249 lines
7.8 KiB
C++
249 lines
7.8 KiB
C++
/**************************************************************************/
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/* rigid_body_3d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef RIGID_BODY_3D_H
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#define RIGID_BODY_3D_H
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#include "scene/3d/physics/static_body_3d.h"
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class RigidBody3D : public PhysicsBody3D {
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GDCLASS(RigidBody3D, PhysicsBody3D);
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public:
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enum FreezeMode {
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FREEZE_MODE_STATIC,
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FREEZE_MODE_KINEMATIC,
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};
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enum CenterOfMassMode {
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CENTER_OF_MASS_MODE_AUTO,
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CENTER_OF_MASS_MODE_CUSTOM,
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};
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enum DampMode {
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DAMP_MODE_COMBINE,
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DAMP_MODE_REPLACE,
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};
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private:
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bool can_sleep = true;
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bool lock_rotation = false;
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bool freeze = false;
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FreezeMode freeze_mode = FREEZE_MODE_STATIC;
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real_t mass = 1.0;
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Vector3 inertia;
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CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
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Vector3 center_of_mass;
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Ref<PhysicsMaterial> physics_material_override;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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Basis inverse_inertia_tensor;
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real_t gravity_scale = 1.0;
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DampMode linear_damp_mode = DAMP_MODE_COMBINE;
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DampMode angular_damp_mode = DAMP_MODE_COMBINE;
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real_t linear_damp = 0.0;
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real_t angular_damp = 0.0;
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bool sleeping = false;
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bool ccd = false;
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int max_contacts_reported = 0;
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int contact_count = 0;
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bool custom_integrator = false;
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struct ShapePair {
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int body_shape = 0;
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int local_shape = 0;
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bool tagged = false;
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bool operator<(const ShapePair &p_sp) const {
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if (body_shape == p_sp.body_shape) {
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return local_shape < p_sp.local_shape;
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} else {
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return body_shape < p_sp.body_shape;
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}
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}
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ShapePair() {}
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ShapePair(int p_bs, int p_ls) {
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body_shape = p_bs;
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local_shape = p_ls;
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tagged = false;
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}
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};
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struct RigidBody3D_RemoveAction {
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RID rid;
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ObjectID body_id;
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ShapePair pair;
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};
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struct BodyState {
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RID rid;
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//int rc;
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bool in_tree = false;
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VSet<ShapePair> shapes;
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};
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struct ContactMonitor {
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bool locked = false;
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HashMap<ObjectID, BodyState> body_map;
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};
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ContactMonitor *contact_monitor = nullptr;
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void _body_enter_tree(ObjectID p_id);
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void _body_exit_tree(ObjectID p_id);
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void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
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void _sync_body_state(PhysicsDirectBodyState3D *p_state);
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protected:
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void _notification(int p_what);
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static void _bind_methods();
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void _validate_property(PropertyInfo &p_property) const;
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GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
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virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
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void _apply_body_mode();
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public:
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void set_lock_rotation_enabled(bool p_lock_rotation);
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bool is_lock_rotation_enabled() const;
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void set_freeze_enabled(bool p_freeze);
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bool is_freeze_enabled() const;
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void set_freeze_mode(FreezeMode p_freeze_mode);
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FreezeMode get_freeze_mode() const;
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
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void set_inertia(const Vector3 &p_inertia);
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const Vector3 &get_inertia() const;
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void set_center_of_mass_mode(CenterOfMassMode p_mode);
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CenterOfMassMode get_center_of_mass_mode() const;
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void set_center_of_mass(const Vector3 &p_center_of_mass);
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const Vector3 &get_center_of_mass() const;
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void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
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Ref<PhysicsMaterial> get_physics_material_override() const;
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void set_linear_velocity(const Vector3 &p_velocity);
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Vector3 get_linear_velocity() const override;
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void set_axis_velocity(const Vector3 &p_axis);
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void set_angular_velocity(const Vector3 &p_velocity);
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Vector3 get_angular_velocity() const override;
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Basis get_inverse_inertia_tensor() const;
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void set_gravity_scale(real_t p_gravity_scale);
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real_t get_gravity_scale() const;
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void set_linear_damp_mode(DampMode p_mode);
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DampMode get_linear_damp_mode() const;
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void set_angular_damp_mode(DampMode p_mode);
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DampMode get_angular_damp_mode() const;
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void set_linear_damp(real_t p_linear_damp);
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real_t get_linear_damp() const;
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void set_angular_damp(real_t p_angular_damp);
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real_t get_angular_damp() const;
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void set_use_custom_integrator(bool p_enable);
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bool is_using_custom_integrator();
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void set_sleeping(bool p_sleeping);
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bool is_sleeping() const;
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void set_can_sleep(bool p_active);
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bool is_able_to_sleep() const;
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void set_contact_monitor(bool p_enabled);
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bool is_contact_monitor_enabled() const;
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void set_max_contacts_reported(int p_amount);
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int get_max_contacts_reported() const;
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int get_contact_count() const;
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void set_use_continuous_collision_detection(bool p_enable);
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bool is_using_continuous_collision_detection() const;
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TypedArray<Node3D> get_colliding_bodies() const;
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
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void apply_torque_impulse(const Vector3 &p_impulse);
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void apply_central_force(const Vector3 &p_force);
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void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
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void apply_torque(const Vector3 &p_torque);
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void add_constant_central_force(const Vector3 &p_force);
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void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
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void add_constant_torque(const Vector3 &p_torque);
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void set_constant_force(const Vector3 &p_force);
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Vector3 get_constant_force() const;
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void set_constant_torque(const Vector3 &p_torque);
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Vector3 get_constant_torque() const;
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virtual PackedStringArray get_configuration_warnings() const override;
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RigidBody3D();
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~RigidBody3D();
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private:
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void _reload_physics_characteristics();
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};
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VARIANT_ENUM_CAST(RigidBody3D::FreezeMode);
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VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode);
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VARIANT_ENUM_CAST(RigidBody3D::DampMode);
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#endif // RIGID_BODY_3D_H
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