1398 lines
44 KiB
C++
1398 lines
44 KiB
C++
/*************************************************************************/
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/* physics_body.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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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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#include "physics_body.h"
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#include "method_bind_ext.inc"
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#include "scene/scene_string_names.h"
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void PhysicsBody::_notification(int p_what) {
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/*
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switch(p_what) {
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case NOTIFICATION_TRANSFORM_CHANGED: {
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PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_TRANSFORM,get_global_transform());
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} break;
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}
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*/
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}
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Vector3 PhysicsBody::get_linear_velocity() const {
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return Vector3();
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}
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Vector3 PhysicsBody::get_angular_velocity() const {
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return Vector3();
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}
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float PhysicsBody::get_inverse_mass() const {
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return 0;
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}
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void PhysicsBody::set_collision_layer(uint32_t p_mask) {
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layer_mask = p_mask;
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PhysicsServer::get_singleton()->body_set_layer_mask(get_rid(), p_mask);
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}
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uint32_t PhysicsBody::get_collision_layer() const {
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return layer_mask;
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}
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void PhysicsBody::set_collision_mask(uint32_t p_mask) {
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collision_mask = p_mask;
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PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), p_mask);
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}
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uint32_t PhysicsBody::get_collision_mask() const {
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return collision_mask;
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}
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void PhysicsBody::set_collision_mask_bit(int p_bit, bool p_value) {
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uint32_t mask = get_collision_mask();
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if (p_value)
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mask |= 1 << p_bit;
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else
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mask &= ~(1 << p_bit);
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set_collision_mask(mask);
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}
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bool PhysicsBody::get_collision_mask_bit(int p_bit) const {
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return get_collision_mask() & (1 << p_bit);
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}
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void PhysicsBody::set_collision_layer_bit(int p_bit, bool p_value) {
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uint32_t mask = get_collision_layer();
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if (p_value)
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mask |= 1 << p_bit;
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else
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mask &= ~(1 << p_bit);
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set_collision_layer(mask);
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}
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bool PhysicsBody::get_collision_layer_bit(int p_bit) const {
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return get_collision_layer() & (1 << p_bit);
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}
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void PhysicsBody::add_collision_exception_with(Node *p_node) {
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ERR_FAIL_NULL(p_node);
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PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
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if (!physics_body) {
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ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
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}
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ERR_FAIL_COND(!physics_body);
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PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), physics_body->get_rid());
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}
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void PhysicsBody::remove_collision_exception_with(Node *p_node) {
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ERR_FAIL_NULL(p_node);
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PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
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if (!physics_body) {
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ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
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}
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ERR_FAIL_COND(!physics_body);
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PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), physics_body->get_rid());
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}
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void PhysicsBody::_set_layers(uint32_t p_mask) {
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set_collision_layer(p_mask);
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set_collision_mask(p_mask);
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}
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uint32_t PhysicsBody::_get_layers() const {
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return get_collision_layer();
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}
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void PhysicsBody::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody::set_collision_layer);
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ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody::get_collision_layer);
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ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsBody::set_collision_mask);
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ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsBody::get_collision_mask);
