1203 lines
35 KiB
C++
1203 lines
35 KiB
C++
/*************************************************************************/
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/* physics_body.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "physics_body.h"
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#include "scene/scene_string_names.h"
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void PhysicsBody::_notification(int p_what) {
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/*
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switch(p_what) {
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case NOTIFICATION_TRANSFORM_CHANGED: {
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PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_TRANSFORM,get_global_transform());
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} break;
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}
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*/
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}
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Vector3 PhysicsBody::get_linear_velocity() const {
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return Vector3();
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}
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Vector3 PhysicsBody::get_angular_velocity() const {
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return Vector3();
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}
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float PhysicsBody::get_inverse_mass() const {
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return 0;
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}
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void PhysicsBody::set_layer_mask(uint32_t p_mask) {
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layer_mask=p_mask;
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PhysicsServer::get_singleton()->body_set_layer_mask(get_rid(),p_mask);
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}
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uint32_t PhysicsBody::get_layer_mask() const {
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return layer_mask;
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}
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void PhysicsBody::add_collision_exception_with(Node* p_node) {
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ERR_FAIL_NULL(p_node);
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PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
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if (!physics_body) {
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ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
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}
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ERR_FAIL_COND(!physics_body);
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PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(),physics_body->get_rid());
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}
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void PhysicsBody::remove_collision_exception_with(Node* p_node) {
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ERR_FAIL_NULL(p_node);
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PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
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if (!physics_body) {
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ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
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}
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ERR_FAIL_COND(!physics_body);
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PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(),physics_body->get_rid());
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}
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void PhysicsBody::_bind_methods() {
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ObjectTypeDB::bind_method(_MD("set_layer_mask","mask"),&PhysicsBody::set_layer_mask);
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ObjectTypeDB::bind_method(_MD("get_layer_mask"),&PhysicsBody::get_layer_mask);
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ADD_PROPERTY(PropertyInfo(Variant::INT,"layers",PROPERTY_HINT_ALL_FLAGS),_SCS("set_layer_mask"),_SCS("get_layer_mask"));
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}
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PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode) : CollisionObject( PhysicsServer::get_singleton()->body_create(p_mode), false) {
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layer_mask=1;
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}
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void StaticBody::set_friction(real_t p_friction){
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ERR_FAIL_COND(p_friction<0 || p_friction>1);
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friction=p_friction;
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PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_FRICTION,friction);
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}
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real_t StaticBody::get_friction() const{
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return friction;
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}
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void StaticBody::set_bounce(real_t p_bounce){
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ERR_FAIL_COND(p_bounce<0 || p_bounce>1);
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bounce=p_bounce;
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PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_BOUNCE,bounce);
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}
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real_t StaticBody::get_bounce() const{
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return bounce;
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}
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void StaticBody::set_constant_linear_velocity(const Vector3& p_vel) {
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constant_linear_velocity=p_vel;
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PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_LINEAR_VELOCITY,constant_linear_velocity);
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}
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void StaticBody::set_constant_angular_velocity(const Vector3& p_vel) {
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constant_angular_velocity=p_vel;
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PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_ANGULAR_VELOCITY,constant_angular_velocity);
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}
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Vector3 StaticBody::get_constant_linear_velocity() const {
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return constant_linear_velocity;
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}
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Vector3 StaticBody::get_constant_angular_velocity() const {
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return constant_angular_velocity;
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}
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void StaticBody::_bind_methods() {
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ObjectTypeDB::bind_method(_MD("set_constant_linear_velocity","vel"),&StaticBody::set_constant_linear_velocity);
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ObjectTypeDB::bind_method(_MD("set_constant_angular_velocity","vel"),&StaticBody::set_constant_angular_velocity);
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ObjectTypeDB::bind_method(_MD("get_constant_linear_velocity"),&StaticBody::get_constant_linear_velocity);
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ObjectTypeDB::bind_method(_MD("get_constant_angular_velocity"),&StaticBody::get_constant_angular_velocity);
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ObjectTypeDB::bind_method(_MD("set_friction","friction"),&StaticBody::set_friction);
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ObjectTypeDB::bind_method(_MD("get_friction"),&StaticBody::get_friction);
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ObjectTypeDB::bind_method(_MD("set_bounce","bounce"),&StaticBody::set_bounce);
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ObjectTypeDB::bind_method(_MD("get_bounce"),&StaticBody::get_bounce);
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ObjectTypeDB::bind_method(_MD("add_collision_exception_with","body:PhysicsBody"),&PhysicsBody::add_collision_exception_with);
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ObjectTypeDB::bind_method(_MD("remove_collision_exception_with","body:PhysicsBody"),&PhysicsBody::remove_collision_exception_with);
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ADD_PROPERTY( PropertyInfo(Variant::REAL,"friction",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
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ADD_PROPERTY( PropertyInfo(Variant::REAL,"bounce",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_bounce"),_SCS("get_bounce"));
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3,"constant_linear_velocity"),_SCS("set_constant_linear_velocity"),_SCS("get_constant_linear_velocity"));
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3,"constant_angular_velocity"),_SCS("set_constant_angular_velocity"),_SCS("get_constant_angular_velocity"));
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}
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StaticBody::StaticBody() : PhysicsBody(PhysicsServer::BODY_MODE_STATIC) {
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bounce=0;
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friction=1;
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}
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StaticBody::~StaticBody() {
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}
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void RigidBody::_body_enter_tree(ObjectID p_id) {
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Object *obj = ObjectDB::get_instance(p_id);
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Node *node = obj ? obj->cast_to<Node>() : NULL;
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ERR_FAIL_COND(!node);
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Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(p_id);
