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godot/modules/gltf/extensions/physics/gltf_physics_body.cpp

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/**************************************************************************/
/* gltf_physics_body.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* 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. */
/**************************************************************************/
#include "gltf_physics_body.h"
#include "scene/3d/area_3d.h"
#include "scene/3d/vehicle_body_3d.h"
void GLTFPhysicsBody::_bind_methods() {
ClassDB::bind_static_method("GLTFPhysicsBody", D_METHOD("from_node", "body_node"), &GLTFPhysicsBody::from_node);
ClassDB::bind_method(D_METHOD("to_node"), &GLTFPhysicsBody::to_node);
ClassDB::bind_static_method("GLTFPhysicsBody", D_METHOD("from_dictionary", "dictionary"), &GLTFPhysicsBody::from_dictionary);
ClassDB::bind_method(D_METHOD("to_dictionary"), &GLTFPhysicsBody::to_dictionary);
ClassDB::bind_method(D_METHOD("get_body_type"), &GLTFPhysicsBody::get_body_type);
ClassDB::bind_method(D_METHOD("set_body_type", "body_type"), &GLTFPhysicsBody::set_body_type);
ClassDB::bind_method(D_METHOD("get_mass"), &GLTFPhysicsBody::get_mass);
ClassDB::bind_method(D_METHOD("set_mass", "mass"), &GLTFPhysicsBody::set_mass);
ClassDB::bind_method(D_METHOD("get_linear_velocity"), &GLTFPhysicsBody::get_linear_velocity);
ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &GLTFPhysicsBody::set_linear_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &GLTFPhysicsBody::get_angular_velocity);
ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &GLTFPhysicsBody::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_center_of_mass"), &GLTFPhysicsBody::get_center_of_mass);
ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &GLTFPhysicsBody::set_center_of_mass);
ClassDB::bind_method(D_METHOD("get_inertia_diagonal"), &GLTFPhysicsBody::get_inertia_diagonal);
ClassDB::bind_method(D_METHOD("set_inertia_diagonal", "inertia_diagonal"), &GLTFPhysicsBody::set_inertia_diagonal);
ClassDB::bind_method(D_METHOD("get_inertia_orientation"), &GLTFPhysicsBody::get_inertia_orientation);
ClassDB::bind_method(D_METHOD("set_inertia_orientation", "inertia_orientation"), &GLTFPhysicsBody::set_inertia_orientation);
#ifndef DISABLE_DEPRECATED
ClassDB::bind_method(D_METHOD("get_inertia_tensor"), &GLTFPhysicsBody::get_inertia_tensor);
ClassDB::bind_method(D_METHOD("set_inertia_tensor", "inertia_tensor"), &GLTFPhysicsBody::set_inertia_tensor);
#endif // DISABLE_DEPRECATED
ADD_PROPERTY(PropertyInfo(Variant::STRING, "body_type"), "set_body_type", "get_body_type");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass"), "set_mass", "get_mass");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass"), "set_center_of_mass", "get_center_of_mass");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inertia_diagonal"), "set_inertia_diagonal", "get_inertia_diagonal");
ADD_PROPERTY(PropertyInfo(Variant::QUATERNION, "inertia_orientation"), "set_inertia_orientation", "get_inertia_orientation");
#ifndef DISABLE_DEPRECATED
ADD_PROPERTY(PropertyInfo(Variant::BASIS, "inertia_tensor"), "set_inertia_tensor", "get_inertia_tensor");
#endif // DISABLE_DEPRECATED
}
String GLTFPhysicsBody::get_body_type() const {
switch (body_type) {
case PhysicsBodyType::STATIC:
return "static";
case PhysicsBodyType::ANIMATABLE:
return "animatable";
case PhysicsBodyType::CHARACTER:
return "character";
case PhysicsBodyType::RIGID:
return "rigid";
case PhysicsBodyType::VEHICLE:
return "vehicle";
case PhysicsBodyType::TRIGGER:
return "trigger";
}
// Unreachable, the switch cases handle all values the enum can take.