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ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &PhysicsBody::set_collision_mask_bit);
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ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &PhysicsBody::get_collision_mask_bit);
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ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody::set_collision_layer_bit);
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ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody::get_collision_layer_bit);
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ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody::_set_layers);
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ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody::_get_layers);
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ADD_GROUP("Collision", "collision_");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
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}
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PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode)
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: CollisionObject(PhysicsServer::get_singleton()->body_create(p_mode), false) {
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layer_mask = 1;
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collision_mask = 1;
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}
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void StaticBody::set_friction(real_t p_friction) {
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ERR_FAIL_COND(p_friction < 0 || p_friction > 1);
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friction = p_friction;
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PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction);
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}
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real_t StaticBody::get_friction() const {
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return friction;
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}
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void StaticBody::set_bounce(real_t p_bounce) {
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ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1);
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bounce = p_bounce;
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PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, bounce);
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}
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real_t StaticBody::get_bounce() const {
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return bounce;
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}
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void StaticBody::set_constant_linear_velocity(const Vector3 &p_vel) {
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constant_linear_velocity = p_vel;
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PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
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}
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void StaticBody::set_constant_angular_velocity(const Vector3 &p_vel) {
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constant_angular_velocity = p_vel;
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PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
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}
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Vector3 StaticBody::get_constant_linear_velocity() const {
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return constant_linear_velocity;
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}
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Vector3 StaticBody::get_constant_angular_velocity() const {
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return constant_angular_velocity;
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}
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void StaticBody::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody::set_constant_linear_velocity);
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ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody::set_constant_angular_velocity);
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ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody::get_constant_linear_velocity);
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ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody::get_constant_angular_velocity);
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ClassDB::bind_method(D_METHOD("set_friction", "friction"), &StaticBody::set_friction);
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ClassDB::bind_method(D_METHOD("get_friction"), &StaticBody::get_friction);
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ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &StaticBody::set_bounce);
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ClassDB::bind_method(D_METHOD("get_bounce"), &StaticBody::get_bounce);
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ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body:PhysicsBody"), &PhysicsBody::add_collision_exception_with);
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ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body:PhysicsBody"), &PhysicsBody::remove_collision_exception_with);
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
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}
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StaticBody::StaticBody()
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: PhysicsBody(PhysicsServer::BODY_MODE_STATIC) {
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bounce = 0;
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friction = 1;
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}
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StaticBody::~StaticBody() {
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}
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void RigidBody::_body_enter_tree(ObjectID p_id) {
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Object *obj = ObjectDB::get_instance(p_id);
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Node *node = obj ? obj->cast_to<Node>() : NULL;
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ERR_FAIL_COND(!node);
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Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
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ERR_FAIL_COND(!E);
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ERR_FAIL_COND(E->get().in_tree);
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E->get().in_tree = true;
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contact_monitor->locked = true;
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emit_signal(SceneStringNames::get_singleton()->body_entered, node);
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for (int i = 0; i < E->get().shapes.size(); i++) {
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emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
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}
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contact_monitor->locked = false;
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}
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void RigidBody::_body_exit_tree(ObjectID p_id) {
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Object *obj = ObjectDB::get_instance(p_id);
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Node *node = obj ? obj->cast_to<Node>() : NULL;
