1613 lines
52 KiB
C++
1613 lines
52 KiB
C++
/*************************************************************************/
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/* bullet_physics_server.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 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 "bullet_physics_server.h"
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#include "bullet_utilities.h"
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#include "cone_twist_joint_bullet.h"
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#include "core/class_db.h"
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#include "core/error_macros.h"
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#include "core/ustring.h"
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#include "generic_6dof_joint_bullet.h"
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#include "hinge_joint_bullet.h"
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#include "pin_joint_bullet.h"
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#include "shape_bullet.h"
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#include "slider_joint_bullet.h"
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#include <LinearMath/btVector3.h>
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#include <assert.h>
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/**
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@author AndreaCatania
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*/
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#define CreateThenReturnRID(owner, ridData) \
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RID rid = owner.make_rid(ridData); \
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ridData->set_self(rid); \
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ridData->_set_physics_server(this); \
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return rid;
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// <--------------- Joint creation asserts
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/// Assert the body is assigned to a space
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#define JointAssertSpace(body, bIndex, ret) \
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if (!body->get_space()) { \
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ERR_PRINTS("Before create a joint the Body" + String(bIndex) + " must be added to a space!"); \
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return ret; \
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}
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/// Assert the two bodies of joint are in the same space
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#define JointAssertSameSpace(bodyA, bodyB, ret) \
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if (bodyA->get_space() != bodyB->get_space()) { \
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ERR_PRINT("In order to create a joint the Body_A and Body_B must be in the same space!"); \
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return RID(); \
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}
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#define AddJointToSpace(body, joint) \
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body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
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// <--------------- Joint creation asserts
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void BulletPhysicsServer::_bind_methods() {
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//ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer::DoTest);
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}
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BulletPhysicsServer::BulletPhysicsServer() :
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PhysicsServer(),
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active(true),
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active_spaces_count(0) {}
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BulletPhysicsServer::~BulletPhysicsServer() {}
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RID BulletPhysicsServer::shape_create(ShapeType p_shape) {
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ShapeBullet *shape = NULL;
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switch (p_shape) {
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case SHAPE_PLANE: {
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shape = bulletnew(PlaneShapeBullet);
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} break;
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case SHAPE_SPHERE: {
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shape = bulletnew(SphereShapeBullet);
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} break;
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case SHAPE_BOX: {
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shape = bulletnew(BoxShapeBullet);
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} break;
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case SHAPE_CAPSULE: {
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shape = bulletnew(CapsuleShapeBullet);
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} break;
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case SHAPE_CYLINDER: {
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shape = bulletnew(CylinderShapeBullet);
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} break;
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case SHAPE_CONVEX_POLYGON: {
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shape = bulletnew(ConvexPolygonShapeBullet);
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} break;
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case SHAPE_CONCAVE_POLYGON: {
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shape = bulletnew(ConcavePolygonShapeBullet);
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} break;
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case SHAPE_HEIGHTMAP: {
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shape = bulletnew(HeightMapShapeBullet);
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} break;
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case SHAPE_RAY: {
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shape = bulletnew(RayShapeBullet);
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} break;
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case SHAPE_CUSTOM:
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default:
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ERR_FAIL_V(RID());
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break;
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}
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CreateThenReturnRID(shape_owner, shape)
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}
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void BulletPhysicsServer::shape_set_data(RID p_shape, const Variant &p_data) {
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ShapeBullet *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_data(p_data);
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}
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void BulletPhysicsServer::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
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//WARN_PRINT("Bias not supported by Bullet physics engine");
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}
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PhysicsServer::ShapeType BulletPhysicsServer::shape_get_type(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, PhysicsServer::SHAPE_CUSTOM);
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return shape->get_type();
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}
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Variant BulletPhysicsServer::shape_get_data(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, Variant());
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return shape->get_data();
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}
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void BulletPhysicsServer::shape_set_margin(RID p_shape, real_t p_margin) {
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ShapeBullet *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_margin(p_margin);
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}
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real_t BulletPhysicsServer::shape_get_margin(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0.0);
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return shape->get_margin();
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}
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real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const {
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//WARN_PRINT("Bias not supported by Bullet physics engine");
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return 0.;
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}
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RID BulletPhysicsServer::space_create() {
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SpaceBullet *space = bulletnew(SpaceBullet);
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CreateThenReturnRID(space_owner, space);
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}
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void BulletPhysicsServer::space_set_active(RID p_space, bool p_active) {
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SpaceBullet *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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if (space_is_active(p_space) == p_active) {
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return;
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}
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if (p_active) {
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++active_spaces_count;
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active_spaces.push_back(space);
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} else {
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--active_spaces_count;
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active_spaces.erase(space);
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}
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}
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bool BulletPhysicsServer::space_is_active(RID p_space) const {
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SpaceBullet *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, false);
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return -1 != active_spaces.find(space);
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}
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void BulletPhysicsServer::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
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SpaceBullet *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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space->set_param(p_param, p_value);
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}
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real_t BulletPhysicsServer::space_get_param(RID p_space, SpaceParameter p_param) const {
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SpaceBullet *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, 0);
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return space->get_param(p_param);
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}
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PhysicsDirectSpaceState *BulletPhysicsServer::space_get_direct_state(RID p_space) {
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SpaceBullet *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, NULL);
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return space->get_direct_state();
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}
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void BulletPhysicsServer::space_set_debug_contacts(RID p_space, int p_max_contacts) {
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SpaceBullet *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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space->set_debug_contacts(p_max_contacts);
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}
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Vector<Vector3> BulletPhysicsServer::space_get_contacts(RID p_space) const {
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SpaceBullet *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, Vector<Vector3>());
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return space->get_debug_contacts();
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}
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int BulletPhysicsServer::space_get_contact_count(RID p_space) const {
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SpaceBullet *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, 0);
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return space->get_debug_contact_count();