// Omitting this works on Clang but not GCC or MSVC. If reached, it's UB.
return "rigid";
}
void GLTFPhysicsBody::set_body_type(String p_body_type) {
if (p_body_type == "static") {
body_type = PhysicsBodyType::STATIC;
} else if (p_body_type == "animatable") {
body_type = PhysicsBodyType::ANIMATABLE;
} else if (p_body_type == "character") {
body_type = PhysicsBodyType::CHARACTER;
} else if (p_body_type == "rigid") {
body_type = PhysicsBodyType::RIGID;
} else if (p_body_type == "vehicle") {
body_type = PhysicsBodyType::VEHICLE;
} else if (p_body_type == "trigger") {
body_type = PhysicsBodyType::TRIGGER;
} else {
ERR_PRINT("Error setting GLTF physics body type: The body type must be one of \"static\", \"animatable\", \"character\", \"rigid\", \"vehicle\", or \"trigger\".");
}
}
GLTFPhysicsBody::PhysicsBodyType GLTFPhysicsBody::get_physics_body_type() const {
return body_type;
}
void GLTFPhysicsBody::set_physics_body_type(PhysicsBodyType p_body_type) {
body_type = p_body_type;
}
real_t GLTFPhysicsBody::get_mass() const {
return mass;
}
void GLTFPhysicsBody::set_mass(real_t p_mass) {
mass = p_mass;
}
Vector3 GLTFPhysicsBody::get_linear_velocity() const {
return linear_velocity;
}
void GLTFPhysicsBody::set_linear_velocity(Vector3 p_linear_velocity) {
linear_velocity = p_linear_velocity;
}
Vector3 GLTFPhysicsBody::get_angular_velocity() const {
return angular_velocity;
}
void GLTFPhysicsBody::set_angular_velocity(Vector3 p_angular_velocity) {
angular_velocity = p_angular_velocity;
}
Vector3 GLTFPhysicsBody::get_center_of_mass() const {
return center_of_mass;
}
void GLTFPhysicsBody::set_center_of_mass(const Vector3 &p_center_of_mass) {
center_of_mass = p_center_of_mass;
}
Vector3 GLTFPhysicsBody::get_inertia_diagonal() const {
return inertia_diagonal;
}
void GLTFPhysicsBody::set_inertia_diagonal(const Vector3 &p_inertia_diagonal) {
inertia_diagonal = p_inertia_diagonal;
}
Quaternion GLTFPhysicsBody::get_inertia_orientation() const {
return inertia_orientation;
}
void GLTFPhysicsBody::set_inertia_orientation(const Quaternion &p_inertia_orientation) {
inertia_orientation = p_inertia_orientation;
}
#ifndef DISABLE_DEPRECATED
Basis GLTFPhysicsBody::get_inertia_tensor() const {
return Basis::from_scale(inertia_diagonal);
}
void GLTFPhysicsBody::set_inertia_tensor(Basis p_inertia_tensor) {
inertia_diagonal = p_inertia_tensor.get_main_diagonal();
}
#endif // DISABLE_DEPRECATED
Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_node(const CollisionObject3D *p_body_node) {
Ref<GLTFPhysicsBody> physics_body;
physics_body.instantiate();
ERR_FAIL_NULL_V_MSG(p_body_node, physics_body, "Tried to create a GLTFPhysicsBody from a CollisionObject3D node, but the given node was null.");
if (cast_to<CharacterBody3D>(p_body_node)) {
physics_body->body_type = PhysicsBodyType::CHARACTER;
} else if (cast_to<AnimatableBody3D>(p_body_node)) {
physics_body->body_type = PhysicsBodyType::ANIMATABLE;
} else if (cast_to<RigidBody3D>(p_body_node)) {
const RigidBody3D *body = cast_to<const RigidBody3D>(p_body_node);