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ERR_FAIL_COND(!node);
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Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
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ERR_FAIL_COND(!E);
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ERR_FAIL_COND(!E->get().in_tree);
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E->get().in_tree = false;
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contact_monitor->locked = true;
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emit_signal(SceneStringNames::get_singleton()->body_exited, node);
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for (int i = 0; i < E->get().shapes.size(); i++) {
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emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
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}
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contact_monitor->locked = false;
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}
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void RigidBody::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape) {
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bool body_in = p_status == 1;
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ObjectID objid = p_instance;
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Object *obj = ObjectDB::get_instance(objid);
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Node *node = obj ? obj->cast_to<Node>() : NULL;
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Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(objid);
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ERR_FAIL_COND(!body_in && !E);
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if (body_in) {
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if (!E) {
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E = contact_monitor->body_map.insert(objid, BodyState());
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//E->get().rc=0;
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E->get().in_tree = node && node->is_inside_tree();
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if (node) {
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node->connect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree, make_binds(objid));
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node->connect(SceneStringNames::get_singleton()->tree_exited, this, SceneStringNames::get_singleton()->_body_exit_tree, make_binds(objid));
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if (E->get().in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_entered, node);
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}
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}
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}
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//E->get().rc++;
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if (node)
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E->get().shapes.insert(ShapePair(p_body_shape, p_local_shape));
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if (E->get().in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_shape_entered, objid, node, p_body_shape, p_local_shape);
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}
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} else {
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//E->get().rc--;
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if (node)
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E->get().shapes.erase(ShapePair(p_body_shape, p_local_shape));
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bool in_tree = E->get().in_tree;
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if (E->get().shapes.empty()) {
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if (node) {
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node->disconnect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree);
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node->disconnect(SceneStringNames::get_singleton()->tree_exited, this, SceneStringNames::get_singleton()->_body_exit_tree);
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if (in_tree)
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emit_signal(SceneStringNames::get_singleton()->body_exited, obj);
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}
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contact_monitor->body_map.erase(E);
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}
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if (node && in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape);
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}
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}
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}
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struct _RigidBodyInOut {
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ObjectID id;
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int shape;
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int local_shape;
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};
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void RigidBody::_direct_state_changed(Object *p_state) {
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//eh.. fuck
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#ifdef DEBUG_ENABLED
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state = p_state->cast_to<PhysicsDirectBodyState>();
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#else
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state = (PhysicsDirectBodyState *)p_state; //trust it
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#endif
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set_ignore_transform_notification(true);
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set_global_transform(state->get_transform());
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linear_velocity = state->get_linear_velocity();
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angular_velocity = state->get_angular_velocity();
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if (sleeping != state->is_sleeping()) {
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sleeping = state->is_sleeping();
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emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
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}
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if (get_script_instance())
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get_script_instance()->call("_integrate_forces", state);
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set_ignore_transform_notification(false);
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if (contact_monitor) {
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contact_monitor->locked = true;
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//untag all
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int rc = 0;
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for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
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for (int i = 0; i < E->get().shapes.size(); i++) {
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E->get().shapes[i].tagged = false;
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rc++;
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}
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}
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_RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut));
