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godot/servers/physics_2d_server.h

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/*************************************************************************/
/* physics_2d_server.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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_2D_SERVER_H
#define PHYSICS_2D_SERVER_H
#include "object.h"
#include "reference.h"
#include "resource.h"
class Physics2DDirectSpaceState;
class Physics2DDirectBodyState : public Object {
OBJ_TYPE( Physics2DDirectBodyState, Object );
protected:
static void _bind_methods();
public:
virtual Vector2 get_total_gravity() const=0; // get gravity vector working on this body space/area
virtual float get_total_linear_damp() const=0; // get density of this body space/area
virtual float get_total_angular_damp() const=0; // get density of this body space/area
virtual float get_inverse_mass() const=0; // get the mass
virtual real_t get_inverse_inertia() const=0; // get density of this body space
virtual void set_linear_velocity(const Vector2& p_velocity)=0;
virtual Vector2 get_linear_velocity() const=0;
virtual void set_angular_velocity(real_t p_velocity)=0;
virtual real_t get_angular_velocity() const=0;
virtual void set_transform(const Matrix32& p_transform)=0;
virtual Matrix32 get_transform() const=0;
virtual void set_sleep_state(bool p_enable)=0;
virtual bool is_sleeping() const=0;
virtual int get_contact_count() const=0;
virtual Vector2 get_contact_local_pos(int p_contact_idx) const=0;
virtual Vector2 get_contact_local_normal(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 Vector2 get_contact_collider_pos(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 Variant get_contact_collider_shape_metadata(int p_contact_idx) const=0;
virtual Vector2 get_contact_collider_velocity_at_pos(int p_contact_idx) const=0;
virtual real_t get_step() const=0;
virtual void integrate_forces();
virtual Physics2DDirectSpaceState* get_space_state()=0;
Physics2DDirectBodyState();
};
class Physics2DShapeQueryResult;
//used for script
class Physics2DShapeQueryParameters : public Reference {
OBJ_TYPE(Physics2DShapeQueryParameters, Reference);
friend class Physics2DDirectSpaceState;
RID shape;
Matrix32 transform;
Vector2 motion;
float margin;
Set<RID> exclude;
uint32_t layer_mask;
uint32_t object_type_mask;
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 Matrix32& p_transform);
Matrix32 get_transform() const;
void set_motion(const Vector2& p_motion);
Vector2 get_motion() const;
void set_margin(float p_margin);
float get_margin() const;
void set_layer_mask(int p_layer_mask);
int get_layer_mask() const;
void set_object_type_mask(int p_object_type_mask);
int get_object_type_mask() const;
void set_exclude(const Vector<RID>& p_exclude);
Vector<RID> get_exclude() const;
Physics2DShapeQueryParameters();
};
class Physics2DDirectSpaceState : public Object {
OBJ_TYPE( Physics2DDirectSpaceState, Object );
Dictionary _intersect_ray(const Vector2& p_from, const Vector2& p_to,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_layers=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
Array _intersect_point(const Vector2& p_point,int p_max_results=32,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_layers=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
Array _intersect_shape(const Ref<Physics2DShapeQueryParameters> &p_shape_query,int p_max_results=32);
Array _cast_motion(const Ref<Physics2DShapeQueryParameters> &p_shape_query);
Array _collide_shape(const Ref<Physics2DShapeQueryParameters> &p_shape_query,int p_max_results=32);
Dictionary _get_rest_info(const Ref<Physics2DShapeQueryParameters> &p_shape_query);
protected:
static void _bind_methods();
public:
enum ObjectTypeMask {