physics_body->mass = body->get_mass();
physics_body->linear_velocity = body->get_linear_velocity();
physics_body->angular_velocity = body->get_angular_velocity();
physics_body->center_of_mass = body->get_center_of_mass();
physics_body->inertia_diagonal = body->get_inertia();
if (body->get_center_of_mass() != Vector3()) {
WARN_PRINT("GLTFPhysicsBody: This rigid body has a center of mass offset from the origin, which will be ignored when exporting to GLTF.");
}
if (cast_to<VehicleBody3D>(p_body_node)) {
physics_body->body_type = PhysicsBodyType::VEHICLE;
} else {
physics_body->body_type = PhysicsBodyType::RIGID;
}
} else if (cast_to<StaticBody3D>(p_body_node)) {
physics_body->body_type = PhysicsBodyType::STATIC;
} else if (cast_to<Area3D>(p_body_node)) {
physics_body->body_type = PhysicsBodyType::TRIGGER;
}
return physics_body;
}
CollisionObject3D *GLTFPhysicsBody::to_node() const {
switch (body_type) {
case PhysicsBodyType::CHARACTER: {
CharacterBody3D *body = memnew(CharacterBody3D);
return body;
}
case PhysicsBodyType::ANIMATABLE: {
AnimatableBody3D *body = memnew(AnimatableBody3D);
return body;
}
case PhysicsBodyType::VEHICLE: {
VehicleBody3D *body = memnew(VehicleBody3D);
body->set_mass(mass);
body->set_linear_velocity(linear_velocity);
body->set_angular_velocity(angular_velocity);
body->set_inertia(inertia_diagonal);
body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM);
body->set_center_of_mass(center_of_mass);
return body;
}
case PhysicsBodyType::RIGID: {
RigidBody3D *body = memnew(RigidBody3D);
body->set_mass(mass);
body->set_linear_velocity(linear_velocity);
body->set_angular_velocity(angular_velocity);
body->set_inertia(inertia_diagonal);
body->set_center_of_mass_mode(RigidBody3D::CENTER_OF_MASS_MODE_CUSTOM);
body->set_center_of_mass(center_of_mass);
return body;
}
case PhysicsBodyType::STATIC: {
StaticBody3D *body = memnew(StaticBody3D);
return body;
}
case PhysicsBodyType::TRIGGER: {
Area3D *body = memnew(Area3D);
return body;
}
}
// Unreachable, the switch cases handle all values the enum can take.
// Omitting this works on Clang but not GCC or MSVC. If reached, it's UB.
return nullptr;
}
Ref<GLTFPhysicsBody> GLTFPhysicsBody::from_dictionary(const Dictionary p_dictionary) {
Ref<GLTFPhysicsBody> physics_body;
physics_body.instantiate();
Dictionary motion;
if (p_dictionary.has("motion")) {
motion = p_dictionary["motion"];
#ifndef DISABLE_DEPRECATED
} else {
motion = p_dictionary;
#endif // DISABLE_DEPRECATED
}
if (motion.has("type")) {
// Read the body type. This representation sits between glTF's and Godot's physics nodes.
// While we may only read "static", "kinematic", or "dynamic" from a valid glTF file, we
// want to allow another extension to override this to another Godot node type mid-import.
// For example, a vehicle extension may want to override the body type to "vehicle"
// so Godot generates a VehicleBody3D node. Therefore we distinguish by importing
// "dynamic" as "rigid", and "kinematic" as "animatable", in the GLTFPhysicsBody code.