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int toadd_count = 0; //state->get_contact_count();
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RigidBody_RemoveAction *toremove = (RigidBody_RemoveAction *)alloca(rc * sizeof(RigidBody_RemoveAction));
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int toremove_count = 0;
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//put the ones to add
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for (int i = 0; i < state->get_contact_count(); i++) {
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ObjectID obj = state->get_contact_collider_id(i);
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int local_shape = state->get_contact_local_shape(i);
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int shape = state->get_contact_collider_shape(i);
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//bool found=false;
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Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(obj);
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if (!E) {
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toadd[toadd_count].local_shape = local_shape;
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toadd[toadd_count].id = obj;
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toadd[toadd_count].shape = shape;
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toadd_count++;
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continue;
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}
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ShapePair sp(shape, local_shape);
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int idx = E->get().shapes.find(sp);
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if (idx == -1) {
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toadd[toadd_count].local_shape = local_shape;
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toadd[toadd_count].id = obj;
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toadd[toadd_count].shape = shape;
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toadd_count++;
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continue;
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}
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E->get().shapes[idx].tagged = true;
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}
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//put the ones to remove
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for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
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for (int i = 0; i < E->get().shapes.size(); i++) {
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if (!E->get().shapes[i].tagged) {
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toremove[toremove_count].body_id = E->key();
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toremove[toremove_count].pair = E->get().shapes[i];
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toremove_count++;
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}
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}
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}
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//process remotions
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for (int i = 0; i < toremove_count; i++) {
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_body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape);
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}
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//process aditions
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for (int i = 0; i < toadd_count; i++) {
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_body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape);
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}
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contact_monitor->locked = false;
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}
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state = NULL;
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}
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|
void RigidBody::_notification(int p_what) {
|
|
}
|
|
|
|
void RigidBody::set_mode(Mode p_mode) {
|
|
|
|
mode = p_mode;
|
|
switch (p_mode) {
|
|
|
|
case MODE_RIGID: {
|
|
|
|
PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_RIGID);
|
|
} break;
|
|
case MODE_STATIC: {
|
|
|
|
PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC);
|
|
|
|
} break;
|
|
case MODE_CHARACTER: {
|
|
PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_CHARACTER);
|
|
|
|
} break;
|
|
case MODE_KINEMATIC: {
|
|
|
|
PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_KINEMATIC);
|
|
} break;
|
|
}
|
|
}
|
|
|
|
RigidBody::Mode RigidBody::get_mode() const {
|
|
|
|
return mode;
|
|
}
|
|
|
|
void RigidBody::set_mass(real_t p_mass) {
|
|
|
|
ERR_FAIL_COND(p_mass <= 0);
|
|
mass = p_mass;
|
|
_change_notify("mass");
|
|
_change_notify("weight");
|
|
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_MASS, mass);
|
|
}
|
|
real_t RigidBody::get_mass() const {
|
|
|
|
return mass;
|
|
}
|
|
|
|
void RigidBody::set_weight(real_t p_weight) {
|
|
|
|
set_mass(p_weight / 9.8);
|
|
}
|
|
real_t RigidBody::get_weight() const {
|
|
|
|
return mass * 9.8;
|
|
}
|
|
|
|
void RigidBody::set_friction(real_t p_friction) {
|
|
|
|
ERR_FAIL_COND(p_friction < 0 || p_friction > 1);
|
|
|
|
friction = p_friction;
|
|
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction);
|
|
}
|
|
real_t RigidBody::get_friction() const {
|
|
|
|
return friction;
|
|
}
|
|
|
|
void RigidBody::set_bounce(real_t p_bounce) {
|
|
|
|
ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1);
|
|
|
|
bounce = p_bounce;
|
|
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, bounce);
|
|
}
|
|
real_t RigidBody::get_bounce() const {
|
|
|
|
return bounce;
|
|
}
|
|
|
|
void RigidBody::set_gravity_scale(real_t p_gravity_scale) {
|
|
|
|
gravity_scale = p_gravity_scale;
|
|
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
|
|
}
|
|
real_t RigidBody::get_gravity_scale() const {
|
|
|
|
return gravity_scale;
|
|
}
|
|
|
|
void RigidBody::set_linear_damp(real_t p_linear_damp) {
|
|
|
|
ERR_FAIL_COND(p_linear_damp < -1);
|
|
linear_damp = p_linear_damp;
|
|
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_LINEAR_DAMP, linear_damp);
|
|
}
|
|
real_t RigidBody::get_linear_damp() const {
|
|
|
|
return linear_damp;
|
|
}
|
|
|
|
void RigidBody::set_angular_damp(real_t p_angular_damp) {
|
|
|
|
ERR_FAIL_COND(p_angular_damp < -1);
|
|
angular_damp = p_angular_damp;
|
|
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_ANGULAR_DAMP, angular_damp);
|
|
}
|
|
real_t RigidBody::get_angular_damp() const {
|
|
|
|
return angular_damp;
|
|
}
|
|
|
|
void RigidBody::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 {
|
|
PhysicsServer::get_singleton()->body_set_axis_velocity(get_rid(), p_axis);
|
|
linear_velocity = v;
|
|
}
|
|
}
|
|
|
|
void RigidBody::set_linear_velocity(const Vector3 &p_velocity) {
|
|
|
|
linear_velocity = p_velocity;
|
|
if (state)
|
|
state->set_linear_velocity(linear_velocity);
|
|
else
|
|
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
|
|
}
|
|
|
|
Vector3 RigidBody::get_linear_velocity() const {
|
|
|
|
return linear_velocity;
|
|
}
|
|
|
|
void RigidBody::set_angular_velocity(const Vector3 &p_velocity) {
|
|
|
|
angular_velocity = p_velocity;
|
|
if (state)
|
|
state->set_angular_velocity(angular_velocity);
|
|
else
|
|
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
|
|
}
|
|
Vector3 RigidBody::get_angular_velocity() const {
|
|
|
|