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}
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RID BulletPhysicsServer::area_create() {
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AreaBullet *area = bulletnew(AreaBullet);
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area->set_collision_layer(1);
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area->set_collision_mask(1);
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CreateThenReturnRID(area_owner, area)
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}
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void BulletPhysicsServer::area_set_space(RID p_area, RID p_space) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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SpaceBullet *space = NULL;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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area->set_space(space);
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}
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RID BulletPhysicsServer::area_get_space(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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return area->get_space()->get_self();
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}
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void BulletPhysicsServer::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_spOv_mode(p_mode);
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}
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PhysicsServer::AreaSpaceOverrideMode BulletPhysicsServer::area_get_space_override_mode(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED);
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return area->get_spOv_mode();
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}
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void BulletPhysicsServer::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ShapeBullet *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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area->add_shape(shape, p_transform, p_disabled);
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}
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void BulletPhysicsServer::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ShapeBullet *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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area->set_shape(p_shape_idx, shape);
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}
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void BulletPhysicsServer::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_shape_transform(p_shape_idx, p_transform);
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}
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int BulletPhysicsServer::area_get_shape_count(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, 0);
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return area->get_shape_count();
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}
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RID BulletPhysicsServer::area_get_shape(RID p_area, int p_shape_idx) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, RID());
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return area->get_shape(p_shape_idx)->get_self();
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}
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Transform BulletPhysicsServer::area_get_shape_transform(RID p_area, int p_shape_idx) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, Transform());
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return area->get_shape_transform(p_shape_idx);
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}
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void BulletPhysicsServer::area_remove_shape(RID p_area, int p_shape_idx) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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return area->remove_shape_full(p_shape_idx);
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}
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void BulletPhysicsServer::area_clear_shapes(RID p_area) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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for (int i = area->get_shape_count(); 0 < i; --i)
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area->remove_shape_full(0);
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}
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void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_shape_disabled(p_shape_idx, p_disabled);
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}
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void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
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if (space_owner.owns(p_area)) {
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return;
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}
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_instance_id(p_id);
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}
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ObjectID BulletPhysicsServer::area_get_object_instance_id(RID p_area) const {
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if (space_owner.owns(p_area)) {
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return 0;
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}
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, ObjectID());
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return area->get_instance_id();
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}
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void BulletPhysicsServer::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
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if (space_owner.owns(p_area)) {
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SpaceBullet *space = space_owner.get(p_area);
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if (space) {
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space->set_param(p_param, p_value);
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}
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} else {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_param(p_param, p_value);
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}
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}
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Variant BulletPhysicsServer::area_get_param(RID p_area, AreaParameter p_param) const {
