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/*************************************************************************/
/* bullet_physics_server.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
/* 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. */
/*************************************************************************/
# ifndef BULLET_PHYSICS_SERVER_H
# define BULLET_PHYSICS_SERVER_H
# include "area_bullet.h"
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# include "core/templates/rid.h"
# include "core/templates/rid_owner.h"
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# include "joint_bullet.h"
# include "rigid_body_bullet.h"
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# include "servers/physics_server_3d.h"
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# include "shape_bullet.h"
# include "soft_body_bullet.h"
# include "space_bullet.h"
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/**
@ author AndreaCatania
*/
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class BulletPhysicsServer3D : public PhysicsServer3D {
GDCLASS ( BulletPhysicsServer3D , PhysicsServer3D ) ;
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friend class BulletPhysicsDirectSpaceState ;
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bool active = true ;
char active_spaces_count = 0 ;
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Vector < SpaceBullet * > active_spaces ;
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mutable RID_PtrOwner < SpaceBullet > space_owner ;
mutable RID_PtrOwner < ShapeBullet > shape_owner ;
mutable RID_PtrOwner < AreaBullet > area_owner ;
mutable RID_PtrOwner < RigidBodyBullet > rigid_body_owner ;
mutable RID_PtrOwner < SoftBodyBullet > soft_body_owner ;
mutable RID_PtrOwner < JointBullet > joint_owner ;
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protected :
static void _bind_methods ( ) ;
public :
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BulletPhysicsServer3D ( ) ;
~ BulletPhysicsServer3D ( ) ;
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_FORCE_INLINE_ RID_PtrOwner < SpaceBullet > * get_space_owner ( ) {
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return & space_owner ;
}
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_FORCE_INLINE_ RID_PtrOwner < ShapeBullet > * get_shape_owner ( ) {
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return & shape_owner ;
}
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_FORCE_INLINE_ RID_PtrOwner < AreaBullet > * get_area_owner ( ) {
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return & area_owner ;
}
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_FORCE_INLINE_ RID_PtrOwner < RigidBodyBullet > * get_rigid_body_owner ( ) {
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return & rigid_body_owner ;
}
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_FORCE_INLINE_ RID_PtrOwner < SoftBodyBullet > * get_soft_body_owner ( ) {
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return & soft_body_owner ;
}
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_FORCE_INLINE_ RID_PtrOwner < JointBullet > * get_joint_owner ( ) {
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return & joint_owner ;
}
/* SHAPE API */
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virtual RID shape_create ( ShapeType p_shape ) override ;
virtual void shape_set_data ( RID p_shape , const Variant & p_data ) override ;
virtual ShapeType shape_get_type ( RID p_shape ) const override ;
virtual Variant shape_get_data ( RID p_shape ) const override ;
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virtual void shape_set_margin ( RID p_shape , real_t p_margin ) override ;
virtual real_t shape_get_margin ( RID p_shape ) const override ;
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/// Not supported
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virtual void shape_set_custom_solver_bias ( RID p_shape , real_t p_bias ) override ;
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/// Not supported
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virtual real_t shape_get_custom_solver_bias ( RID p_shape ) const override ;
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/* SPACE API */
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virtual RID space_create ( ) override ;
virtual void space_set_active ( RID p_space , bool p_active ) override ;
virtual bool space_is_active ( RID p_space ) const override ;
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/// Not supported
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virtual void space_set_param ( RID p_space , SpaceParameter p_param , real_t p_value ) override ;
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/// Not supported
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virtual real_t space_get_param ( RID p_space , SpaceParameter p_param ) const override ;
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virtual PhysicsDirectSpaceState3D * space_get_direct_state ( RID p_space ) override ;
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virtual void space_set_debug_contacts ( RID p_space , int p_max_contacts ) override ;
virtual Vector < Vector3 > space_get_contacts ( RID p_space ) const override ;
virtual int space_get_contact_count ( RID p_space ) const override ;
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/* AREA API */
/// Bullet Physics Engine not support "Area", this must be handled by the game developer in another way.
/// Since godot Physics use the concept of area even to define the main world, the API area_set_param is used to set initial physics world information.
/// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console.