String body_type_string = motion["type"];
if (body_type_string == "static") {
physics_body->body_type = PhysicsBodyType::STATIC;
} else if (body_type_string == "kinematic") {
physics_body->body_type = PhysicsBodyType::ANIMATABLE;
} else if (body_type_string == "dynamic") {
physics_body->body_type = PhysicsBodyType::RIGID;
#ifndef DISABLE_DEPRECATED
} else if (body_type_string == "character") {
physics_body->body_type = PhysicsBodyType::CHARACTER;
} else if (body_type_string == "rigid") {
physics_body->body_type = PhysicsBodyType::RIGID;
} else if (body_type_string == "vehicle") {
physics_body->body_type = PhysicsBodyType::VEHICLE;
} else if (body_type_string == "trigger") {
physics_body->body_type = PhysicsBodyType::TRIGGER;
#endif // DISABLE_DEPRECATED
} else {
ERR_PRINT("Error parsing GLTF physics body: The body type in the GLTF file \"" + body_type_string + "\" was not recognized.");
}
}
if (motion.has("mass")) {
physics_body->mass = motion["mass"];
}
if (motion.has("linearVelocity")) {
const Array &arr = motion["linearVelocity"];
if (arr.size() == 3) {
physics_body->set_linear_velocity(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The linear velocity vector must have exactly 3 numbers.");
}
}
if (motion.has("angularVelocity")) {
const Array &arr = motion["angularVelocity"];
if (arr.size() == 3) {
physics_body->set_angular_velocity(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The angular velocity vector must have exactly 3 numbers.");
}
}
if (motion.has("centerOfMass")) {
const Array &arr = motion["centerOfMass"];
if (arr.size() == 3) {
physics_body->set_center_of_mass(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The center of mass vector must have exactly 3 numbers.");
}
}
if (motion.has("inertiaDiagonal")) {
const Array &arr = motion["inertiaDiagonal"];
if (arr.size() == 3) {
physics_body->set_inertia_diagonal(Vector3(arr[0], arr[1], arr[2]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The inertia diagonal vector must have exactly 3 numbers.");
}
}
if (motion.has("inertiaOrientation")) {
const Array &arr = motion["inertiaOrientation"];
if (arr.size() == 4) {
physics_body->set_inertia_orientation(Quaternion(arr[0], arr[1], arr[2], arr[3]));
} else {
ERR_PRINT("Error parsing GLTF physics body: The inertia orientation quaternion must have exactly 4 numbers.");
}
}
return physics_body;
}
Dictionary GLTFPhysicsBody::to_dictionary() const {
Dictionary ret;
if (body_type == PhysicsBodyType::TRIGGER) {
// The equivalent of a Godot Area3D node in glTF is a node that
// defines that it is a trigger, but does not have a shape.
Dictionary trigger;
ret["trigger"] = trigger;
return ret;
}
// All non-trigger body types are defined using the motion property.
Dictionary motion;
// When stored in memory, the body type can correspond to a Godot
// node type. However, when exporting to glTF, we need to squash
// this down to one of "static", "kinematic", or "dynamic".
if (body_type == PhysicsBodyType::STATIC) {
motion["type"] = "static";
} else if (body_type == PhysicsBodyType::ANIMATABLE || body_type == PhysicsBodyType::CHARACTER) {
motion["type"] = "kinematic";
} else {
motion["type"] = "dynamic";
}
if (mass != 1.0) {
motion["mass"] = mass;
}
if (linear_velocity != Vector3()) {
Array velocity_array;
velocity_array.resize(3);
velocity_array[0] = linear_velocity.x;
velocity_array[1] = linear_velocity.y;
velocity_array[2] = linear_velocity.z;
motion["linearVelocity"] = velocity_array;
}
if (angular_velocity != Vector3()) {
Array velocity_array;
velocity_array.resize(3);
velocity_array[0] = angular_velocity.x;
velocity_array[1] = angular_velocity.y;
velocity_array[2] = angular_velocity.z;
motion["angularVelocity"] = velocity_array;
}
if (center_of_mass != Vector3()) {
Array center_of_mass_array;
center_of_mass_array.resize(3);
center_of_mass_array[0] = center_of_mass.x;
center_of_mass_array[1] = center_of_mass.y;
center_of_mass_array[2] = center_of_mass.z;
motion["centerOfMass"] = center_of_mass_array;
}
if (inertia_diagonal != Vector3()) {
Array inertia_array;
inertia_array.resize(3);
inertia_array[0] = inertia_diagonal[0];
inertia_array[1] = inertia_diagonal[1];
inertia_array[2] = inertia_diagonal[2];
motion["inertiaDiagonal"] = inertia_array;
}
if (inertia_orientation != Quaternion()) {
Array inertia_array;
inertia_array.resize(4);
inertia_array[0] = inertia_orientation[0];
inertia_array[1] = inertia_orientation[1];
inertia_array[2] = inertia_orientation[2];
inertia_array[3] = inertia_orientation[3];
motion["inertiaDiagonal"] = inertia_array;
}
ret["motion"] = motion;
return ret;
}
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