_damping" == var_name) {
		r_ret = axis_data[axis].angular_damping;
	} else if ("erp" == var_name) {
		r_ret = axis_data[axis].erp;
	} else if ("angular_spring_enabled" == var_name) {
		r_ret = axis_data[axis].angular_spring_enabled;
	} else if ("angular_spring_stiffness" == var_name) {
		r_ret = axis_data[axis].angular_spring_stiffness;
	} else if ("angular_spring_damping" == var_name) {
		r_ret = axis_data[axis].angular_spring_damping;
	} else if ("angular_equilibrium_point" == var_name) {
		r_ret = axis_data[axis].angular_equilibrium_point;
	} else {
		return false;
	}

	return true;
}

void PhysicalBone3D::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_list) const {
	const StringName axis_names[] = { "x", "y", "z" };
	for (int i = 0; i < 3; ++i) {
		p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_limit_enabled"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_upper"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_lower"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
		p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_spring_enabled"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_stiffness"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_damping"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_equilibrium_point"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
		p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_limit_enabled"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/erp"));
		p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_spring_enabled"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_stiffness"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_damping"));
		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_equilibrium_point"));
	}
}

bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) {
	if (p_name == "bone_name") {
		set_bone_name(p_value);
		return true;
	}

	if (joint_data) {
		if (joint_data->_set(p_name, p_value)) {
#ifdef TOOLS_ENABLED
			if (get_gizmo().is_valid()) {
				get_gizmo()->redraw();
			}
#endif
			return true;
		}
	}

	return false;
}

bool PhysicalBone3D::_get(const StringName &p_name, Variant &r_ret) const {
	if (p_name == "bone_name") {
		r_ret = get_bone_name();
		return true;
	}

	if (joint_data) {
		return joint_data->_get(p_name, r_ret);
	}

	return false;
}

void PhysicalBone3D::_get_property_list(List<PropertyInfo> *p_list) const {
	Skeleton3D *parent = find_skeleton_parent(get_parent());

	if (parent) {
		String names;
		for (int i = 0; i < parent->get_bone_count(); i++) {
			if (i > 0) {
				names += ",";
			}
			names += parent->get_bone_name(i);
		}

		p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name", PROPERTY_HINT_ENUM, names));
	} else {
		p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name"));
	}

	if (joint_data) {
		joint_data->_get_property_list(p_list);
	}
}

void PhysicalBone3D::_notification(int p_what) {
	switch (p_what) {
		case NOTIFICATION_ENTER_TREE:
			parent_skeleton = find_skeleton_parent(get_parent());
			update_bone_id();
			reset_to_rest_position();
			reset_physics_simulation_state();
			if (!joint.is_valid() && joint_data) {
				_reload_joint();
			}
			break;
		case NOTIFICATION_EXIT_TREE:
			if (parent_skeleton) {
				if (-1 != bone_id) {
					parent_skeleton->unbind_physical_bone_from_bone(bone_id);
				}
			}
			parent_skeleton = nullptr;
			if (joint.is_valid()) {
				PhysicsServer3D::get_singleton()->free(joint);
				joint = RID();
			}
			break;
		case NOTIFICATION_TRANSFORM_CHANGED:
			if (Engine::get_singleton()->is_editor_hint()) {
				update_offset();
			}
			break;
	}
}

void PhysicalBone3D::_direct_state_changed(Object *p_state) {
	if (!simulate_physics || !_internal_simulate_physics) {
		return;
	}

	/// Update bone transform

	PhysicsDirectBodyState3D *state;

#ifdef DEBUG_ENABLED
	state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
#else
	state = (PhysicsDirectBodyState3D *)p_state; //trust it
#endif

	Transform global_transform(state->get_transform());

	set_ignore_transform_notification(true);
	set_global_transform(global_transform);
	set_ignore_transform_notification(false);

	// Update skeleton
	if (parent_skeleton) {
		if (-1 != bone_id) {
			parent_skeleton->set_bone_global_pose_override(bone_id, parent_skeleton->get_global_transform().affine_inverse() * (global_transform * body_offset_inverse), 1.0, true);
		}
	}
}

void PhysicalBone3D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse);
	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3());

	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone3D::_direct_state_changed);

	ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone3D::set_joint_type);
	ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone3D::get_joint_type);

	ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset);
	ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset);
	ClassDB::bind_method(D_METHOD("set_joint_rotation", "euler"), &PhysicalBone3D::set_joint_rotation);
	ClassDB::bind_method(D_METHOD("get_joint_rotation"), &PhysicalBone3D::get_joint_rotation);
	ClassDB::bind_method(D_METHOD("set_joint_rotation_degrees", "euler_degrees"), &PhysicalBone3D::set_joint_rotation_degrees);
	ClassDB::bind_method(D_METHOD("get_joint_rotation_degrees"), &PhysicalBone3D::get_joint_rotation_degrees);

	ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset);
	ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset);

	ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone3D::get_simulate_physics);

	ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone3D::is_simulating_physics);

	ClassDB::bind_method(D_METHOD("get_bone_id"), &PhysicalBone3D::get_bone_id);

	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone3D::set_mass);
	ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone3D::get_mass);

	ClassDB::bind_method(D_METHOD("set_weight", "weight"), &PhysicalBone3D::set_weight);
	ClassDB::bind_method(D_METHOD("get_weight"), &PhysicalBone3D::get_weight);

	ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone3D::set_friction);
	ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone3D::get_friction);

	ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &PhysicalBone3D::set_bounce);
	ClassDB::bind_method(D_METHOD("get_bounce"), &PhysicalBone3D::get_bounce);

	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale);
	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale);

	ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &PhysicalBone3D::set_linear_damp);
	ClassDB::bind_method(D_METHOD("get_linear_damp"), &PhysicalBone3D::get_linear_damp);

	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp);
	ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp);

	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep);
	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep);

	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicalBone3D::set_axis_lock);
	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicalBone3D::get_axis_lock);

	ADD_GROUP("Joint", "joint_");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type");
	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "joint_offset"), "set_joint_offset", "get_joint_offset");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation_degrees", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_joint_rotation_degrees", "get_joint_rotation_degrees");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_NONE, "", 0), "set_joint_rotation", "get_joint_rotation");

	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "body_offset"), "set_body_offset", "get_body_offset");

	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_weight", "get_weight");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");

	ADD_GROUP("Axis Lock", "axis_lock_");
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);

	BIND_ENUM_CONSTANT(JOINT_TYPE_NONE);
	BIND_ENUM_CONSTANT(JOINT_TYPE_PIN);
	BIND_ENUM_CONSTANT(JOINT_TYPE_CONE);
	BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE);
	BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER);
	BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF);
}

Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) {
	if (!p_parent) {
		return nullptr;
	}
	Skeleton3D *s = Object::cast_to<Skeleton3D>(p_parent);
	return s ? s : find_skeleton_parent(p_parent->get_parent());
}

void PhysicalBone3D::_update_joint_offset() {
	_fix_joint_offset();

	set_ignore_transform_notification(true);
	reset_to_rest_position();
	set_ignore_transform_notification(false);

#ifdef TOOLS_ENABLED
	if (get_gizmo().is_valid()) {
		get_gizmo()->redraw();
	}
#endif
}

void PhysicalBone3D::_fix_joint_offset() {
	// Clamp joint origin to bone origin
	if (parent_skeleton) {
		joint_offset.origin = body_offset.affine_inverse().origin;
	}
}

void PhysicalBone3D::_reload_joint() {
	if (joint.is_valid()) {
		PhysicsServer3D::get_singleton()->free(joint);
		joint = RID();
	}

	if (!parent_skeleton) {
		return;
	}

	PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id);
	if (!body_a) {
		return;
	}

	Transform joint_transf = get_global_transform() * joint_offset;
	Transform local_a = body_a->get_global_transform().affine_inverse() * joint_transf;
	local_a.orthonormalize();

	switch (get_joint_type()) {
		case JOINT_TYPE_PIN: {
			joint = PhysicsServer3D::get_singleton()->joint_create_pin(body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin);
			const PinJointData *pjd(static_cast<const PinJointData *>(joint_data));
			PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_BIAS, pjd->bias);
			PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_DAMPING, pjd->damping);
			PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, pjd->impulse_clamp);

		} break;
		case JOINT_TYPE_CONE: {
			joint = PhysicsServer3D::get_singleton()->joint_create_cone_twist(body_a->get_rid(), local_a, get_rid(), joint_offset);
			const ConeJointData *cjd(static_cast<const ConeJointData *>(joint_data));
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span);
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span);
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, cjd->bias);
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, cjd->softness);
			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, cjd->relaxation);

		} break;
		case JOINT_TYPE_HINGE: {
			joint = PhysicsServer3D::get_singleton()->joint_create_hinge(body_a->get_rid(), local_a, get_rid(), joint_offset);
			const HingeJointData *hjd(static_cast<const HingeJointData *>(joint_data));
			PhysicsServer3D::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled);
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper);
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, hjd->angular_limit_lower);
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, hjd->angular_limit_bias);
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, hjd->angular_limit_softness);
			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, hjd->angular_limit_relaxation);

