610 lines
16 KiB
C++
610 lines
16 KiB
C++
/*************************************************************************/
|
|
/* physics_body.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2018 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_BODY__H
|
|
#define PHYSICS_BODY__H
|
|
|
|
#include "scene/3d/collision_object.h"
|
|
#include "servers/physics_server.h"
|
|
#include "skeleton.h"
|
|
#include "vset.h"
|
|
|
|
class PhysicsBody : public CollisionObject {
|
|
|
|
GDCLASS(PhysicsBody, CollisionObject);
|
|
|
|
uint32_t collision_layer;
|
|
uint32_t collision_mask;
|
|
|
|
void _set_layers(uint32_t p_mask);
|
|
uint32_t _get_layers() const;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
void _notification(int p_what);
|
|
PhysicsBody(PhysicsServer::BodyMode p_mode);
|
|
|
|
public:
|
|
virtual Vector3 get_linear_velocity() const;
|
|
virtual Vector3 get_angular_velocity() const;
|
|
virtual float get_inverse_mass() const;
|
|
|
|
void set_collision_layer(uint32_t p_layer);
|
|
uint32_t get_collision_layer() const;
|
|
|
|
void set_collision_mask(uint32_t p_mask);
|
|
uint32_t get_collision_mask() const;
|
|
|
|
void set_collision_layer_bit(int p_bit, bool p_value);
|
|
bool get_collision_layer_bit(int p_bit) const;
|
|
|
|
void set_collision_mask_bit(int p_bit, bool p_value);
|
|
bool get_collision_mask_bit(int p_bit) const;
|
|
|
|
void add_collision_exception_with(Node *p_node); //must be physicsbody
|
|
void remove_collision_exception_with(Node *p_node);
|
|
|
|
PhysicsBody();
|
|
};
|
|
|
|
class StaticBody : public PhysicsBody {
|
|
|
|
GDCLASS(StaticBody, PhysicsBody);
|
|
|
|
Vector3 constant_linear_velocity;
|
|
Vector3 constant_angular_velocity;
|
|
|
|
real_t bounce;
|
|
real_t friction;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_friction(real_t p_friction);
|
|
real_t get_friction() const;
|
|
|
|
void set_bounce(real_t p_bounce);
|
|
real_t get_bounce() const;
|
|
|
|
void set_constant_linear_velocity(const Vector3 &p_vel);
|
|
void set_constant_angular_velocity(const Vector3 &p_vel);
|
|
|
|
Vector3 get_constant_linear_velocity() const;
|
|
Vector3 get_constant_angular_velocity() const;
|
|
|
|
StaticBody();
|
|
~StaticBody();
|
|
};
|
|
|
|
class RigidBody : public PhysicsBody {
|
|
|
|
GDCLASS(RigidBody, PhysicsBody);
|
|
|
|
public:
|
|
enum Mode {
|
|
MODE_RIGID,
|
|
MODE_STATIC,
|
|
MODE_CHARACTER,
|
|
MODE_KINEMATIC,
|
|
};
|
|
|
|
protected:
|
|
bool can_sleep;
|
|
PhysicsDirectBodyState *state;
|
|
Mode mode;
|
|
|
|
real_t bounce;
|
|
real_t mass;
|
|
real_t friction;
|
|
|
|
Vector3 linear_velocity;
|
|
Vector3 angular_velocity;
|
|
real_t gravity_scale;
|
|
real_t linear_damp;
|
|
real_t angular_damp;
|
|
|
|
bool sleeping;
|
|
bool ccd;
|
|
|
|
int max_contacts_reported;
|
|
|
|
bool custom_integrator;
|
|
|
|
struct ShapePair {
|
|
|
|
int body_shape;
|
|
int local_shape;
|
|
bool tagged;
|
|
bool operator<(const ShapePair &p_sp) const {
|
|
if (body_shape == p_sp.body_shape)
|
|
return local_shape < p_sp.local_shape;
|
|
else
|
|
return body_shape < p_sp.body_shape;
|
|
}
|
|
|
|
ShapePair() {}
|
|
ShapePair(int p_bs, int p_ls) {
|
|
body_shape = p_bs;
|
|
local_shape = p_ls;
|
|
}
|
|
};
|
|
struct RigidBody_RemoveAction {
|
|
|
|
ObjectID body_id;
|
|
ShapePair pair;
|
|
};
|
|
struct BodyState {
|
|
|
|
//int rc;
|
|
bool in_tree;
|
|
VSet<ShapePair> shapes;
|
|
};
|
|
|
|
struct ContactMonitor {
|
|
|
|
bool locked;
|
|
Map<ObjectID, BodyState> body_map;
|
|
};
|
|
|
|
ContactMonitor *contact_monitor;
|
|
void _body_enter_tree(ObjectID p_id);
