831 lines
32 KiB
C++
831 lines
32 KiB
C++
/*************************************************************************/
|
|
/* physics_server.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 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. */
|
|
/*************************************************************************/
|
|
|
|
#ifndef PHYSICS_SERVER_H
|
|
#define PHYSICS_SERVER_H
|
|
|
|
#include "core/object.h"
|
|
#include "core/resource.h"
|
|
|
|
class PhysicsDirectSpaceState;
|
|
|
|
class PhysicsDirectBodyState : public Object {
|
|
GDCLASS(PhysicsDirectBodyState, Object);
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
virtual Vector3 get_total_gravity() const = 0;
|
|
virtual float get_total_angular_damp() const = 0;
|
|
virtual float get_total_linear_damp() const = 0;
|
|
|
|
virtual Vector3 get_center_of_mass() const = 0;
|
|
virtual Basis get_principal_inertia_axes() const = 0;
|
|
virtual float get_inverse_mass() const = 0; // get the mass
|
|
virtual Vector3 get_inverse_inertia() const = 0; // get density of this body space
|
|
virtual Basis get_inverse_inertia_tensor() const = 0; // get density of this body space
|
|
|
|
virtual void set_linear_velocity(const Vector3 &p_velocity) = 0;
|
|
virtual Vector3 get_linear_velocity() const = 0;
|
|
|
|
virtual void set_angular_velocity(const Vector3 &p_velocity) = 0;
|
|
virtual Vector3 get_angular_velocity() const = 0;
|
|
|
|
virtual void set_transform(const Transform &p_transform) = 0;
|
|
virtual Transform get_transform() const = 0;
|
|
|
|
virtual void add_central_force(const Vector3 &p_force) = 0;
|
|
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0;
|
|
virtual void add_torque(const Vector3 &p_torque) = 0;
|
|
virtual void apply_central_impulse(const Vector3 &p_j) = 0;
|
|
virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) = 0;
|
|
virtual void apply_torque_impulse(const Vector3 &p_j) = 0;
|
|
|
|
virtual void set_sleep_state(bool p_enable) = 0;
|
|
virtual bool is_sleeping() const = 0;
|
|
|
|
virtual int get_contact_count() const = 0;
|
|
|
|
virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0;
|
|
virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0;
|
|
virtual float get_contact_impulse(int p_contact_idx) const = 0;
|
|
virtual int get_contact_local_shape(int p_contact_idx) const = 0;
|
|
|
|
virtual RID get_contact_collider(int p_contact_idx) const = 0;
|
|
virtual Vector3 get_contact_collider_position(int p_contact_idx) const = 0;
|
|
virtual ObjectID get_contact_collider_id(int p_contact_idx) const = 0;
|
|
virtual Object *get_contact_collider_object(int p_contact_idx) const;
|
|
virtual int get_contact_collider_shape(int p_contact_idx) const = 0;
|
|
virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const = 0;
|
|
|
|
virtual real_t get_step() const = 0;
|
|
virtual void integrate_forces();
|
|
|
|
virtual PhysicsDirectSpaceState *get_space_state() = 0;
|
|
|
|
PhysicsDirectBodyState();
|
|
};
|
|
|
|
class PhysicsShapeQueryResult;
|
|
|
|
class PhysicsShapeQueryParameters : public Reference {
|
|
GDCLASS(PhysicsShapeQueryParameters, Reference);
|
|
friend class PhysicsDirectSpaceState;
|
|
|
|
RID shape;
|
|
Transform transform;
|
|
float margin;
|
|
Set<RID> exclude;
|
|
uint32_t collision_mask;
|
|
|
|
bool collide_with_bodies;
|
|
bool collide_with_areas;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_shape(const RES &p_shape);
|
|
void set_shape_rid(const RID &p_shape);
|
|
RID get_shape_rid() const;
|
|
|
|
void set_transform(const Transform &p_transform);
|
|
Transform get_transform() const;
|
|
|
|
void set_margin(float p_margin);
|
|
float get_margin() const;
|
|
|
|
void set_collision_mask(uint32_t p_collision_mask);
|
|
uint32_t get_collision_mask() const;
|
|
|
|
void set_exclude(const Vector<RID> &p_exclude);
|
|
Vector<RID> get_exclude() const;
|
|
|
|
void set_collide_with_bodies(bool p_enable);
|
|
bool is_collide_with_bodies_enabled() const;
|
|
|
|
void set_collide_with_areas(bool p_enable);
|
|
bool is_collide_with_areas_enabled() const;
|
|
|
|
PhysicsShapeQueryParameters();
|
|
};
|
|
|
|
class PhysicsDirectSpaceState : public Object {
|
|
GDCLASS(PhysicsDirectSpaceState, Object);
|
|
|
|
private:
|
|
Dictionary _intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude = Vector<RID>(), uint32_t p_collision_mask = 0, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
|
|
Array _intersect_shape(const Ref<PhysicsShapeQueryParameters> &p_shape_query, int p_max_results = 32);