return angular_velocity;
|
|
}
|
|
|
|
void RigidBody::set_use_custom_integrator(bool p_enable) {
|
|
|
|
if (custom_integrator == p_enable)
|
|
return;
|
|
|
|
custom_integrator = p_enable;
|
|
PhysicsServer::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
|
|
}
|
|
bool RigidBody::is_using_custom_integrator() {
|
|
|
|
return custom_integrator;
|
|
}
|
|
|
|
void RigidBody::set_sleeping(bool p_sleeping) {
|
|
|
|
sleeping = p_sleeping;
|
|
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_SLEEPING, sleeping);
|
|
}
|
|
|
|
void RigidBody::set_can_sleep(bool p_active) {
|
|
|
|
can_sleep = p_active;
|
|
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_CAN_SLEEP, p_active);
|
|
}
|
|
|
|
bool RigidBody::is_able_to_sleep() const {
|
|
|
|
return can_sleep;
|
|
}
|
|
|
|
bool RigidBody::is_sleeping() const {
|
|
|
|
return sleeping;
|
|
}
|
|
|
|
void RigidBody::set_max_contacts_reported(int p_amount) {
|
|
|
|
max_contacts_reported = p_amount;
|
|
PhysicsServer::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount);
|
|
}
|
|
|
|
int RigidBody::get_max_contacts_reported() const {
|
|
|
|
return max_contacts_reported;
|
|
}
|
|
|
|
void RigidBody::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
|
|
|
|
PhysicsServer::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
|
|
}
|
|
|
|
void RigidBody::set_use_continuous_collision_detection(bool p_enable) {
|
|
|
|
ccd = p_enable;
|
|
PhysicsServer::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable);
|
|
}
|
|
|
|
bool RigidBody::is_using_continuous_collision_detection() const {
|
|
|
|
return ccd;
|
|
}
|
|
|
|
void RigidBody::set_contact_monitor(bool p_enabled) {
|
|
|
|
if (p_enabled == is_contact_monitor_enabled())
|
|
return;
|
|
|
|
if (!p_enabled) {
|
|
|
|
if (contact_monitor->locked) {
|
|
ERR_EXPLAIN("Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\",false) instead");
|
|
}
|
|
ERR_FAIL_COND(contact_monitor->locked);
|
|
|
|
for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
|
|
|
|
//clean up mess
|
|
}
|
|
|
|
memdelete(contact_monitor);
|
|
contact_monitor = NULL;
|
|
} else {
|
|
|
|
contact_monitor = memnew(ContactMonitor);
|
|
contact_monitor->locked = false;
|
|
}
|
|
}
|
|
|
|
bool RigidBody::is_contact_monitor_enabled() const {
|
|
|
|
return contact_monitor != NULL;
|
|
}
|
|
|
|
void RigidBody::set_axis_lock(AxisLock p_lock) {
|
|
|
|
axis_lock = p_lock;
|
|
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), PhysicsServer::BodyAxisLock(axis_lock));
|
|
}
|
|
|
|
RigidBody::AxisLock RigidBody::get_axis_lock() const {
|
|
|
|
return axis_lock;
|
|
}
|
|
|
|
Array RigidBody::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;
|
|
}
|
|
|
|
void RigidBody::_bind_methods() {
|
|
|
|
ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody::set_mode);
|
|
ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody::get_mode);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody::set_mass);
|
|
ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody::get_mass);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_weight", "weight"), &RigidBody::set_weight);
|
|
ClassDB::bind_method(D_METHOD("get_weight"), &RigidBody::get_weight);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_friction", "friction"), &RigidBody::set_friction);
|
|
ClassDB::bind_method(D_METHOD("get_friction"), &RigidBody::get_friction);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &RigidBody::set_bounce);
|
|
ClassDB::bind_method(D_METHOD("get_bounce"), &RigidBody::get_bounce);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody::set_linear_velocity);
|
|
ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody::get_linear_velocity);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody::set_angular_velocity);
|
|
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody::get_angular_velocity);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody::set_gravity_scale);
|
|
ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody::get_gravity_scale);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody::set_linear_damp);
|
|
ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody::get_linear_damp);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody::set_angular_damp);
|
|
ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody::get_angular_damp);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody::set_max_contacts_reported);
|
|
ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody::get_max_contacts_reported);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody::set_use_custom_integrator);
|
|
ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody::is_using_custom_integrator);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody::set_contact_monitor);
|
|
ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody::is_contact_monitor_enabled);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody::set_use_continuous_collision_detection);
|
|
ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody::is_using_continuous_collision_detection);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody::set_axis_velocity);
|
|
ClassDB::bind_method(D_METHOD("apply_impulse", "pos", "impulse"), &RigidBody::apply_impulse);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody::set_sleeping);
|
|
ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody::is_sleeping);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody::set_can_sleep);
|
|
ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody::is_able_to_sleep);
|
|
|
|
ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody::_direct_state_changed);
|
|
ClassDB::bind_method(D_METHOD("_body_enter_tree"), &RigidBody::_body_enter_tree);
|
|
ClassDB::bind_method(D_METHOD("_body_exit_tree"), &RigidBody::_body_exit_tree);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_axis_lock", "axis_lock"), &RigidBody::set_axis_lock);
|
|
ClassDB::bind_method(D_METHOD("get_axis_lock"), &RigidBody::get_axis_lock);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody::get_colliding_bodies);
|
|
|
|
BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state:PhysicsDirectBodyState")));
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL, "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"), "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_PROPERTY(PropertyInfo(Variant::INT, "axis_lock", PROPERTY_HINT_ENUM, "Disabled,Lock X,Lock Y,Lock Z"), "set_axis_lock", "get_axis_lock");
|
|
ADD_GROUP("Linear", "linear_");
|
|
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL, "linear_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "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::REAL, "angular_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "set_angular_damp", "get_angular_damp");
|
|
|
|
ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), 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"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
|
|
ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body")));
|
|
ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body")));
|
|
ADD_SIGNAL(MethodInfo("sleeping_state_changed"));
|
|
|
|
BIND_CONSTANT(MODE_STATIC);
|
|
BIND_CONSTANT(MODE_KINEMATIC);
|
|
BIND_CONSTANT(MODE_RIGID);
|
|
BIND_CONSTANT(MODE_CHARACTER);
|
|
}
|
|
|
|
RigidBody::RigidBody()
|
|
: PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {
|
|
|
|
mode = MODE_RIGID;
|
|
|
|
bounce = 0;
|
|
mass = 1;
|
|
friction = 1;
|
|
max_contacts_reported = 0;
|
|
state = NULL;
|
|
|
|
gravity_scale = 1;
|
|
linear_damp = -1;
|
|
angular_damp = -1;
|
|
|
|
//angular_velocity=0;
|
|
sleeping = false;
|
|
ccd = false;
|
|
|
|
custom_integrator = false;
|
|