|
|
void _body_exit_tree(ObjectID p_id);
|
|
|
|
void _body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape);
|
|
virtual void _direct_state_changed(Object *p_state);
|
|
|
|
void _notification(int p_what);
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
void set_mode(Mode p_mode);
|
|
Mode get_mode() const;
|
|
|
|
void set_mass(real_t p_mass);
|
|
real_t get_mass() const;
|
|
|
|
virtual float get_inverse_mass() const { return 1.0 / mass; }
|
|
|
|
void set_weight(real_t p_weight);
|
|
real_t get_weight() const;
|
|
|
|
void set_friction(real_t p_friction);
|
|
real_t get_friction() const;
|
|
|
|
void set_bounce(real_t p_bounce);
|
|
real_t get_bounce() const;
|
|
|
|
void set_linear_velocity(const Vector3 &p_velocity);
|
|
Vector3 get_linear_velocity() const;
|
|
|
|
void set_axis_velocity(const Vector3 &p_axis);
|
|
|
|
void set_angular_velocity(const Vector3 &p_velocity);
|
|
Vector3 get_angular_velocity() const;
|
|
|
|
void set_gravity_scale(real_t p_gravity_scale);
|
|
real_t get_gravity_scale() const;
|
|
|
|
void set_linear_damp(real_t p_linear_damp);
|
|
real_t get_linear_damp() const;
|
|
|
|
void set_angular_damp(real_t p_angular_damp);
|
|
real_t get_angular_damp() const;
|
|
|
|
void set_use_custom_integrator(bool p_enable);
|
|
bool is_using_custom_integrator();
|
|
|
|
void set_sleeping(bool p_sleeping);
|
|
bool is_sleeping() const;
|
|
|
|
void set_can_sleep(bool p_active);
|
|
bool is_able_to_sleep() const;
|
|
|
|
void set_contact_monitor(bool p_enabled);
|
|
bool is_contact_monitor_enabled() const;
|
|
|
|
void set_max_contacts_reported(int p_amount);
|
|
int get_max_contacts_reported() const;
|
|
|
|
void set_use_continuous_collision_detection(bool p_enable);
|
|
bool is_using_continuous_collision_detection() const;
|
|
|
|
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
|
|
bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
|
|
|
|
Array get_colliding_bodies() const;
|
|
|
|
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
|
|
void apply_torque_impulse(const Vector3 &p_impulse);
|
|
|
|
virtual String get_configuration_warning() const;
|
|
|
|
RigidBody();
|
|
~RigidBody();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(RigidBody::Mode);
|
|
|
|
class KinematicCollision;
|
|
|
|
class KinematicBody : public PhysicsBody {
|
|
|
|
GDCLASS(KinematicBody, PhysicsBody);
|
|
|
|
public:
|
|
struct Collision {
|
|
Vector3 collision;
|
|
Vector3 normal;
|
|
Vector3 collider_vel;
|
|
ObjectID collider;
|
|
int collider_shape;
|
|
Variant collider_metadata;
|
|
Vector3 remainder;
|
|
Vector3 travel;
|
|
int local_shape;
|
|
};
|
|
|
|
private:
|
|
uint16_t locked_axis;
|
|
|
|
float margin;
|
|
|
|
Vector3 floor_velocity;
|
|
bool on_floor;
|
|
bool on_ceiling;
|
|
bool on_wall;
|
|
Vector<Collision> colliders;
|
|
Vector<Ref<KinematicCollision> > slide_colliders;
|
|
Ref<KinematicCollision> motion_cache;
|
|
|
|
_FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const;
|
|
|
|
Ref<KinematicCollision> _move(const Vector3 &p_motion, bool p_infinite_inertia = true);
|
|
Ref<KinematicCollision> _get_slide_collision(int p_bounce);
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision);
|
|
bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
|
|
|
|
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
|
|
bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
|
|
|
|
void set_safe_margin(float p_margin);
|
|
float get_safe_margin() const;
|
|
|
|
Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), float p_slope_stop_min_velocity = 0.05, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true);
|
|
bool is_on_floor() const;
|
|
bool is_on_wall() const;
|
|
bool is_on_ceiling() const;
|
|
Vector3 get_floor_velocity() const;
|
|
|
|
int get_slide_count() const;
|
|
Collision get_slide_collision(int p_bounce) const;
|
|
|
|
KinematicBody();
|
|
~KinematicBody();
|
|
};
|
|
|
|
class KinematicCollision : public Reference {
|
|
|
|
GDCLASS(KinematicCollision, Reference);
|
|
|
|
KinematicBody *owner;
|
|
friend class KinematicBody;
|
|
KinematicBody::Collision collision;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
Vector3 get_position() const;
|
|
Vector3 get_normal() const;
|
|
Vector3 get_travel() const;
|
|
Vector3 get_remainder() const;
|
|
Object *get_local_shape() const;
|
|
Object *get_collider() const;
|
|
ObjectID get_collider_id() const;
|
|
Object *get_collider_shape() const;
|
|
int get_collider_shape_index() const;
|
|
Vector3 get_collider_velocity() const;
|
|
Variant get_collider_metadata() const;
|
|
|
|
KinematicCollision();
|
|
};
|
|
|
|
class PhysicalBone : public PhysicsBody {
|
|
|
|
GDCLASS(PhysicalBone, PhysicsBody);
|
|
|
|
public:
|
|
enum JointType {
|
|
JOINT_TYPE_NONE,
|
|
JOINT_TYPE_PIN,
|
|
JOINT_TYPE_CONE,
|
|
JOINT_TYPE_HINGE,
|
|
JOINT_TYPE_SLIDER,
|
|
JOINT_TYPE_6DOF
|
|
};
|
|
|
|
struct JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
|
|
|
|
/// "j" is used to set the parameter inside the PhysicsServer
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
};
|
|
|
|
struct PinJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t bias;
|
|
real_t damping;
|
|
real_t impulse_clamp;
|
|
|
|
PinJointData() :
|
|
bias(0.3),
|
|
damping(1.),
|
|
impulse_clamp(0) {}
|
|
};
|
|
|
|
struct ConeJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t swing_span;
|
|
real_t twist_span;
|
|
real_t bias;
|
|
real_t softness;
|
|
real_t relaxation;
|
|
|
|
ConeJointData() :
|
|
swing_span(Math_PI * 0.25),
|
|
twist_span(Math_PI),
|
|
bias(0.3),
|
|
softness(0.8),
|
|
relaxation(1.) {}
|
|
};
|
|
|
|
struct HingeJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
bool angular_limit_enabled;
|
|
real_t angular_limit_upper;
|
|
real_t angular_limit_lower;
|
|
real_t angular_limit_bias;
|
|
real_t angular_limit_softness;
|
|
real_t angular_limit_relaxation;
|
|
|
|
HingeJointData() :
|
|
angular_limit_enabled(false),
|
|
angular_limit_upper(Math_PI * 0.5),
|
|
angular_limit_lower(-Math_PI * 0.5),
|
|
angular_limit_bias(0.3),
|
|
angular_limit_softness(0.9),
|
|
angular_limit_relaxation(1.) {}
|
|
};
|
|
|
|
struct SliderJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t linear_limit_upper;
|
|
real_t linear_limit_lower;
|
|
real_t linear_limit_softness;
|
|
real_t linear_limit_restitution;
|
|
real_t linear_limit_damping;
|
|
real_t angular_limit_upper;
|
|
real_t angular_limit_lower;
|
|
real_t angular_limit_softness;
|
|
real_t angular_limit_restitution;
|
|
real_t angular_limit_damping;
|
|
|
|
SliderJointData() :
|
|
linear_limit_upper(1.),
|
|
linear_limit_lower(-1.),
|
|
linear_limit_softness(1.),
|
|
linear_limit_restitution(0.7),
|
|
linear_limit_damping(1.),
|
|
angular_limit_upper(0),
|
|
angular_limit_lower(0),
|
|
angular_limit_softness(1.),
|
|
angular_limit_restitution(0.7),
|
|
angular_limit_damping(1.) {}
|
|
};
|
|
|
|
struct SixDOFJointData : public JointData {
|
|
struct SixDOFAxisData {
|
|
bool linear_limit_enabled;
|
|
real_t linear_limit_upper;
|
|
real_t linear_limit_lower;
|
|
real_t linear_limit_softness;
|
|
real_t linear_restitution;