|
|
Array _cast_motion(const Ref<PhysicsShapeQueryParameters> &p_shape_query, const Vector3 &p_motion);
|
|
Array _collide_shape(const Ref<PhysicsShapeQueryParameters> &p_shape_query, int p_max_results = 32);
|
|
Dictionary _get_rest_info(const Ref<PhysicsShapeQueryParameters> &p_shape_query);
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
struct ShapeResult {
|
|
RID rid;
|
|
ObjectID collider_id = 0;
|
|
Object *collider = nullptr;
|
|
int shape = 0;
|
|
};
|
|
|
|
virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
|
|
|
|
struct RayResult {
|
|
Vector3 position;
|
|
Vector3 normal;
|
|
RID rid;
|
|
ObjectID collider_id = 0;
|
|
Object *collider = nullptr;
|
|
int shape = 0;
|
|
};
|
|
|
|
virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) = 0;
|
|
|
|
virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
|
|
|
|
struct ShapeRestInfo {
|
|
Vector3 point;
|
|
Vector3 normal;
|
|
RID rid;
|
|
ObjectID collider_id = 0;
|
|
int shape = 0;
|
|
Vector3 linear_velocity; //velocity at contact point
|
|
};
|
|
|
|
virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0;
|
|
|
|
virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
|
|
|
|
virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
|
|
|
|
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0;
|
|
|
|
PhysicsDirectSpaceState();
|
|
};
|
|
|
|
class PhysicsShapeQueryResult : public Reference {
|
|
GDCLASS(PhysicsShapeQueryResult, Reference);
|
|
|
|
Vector<PhysicsDirectSpaceState::ShapeResult> result;
|
|
|
|
friend class PhysicsDirectSpaceState;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
int get_result_count() const;
|
|
RID get_result_rid(int p_idx) const;
|
|
ObjectID get_result_object_id(int p_idx) const;
|
|
Object *get_result_object(int p_idx) const;
|
|
int get_result_object_shape(int p_idx) const;
|
|
|
|
PhysicsShapeQueryResult();
|
|
};
|
|
|
|
class PhysicsServer : public Object {
|
|
GDCLASS(PhysicsServer, Object);
|
|
|
|
static PhysicsServer *singleton;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
static PhysicsServer *get_singleton();
|
|
|
|
enum ShapeType {
|
|
SHAPE_PLANE, ///< plane:"plane"
|
|
SHAPE_RAY, ///< float:"length"
|
|
SHAPE_SPHERE, ///< float:"radius"
|
|
SHAPE_BOX, ///< vec3:"extents"
|
|
SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule
|
|
SHAPE_CYLINDER, ///< dict( float:"radius", float:"height"):cylinder
|
|
SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
|
|
SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
|
|
SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
|
|
SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
|
|
};
|
|
|
|
virtual RID shape_create(ShapeType p_shape) = 0;
|
|
virtual void shape_set_data(RID p_shape, const Variant &p_data) = 0;
|
|
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) = 0;
|
|
|
|
virtual ShapeType shape_get_type(RID p_shape) const = 0;
|
|
virtual Variant shape_get_data(RID p_shape) const = 0;
|
|
|
|
virtual void shape_set_margin(RID p_shape, real_t p_margin) = 0;
|
|
virtual real_t shape_get_margin(RID p_shape) const = 0;
|
|
|
|
virtual real_t shape_get_custom_solver_bias(RID p_shape) const = 0;
|
|
|
|
/* SPACE API */
|
|
|
|
virtual RID space_create() = 0;
|
|
virtual void space_set_active(RID p_space, bool p_active) = 0;
|
|
virtual bool space_is_active(RID p_space) const = 0;
|
|
|
|
enum SpaceParameter {
|
|
|
|
SPACE_PARAM_CONTACT_RECYCLE_RADIUS,
|
|
SPACE_PARAM_CONTACT_MAX_SEPARATION,
|
|
SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION,
|
|
SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD,
|
|
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
|
|
SPACE_PARAM_BODY_TIME_TO_SLEEP,
|
|
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
|
|
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
|
|
SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH
|
|
};
|
|
|
|
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;
|
|
virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const = 0;
|
|
|
|
// this function only works on physics process, errors and returns null otherwise
|
|
virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space) = 0;
|
|
|
|
virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) = 0;
|
|
virtual Vector<Vector3> space_get_contacts(RID p_space) const = 0;
|
|
virtual int space_get_contact_count(RID p_space) const = 0;
|
|
|
|
//missing space parameters
|
|
|
|
/* AREA API */
|
|
|
|
//missing attenuation? missing better override?