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if (space_owner.owns(p_area)) {
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SpaceBullet *space = space_owner.get(p_area);
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return space->get_param(p_param);
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} else {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, Variant());
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return area->get_param(p_param);
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}
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}
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void BulletPhysicsServer::area_set_transform(RID p_area, const Transform &p_transform) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_transform(p_transform);
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}
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Transform BulletPhysicsServer::area_get_transform(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, Transform());
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return area->get_transform();
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}
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void BulletPhysicsServer::area_set_collision_mask(RID p_area, uint32_t p_mask) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_collision_mask(p_mask);
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}
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void BulletPhysicsServer::area_set_collision_layer(RID p_area, uint32_t p_layer) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_collision_layer(p_layer);
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}
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void BulletPhysicsServer::area_set_monitorable(RID p_area, bool p_monitorable) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_monitorable(p_monitorable);
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}
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void BulletPhysicsServer::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_receiver ? p_receiver->get_instance_id() : 0, p_method);
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}
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void BulletPhysicsServer::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_receiver ? p_receiver->get_instance_id() : 0, p_method);
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}
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void BulletPhysicsServer::area_set_ray_pickable(RID p_area, bool p_enable) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_ray_pickable(p_enable);
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}
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bool BulletPhysicsServer::area_is_ray_pickable(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, false);
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return area->is_ray_pickable();
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}
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RID BulletPhysicsServer::body_create(BodyMode p_mode, bool p_init_sleeping) {
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RigidBodyBullet *body = bulletnew(RigidBodyBullet);
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body->set_mode(p_mode);
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body->set_collision_layer(1);
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body->set_collision_mask(1);
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if (p_init_sleeping)
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body->set_state(BODY_STATE_SLEEPING, p_init_sleeping);
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CreateThenReturnRID(rigid_body_owner, body);
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}
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void BulletPhysicsServer::body_set_space(RID p_body, RID p_space) {
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RigidBodyBullet *body = rigid_body_owner.get(p_body);
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ERR_FAIL_COND(!body);
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SpaceBullet *space = NULL;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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if (body->get_space() == space)
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return; //pointles
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body->set_space(space);
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}
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|
|
RID BulletPhysicsServer::body_get_space(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
SpaceBullet *space = body->get_space();
|
|
if (!space)
|
|
return RID();
|
|
return space->get_self();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_mode(RID p_body, PhysicsServer::BodyMode p_mode) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_mode(p_mode);
|
|
}
|
|
|
|
PhysicsServer::BodyMode BulletPhysicsServer::body_get_mode(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
|
|
return body->get_mode();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) {
|
|
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ShapeBullet *shape = shape_owner.get(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->add_shape(shape, p_transform, p_disabled);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ShapeBullet *shape = shape_owner.get(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->set_shape(p_shape_idx, shape);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_transform(p_shape_idx, p_transform);
|
|
}
|
|
|
|
int BulletPhysicsServer::body_get_shape_count(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return body->get_shape_count();
|
|
}
|
|
|
|
RID BulletPhysicsServer::body_get_shape(RID p_body, int p_shape_idx) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
ShapeBullet *shape = body->get_shape(p_shape_idx);
|
|
ERR_FAIL_COND_V(!shape, RID());
|
|
|
|
return shape->get_self();
|
|
}
|
|
|
|
Transform BulletPhysicsServer::body_get_shape_transform(RID p_body, int p_shape_idx) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Transform());
|
|
return body->get_shape_transform(p_shape_idx);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_disabled(p_shape_idx, p_disabled);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_remove_shape(RID p_body, int p_shape_idx) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_shape_full(p_shape_idx);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_clear_shapes(RID p_body) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_all_shapes();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_id) {