|
|
real_t linear_damping;
|
|
bool angular_limit_enabled;
|
|
real_t angular_limit_upper;
|
|
real_t angular_limit_lower;
|
|
real_t angular_limit_softness;
|
|
real_t angular_restitution;
|
|
real_t angular_damping;
|
|
real_t erp;
|
|
|
|
SixDOFAxisData() :
|
|
linear_limit_enabled(true),
|
|
linear_limit_upper(0),
|
|
linear_limit_lower(0),
|
|
linear_limit_softness(0.7),
|
|
linear_restitution(0.5),
|
|
linear_damping(1.),
|
|
angular_limit_enabled(true),
|
|
angular_limit_upper(0),
|
|
angular_limit_lower(0),
|
|
angular_limit_softness(0.5),
|
|
angular_restitution(0),
|
|
angular_damping(1.),
|
|
erp(0.5) {}
|
|
};
|
|
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID());
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
SixDOFAxisData axis_data[3];
|
|
|
|
SixDOFJointData() {}
|
|
};
|
|
|
|
private:
|
|
#ifdef TOOLS_ENABLED
|
|
// if false gizmo move body
|
|
bool gizmo_move_joint;
|
|
#endif
|
|
|
|
JointData *joint_data;
|
|
Transform joint_offset;
|
|
RID joint;
|
|
|
|
Skeleton *parent_skeleton;
|
|
Transform body_offset;
|
|
Transform body_offset_inverse;
|
|
bool static_body;
|
|
bool _internal_static_body;
|
|
bool simulate_physics;
|
|
bool _internal_simulate_physics;
|
|
int bone_id;
|
|
|
|
String bone_name;
|
|
real_t bounce;
|
|
real_t mass;
|
|
real_t friction;
|
|
real_t gravity_scale;
|
|
|
|
protected:
|
|
bool _set(const StringName &p_name, const Variant &p_value);
|
|
bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
void _notification(int p_what);
|
|
void _direct_state_changed(Object *p_state);
|
|
|
|
static void _bind_methods();
|
|
|
|
private:
|
|
static Skeleton *find_skeleton_parent(Node *p_parent);
|
|
void _fix_joint_offset();
|
|
void _reload_joint();
|
|
|
|
public:
|
|
void _on_bone_parent_changed();
|
|
void _set_gizmo_move_joint(bool p_move_joint);
|
|
|
|
public:
|
|
#ifdef TOOLS_ENABLED
|
|
virtual Transform get_global_gizmo_transform() const;
|
|
virtual Transform get_local_gizmo_transform() const;
|
|
#endif
|
|
|
|
const JointData *get_joint_data() const;
|
|
Skeleton *find_skeleton_parent();
|
|
|
|
int get_bone_id() const { return bone_id; }
|
|
|
|
void set_joint_type(JointType p_joint_type);
|
|
JointType get_joint_type() const;
|
|
|
|
void set_joint_offset(const Transform &p_offset);
|
|
const Transform &get_joint_offset() const;
|
|
|
|
void set_body_offset(const Transform &p_offset);
|
|
const Transform &get_body_offset() const;
|
|
|
|
void set_static_body(bool p_static);
|
|
bool is_static_body();
|
|
|
|
void set_simulate_physics(bool p_simulate);
|
|
bool get_simulate_physics();
|
|
bool is_simulating_physics();
|
|
|
|
void set_bone_name(const String &p_name);
|
|
const String &get_bone_name() const;
|
|
|
|
void set_mass(real_t p_mass);
|
|
real_t get_mass() const;
|
|
|
|
void set_weight(real_t p_weight);
|
|
real_t get_weight() const;
|
|
|
|
void set_friction(real_t p_friction);
|
|
real_t get_friction() const;
|
|
|
|
void set_bounce(real_t p_bounce);
|
|
real_t get_bounce() const;
|
|
|
|
void set_gravity_scale(real_t p_gravity_scale);
|
|
real_t get_gravity_scale() const;
|
|
|
|
PhysicalBone();
|
|
~PhysicalBone();
|
|
|
|
private:
|
|
void update_bone_id();
|
|
void update_offset();
|
|
void reset_to_rest_position();
|
|
|
|
void _reset_physics_simulation_state();
|
|
void _reset_staticness_state();
|
|
|
|
void _start_physics_simulation();
|
|
void _stop_physics_simulation();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(PhysicalBone::JointType);
|
|
|
|
#endif // PHYSICS_BODY__H
|