|
|
|
|
enum AreaParameter {
|
|
AREA_PARAM_GRAVITY,
|
|
AREA_PARAM_GRAVITY_VECTOR,
|
|
AREA_PARAM_GRAVITY_IS_POINT,
|
|
AREA_PARAM_GRAVITY_DISTANCE_SCALE,
|
|
AREA_PARAM_GRAVITY_POINT_ATTENUATION,
|
|
AREA_PARAM_LINEAR_DAMP,
|
|
AREA_PARAM_ANGULAR_DAMP,
|
|
AREA_PARAM_PRIORITY
|
|
};
|
|
|
|
virtual RID area_create() = 0;
|
|
|
|
virtual void area_set_space(RID p_area, RID p_space) = 0;
|
|
virtual RID area_get_space(RID p_area) const = 0;
|
|
|
|
enum AreaSpaceOverrideMode {
|
|
AREA_SPACE_OVERRIDE_DISABLED,
|
|
AREA_SPACE_OVERRIDE_COMBINE,
|
|
AREA_SPACE_OVERRIDE_COMBINE_REPLACE,
|
|
AREA_SPACE_OVERRIDE_REPLACE,
|
|
AREA_SPACE_OVERRIDE_REPLACE_COMBINE
|
|
};
|
|
|
|
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) = 0;
|
|
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const = 0;
|
|
|
|
virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) = 0;
|
|
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) = 0;
|
|
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) = 0;
|
|
|
|
virtual int area_get_shape_count(RID p_area) const = 0;
|
|
virtual RID area_get_shape(RID p_area, int p_shape_idx) const = 0;
|
|
virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const = 0;
|
|
|
|
virtual void area_remove_shape(RID p_area, int p_shape_idx) = 0;
|
|
virtual void area_clear_shapes(RID p_area) = 0;
|
|
|
|
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) = 0;
|
|
|
|
virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) = 0;
|
|
virtual ObjectID area_get_object_instance_id(RID p_area) const = 0;
|
|
|
|
virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) = 0;
|
|
virtual void area_set_transform(RID p_area, const Transform &p_transform) = 0;
|
|
|
|
virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const = 0;
|
|
virtual Transform area_get_transform(RID p_area) const = 0;
|
|
|
|
virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) = 0;
|
|
virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) = 0;
|
|
|
|
virtual void area_set_monitorable(RID p_area, bool p_monitorable) = 0;
|
|
|
|
virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0;
|
|
virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0;
|
|
|
|
virtual void area_set_ray_pickable(RID p_area, bool p_enable) = 0;
|
|
virtual bool area_is_ray_pickable(RID p_area) const = 0;
|
|
|
|
/* BODY API */
|
|
|
|
//missing ccd?