TYPE_MASK_STATIC_BODY=1<<0,
TYPE_MASK_KINEMATIC_BODY=1<<1,
TYPE_MASK_RIGID_BODY=1<<2,
TYPE_MASK_CHARACTER_BODY=1<<3,
TYPE_MASK_AREA=1<<4,
TYPE_MASK_COLLISION=TYPE_MASK_STATIC_BODY|TYPE_MASK_CHARACTER_BODY|TYPE_MASK_KINEMATIC_BODY|TYPE_MASK_RIGID_BODY
};
struct RayResult {
Vector2 position;
Vector2 normal;
RID rid;
ObjectID collider_id;
Object *collider;
int shape;
Variant metadata;
};
virtual bool intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
struct ShapeResult {
RID rid;
ObjectID collider_id;
Object *collider;
int shape;
Variant metadata;
};
virtual int intersect_point(const Vector2& p_point,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
virtual int intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
virtual bool cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
virtual bool collide_shape(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,Vector2 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
struct ShapeRestInfo {
Vector2 point;
Vector2 normal;
RID rid;
ObjectID collider_id;
int shape;
Vector2 linear_velocity; //velocity at contact point
Variant metadata;
};
virtual bool rest_info(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0;
Physics2DDirectSpaceState();
};
class Physics2DShapeQueryResult : public Reference {
OBJ_TYPE( Physics2DShapeQueryResult, Reference );
Vector<Physics2DDirectSpaceState::ShapeResult> result;
friend class Physics2DDirectSpaceState;
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;
Physics2DShapeQueryResult();
};
class Physics2DServer : public Object {
OBJ_TYPE( Physics2DServer, Object );
static Physics2DServer * singleton;
protected:
static void _bind_methods();
public:
static Physics2DServer * get_singleton();
enum ShapeType {
SHAPE_LINE, ///< plane:"plane"
SHAPE_RAY, ///< float:"length"
SHAPE_SEGMENT, ///< float:"length"
SHAPE_CIRCLE, ///< float:"radius"
SHAPE_RECTANGLE, ///< vec3:"extents"
SHAPE_CAPSULE,
SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
SHAPE_CONCAVE_POLYGON, ///< Vector2 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector2 array)
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 real_t shape_get_custom_solver_bias(RID p_shape) const=0;
//these work well, but should be used from the main thread only
virtual bool shape_collide(RID p_shape_A, const Matrix32& p_xform_A,const Vector2& p_motion_A,RID p_shape_B, const Matrix32& p_xform_B, const Vector2& p_motion_B,Vector2 *r_results,int p_result_max,int &r_result_count)=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_TRESHOLD,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD,
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
};
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 fixed process, errors and returns null otherwise
virtual Physics2DDirectSpaceState* space_get_direct_state(RID p_space)=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_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_REPLACE,
};
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 Matrix32& p_transform=Matrix32())=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 Matrix32& 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 Matrix32 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_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 Matrix32& p_transform)=0;
virtual Variant area_get_param(RID p_parea,AreaParameter p_param) const=0;
virtual Matrix32 area_get_transform(RID p_area) const=0;
virtual void area_set_monitorable(RID p_area,bool p_monitorable)=0;
virtual void area_set_pickable(RID p_area,bool p_pickable)=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;
/* BODY API */
//missing ccd?
enum BodyMode {
BODY_MODE_STATIC,
BODY_MODE_KINEMATIC,
BODY_MODE_RIGID,
BODY_MODE_CHARACTER
//BODY_MODE_SOFT ??