/// All other APIs returns a warning message if used
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virtual RID area_create ( ) override ;
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virtual void area_set_space ( RID p_area , RID p_space ) override ;
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virtual RID area_get_space ( RID p_area ) const override ;
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virtual void area_set_space_override_mode ( RID p_area , AreaSpaceOverrideMode p_mode ) override ;
virtual AreaSpaceOverrideMode area_get_space_override_mode ( RID p_area ) const override ;
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virtual void area_add_shape ( RID p_area , RID p_shape , const Transform3D & p_transform = Transform3D ( ) , bool p_disabled = false ) override ;
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virtual void area_set_shape ( RID p_area , int p_shape_idx , RID p_shape ) override ;
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virtual void area_set_shape_transform ( RID p_area , int p_shape_idx , const Transform3D & p_transform ) override ;
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virtual int area_get_shape_count ( RID p_area ) const override ;
virtual RID area_get_shape ( RID p_area , int p_shape_idx ) const override ;
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virtual Transform3D area_get_shape_transform ( RID p_area , int p_shape_idx ) const override ;
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virtual void area_remove_shape ( RID p_area , int p_shape_idx ) override ;
virtual void area_clear_shapes ( RID p_area ) override ;
virtual void area_set_shape_disabled ( RID p_area , int p_shape_idx , bool p_disabled ) override ;
virtual void area_attach_object_instance_id ( RID p_area , ObjectID p_id ) override ;
virtual ObjectID area_get_object_instance_id ( RID p_area ) const override ;
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/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
/// AREA_PARAM_GRAVITY
/// AREA_PARAM_GRAVITY_VECTOR
/// Otherwise you can set area parameters
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virtual void area_set_param ( RID p_area , AreaParameter p_param , const Variant & p_value ) override ;
virtual Variant area_get_param ( RID p_area , AreaParameter p_param ) const override ;
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virtual void area_set_transform ( RID p_area , const Transform3D & p_transform ) override ;
virtual Transform3D area_get_transform ( RID p_area ) const override ;
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virtual void area_set_collision_mask ( RID p_area , uint32_t p_mask ) override ;
virtual void area_set_collision_layer ( RID p_area , uint32_t p_layer ) override ;
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virtual void area_set_monitorable ( RID p_area , bool p_monitorable ) override ;
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virtual void area_set_monitor_callback ( RID p_area , const Callable & p_callback ) override ;
virtual void area_set_area_monitor_callback ( RID p_area , const Callable & p_callback ) override ;
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virtual void area_set_ray_pickable ( RID p_area , bool p_enable ) override ;
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/* RIGID BODY API */
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virtual RID body_create ( BodyMode p_mode = BODY_MODE_DYNAMIC , bool p_init_sleeping = false ) override ;
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virtual void body_set_space ( RID p_body , RID p_space ) override ;
virtual RID body_get_space ( RID p_body ) const override ;
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virtual void body_set_mode ( RID p_body , BodyMode p_mode ) override ;
virtual BodyMode body_get_mode ( RID p_body ) const override ;
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virtual void body_add_shape ( RID p_body , RID p_shape , const Transform3D & p_transform = Transform3D ( ) , bool p_disabled = false ) override ;
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// Not supported, Please remove and add new shape
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virtual void body_set_shape ( RID p_body , int p_shape_idx , RID p_shape ) override ;
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virtual void body_set_shape_transform ( RID p_body , int p_shape_idx , const Transform3D & p_transform ) override ;
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virtual int body_get_shape_count ( RID p_body ) const override ;
virtual RID body_get_shape ( RID p_body , int p_shape_idx ) const override ;
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virtual Transform3D body_get_shape_transform ( RID p_body , int p_shape_idx ) const override ;
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virtual void body_set_shape_disabled ( RID p_body , int p_shape_idx , bool p_disabled ) override ;
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virtual void body_remove_shape ( RID p_body , int p_shape_idx ) override ;
virtual void body_clear_shapes ( RID p_body ) override ;
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// Used for Rigid and Soft Bodies
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virtual void body_attach_object_instance_id ( RID p_body , ObjectID p_id ) override ;