|
|
|
|
enum BodyMode {
|
|
BODY_MODE_STATIC,
|
|
BODY_MODE_KINEMATIC,
|
|
BODY_MODE_RIGID,
|
|
BODY_MODE_CHARACTER
|
|
};
|
|
|
|
virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false) = 0;
|
|
|
|
virtual void body_set_space(RID p_body, RID p_space) = 0;
|
|
virtual RID body_get_space(RID p_body) const = 0;
|
|
|
|
virtual void body_set_mode(RID p_body, BodyMode p_mode) = 0;
|
|
virtual BodyMode body_get_mode(RID p_body) const = 0;
|
|
|
|
virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) = 0;
|
|
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) = 0;
|
|
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) = 0;
|
|
|
|
virtual int body_get_shape_count(RID p_body) const = 0;
|
|
virtual RID body_get_shape(RID p_body, int p_shape_idx) const = 0;
|
|
virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const = 0;
|
|
|
|
virtual void body_remove_shape(RID p_body, int p_shape_idx) = 0;
|
|
virtual void body_clear_shapes(RID p_body) = 0;
|
|
|
|
virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) = 0;
|
|
|
|
virtual void body_attach_object_instance_id(RID p_body, uint32_t p_id) = 0;
|
|
virtual uint32_t body_get_object_instance_id(RID p_body) const = 0;
|
|
|
|
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) = 0;
|
|
virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const = 0;
|
|
|
|
virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) = 0;
|
|
virtual uint32_t body_get_collision_layer(RID p_body) const = 0;
|
|
|
|
virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
|
|
virtual uint32_t body_get_collision_mask(RID p_body) const = 0;
|
|
|
|
virtual void body_set_user_flags(RID p_body, uint32_t p_flags) = 0;
|
|
virtual uint32_t body_get_user_flags(RID p_body) const = 0;
|
|
|
|
// common body variables
|
|
enum BodyParameter {
|
|
BODY_PARAM_BOUNCE,
|
|
BODY_PARAM_FRICTION,
|
|
BODY_PARAM_MASS, ///< unused for static, always infinite
|
|
BODY_PARAM_GRAVITY_SCALE,
|
|
BODY_PARAM_LINEAR_DAMP,
|
|
BODY_PARAM_ANGULAR_DAMP,
|
|
BODY_PARAM_MAX,
|
|
};
|
|
|
|
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0;
|
|
virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0;
|
|
|
|
virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) = 0;
|
|
virtual real_t body_get_kinematic_safe_margin(RID p_body) const = 0;
|
|
|
|
//state
|
|
enum BodyState {
|
|
BODY_STATE_TRANSFORM,
|
|
BODY_STATE_LINEAR_VELOCITY,
|
|
BODY_STATE_ANGULAR_VELOCITY,
|
|
BODY_STATE_SLEEPING,
|
|
BODY_STATE_CAN_SLEEP
|
|
};
|
|
|
|
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0;
|
|
virtual Variant body_get_state(RID p_body, BodyState p_state) const = 0;
|
|
|
|
//do something about it
|
|
virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) = 0;
|
|
virtual Vector3 body_get_applied_force(RID p_body) const = 0;
|
|
|
|
virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) = 0;
|
|
virtual Vector3 body_get_applied_torque(RID p_body) const = 0;
|
|
|
|
virtual void body_add_central_force(RID p_body, const Vector3 &p_force) = 0;
|
|
virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) = 0;
|
|
virtual void body_add_torque(RID p_body, const Vector3 &p_torque) = 0;
|
|
|
|
virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) = 0;
|
|
virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) = 0;
|
|
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0;
|
|
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0;
|
|
|
|
enum BodyAxis {
|
|
BODY_AXIS_LINEAR_X = 1 << 0,
|
|
BODY_AXIS_LINEAR_Y = 1 << 1,
|
|
BODY_AXIS_LINEAR_Z = 1 << 2,
|
|
BODY_AXIS_ANGULAR_X = 1 << 3,
|
|
BODY_AXIS_ANGULAR_Y = 1 << 4,
|
|
BODY_AXIS_ANGULAR_Z = 1 << 5
|
|
};
|
|
|
|
virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) = 0;
|
|
virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const = 0;
|
|
|
|
//fix
|
|
virtual void body_add_collision_exception(RID p_body, RID p_body_b) = 0;
|
|
virtual void body_remove_collision_exception(RID p_body, RID p_body_b) = 0;
|
|
virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0;
|
|
|
|
virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) = 0;
|
|
virtual int body_get_max_contacts_reported(RID p_body) const = 0;
|
|
|
|
//missing remove
|
|
virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) = 0;
|
|
virtual float body_get_contacts_reported_depth_threshold(RID p_body) const = 0;