contact_monitor = NULL;
|
|
can_sleep = true;
|
|
|
|
axis_lock = AXIS_LOCK_DISABLED;
|
|
|
|
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
|
|
}
|
|
|
|
RigidBody::~RigidBody() {
|
|
|
|
if (contact_monitor)
|
|
memdelete(contact_monitor);
|
|
}
|
|
//////////////////////////////////////////////////////
|
|
//////////////////////////
|
|
|
|
Variant KinematicBody::_get_collider() const {
|
|
|
|
ObjectID oid = get_collider();
|
|
if (oid == 0)
|
|
return Variant();
|
|
Object *obj = ObjectDB::get_instance(oid);
|
|
if (!obj)
|
|
return Variant();
|
|
|
|
Reference *ref = obj->cast_to<Reference>();
|
|
if (ref) {
|
|
return Ref<Reference>(ref);
|
|
}
|
|
|
|
return obj;
|
|
}
|
|
|
|
bool KinematicBody::_ignores_mode(PhysicsServer::BodyMode p_mode) const {
|
|
|
|
switch (p_mode) {
|
|
case PhysicsServer::BODY_MODE_STATIC: return !collide_static;
|
|
case PhysicsServer::BODY_MODE_KINEMATIC: return !collide_kinematic;
|
|
case PhysicsServer::BODY_MODE_RIGID: return !collide_rigid;
|
|
case PhysicsServer::BODY_MODE_CHARACTER: return !collide_character;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
void KinematicBody::revert_motion() {
|
|
|
|
Transform gt = get_global_transform();
|
|
gt.origin -= travel; //I do hope this is correct.
|
|
travel = Vector3();
|
|
set_global_transform(gt);
|
|
}
|
|
|
|
Vector3 KinematicBody::get_travel() const {
|
|
|
|
return travel;
|
|
}
|
|
|
|
Vector3 KinematicBody::move(const Vector3 &p_motion) {
|
|
|
|
//give me back regular physics engine logic
|
|
//this is madness
|
|
//and most people using this function will think
|
|
//what it does is simpler than using physics
|
|
//this took about a week to get right..
|
|
//but is it right? who knows at this point..
|
|
|
|
colliding = false;
|
|
ERR_FAIL_COND_V(!is_inside_tree(), Vector3());
|
|
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
|
|
ERR_FAIL_COND_V(!dss, Vector3());
|
|
const int max_shapes = 32;
|
|
Vector3 sr[max_shapes * 2];
|
|
int res_shapes;
|
|
|
|
Set<RID> exclude;
|
|
exclude.insert(get_rid());
|
|
|
|
//recover first
|
|
int recover_attempts = 4;
|
|
|
|
bool collided = false;
|
|
uint32_t mask = 0;
|
|
if (collide_static)
|
|
mask |= PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
|
|
if (collide_kinematic)
|
|
mask |= PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
|
|
if (collide_rigid)
|
|
mask |= PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
|
|
if (collide_character)
|
|
mask |= PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
|
|
|
|
//print_line("motion: "+p_motion+" margin: "+rtos(margin));
|
|
|
|
//print_line("margin: "+rtos(margin));
|
|
|
|
float m = margin;
|
|
//m=0.001;
|
|
|
|
do {
|
|
|
|
//motion recover
|
|
for (int i = 0; i < get_shape_count(); i++) {
|
|
|
|
if (is_shape_set_as_trigger(i))
|
|
continue;
|
|
|
|
if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), m, sr, max_shapes, res_shapes, exclude, get_collision_layer(), mask)) {
|
|
collided = true;
|
|
}
|
|
}
|
|
|
|
if (!collided)
|
|
break;
|
|
|
|
//print_line("have to recover");
|
|
Vector3 recover_motion;
|
|
bool all_outside = true;
|
|
for (int j = 0; j < 8; j++) {
|
|
for (int i = 0; i < res_shapes; i++) {
|
|
|
|
Vector3 a = sr[i * 2 + 0];
|
|
Vector3 b = sr[i * 2 + 1];
|
|
//print_line(String()+a+" -> "+b);
|
|
#if 0
|
|
float d = a.distance_to(b);
|
|
|
|
/*
|
|
if (d<margin)
|
|
continue;
|
|
*/
|
|
recover_motion+=(b-a)*0.2;
|
|
#else
|
|
float dist = a.distance_to(b);
|
|
if (dist > CMP_EPSILON) {
|
|
Vector3 norm = (b - a).normalized();
|
|
if (dist > margin * 0.5)
|
|
all_outside = false;
|
|
float adv = norm.dot(recover_motion);
|
|
//print_line(itos(i)+" dist: "+rtos(dist)+" adv: "+rtos(adv));
|
|
recover_motion += norm * MAX(dist - adv, 0) * 0.4;
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
if (recover_motion == Vector3()) {
|
|
collided = false;
|
|
break;
|
|
}
|
|
|
|
//print_line("**** RECOVER: "+recover_motion);
|
|
|
|
Transform gt = get_global_transform();
|
|
gt.origin += recover_motion;
|
|
set_global_transform(gt);
|
|
|
|
recover_attempts--;
|
|
|
|
if (all_outside)
|
|
break;
|
|
|
|
} while (recover_attempts);
|
|
|
|
//move second
|
|
float safe = 1.0;
|
|
float unsafe = 1.0;
|
|
int best_shape = -1;
|
|
|
|
PhysicsDirectSpaceState::ShapeRestInfo rest;
|
|
|
|
//print_line("pos: "+get_global_transform().origin);
|
|
//print_line("motion: "+p_motion);
|
|
|
|
for (int i = 0; i < get_shape_count(); i++) {
|
|
|
|
if (is_shape_set_as_trigger(i))
|
|
continue;
|
|
|
|
float lsafe, lunsafe;
|
|
PhysicsDirectSpaceState::ShapeRestInfo lrest;
|
|
bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, 0, lsafe, lunsafe, exclude, get_collision_layer(), mask, &lrest);
|
|
//print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
|
|
if (!valid) {
|
|
safe = 0;
|
|
unsafe = 0;
|
|
best_shape = i; //sadly it's the best
|
|
//print_line("initial stuck");
|
|
|
|
break;
|
|
}
|
|
if (lsafe == 1.0) {
|
|
//print_line("initial free");
|
|
continue;
|
|
}
|
|
if (lsafe < safe) {
|
|
|
|
//print_line("initial at "+rtos(lsafe));
|
|
safe = lsafe;
|
|
safe = MAX(0, lsafe - 0.01);
|
|
unsafe = lunsafe;
|
|
best_shape = i;
|
|
rest = lrest;
|
|
}
|
|
}
|
|
|
|
//print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
|
|
|
|
if (safe >= 1) {
|
|
//not collided
|
|
colliding = false;
|
|
} else {
|
|
|
|
colliding = true;
|
|
|
|
if (true || (safe == 0 && unsafe == 0)) { //use it always because it's more precise than GJK
|
|
//no advance, use rest info from collision
|
|
Transform ugt = get_global_transform();
|
|
ugt.origin += p_motion * unsafe;
|
|
|
|
PhysicsDirectSpaceState::ShapeRestInfo rest_info;
|
|
bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt * get_shape_transform(best_shape), m, &rest, exclude, get_collision_layer(), mask);
|
|
if (!c2) {
|
|
//should not happen, but floating point precision is so weird..
|
|
colliding = false;
|
|
}
|
|
|
|
//print_line("Rest Travel: "+rest.normal);
|
|
}
|
|
|
|
if (colliding) {
|
|
|
|
collision = rest.point;
|
|
normal = rest.normal;
|
|
collider = rest.collider_id;
|
|
collider_vel = rest.linear_velocity;
|
|
collider_shape = rest.shape;
|
|
}
|
|
}
|
|
|
|
Vector3 motion = p_motion * safe;
|
|
/*
|
|
if (colliding)
|
|
motion+=normal*0.001;
|
|
*/
|
|
Transform gt = get_global_transform();
|
|
gt.origin += motion;
|
|
set_global_transform(gt);
|
|
travel = motion;
|
|
|
|
return p_motion - motion;
|
|
}
|
|
|
|
Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction, const Vector3 &p_ceil_direction, float p_slope_stop_min_velocity, int p_max_bounces, float p_floor_max_angle, float p_ceil_max_angle) {
|
|
|
|
/*
|
|
Things to note:
|
|
1. This function is basically the KinematicBody2D function ported over.
|
|
2. The 'travel' variable and stuff relating to it exists more or less for this function's sake.
|
|
3. Someone is going to have to document this, so here's an example for them:
|
|
vel = move_and_slide(vel, Vector3(0, 1, 0), Vector3(0, -1, 0), 0.1);
|
|
Very useful for FPS controllers so long as you control horizontal motion properly - even for Quake-style AABB colliders.
|
|
The slope stop system is... rather weird, and it's correct operation depends on what scale your game is built on,
|
|
but as far as I can tell in theory it's suppposed to be a way of turning impassable slopes into invisible walls.
|
|
It can also be a pain, since there's a better-known way of defining such things: "let gravity do the work".
|
|
If you don't like it, set it to positive infinity.
|
|
4. Might be a bug somewhere else in physics: When there are two CollisionShape nodes with a shared Shape, only one is considered, I think.
|
|
Test this further.