virtual ObjectID body_get_object_instance_id ( RID p_body ) const override ;
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virtual void body_set_enable_continuous_collision_detection ( RID p_body , bool p_enable ) override ;
virtual bool body_is_continuous_collision_detection_enabled ( RID p_body ) const override ;
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virtual void body_set_collision_layer ( RID p_body , uint32_t p_layer ) override ;
virtual uint32_t body_get_collision_layer ( RID p_body ) const override ;
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virtual void body_set_collision_mask ( RID p_body , uint32_t p_mask ) override ;
virtual uint32_t body_get_collision_mask ( RID p_body ) const override ;
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/// This is not supported by physics server
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virtual void body_set_user_flags ( RID p_body , uint32_t p_flags ) override ;
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/// This is not supported by physics server
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virtual uint32_t body_get_user_flags ( RID p_body ) const override ;
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virtual void body_set_param ( RID p_body , BodyParameter p_param , real_t p_value ) override ;
virtual real_t body_get_param ( RID p_body , BodyParameter p_param ) const override ;
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virtual void body_set_kinematic_safe_margin ( RID p_body , real_t p_margin ) override ;
virtual real_t body_get_kinematic_safe_margin ( RID p_body ) const override ;
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virtual void body_set_state ( RID p_body , BodyState p_state , const Variant & p_variant ) override ;
virtual Variant body_get_state ( RID p_body , BodyState p_state ) const override ;
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virtual void body_set_applied_force ( RID p_body , const Vector3 & p_force ) override ;
virtual Vector3 body_get_applied_force ( RID p_body ) const override ;
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virtual void body_set_applied_torque ( RID p_body , const Vector3 & p_torque ) override ;
virtual Vector3 body_get_applied_torque ( RID p_body ) const override ;
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virtual void body_add_central_force ( RID p_body , const Vector3 & p_force ) override ;
virtual void body_add_force ( RID p_body , const Vector3 & p_force , const Vector3 & p_position = Vector3 ( ) ) override ;
virtual void body_add_torque ( RID p_body , const Vector3 & p_torque ) override ;
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virtual void body_apply_central_impulse ( RID p_body , const Vector3 & p_impulse ) override ;
virtual void body_apply_impulse ( RID p_body , const Vector3 & p_impulse , const Vector3 & p_position = Vector3 ( ) ) override ;
virtual void body_apply_torque_impulse ( RID p_body , const Vector3 & p_impulse ) override ;
virtual void body_set_axis_velocity ( RID p_body , const Vector3 & p_axis_velocity ) override ;
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virtual void body_set_axis_lock ( RID p_body , BodyAxis p_axis , bool p_lock ) override ;
virtual bool body_is_axis_locked ( RID p_body , BodyAxis p_axis ) const override ;
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virtual void body_add_collision_exception ( RID p_body , RID p_body_b ) override ;
virtual void body_remove_collision_exception ( RID p_body , RID p_body_b ) override ;
virtual void body_get_collision_exceptions ( RID p_body , List < RID > * p_exceptions ) override ;
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virtual void body_set_max_contacts_reported ( RID p_body , int p_contacts ) override ;
virtual int body_get_max_contacts_reported ( RID p_body ) const override ;
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virtual void body_set_contacts_reported_depth_threshold ( RID p_body , real_t p_threshold ) override ;
virtual real_t body_get_contacts_reported_depth_threshold ( RID p_body ) const override ;
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virtual void body_set_omit_force_integration ( RID p_body , bool p_omit ) override ;
virtual bool body_is_omitting_force_integration ( RID p_body ) const override ;
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virtual void body_set_force_integration_callback ( RID p_body , const Callable & p_callable , const Variant & p_udata = Variant ( ) ) override ;
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virtual void body_set_ray_pickable ( RID p_body , bool p_enable ) override ;
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// this function only works on physics process, errors and returns null otherwise
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virtual PhysicsDirectBodyState3D * body_get_direct_state ( RID p_body ) override ;
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virtual bool body_test_motion ( RID p_body , const Transform3D & p_from , const Vector3 & p_motion , bool p_infinite_inertia , MotionResult * r_result = nullptr , bool p_exclude_raycast_shapes = true , const Set < RID > & p_exclude = Set < RID > ( ) ) override ;