		} break;
		case JOINT_TYPE_SLIDER: {
			joint = PhysicsServer3D::get_singleton()->joint_create_slider(body_a->get_rid(), local_a, get_rid(), joint_offset);
			const SliderJointData *sjd(static_cast<const SliderJointData *>(joint_data));
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, sjd->linear_limit_softness);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, sjd->linear_limit_restitution);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, sjd->linear_limit_restitution);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, sjd->angular_limit_upper);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, sjd->angular_limit_lower);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness);
			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, sjd->angular_limit_damping);

		} break;
		case JOINT_TYPE_6DOF: {
			joint = PhysicsServer3D::get_singleton()->joint_create_generic_6dof(body_a->get_rid(), local_a, get_rid(), joint_offset);
			const SixDOFJointData *g6dofjd(static_cast<const SixDOFJointData *>(joint_data));
			for (int axis = 0; axis < 3; ++axis) {
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, g6dofjd->axis_data[axis].angular_limit_upper);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, g6dofjd->axis_data[axis].angular_limit_lower);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].angular_limit_softness);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping);
				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point);
			}

		} break;
		case JOINT_TYPE_NONE: {
		} break;
	}
}

void PhysicalBone3D::_on_bone_parent_changed() {
	_reload_joint();
}

void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) {
#ifdef TOOLS_ENABLED
	gizmo_move_joint = p_move_joint;
	Node3DEditor::get_singleton()->update_transform_gizmo();
#endif
}

#ifdef TOOLS_ENABLED
Transform PhysicalBone3D::get_global_gizmo_transform() const {
	return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform();
}

Transform PhysicalBone3D::get_local_gizmo_transform() const {
	return gizmo_move_joint ? get_transform() * joint_offset : get_transform();
}
#endif

const PhysicalBone3D::JointData *PhysicalBone3D::get_joint_data() const {
	return joint_data;
}

Skeleton3D *PhysicalBone3D::find_skeleton_parent() {
	return find_skeleton_parent(this);
}

void PhysicalBone3D::set_joint_type(JointType p_joint_type) {
	if (p_joint_type == get_joint_type()) {
		return;
	}

	if (joint_data) {
		memdelete(joint_data);
	}
	joint_data = nullptr;
	switch (p_joint_type) {
		case JOINT_TYPE_PIN:
			joint_data = memnew(PinJointData);
			break;
		case JOINT_TYPE_CONE:
			joint_data = memnew(ConeJointData);
			break;
		case JOINT_TYPE_HINGE:
			joint_data = memnew(HingeJointData);
			break;
		case JOINT_TYPE_SLIDER:
			joint_data = memnew(SliderJointData);
			break;
		case JOINT_TYPE_6DOF:
			joint_data = memnew(SixDOFJointData);
			break;
		case JOINT_TYPE_NONE:
			break;
	}

	_reload_joint();

#ifdef TOOLS_ENABLED
	_change_notify();
	if (get_gizmo().is_valid()) {
		get_gizmo()->redraw();
	}
#endif
}

PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const {
	return joint_data ? joint_data->get_joint_type() : JOINT_TYPE_NONE;
}

void PhysicalBone3D::set_joint_offset(const Transform &p_offset) {
	joint_offset = p_offset;

	_update_joint_offset();
	_change_notify("joint_rotation_degrees");
}

const Transform &PhysicalBone3D::get_joint_offset() const {
	return joint_offset;
}

void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) {
	joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale());

	_update_joint_offset();
	_change_notify("joint_offset");
}

Vector3 PhysicalBone3D::get_joint_rotation() const {
	return joint_offset.basis.get_rotation();
}

void PhysicalBone3D::set_joint_rotation_degrees(const Vector3 &p_euler_deg) {
	set_joint_rotation(p_euler_deg * Math_PI / 180.0);
}

Vector3 PhysicalBone3D::get_joint_rotation_degrees() const {
	return get_joint_rotation() * 180.0 / Math_PI;
}

const Transform &PhysicalBone3D::get_body_offset() const {
	return body_offset;
}

void PhysicalBone3D::set_body_offset(const Transform &p_offset) {
	body_offset = p_offset;
	body_offset_inverse = body_offset.affine_inverse();