|
|
CollisionObjectBullet *body = get_collisin_object(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_instance_id(p_id);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::body_get_object_instance_id(RID p_body) const {
|
|
CollisionObjectBullet *body = get_collisin_object(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_instance_id();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_continuous_collision_detection(p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_is_continuous_collision_detection_enabled(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
|
|
return body->is_continuous_collision_detection_enabled();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::body_get_collision_layer(RID p_body) const {
|
|
const RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::body_get_collision_mask(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_user_flags(RID p_body, uint32_t p_flags) {
|
|
// This function si not currently supported
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::body_get_user_flags(RID p_body) const {
|
|
// This function si not currently supported
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_param(RID p_body, BodyParameter p_param, float p_value) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_param(p_param, p_value);
|
|
}
|
|
|
|
float BulletPhysicsServer::body_get_param(RID p_body, BodyParameter p_param) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_param(p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
if (body->get_kinematic_utilities()) {
|
|
|
|
body->get_kinematic_utilities()->setSafeMargin(p_margin);
|
|
}
|
|
}
|
|
|
|
real_t BulletPhysicsServer::body_get_kinematic_safe_margin(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
if (body->get_kinematic_utilities()) {
|
|
|
|
return body->get_kinematic_utilities()->safe_margin;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_state(p_state, p_variant);
|
|
}
|
|
|
|
Variant BulletPhysicsServer::body_get_state(RID p_body, BodyState p_state) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Variant());
|
|
|
|
return body->get_state(p_state);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_applied_force(RID p_body, const Vector3 &p_force) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_force(p_force);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::body_get_applied_force(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
return body->get_applied_force();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_torque(p_torque);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::body_get_applied_torque(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
|
|
return body->get_applied_torque();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_central_force(RID p_body, const Vector3 &p_force) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_central_force(p_force);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_force(p_force, p_pos);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_torque(RID p_body, const Vector3 &p_torque) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_torque(p_torque);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_central_impulse(p_impulse);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_impulse(p_pos, p_impulse);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_torque_impulse(p_impulse);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
Vector3 v = body->get_linear_velocity();
|
|
Vector3 axis = p_axis_velocity.normalized();
|
|
v -= axis * axis.dot(v);
|
|
v += p_axis_velocity;
|
|
body->set_linear_velocity(v);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_axis_lock(p_axis, p_lock);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
|
|
const RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return body->is_axis_locked(p_axis);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
RigidBodyBullet *other_body = rigid_body_owner.get(p_body_b);
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->add_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
RigidBodyBullet *other_body = rigid_body_owner.get(p_body_b);
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->remove_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
for (int i = 0; i < body->get_exceptions().size(); i++) {
|
|
p_exceptions->push_back(body->get_exceptions()[i]);
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_max_contacts_reported(RID p_body, int p_contacts) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_max_collisions_detection(p_contacts);
|
|
}
|
|
|
|
int BulletPhysicsServer::body_get_max_contacts_reported(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_max_collisions_detection();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) {
|
|
// Not supported by bullet and even Godot
|
|
}
|
|
|
|
float BulletPhysicsServer::body_get_contacts_reported_depth_threshold(RID p_body) const {
|
|
// Not supported by bullet and even Godot
|
|
return 0.;
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_omit_force_integration(RID p_body, bool p_omit) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_omit_forces_integration(p_omit);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_is_omitting_force_integration(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
|
|
return body->get_omit_forces_integration();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_force_integration_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(0), p_method, p_udata);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_is_ray_pickable(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
return body->is_ray_pickable();
|
|
}
|
|
|
|
PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, NULL);
|
|
return BulletPhysicsDirectBodyState::get_singleton(body);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
ERR_FAIL_COND_V(!body->get_space(), false);
|
|
|
|
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes);
|
|
}
|
|
|
|
int BulletPhysicsServer::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
ERR_FAIL_COND_V(!body->get_space(), 0);
|
|
|
|
return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
|
|
}
|
|
|
|
RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) {
|
|
SoftBodyBullet *body = bulletnew(SoftBodyBullet);
|
|
body->set_collision_layer(1);
|
|
body->set_collision_mask(1);
|
|
if (p_init_sleeping)
|
|
body->set_activation_state(false);
|
|
CreateThenReturnRID(soft_body_owner, body);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->update_visual_server(p_visual_server_handler);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_space(RID p_body, RID p_space) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