|
|
|
|
virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0;
|
|
virtual bool body_is_omitting_force_integration(RID p_body) const = 0;
|
|
|
|
virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()) = 0;
|
|
|
|
virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0;
|
|
virtual bool body_is_ray_pickable(RID p_body) const = 0;
|
|
|
|
// this function only works on physics process, errors and returns null otherwise
|
|
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body) = 0;
|
|
|
|
struct MotionResult {
|
|
Vector3 motion;
|
|
Vector3 remainder;
|
|
|
|
Vector3 collision_point;
|
|
Vector3 collision_normal;
|
|
Vector3 collider_velocity;
|
|
int collision_local_shape;
|
|
ObjectID collider_id;
|
|
RID collider;
|
|
int collider_shape;
|
|
Variant collider_metadata;
|
|
MotionResult() {
|
|
collision_local_shape = 0;
|
|
collider_id = 0;
|
|
collider_shape = 0;
|
|
}
|
|
};
|
|
|
|
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0;
|
|
|
|
struct SeparationResult {
|
|
float collision_depth;
|
|
Vector3 collision_point;
|
|
Vector3 collision_normal;
|
|
Vector3 collider_velocity;
|
|
int collision_local_shape;
|
|
ObjectID collider_id;
|
|
RID collider;
|
|
int collider_shape;
|
|
Variant collider_metadata;
|
|
};
|
|
|
|
virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) = 0;
|
|
|
|
/* SOFT BODY */
|
|
|
|
virtual RID soft_body_create(bool p_init_sleeping = false) = 0;
|
|
|
|
virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) = 0;
|
|
|
|
virtual void soft_body_set_space(RID p_body, RID p_space) = 0;
|
|
virtual RID soft_body_get_space(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) = 0;
|
|
|
|
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) = 0;
|
|
virtual uint32_t soft_body_get_collision_layer(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
|
|
virtual uint32_t soft_body_get_collision_mask(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) = 0;
|
|
virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) = 0;
|
|
virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0;
|
|
|
|
virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0;
|
|
virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const = 0;
|
|
|
|
virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) = 0;
|
|
virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const = 0;
|
|
|
|
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0;
|
|
virtual bool soft_body_is_ray_pickable(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) = 0;
|
|
virtual int soft_body_get_simulation_precision(RID p_body) = 0;
|
|
|
|
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) = 0;
|
|
virtual real_t soft_body_get_total_mass(RID p_body) = 0;
|
|
|
|
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) = 0;
|
|
virtual real_t soft_body_get_linear_stiffness(RID p_body) = 0;
|
|
|
|
virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) = 0;
|
|
virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) = 0;
|
|
|
|
virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) = 0;
|
|
virtual real_t soft_body_get_volume_stiffness(RID p_body) = 0;
|
|
|
|
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) = 0;
|
|
virtual real_t soft_body_get_pressure_coefficient(RID p_body) = 0;
|
|
|
|
virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) = 0;
|
|
virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) = 0;
|
|
|
|
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) = 0;
|
|
virtual real_t soft_body_get_damping_coefficient(RID p_body) = 0;
|
|
|
|
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) = 0;
|
|
virtual real_t soft_body_get_drag_coefficient(RID p_body) = 0;
|
|
|
|
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) = 0;
|
|
virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) = 0;
|
|
|
|
virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const = 0;
|
|
|
|
virtual void soft_body_remove_all_pinned_points(RID p_body) = 0;
|
|
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) = 0;
|
|
virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) = 0;
|
|
|
|
/* JOINT API */
|
|
|
|
enum JointType {
|
|
|
|
JOINT_PIN,
|
|
JOINT_HINGE,
|
|
JOINT_SLIDER,
|
|
JOINT_CONE_TWIST,
|
|
JOINT_6DOF
|
|
|
|
};
|
|
|
|