|
|
*/
|
|
|
|
Vector3 motion = (move_and_slide_floor_velocity + p_linear_velocity) * get_fixed_process_delta_time();
|
|
Vector3 lv = p_linear_velocity;
|
|
|
|
move_and_slide_on_floor = false;
|
|
move_and_slide_on_ceiling = false;
|
|
move_and_slide_on_wall = false;
|
|
move_and_slide_colliders.clear();
|
|
move_and_slide_floor_velocity = Vector3();
|
|
|
|
while (p_max_bounces) {
|
|
|
|
motion = move(motion);
|
|
|
|
if (is_colliding()) {
|
|
|
|
bool hit_horizontal = false; //hit floor or ceiling
|
|
|
|
if (p_floor_direction != Vector3()) {
|
|
if (get_collision_normal().dot(p_floor_direction) >= Math::cos(p_floor_max_angle)) { //floor
|
|
|
|
hit_horizontal = true;
|
|
move_and_slide_on_floor = true;
|
|
move_and_slide_floor_velocity = get_collider_velocity();
|
|
|
|
//Note: These two lines are the only lines that really changed between 3D/2D, see if it can't be reused somehow???
|
|
Vector2 hz_velocity = Vector2(lv.x - move_and_slide_floor_velocity.x, lv.z - move_and_slide_floor_velocity.z);
|
|
if (get_travel().length() < 1 && hz_velocity.length() < p_slope_stop_min_velocity) {
|
|
revert_motion();
|
|
return Vector3();
|
|
}
|
|
}
|
|
}
|
|
|
|
if (p_ceil_direction != Vector3()) {
|
|
if (get_collision_normal().dot(p_ceil_direction) >= Math::cos(p_ceil_max_angle)) { //ceiling
|
|
hit_horizontal = true;
|
|
move_and_slide_on_ceiling = true;
|
|
}
|
|
}
|
|
|
|
//if it hit something but didn't hit a floor or ceiling, it is by default a wall
|
|
//(this imitates the pre-specifiable-ceiling logic more or less, except ceiling is optional)
|
|
if (!hit_horizontal) {
|
|
move_and_slide_on_wall = true;
|
|
}
|
|
|
|
Vector3 n = get_collision_normal();
|
|
motion = motion.slide(n);
|
|
lv = lv.slide(n);
|
|
Variant collider = _get_collider();
|
|
if (collider.get_type() != Variant::NIL) {
|
|
move_and_slide_colliders.push_back(collider);
|
|
}
|
|
|
|
} else {
|
|
break;
|
|
}
|
|
|
|
p_max_bounces--;
|
|
if (motion == Vector3())
|
|
break;
|
|
}
|
|
|
|
return lv;
|
|
}
|
|
|
|
bool KinematicBody::is_move_and_slide_on_floor() const {
|
|
|
|
return move_and_slide_on_floor;
|
|
}
|
|
bool KinematicBody::is_move_and_slide_on_wall() const {
|
|
|
|
return move_and_slide_on_wall;
|
|
}
|
|
bool KinematicBody::is_move_and_slide_on_ceiling() const {
|
|
|
|
return move_and_slide_on_ceiling;
|
|
}
|
|
Array KinematicBody::get_move_and_slide_colliders() const {
|
|
|
|
return move_and_slide_colliders;
|
|
}
|
|
|
|
Vector3 KinematicBody::move_to(const Vector3 &p_position) {
|
|
|
|
return move(p_position - get_global_transform().origin);
|
|
}
|
|
|
|
bool KinematicBody::can_teleport_to(const Vector3 &p_position) {
|
|
|
|
ERR_FAIL_COND_V(!is_inside_tree(), false);
|
|
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
|
|
ERR_FAIL_COND_V(!dss, false);
|
|
|
|
uint32_t mask = 0;
|
|
if (collide_static)
|
|
mask |= PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
|
|
if (collide_kinematic)
|
|
mask |= PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
|
|
if (collide_rigid)
|
|
mask |= PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
|
|
if (collide_character)
|
|
mask |= PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
|
|
|
|
Transform xform = get_global_transform();
|
|
xform.origin = p_position;
|
|
|
|
Set<RID> exclude;
|
|
exclude.insert(get_rid());
|
|
|
|
for (int i = 0; i < get_shape_count(); i++) {
|
|
|
|
if (is_shape_set_as_trigger(i))
|
|
continue;
|
|
|
|
bool col = dss->intersect_shape(get_shape(i)->get_rid(), xform * get_shape_transform(i), 0, NULL, 1, exclude, get_collision_layer(), mask);
|
|
if (col)
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool KinematicBody::is_colliding() const {
|
|
|
|
ERR_FAIL_COND_V(!is_inside_tree(), false);
|
|
|
|
return colliding;
|
|
}
|
|
Vector3 KinematicBody::get_collision_pos() const {
|
|
|
|
ERR_FAIL_COND_V(!colliding, Vector3());
|
|
return collision;
|
|
}
|
|
Vector3 KinematicBody::get_collision_normal() const {
|
|
|
|
ERR_FAIL_COND_V(!colliding, Vector3());
|
|
return normal;
|
|
}
|
|
|
|
Vector3 KinematicBody::get_collider_velocity() const {
|
|
|
|
return collider_vel;
|
|
}
|
|
|
|
ObjectID KinematicBody::get_collider() const {
|
|
|
|
ERR_FAIL_COND_V(!colliding, 0);
|
|
return collider;
|
|
}
|
|
int KinematicBody::get_collider_shape() const {
|
|
|
|
ERR_FAIL_COND_V(!colliding, -1);
|
|
return collider_shape;
|
|
}
|
|
void KinematicBody::set_collide_with_static_bodies(bool p_enable) {
|
|
|
|
collide_static = p_enable;
|
|
}
|
|
bool KinematicBody::can_collide_with_static_bodies() const {
|
|
|
|
return collide_static;
|
|
}
|
|
|
|
void KinematicBody::set_collide_with_rigid_bodies(bool p_enable) {
|
|
|
|
collide_rigid = p_enable;
|
|
}
|
|
bool KinematicBody::can_collide_with_rigid_bodies() const {
|
|
|
|
return collide_rigid;
|
|
}
|
|
|
|
