godot/scene/3d/physics_body.h

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/*  physics_body.h                                                       */
/*************************************************************************/
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/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur.                 */
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#ifndef PHYSICS_BODY__H
#define PHYSICS_BODY__H

#include "scene/3d/collision_object.h"
#include "servers/physics_server.h"
#include "vset.h"

class PhysicsBody : public CollisionObject {

	GDCLASS(PhysicsBody, CollisionObject);

	uint32_t collision_layer;
	uint32_t collision_mask;

	void _set_layers(uint32_t p_mask);
	uint32_t _get_layers() const;

protected:
	static void _bind_methods();
	void _notification(int p_what);
	PhysicsBody(PhysicsServer::BodyMode p_mode);

public:
	virtual Vector3 get_linear_velocity() const;
	virtual Vector3 get_angular_velocity() const;
	virtual float get_inverse_mass() const;

	void set_collision_layer(uint32_t p_layer);
	uint32_t get_collision_layer() const;

	void set_collision_mask(uint32_t p_mask);
	uint32_t get_collision_mask() const;

	void set_collision_layer_bit(int p_bit, bool p_value);
	bool get_collision_layer_bit(int p_bit) const;

	void set_collision_mask_bit(int p_bit, bool p_value);
	bool get_collision_mask_bit(int p_bit) const;

	void add_collision_exception_with(Node *p_node); //must be physicsbody
	void remove_collision_exception_with(Node *p_node);

	PhysicsBody();
};

class StaticBody : public PhysicsBody {

	GDCLASS(StaticBody, PhysicsBody);

	Vector3 constant_linear_velocity;
	Vector3 constant_angular_velocity;

	real_t bounce;
	real_t friction;

protected:
	static void _bind_methods();

public:
	void set_friction(real_t p_friction);
	real_t get_friction() const;

	void set_bounce(real_t p_bounce);
	real_t get_bounce() const;

	void set_constant_linear_velocity(const Vector3 &p_vel);
	void set_constant_angular_velocity(const Vector3 &p_vel);

	Vector3 get_constant_linear_velocity() const;
	Vector3 get_constant_angular_velocity() const;

	StaticBody();
	~StaticBody();
};

class RigidBody : public PhysicsBody {

	GDCLASS(RigidBody, PhysicsBody);

public:
	enum Mode {
		MODE_RIGID,
		MODE_STATIC,
		MODE_CHARACTER,
		MODE_KINEMATIC,
	};

protected:
	bool can_sleep;
	PhysicsDirectBodyState *state;
	Mode mode;

	real_t bounce;
	real_t mass;
	real_t friction;

	Vector3 linear_velocity;
	Vector3 angular_velocity;
	real_t gravity_scale;
	real_t linear_damp;
	real_t angular_damp;

	bool sleeping;
	bool ccd;

	int max_contacts_reported;

	bool custom_integrator;

	struct ShapePair {

		int body_shape;
		int local_shape;
		bool tagged;
		bool operator<(const ShapePair &p_sp) const {
			if (body_shape == p_sp.body_shape)
				return local_shape < p_sp.local_shape;
			else
				return body_shape < p_sp.body_shape;
		}

		ShapePair() {}
		ShapePair(int p_bs, int p_ls) {
			body_shape = p_bs;
			local_shape = p_ls;
		}
	};
	struct RigidBody_RemoveAction {

		ObjectID body_id;
		ShapePair pair;
	};
	struct BodyState {

		//int rc;
		bool in_tree;
		VSet<ShapePair> shapes;
	};

	struct ContactMonitor {

		bool locked;
		Map<ObjectID, BodyState> body_map;
	};

	ContactMonitor *contact_monitor;
	void _body_enter_tree(ObjectID p_id);
	void _body_exit_tree(ObjectID p_id);

	void _body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape);
	virtual void _direct_state_changed(Object *p_state);

	void _notification(int p_what);
	static void _bind_methods();

public:
	void set_mode(Mode p_mode);
	Mode get_mode() const;

	void set_mass(real_t p_mass);
	real_t get_mass() const;

	virtual float get_inverse_mass() const { return 1.0 / mass; }

	void set_weight(real_t p_weight);
	real_t get_weight() const;

	void set_friction(real_t p_friction);
	real_t get_friction() const;

	void set_bounce(real_t p_bounce);
	real_t get_bounce() const;

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

	void set_axis_velocity(const Vector3 &p_axis);

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

	void set_gravity_scale(real_t p_gravity_scale);
	real_t get_gravity_scale() const;

	void set_linear_damp(real_t p_linear_damp);
	real_t get_linear_damp() const;

	void set_angular_damp(real_t p_angular_damp);
	real_t get_angular_damp() const;

	void set_use_custom_integrator(bool p_enable);
	bool is_using_custom_integrator();

	void set_sleeping(bool p_sleeping);
	bool is_sleeping() const;

	void set_can_sleep(bool p_active);
	bool is_able_to_sleep() const;

	void set_contact_monitor(bool p_enabled);
	bool is_contact_monitor_enabled() const;

	void set_max_contacts_reported(int p_amount);
	int get_max_contacts_reported() const;

	void set_use_continuous_collision_detection(bool p_enable);
	bool is_using_continuous_collision_detection() const;

	void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
	bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;

	Array get_colliding_bodies() const;

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

	virtual String get_configuration_warning() const;

	RigidBody();
	~RigidBody();
};

VARIANT_ENUM_CAST(RigidBody::Mode);

class KinematicCollision;

class KinematicBody : public PhysicsBody {

	GDCLASS(KinematicBody, PhysicsBody);

public:
	struct Collision {
		Vector3 collision;
		Vector3 normal;
		Vector3 collider_vel;
		ObjectID collider;
		int collider_shape;
		Variant collider_metadata;
		Vector3 remainder;
		Vector3 travel;
		int local_shape;
	};

private:
	uint16_t locked_axis;

	float margin;

	Vector3 floor_velocity;
	bool on_floor;
	bool on_ceiling;
	bool on_wall;
	Vector<Collision> colliders;
	Vector<Ref<KinematicCollision> > slide_colliders;
	Ref<KinematicCollision> motion_cache;

	_FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const;

	Ref<KinematicCollision> _move(const Vector3 &p_motion, bool p_infinite_inertia = true);
	Ref<KinematicCollision> _get_slide_collision(int p_bounce);

protected:
	static void _bind_methods();

public:
	bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision);
	bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);

	void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
	bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;

	void set_safe_margin(float p_margin);
	float get_safe_margin() const;

	Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), bool p_infinite_inertia = true, float p_slope_stop_min_velocity = 0.05, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45));
	bool is_on_floor() const;
	bool is_on_wall() const;
	bool is_on_ceiling() const;
	Vector3 get_floor_velocity() const;

	int get_slide_count() const;
	Collision get_slide_collision(int p_bounce) const;

	KinematicBody();
	~KinematicBody();
};

class KinematicCollision : public Reference {

	GDCLASS(KinematicCollision, Reference);

	KinematicBody *owner;
	friend class KinematicBody;
	KinematicBody::Collision collision;

protected:
	static void _bind_methods();

public:
	Vector3 get_position() const;
	Vector3 get_normal() const;
	Vector3 get_travel() const;
	Vector3 get_remainder() const;
	Object *get_local_shape() const;
	Object *get_collider() const;
	ObjectID get_collider_id() const;
	Object *get_collider_shape() const;
	int get_collider_shape_index() const;
	Vector3 get_collider_velocity() const;
	Variant get_collider_metadata() const;

	KinematicCollision();
};

#endif // PHYSICS_BODY__H