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virtual int body_test_ray_separation ( RID p_body , const Transform3D & p_transform , bool p_infinite_inertia , Vector3 & r_recover_motion , SeparationResult * r_results , int p_result_max , real_t p_margin = 0.001 ) override ;
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/* SOFT BODY API */
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virtual RID soft_body_create ( bool p_init_sleeping = false ) override ;
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virtual void soft_body_update_rendering_server ( RID p_body , RenderingServerHandler * p_rendering_server_handler ) override ;
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virtual void soft_body_set_space ( RID p_body , RID p_space ) override ;
virtual RID soft_body_get_space ( RID p_body ) const override ;
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virtual void soft_body_set_mesh ( RID p_body , RID p_mesh ) override ;
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virtual AABB soft_body_get_bounds ( RID p_body ) const override ;
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virtual void soft_body_set_collision_layer ( RID p_body , uint32_t p_layer ) override ;
virtual uint32_t soft_body_get_collision_layer ( RID p_body ) const override ;
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virtual void soft_body_set_collision_mask ( RID p_body , uint32_t p_mask ) override ;
virtual uint32_t soft_body_get_collision_mask ( RID p_body ) const override ;
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virtual void soft_body_add_collision_exception ( RID p_body , RID p_body_b ) override ;
virtual void soft_body_remove_collision_exception ( RID p_body , RID p_body_b ) override ;
virtual void soft_body_get_collision_exceptions ( RID p_body , List < RID > * p_exceptions ) override ;
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virtual void soft_body_set_state ( RID p_body , BodyState p_state , const Variant & p_variant ) override ;
virtual Variant soft_body_get_state ( RID p_body , BodyState p_state ) const override ;
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/// Special function. This function has bad performance
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virtual void soft_body_set_transform ( RID p_body , const Transform3D & p_transform ) override ;
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virtual void soft_body_set_ray_pickable ( RID p_body , bool p_enable ) override ;
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virtual void soft_body_set_simulation_precision ( RID p_body , int p_simulation_precision ) override ;
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virtual int soft_body_get_simulation_precision ( RID p_body ) const override ;
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virtual void soft_body_set_total_mass ( RID p_body , real_t p_total_mass ) override ;
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virtual real_t soft_body_get_total_mass ( RID p_body ) const override ;
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virtual void soft_body_set_linear_stiffness ( RID p_body , real_t p_stiffness ) override ;
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virtual real_t soft_body_get_linear_stiffness ( RID p_body ) const override ;
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virtual void soft_body_set_pressure_coefficient ( RID p_body , real_t p_pressure_coefficient ) override ;
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virtual real_t soft_body_get_pressure_coefficient ( RID p_body ) const override ;
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virtual void soft_body_set_damping_coefficient ( RID p_body , real_t p_damping_coefficient ) override ;
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virtual real_t soft_body_get_damping_coefficient ( RID p_body ) const override ;
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virtual void soft_body_set_drag_coefficient ( RID p_body , real_t p_drag_coefficient ) override ;
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virtual real_t soft_body_get_drag_coefficient ( RID p_body ) const override ;
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virtual void soft_body_move_point ( RID p_body , int p_point_index , const Vector3 & p_global_position ) override ;
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virtual Vector3 soft_body_get_point_global_position ( RID p_body , int p_point_index ) const override ;
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virtual void soft_body_remove_all_pinned_points ( RID p_body ) override ;
virtual void soft_body_pin_point ( RID p_body , int p_point_index , bool p_pin ) override ;
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virtual bool soft_body_is_point_pinned ( RID p_body , int p_point_index ) const override ;
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/* JOINT API */
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virtual JointType joint_get_type ( RID p_joint ) const override ;
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virtual void joint_set_solver_priority ( RID p_joint , int p_priority ) override ;
virtual int joint_get_solver_priority ( RID p_joint ) const override ;
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virtual void joint_disable_collisions_between_bodies ( RID p_joint , const bool p_disable ) override ;
virtual bool joint_is_disabled_collisions_between_bodies ( RID p_joint ) const override ;