SpaceBullet *space = NULL;
|
|
|
|
if (p_space.is_valid()) {
|
|
space = space_owner.get(p_space);
|
|
ERR_FAIL_COND(!space);
|
|
}
|
|
|
|
if (body->get_space() == space)
|
|
return; //pointles
|
|
|
|
body->set_space(space);
|
|
}
|
|
|
|
RID BulletPhysicsServer::soft_body_get_space(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
SpaceBullet *space = body->get_space();
|
|
if (!space)
|
|
return RID();
|
|
return space->get_self();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_mesh(RID p_body, const REF &p_mesh) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_soft_mesh(p_mesh);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::soft_body_get_collision_layer(RID p_body) const {
|
|
const SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::soft_body_get_collision_mask(RID p_body) const {
|
|
const SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
CollisionObjectBullet *other_body = rigid_body_owner.get(p_body_b);
|
|
if (!other_body) {
|
|
other_body = soft_body_owner.get(p_body_b);
|
|
}
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->add_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
CollisionObjectBullet *other_body = rigid_body_owner.get(p_body_b);
|
|
if (!other_body) {
|
|
other_body = soft_body_owner.get(p_body_b);
|
|
}
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->remove_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
for (int i = 0; i < body->get_exceptions().size(); i++) {
|
|
p_exceptions->push_back(body->get_exceptions()[i]);
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
|
|
// FIXME: Must be implemented.
|
|
WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
|
|
}
|
|
|
|
Variant BulletPhysicsServer::soft_body_get_state(RID p_body, BodyState p_state) const {
|
|
// FIXME: Must be implemented.
|
|
WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
|
|
return Variant();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_transform(RID p_body, const Transform &p_transform) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_soft_transform(p_transform);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::soft_body_get_vertex_position(RID p_body, int vertex_index) const {
|
|
const SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
Vector3 pos;
|
|
ERR_FAIL_COND_V(!body, pos);
|
|
|
|
body->get_node_position(vertex_index, pos);
|
|
return pos;
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::soft_body_is_ray_pickable(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
return body->is_ray_pickable();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_simulation_precision(p_simulation_precision);
|
|
}
|
|
|
|
int BulletPhysicsServer::soft_body_get_simulation_precision(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_simulation_precision();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_total_mass(p_total_mass);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_total_mass(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_total_mass();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_linear_stiffness(p_stiffness);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_linear_stiffness(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_linear_stiffness();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_areaAngular_stiffness(p_stiffness);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_areaAngular_stiffness(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_areaAngular_stiffness();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_volume_stiffness(p_stiffness);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_volume_stiffness(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_volume_stiffness();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_pressure_coefficient(p_pressure_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_pressure_coefficient(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_pressure_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
return body->set_pose_matching_coefficient(p_pose_matching_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_pose_matching_coefficient(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_pose_matching_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_damping_coefficient(p_damping_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_damping_coefficient(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_damping_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_drag_coefficient(p_drag_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_drag_coefficient(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_drag_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_node_position(p_point_index, p_global_position);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::soft_body_get_point_global_position(RID p_body, int p_point_index) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
|
|
Vector3 pos;
|
|
body->get_node_position(p_point_index, pos);
|
|
return pos;
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::soft_body_get_point_offset(RID p_body, int p_point_index) const {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
Vector3 res;
|
|
body->get_node_offset(p_point_index, res);
|
|
return res;
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_remove_all_pinned_points(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->reset_all_node_mass();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_node_mass(p_point_index, p_pin ? 0 : 1);
|
|
}
|
|
|
|
bool BulletPhysicsServer::soft_body_is_point_pinned(RID p_body, int p_point_index) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_node_mass(p_point_index);
|
|
}
|
|
|
|
PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, JOINT_PIN);
|
|
return joint->get_type();
|
|
}
|
|
|
|
void BulletPhysicsServer::joint_set_solver_priority(RID p_joint, int p_priority) {
|
|
// Joint priority not supported by bullet
|
|
}
|
|
|
|
int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
|
|
// Joint priority not supported by bullet
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
|
|
joint->disable_collisions_between_bodies(p_disable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
|
|
JointBullet *joint(joint_owner.get(p_joint));
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
|
|
return joint->is_disabled_collisions_between_bodies();
|
|
}
|
|
|
|
RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = NULL;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
pin_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