};
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 Matrix32& p_transform=Matrix32())=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 Matrix32& p_transform)=0;
virtual void body_set_shape_metadata(RID p_body, int p_shape_idx, const Variant& p_metadata)=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 Matrix32 body_get_shape_transform(RID p_body, int p_shape_idx) const=0;
virtual Variant body_get_shape_metadata(RID p_body, int p_shape_idx) const=0;
virtual void body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable)=0;
virtual bool body_is_shape_set_as_trigger(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_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;
enum CCDMode {
CCD_MODE_DISABLED,
CCD_MODE_CAST_RAY,
CCD_MODE_CAST_SHAPE,
};
virtual void body_set_continuous_collision_detection_mode(RID p_body,CCDMode p_mode)=0;
virtual CCDMode body_get_continuous_collision_detection_mode(RID p_body) const=0;
virtual void body_set_layer_mask(RID p_body, uint32_t p_mask)=0;
virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const=0;
virtual void body_set_user_mask(RID p_body, uint32_t p_mask)=0;
virtual uint32_t body_get_user_mask(RID p_body, uint32_t p_mask) 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;
//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 Vector2& p_force)=0;
virtual Vector2 body_get_applied_force(RID p_body) const=0;
virtual void body_set_applied_torque(RID p_body, float p_torque)=0;
virtual float body_get_applied_torque(RID p_body) const=0;
virtual void body_apply_impulse(RID p_body, const Vector2& p_pos, const Vector2& p_impulse)=0;
virtual void body_set_axis_velocity(RID p_body, const Vector2& p_axis_velocity)=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;
virtual void body_set_one_way_collision_direction(RID p_body,const Vector2& p_direction)=0;
virtual Vector2 body_get_one_way_collision_direction(RID p_body) const=0;
virtual void body_set_one_way_collision_max_depth(RID p_body,float p_max_depth)=0;
virtual float body_get_one_way_collision_max_depth(RID p_body) const=0;
//missing remove
virtual void body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold)=0;
virtual float body_get_contacts_reported_depth_treshold(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 bool body_collide_shape(RID p_body, int p_body_shape,RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,Vector2 *r_results,int p_result_max,int &r_result_count)=0;
virtual void body_set_pickable(RID p_body,bool p_pickable)=0;
/* JOINT API */
enum JointType {
JOINT_PIN,
JOINT_GROOVE,
JOINT_DAMPED_SPRING
};
enum JointParam {
JOINT_PARAM_BIAS,
JOINT_PARAM_MAX_BIAS,
JOINT_PARAM_MAX_FORCE,
};
virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value)=0;
virtual real_t joint_get_param(RID p_joint,JointParam p_param) const=0;
virtual RID pin_joint_create(const Vector2& p_anchor,RID p_body_a,RID p_body_b=RID())=0;
virtual RID groove_joint_create(const Vector2& p_a_groove1,const Vector2& p_a_groove2, const Vector2& p_b_anchor, RID p_body_a,RID p_body_b)=0;
virtual RID damped_spring_joint_create(const Vector2& p_anchor_a,const Vector2& p_anchor_b,RID p_body_a,RID p_body_b=RID())=0;
enum DampedStringParam {
DAMPED_STRING_REST_LENGTH,
DAMPED_STRING_STIFFNESS,
DAMPED_STRING_DAMPING
};
virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value)=0;
virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const=0;
virtual JointType joint_get_type(RID p_joint) const=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 sync()=0;
virtual void flush_queries()=0;
virtual void finish()=0;
enum ProcessInfo {
INFO_ACTIVE_OBJECTS,
INFO_COLLISION_PAIRS,
INFO_ISLAND_COUNT
};
virtual int get_process_info(ProcessInfo p_info)=0;
Physics2DServer();
~Physics2DServer();
};
VARIANT_ENUM_CAST( Physics2DServer::ShapeType );
VARIANT_ENUM_CAST( Physics2DServer::SpaceParameter );
VARIANT_ENUM_CAST( Physics2DServer::AreaParameter );
VARIANT_ENUM_CAST( Physics2DServer::AreaSpaceOverrideMode );
VARIANT_ENUM_CAST( Physics2DServer::BodyMode );
VARIANT_ENUM_CAST( Physics2DServer::BodyParameter );
VARIANT_ENUM_CAST( Physics2DServer::BodyState );
VARIANT_ENUM_CAST( Physics2DServer::CCDMode );
VARIANT_ENUM_CAST( Physics2DServer::JointParam );
VARIANT_ENUM_CAST( Physics2DServer::JointType );
VARIANT_ENUM_CAST( Physics2DServer::DampedStringParam );
//VARIANT_ENUM_CAST( Physics2DServer::ObjectType );
VARIANT_ENUM_CAST( Physics2DServer::AreaBodyStatus );
VARIANT_ENUM_CAST( Physics2DServer::ProcessInfo );
#endif
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