virtual JointType joint_get_type(RID p_joint) const = 0;
|
|
|
|
virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0;
|
|
virtual int joint_get_solver_priority(RID p_joint) const = 0;
|
|
|
|
virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0;
|
|
virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0;
|
|
|
|
virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0;
|
|
|
|
enum PinJointParam {
|
|
PIN_JOINT_BIAS,
|
|
PIN_JOINT_DAMPING,
|
|
PIN_JOINT_IMPULSE_CLAMP
|
|
};
|
|
|
|
virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) = 0;
|
|
virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0;
|
|
|
|
virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) = 0;
|
|
virtual Vector3 pin_joint_get_local_a(RID p_joint) const = 0;
|
|
|
|
virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) = 0;
|
|
virtual Vector3 pin_joint_get_local_b(RID p_joint) const = 0;
|
|
|
|
enum HingeJointParam {
|
|
|
|
HINGE_JOINT_BIAS,
|
|
HINGE_JOINT_LIMIT_UPPER,
|
|
HINGE_JOINT_LIMIT_LOWER,
|
|
HINGE_JOINT_LIMIT_BIAS,
|
|
HINGE_JOINT_LIMIT_SOFTNESS,
|
|
HINGE_JOINT_LIMIT_RELAXATION,
|
|
HINGE_JOINT_MOTOR_TARGET_VELOCITY,
|
|
HINGE_JOINT_MOTOR_MAX_IMPULSE,
|
|
HINGE_JOINT_MAX
|
|
};
|
|
|
|
enum HingeJointFlag {
|
|
HINGE_JOINT_FLAG_USE_LIMIT,
|
|
HINGE_JOINT_FLAG_ENABLE_MOTOR,
|
|
HINGE_JOINT_FLAG_MAX
|
|
};
|
|
|
|
virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) = 0;
|
|
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) = 0;
|
|
|
|
virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) = 0;
|
|
virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0;
|
|
|
|
virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) = 0;
|
|
virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const = 0;
|
|
|
|
enum SliderJointParam {
|
|
SLIDER_JOINT_LINEAR_LIMIT_UPPER,
|
|
SLIDER_JOINT_LINEAR_LIMIT_LOWER,
|
|
SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
|
|
SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
|
|
SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
|
|
SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
|
|
SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
|
|
SLIDER_JOINT_LINEAR_MOTION_DAMPING,
|
|
SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
|
|
SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
|
|
SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
|
|
|
|
SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
|
|
SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
|
|
SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
|
|
SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
|
|
SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
|
|
SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
|
|
SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
|
|
SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
|
|
SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
|
|
SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
|
|
SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
|
|
SLIDER_JOINT_MAX
|
|
|
|
};
|
|
|
|
virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
|
|
|
|
virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) = 0;
|
|
virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0;
|
|
|
|
enum ConeTwistJointParam {
|
|
CONE_TWIST_JOINT_SWING_SPAN,
|
|
CONE_TWIST_JOINT_TWIST_SPAN,
|
|
CONE_TWIST_JOINT_BIAS,
|
|
CONE_TWIST_JOINT_SOFTNESS,
|
|
CONE_TWIST_JOINT_RELAXATION,
|
|
CONE_TWIST_MAX
|
|
};
|
|
|
|
virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
|
|
|
|
virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) = 0;
|
|
virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0;
|
|
|
|
enum G6DOFJointAxisParam {
|
|
G6DOF_JOINT_LINEAR_LOWER_LIMIT,
|
|
G6DOF_JOINT_LINEAR_UPPER_LIMIT,
|
|
G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
|
|
G6DOF_JOINT_LINEAR_RESTITUTION,
|
|
G6DOF_JOINT_LINEAR_DAMPING,
|
|
G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
|
|
G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
|
|
G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
|
|
G6DOF_JOINT_LINEAR_SPRING_DAMPING,
|
|
G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
|
|
G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
|
|
G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
|
|
G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