float BulletPhysicsServer::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0);
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
return pin_joint->get_param(p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
pin_joint->setPivotInA(p_A);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::pin_joint_get_local_a(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, Vector3());
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
return pin_joint->getPivotInA();
|
|
}
|
|
|
|
void BulletPhysicsServer::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
pin_joint->setPivotInB(p_B);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::pin_joint_get_local_b(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, Vector3());
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
return pin_joint->getPivotInB();
|
|
}
|
|
|
|
RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = NULL;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = NULL;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
|
|
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
|
|
hinge_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
float BulletPhysicsServer::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0);
|
|
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
|
|
return hinge_joint->get_param(p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
|
|
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
|
|
hinge_joint->set_flag(p_flag, p_value);
|
|
}
|
|
|
|
bool BulletPhysicsServer::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false);
|
|
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
|
|
return hinge_joint->get_flag(p_flag);
|
|
}
|
|
|
|
RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = NULL;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER);
|
|
SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
|
|
slider_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
float BulletPhysicsServer::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0);
|
|
SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
|
|
return slider_joint->get_param(p_param);
|
|
}
|
|
|
|
RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = NULL;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST);
|
|
ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
|
|
coneTwist_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
float BulletPhysicsServer::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0.);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.);
|
|
ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
|
|
return coneTwist_joint->get_param(p_param);
|
|
}
|
|
|
|
RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = NULL;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
generic_6dof_joint->set_param(p_axis, p_param, p_value);
|
|
}
|
|
|
|
float BulletPhysicsServer::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
return generic_6dof_joint->get_param(p_axis, p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
return generic_6dof_joint->get_flag(p_axis, p_flag);
|
|
}
|
|
|
|
void BulletPhysicsServer::generic_6dof_joint_set_precision(RID p_joint, int p_precision) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
generic_6dof_joint->set_precision(p_precision);
|
|
}
|
|
|
|
int BulletPhysicsServer::generic_6dof_joint_get_precision(RID p_joint) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
return generic_6dof_joint->get_precision();
|
|
}
|
|
|
|
void BulletPhysicsServer::free(RID p_rid) {
|
|
if (shape_owner.owns(p_rid)) {
|
|
|
|
ShapeBullet *shape = shape_owner.get(p_rid);
|
|
|
|
// Notify the shape is configured
|
|
for (Map<ShapeOwnerBullet *, int>::Element *element = shape->get_owners().front(); element; element = element->next()) {
|
|
static_cast<ShapeOwnerBullet *>(element->key())->remove_shape_full(shape);
|
|
}
|
|
|
|
shape_owner.free(p_rid);
|
|
bulletdelete(shape);
|
|
} else if (rigid_body_owner.owns(p_rid)) {
|
|
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_rid);
|
|
|
|
body->set_space(NULL);
|
|
|
|
body->remove_all_shapes(true, true);
|
|
|
|
rigid_body_owner.free(p_rid);
|
|
bulletdelete(body);
|
|
|
|
} else if (soft_body_owner.owns(p_rid)) {
|
|
|
|
SoftBodyBullet *body = soft_body_owner.get(p_rid);
|
|
|
|
body->set_space(NULL);
|
|
|
|
soft_body_owner.free(p_rid);
|
|
bulletdelete(body);
|
|
|
|
} else if (area_owner.owns(p_rid)) {
|
|
|
|
AreaBullet *area = area_owner.get(p_rid);
|
|
|
|
area->set_space(NULL);
|
|
|
|
area->remove_all_shapes(true, true);
|
|
|
|
area_owner.free(p_rid);
|
|
bulletdelete(area);
|
|
|
|
} else if (joint_owner.owns(p_rid)) {
|
|
|
|
JointBullet *joint = joint_owner.get(p_rid);
|
|
joint->destroy_internal_constraint();
|
|
joint_owner.free(p_rid);
|
|
bulletdelete(joint);
|
|
|
|
} else if (space_owner.owns(p_rid)) {
|
|
|
|
SpaceBullet *space = space_owner.get(p_rid);
|
|
|
|
space->remove_all_collision_objects();
|
|
|
|
space_set_active(p_rid, false);
|
|
space_owner.free(p_rid);
|
|
bulletdelete(space);
|
|
} else {
|
|
|
|
ERR_FAIL_MSG("Invalid ID.");
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer::init() {
|
|
BulletPhysicsDirectBodyState::initSingleton();
|
|
}
|
|
|
|
void BulletPhysicsServer::step(float p_deltaTime) {
|
|
if (!active)
|
|
return;
|
|
|
|
BulletPhysicsDirectBodyState::singleton_setDeltaTime(p_deltaTime);
|
|
|
|
for (int i = 0; i < active_spaces_count; ++i) {
|
|
|
|
active_spaces[i]->step(p_deltaTime);
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer::sync() {
|
|
}
|
|
|
|
void BulletPhysicsServer::flush_queries() {
|
|
if (!active)
|
|
return;
|
|
|
|
for (int i = 0; i < active_spaces_count; ++i) {
|
|
active_spaces[i]->flush_queries();
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer::finish() {
|
|
BulletPhysicsDirectBodyState::destroySingleton();
|
|
}
|
|
|
|
int BulletPhysicsServer::get_process_info(ProcessInfo p_info) {
|
|
return 0;
|
|
}
|
|
|
|
CollisionObjectBullet *BulletPhysicsServer::get_collisin_object(RID p_object) const {
|
|
if (rigid_body_owner.owns(p_object)) {
|
|
return rigid_body_owner.getornull(p_object);
|
|
}
|
|
if (area_owner.owns(p_object)) {
|
|
return area_owner.getornull(p_object);
|
|
}
|
|
if (soft_body_owner.owns(p_object)) {
|
|
return soft_body_owner.getornull(p_object);
|
|
}
|
|
return NULL;
|
|
}
|
|
|
|
RigidCollisionObjectBullet *BulletPhysicsServer::get_rigid_collisin_object(RID p_object) const {
|
|
if (rigid_body_owner.owns(p_object)) {
|
|
return rigid_body_owner.getornull(p_object);
|
|
}
|
|
if (area_owner.owns(p_object)) {
|
|
return area_owner.getornull(p_object);
|
|
}
|
|
return NULL;
|
|
}
|