	_update_joint_offset();
}

void PhysicalBone3D::set_simulate_physics(bool p_simulate) {
	if (simulate_physics == p_simulate) {
		return;
	}

	simulate_physics = p_simulate;
	reset_physics_simulation_state();
}

bool PhysicalBone3D::get_simulate_physics() {
	return simulate_physics;
}

bool PhysicalBone3D::is_simulating_physics() {
	return _internal_simulate_physics;
}

void PhysicalBone3D::set_bone_name(const String &p_name) {
	bone_name = p_name;
	bone_id = -1;

	update_bone_id();
	reset_to_rest_position();
}

const String &PhysicalBone3D::get_bone_name() const {
	return bone_name;
}

void PhysicalBone3D::set_mass(real_t p_mass) {
	ERR_FAIL_COND(p_mass <= 0);
	mass = p_mass;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass);
}

real_t PhysicalBone3D::get_mass() const {
	return mass;
}

void PhysicalBone3D::set_weight(real_t p_weight) {
	set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)));
}

real_t PhysicalBone3D::get_weight() const {
	return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8));
}

void PhysicalBone3D::set_friction(real_t p_friction) {
	ERR_FAIL_COND(p_friction < 0 || p_friction > 1);

	friction = p_friction;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, friction);
}

real_t PhysicalBone3D::get_friction() const {
	return friction;
}

void PhysicalBone3D::set_bounce(real_t p_bounce) {
	ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1);

	bounce = p_bounce;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, bounce);
}

real_t PhysicalBone3D::get_bounce() const {
	return bounce;
}

void PhysicalBone3D::set_gravity_scale(real_t p_gravity_scale) {
	gravity_scale = p_gravity_scale;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
}

real_t PhysicalBone3D::get_gravity_scale() const {
	return gravity_scale;
}

void PhysicalBone3D::set_linear_damp(real_t p_linear_damp) {
	ERR_FAIL_COND(p_linear_damp < -1);
	linear_damp = p_linear_damp;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp);
}

real_t PhysicalBone3D::get_linear_damp() const {
	return linear_damp;
}

void PhysicalBone3D::set_angular_damp(real_t p_angular_damp) {
	ERR_FAIL_COND(p_angular_damp < -1);
	angular_damp = p_angular_damp;
	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp);
}

real_t PhysicalBone3D::get_angular_damp() const {
	return angular_damp;
}

void PhysicalBone3D::set_can_sleep(bool p_active) {
	can_sleep = p_active;
	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active);
}

bool PhysicalBone3D::is_able_to_sleep() const {
	return can_sleep;
}

void PhysicalBone3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
}

bool PhysicalBone3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
}

PhysicalBone3D::PhysicalBone3D() :
		PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) {
	reset_physics_simulation_state();
}

PhysicalBone3D::~PhysicalBone3D() {
	if (joint_data) {
		memdelete(joint_data);
	}
}

void PhysicalBone3D::update_bone_id() {
	if (!parent_skeleton) {
		return;
	}

	const int new_bone_id = parent_skeleton->find_bone(bone_name);

	if (new_bone_id != bone_id) {
		if (-1 != bone_id) {
			// Assert the unbind from old node
			parent_skeleton->unbind_physical_bone_from_bone(bone_id);
			parent_skeleton->unbind_child_node_from_bone(bone_id, this);
		}

		bone_id = new_bone_id;

		parent_skeleton->bind_physical_bone_to_bone(bone_id, this);

		_fix_joint_offset();
		reset_physics_simulation_state();
	}
}

void PhysicalBone3D::update_offset() {
#ifdef TOOLS_ENABLED
	if (parent_skeleton) {
		Transform bone_transform(parent_skeleton->get_global_transform());
		if (-1 != bone_id) {
			bone_transform *= parent_skeleton->get_bone_global_pose(bone_id);
		}

		if (gizmo_move_joint) {
			bone_transform *= body_offset;
			set_joint_offset(bone_transform.affine_inverse() * get_global_transform());
		} else {
			set_body_offset(bone_transform.affine_inverse() * get_global_transform());
		}
	}
#endif
}

void PhysicalBone3D::_start_physics_simulation() {
	if (_internal_simulate_physics || !parent_skeleton) {
		return;
	}
	reset_to_rest_position();
	PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID);
	PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
	PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
	set_as_toplevel(true);
	_internal_simulate_physics = true;
}

void PhysicalBone3D::_stop_physics_simulation() {
	if (!parent_skeleton) {
		return;
	}
	if (parent_skeleton->get_animate_physical_bones()) {
		PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC);
		PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
		PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
	} else {
		PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC);
		PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), 0);
		PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), 0);
	}
	if (_internal_simulate_physics) {
		PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), nullptr, "");
		parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false);
		set_as_toplevel(false);
		_internal_simulate_physics = false;
	}
}