|
|
G6DOF_JOINT_ANGULAR_DAMPING,
|
|
G6DOF_JOINT_ANGULAR_RESTITUTION,
|
|
G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
|
|
G6DOF_JOINT_ANGULAR_ERP,
|
|
G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
|
|
G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
|
|
G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
|
|
G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
|
|
G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
|
|
G6DOF_JOINT_MAX
|
|
};
|
|
|
|
enum G6DOFJointAxisFlag {
|
|
|
|
G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
|
|
G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
|
|
G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
|
|
G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
|
|
G6DOF_JOINT_FLAG_ENABLE_MOTOR,
|
|
G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
|
|
G6DOF_JOINT_FLAG_MAX
|
|
};
|
|
|
|
virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
|
|
|
|
virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, float p_value) = 0;
|
|
virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) = 0;
|
|
|
|
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0;
|
|
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) = 0;
|
|
|
|
/* QUERY API */
|
|
|
|
enum AreaBodyStatus {
|
|
AREA_BODY_ADDED,
|
|
AREA_BODY_REMOVED
|
|
};
|
|
|
|
/* MISC */
|
|
|
|
virtual void free(RID p_rid) = 0;
|
|
|
|
virtual void set_active(bool p_active) = 0;
|
|
virtual void init() = 0;
|
|
virtual void step(float p_step) = 0;
|
|
virtual void flush_queries() = 0;
|
|
virtual void finish() = 0;
|
|
|
|
virtual bool is_flushing_queries() const = 0;
|
|
|
|
enum ProcessInfo {
|
|
|
|
INFO_ACTIVE_OBJECTS,
|
|
INFO_COLLISION_PAIRS,
|
|
INFO_ISLAND_COUNT
|
|
};
|
|
|
|
virtual int get_process_info(ProcessInfo p_info) = 0;
|
|
|
|
PhysicsServer();
|
|
~PhysicsServer();
|
|
};
|
|
|
|
typedef PhysicsServer *(*CreatePhysicsServerCallback)();
|
|
|
|
class PhysicsServerManager {
|
|
struct ClassInfo {
|
|
String name;
|
|
CreatePhysicsServerCallback create_callback;
|
|
|
|
ClassInfo() :
|
|
name(""),
|
|
create_callback(nullptr) {}
|
|
|
|
ClassInfo(String p_name, CreatePhysicsServerCallback p_create_callback) :
|
|
name(p_name),
|
|
create_callback(p_create_callback) {}
|
|
|
|
ClassInfo(const ClassInfo &p_ci) :
|
|
name(p_ci.name),
|
|
create_callback(p_ci.create_callback) {}
|
|
|
|
ClassInfo operator=(const ClassInfo &p_ci) {
|
|
name = p_ci.name;
|
|
create_callback = p_ci.create_callback;
|
|
return *this;
|
|
}
|
|
};
|
|
|
|
static Vector<ClassInfo> physics_servers;
|
|
static int default_server_id;
|
|
static int default_server_priority;
|
|
|
|
public:
|
|
static const String setting_property_name;
|
|
|
|
private:
|
|
static void on_servers_changed();
|
|
|
|
public:
|
|
static void register_server(const String &p_name, CreatePhysicsServerCallback p_creat_callback);
|
|
static void set_default_server(const String &p_name, int p_priority = 0);
|
|
static int find_server_id(const String &p_name);
|
|
static int get_servers_count();
|
|
static String get_server_name(int p_id);
|
|
static PhysicsServer *new_default_server();
|
|
static PhysicsServer *new_server(const String &p_name);
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(PhysicsServer::ShapeType);
|
|
VARIANT_ENUM_CAST(PhysicsServer::SpaceParameter);
|
|
VARIANT_ENUM_CAST(PhysicsServer::AreaParameter);
|
|
VARIANT_ENUM_CAST(PhysicsServer::AreaSpaceOverrideMode);
|
|
VARIANT_ENUM_CAST(PhysicsServer::BodyMode);
|
|
VARIANT_ENUM_CAST(PhysicsServer::BodyParameter);
|
|
VARIANT_ENUM_CAST(PhysicsServer::BodyState);
|
|
VARIANT_ENUM_CAST(PhysicsServer::BodyAxis);
|
|
VARIANT_ENUM_CAST(PhysicsServer::PinJointParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer::JointType);
|
|
VARIANT_ENUM_CAST(PhysicsServer::HingeJointParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer::HingeJointFlag);
|
|
VARIANT_ENUM_CAST(PhysicsServer::SliderJointParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer::ConeTwistJointParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer::G6DOFJointAxisParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer::G6DOFJointAxisFlag);
|
|
VARIANT_ENUM_CAST(PhysicsServer::AreaBodyStatus);
|
|
VARIANT_ENUM_CAST(PhysicsServer::ProcessInfo);
|
|
|
|
#endif
|