void KinematicBody::set_collide_with_kinematic_bodies(bool p_enable) {
|
|
|
|
collide_kinematic = p_enable;
|
|
}
|
|
bool KinematicBody::can_collide_with_kinematic_bodies() const {
|
|
|
|
return collide_kinematic;
|
|
}
|
|
|
|
void KinematicBody::set_collide_with_character_bodies(bool p_enable) {
|
|
|
|
collide_character = p_enable;
|
|
}
|
|
bool KinematicBody::can_collide_with_character_bodies() const {
|
|
|
|
return collide_character;
|
|
}
|
|
|
|
void KinematicBody::set_collision_margin(float p_margin) {
|
|
|
|
margin = p_margin;
|
|
}
|
|
|
|
float KinematicBody::get_collision_margin() const {
|
|
|
|
return margin;
|
|
}
|
|
|
|
void KinematicBody::_bind_methods() {
|
|
|
|
ClassDB::bind_method(D_METHOD("move", "rel_vec"), &KinematicBody::move);
|
|
ClassDB::bind_method(D_METHOD("move_to", "position"), &KinematicBody::move_to);
|
|
ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "ceil_normal", "slope_stop_min_velocity", "max_bounces", "floor_max_angle", "ceil_max_angle"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(Vector3(0, 0, 0)), DEFVAL(5), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(Math::deg2rad((float)45)));
|
|
|
|
ClassDB::bind_method(D_METHOD("can_teleport_to", "position"), &KinematicBody::can_teleport_to);
|
|
|
|
ClassDB::bind_method(D_METHOD("is_colliding"), &KinematicBody::is_colliding);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_collision_pos"), &KinematicBody::get_collision_pos);
|
|
ClassDB::bind_method(D_METHOD("get_collision_normal"), &KinematicBody::get_collision_normal);
|
|
ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicBody::get_collider_velocity);
|
|
ClassDB::bind_method(D_METHOD("get_collider:Variant"), &KinematicBody::_get_collider);
|
|
ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicBody::get_collider_shape);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_collide_with_static_bodies", "enable"), &KinematicBody::set_collide_with_static_bodies);
|
|
ClassDB::bind_method(D_METHOD("can_collide_with_static_bodies"), &KinematicBody::can_collide_with_static_bodies);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_collide_with_kinematic_bodies", "enable"), &KinematicBody::set_collide_with_kinematic_bodies);
|
|
ClassDB::bind_method(D_METHOD("can_collide_with_kinematic_bodies"), &KinematicBody::can_collide_with_kinematic_bodies);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_collide_with_rigid_bodies", "enable"), &KinematicBody::set_collide_with_rigid_bodies);
|
|
ClassDB::bind_method(D_METHOD("can_collide_with_rigid_bodies"), &KinematicBody::can_collide_with_rigid_bodies);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_collide_with_character_bodies", "enable"), &KinematicBody::set_collide_with_character_bodies);
|
|
ClassDB::bind_method(D_METHOD("can_collide_with_character_bodies"), &KinematicBody::can_collide_with_character_bodies);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_collision_margin", "pixels"), &KinematicBody::set_collision_margin);
|
|
ClassDB::bind_method(D_METHOD("get_collision_margin", "pixels"), &KinematicBody::get_collision_margin);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_travel"), &KinematicBody::get_travel);
|
|
ClassDB::bind_method(D_METHOD("revert_motion"), &KinematicBody::revert_motion);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_move_and_slide_colliders"), &KinematicBody::get_move_and_slide_colliders);
|
|
ClassDB::bind_method(D_METHOD("is_move_and_slide_on_floor"), &KinematicBody::is_move_and_slide_on_floor);
|
|
ClassDB::bind_method(D_METHOD("is_move_and_slide_on_ceiling"), &KinematicBody::is_move_and_slide_on_ceiling);
|
|
ClassDB::bind_method(D_METHOD("is_move_and_slide_on_wall"), &KinematicBody::is_move_and_slide_on_wall);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with/static"), "set_collide_with_static_bodies", "can_collide_with_static_bodies");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with/kinematic"), "set_collide_with_kinematic_bodies", "can_collide_with_kinematic_bodies");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with/rigid"), "set_collide_with_rigid_bodies", "can_collide_with_rigid_bodies");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with/character"), "set_collide_with_character_bodies", "can_collide_with_character_bodies");
|
|
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision/margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_collision_margin", "get_collision_margin");
|
|
}
|
|
|
|
KinematicBody::KinematicBody()
|
|
: PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC) {
|
|
|
|
collide_static = true;
|
|
collide_rigid = true;
|
|
collide_kinematic = true;
|
|
collide_character = true;
|
|
|
|
colliding = false;
|
|
collider = 0;
|
|
margin = 0.001;
|
|
collider_shape = 0;
|
|
}
|
|
KinematicBody::~KinematicBody() {
|
|
}
|