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virtual RID joint_create_pin ( RID p_body_A , const Vector3 & p_local_A , RID p_body_B , const Vector3 & p_local_B ) override ;
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virtual void pin_joint_set_param ( RID p_joint , PinJointParam p_param , real_t p_value ) override ;
virtual real_t pin_joint_get_param ( RID p_joint , PinJointParam p_param ) const override ;
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virtual void pin_joint_set_local_a ( RID p_joint , const Vector3 & p_A ) override ;
virtual Vector3 pin_joint_get_local_a ( RID p_joint ) const override ;
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virtual void pin_joint_set_local_b ( RID p_joint , const Vector3 & p_B ) override ;
virtual Vector3 pin_joint_get_local_b ( RID p_joint ) const override ;
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virtual RID joint_create_hinge ( RID p_body_A , const Transform3D & p_hinge_A , RID p_body_B , const Transform3D & p_hinge_B ) override ;
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virtual RID joint_create_hinge_simple ( RID p_body_A , const Vector3 & p_pivot_A , const Vector3 & p_axis_A , RID p_body_B , const Vector3 & p_pivot_B , const Vector3 & p_axis_B ) override ;
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virtual void hinge_joint_set_param ( RID p_joint , HingeJointParam p_param , real_t p_value ) override ;
virtual real_t hinge_joint_get_param ( RID p_joint , HingeJointParam p_param ) const override ;
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virtual void hinge_joint_set_flag ( RID p_joint , HingeJointFlag p_flag , bool p_value ) override ;
virtual bool hinge_joint_get_flag ( RID p_joint , HingeJointFlag p_flag ) const override ;
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/// Reference frame is A
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virtual RID joint_create_slider ( RID p_body_A , const Transform3D & p_local_frame_A , RID p_body_B , const Transform3D & p_local_frame_B ) override ;
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virtual void slider_joint_set_param ( RID p_joint , SliderJointParam p_param , real_t p_value ) override ;
virtual real_t slider_joint_get_param ( RID p_joint , SliderJointParam p_param ) const override ;
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/// Reference frame is A
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virtual RID joint_create_cone_twist ( RID p_body_A , const Transform3D & p_local_frame_A , RID p_body_B , const Transform3D & p_local_frame_B ) override ;
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virtual void cone_twist_joint_set_param ( RID p_joint , ConeTwistJointParam p_param , real_t p_value ) override ;
virtual real_t cone_twist_joint_get_param ( RID p_joint , ConeTwistJointParam p_param ) const override ;
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/// Reference frame is A
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virtual RID joint_create_generic_6dof ( RID p_body_A , const Transform3D & p_local_frame_A , RID p_body_B , const Transform3D & p_local_frame_B ) override ;
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virtual void generic_6dof_joint_set_param ( RID p_joint , Vector3 : : Axis p_axis , G6DOFJointAxisParam p_param , real_t p_value ) override ;
virtual real_t generic_6dof_joint_get_param ( RID p_joint , Vector3 : : Axis p_axis , G6DOFJointAxisParam p_param ) override ;
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virtual void generic_6dof_joint_set_flag ( RID p_joint , Vector3 : : Axis p_axis , G6DOFJointAxisFlag p_flag , bool p_enable ) override ;
virtual bool generic_6dof_joint_get_flag ( RID p_joint , Vector3 : : Axis p_axis , G6DOFJointAxisFlag p_flag ) override ;
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/* MISC */
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virtual void free ( RID p_rid ) override ;
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virtual void set_active ( bool p_active ) override {
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active = p_active ;
}
static bool singleton_isActive ( ) {
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return static_cast < BulletPhysicsServer3D * > ( get_singleton ( ) ) - > active ;
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}
bool isActive ( ) {
return active ;
}
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virtual void init ( ) override ;
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virtual void step ( real_t p_deltaTime ) override ;
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virtual void flush_queries ( ) override ;
virtual void finish ( ) override ;
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virtual bool is_flushing_queries ( ) const override { return false ; }
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virtual int get_process_info ( ProcessInfo p_info ) override ;
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SpaceBullet * get_space ( RID p_rid ) const ;
ShapeBullet * get_shape ( RID p_rid ) const ;
CollisionObjectBullet * get_collision_object ( RID p_object ) const ;
RigidCollisionObjectBullet * get_rigid_collision_object ( RID p_object ) const ;
JointBullet * get_joint ( RID p_rid ) const ;
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} ;
# endif