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ERR_FAIL_COND(!E);
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ERR_FAIL_COND(E->get().in_tree);
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E->get().in_tree=true;
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emit_signal(SceneStringNames::get_singleton()->body_enter,node);
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for(int i=0;i<E->get().shapes.size();i++) {
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emit_signal(SceneStringNames::get_singleton()->body_enter_shape,p_id,node,E->get().shapes[i].body_shape,E->get().shapes[i].local_shape);
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}
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}
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void RigidBody::_body_exit_tree(ObjectID p_id) {
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Object *obj = ObjectDB::get_instance(p_id);
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Node *node = obj ? obj->cast_to<Node>() : NULL;
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ERR_FAIL_COND(!node);
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Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(p_id);
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ERR_FAIL_COND(!E);
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ERR_FAIL_COND(!E->get().in_tree);
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E->get().in_tree=false;
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emit_signal(SceneStringNames::get_singleton()->body_exit,node);
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for(int i=0;i<E->get().shapes.size();i++) {
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emit_signal(SceneStringNames::get_singleton()->body_exit_shape,p_id,node,E->get().shapes[i].body_shape,E->get().shapes[i].local_shape);
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}
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}
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void RigidBody::_body_inout(int p_status, ObjectID p_instance, int p_body_shape,int p_local_shape) {
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bool body_in = p_status==1;
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ObjectID objid=p_instance;
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Object *obj = ObjectDB::get_instance(objid);
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Node *node = obj ? obj->cast_to<Node>() : NULL;
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Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(objid);
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ERR_FAIL_COND(!body_in && !E);
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if (body_in) {
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if (!E) {
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E = contact_monitor->body_map.insert(objid,BodyState());
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//E->get().rc=0;
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E->get().in_tree=node && node->is_inside_tree();
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if (node) {
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node->connect(SceneStringNames::get_singleton()->enter_tree,this,SceneStringNames::get_singleton()->_body_enter_tree,make_binds(objid));
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node->connect(SceneStringNames::get_singleton()->exit_tree,this,SceneStringNames::get_singleton()->_body_exit_tree,make_binds(objid));
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if (E->get().in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_enter,node);
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}
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}
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}
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//E->get().rc++;
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if (node)
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E->get().shapes.insert(ShapePair(p_body_shape,p_local_shape));
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if (E->get().in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_enter_shape,objid,node,p_body_shape,p_local_shape);
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}
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} else {
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//E->get().rc--;
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if (node)
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E->get().shapes.erase(ShapePair(p_body_shape,p_local_shape));
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bool in_tree = E->get().in_tree;
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if (E->get().shapes.empty()) {
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if (node) {
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node->disconnect(SceneStringNames::get_singleton()->enter_tree,this,SceneStringNames::get_singleton()->_body_enter_tree);
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node->disconnect(SceneStringNames::get_singleton()->exit_tree,this,SceneStringNames::get_singleton()->_body_exit_tree);
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if (in_tree)
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emit_signal(SceneStringNames::get_singleton()->body_exit,obj);
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}
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contact_monitor->body_map.erase(E);
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}
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if (node && in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_exit_shape,objid,obj,p_body_shape,p_local_shape);
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}
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}
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}
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struct _RigidBodyInOut {
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ObjectID id;
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int shape;
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int local_shape;
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};
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void RigidBody::_direct_state_changed(Object *p_state) {
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//eh.. fuck
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#ifdef DEBUG_ENABLED
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state=p_state->cast_to<PhysicsDirectBodyState>();
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#else
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state=(PhysicsDirectBodyState*)p_state; //trust it
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#endif
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if (contact_monitor) {
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//untag all
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int rc=0;
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for( Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
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for(int i=0;i<E->get().shapes.size();i++) {
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E->get().shapes[i].tagged=false;
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rc++;
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}
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}
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_RigidBodyInOut *toadd=(_RigidBodyInOut*)alloca(state->get_contact_count()*sizeof(_RigidBodyInOut));
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int toadd_count=0;//state->get_contact_count();
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RigidBody_RemoveAction *toremove=(RigidBody_RemoveAction*)alloca(rc*sizeof(RigidBody_RemoveAction));
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int toremove_count=0;
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//put the ones to add
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for(int i=0;i<state->get_contact_count();i++) {
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ObjectID obj = state->get_contact_collider_id(i);
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int local_shape = state->get_contact_local_shape(i);
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int shape = state->get_contact_collider_shape(i);
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toadd[i].local_shape=local_shape;
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toadd[i].id=obj;
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toadd[i].shape=shape;
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bool found=false;
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Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(obj);
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if (!E) {
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toadd_count++;
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continue;
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}
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ShapePair sp( shape,local_shape );
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int idx = E->get().shapes.find(sp);
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if (idx==-1) {
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toadd_count++;
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continue;
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}
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E->get().shapes[idx].tagged=true;
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}
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//put the ones to remove
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for( Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
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for(int i=0;i<E->get().shapes.size();i++) {
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if (!E->get().shapes[i].tagged) {
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toremove[toremove_count].body_id=E->key();
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toremove[toremove_count].pair=E->get().shapes[i];
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toremove_count++;
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}
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}
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}
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//process remotions
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for(int i=0;i<toremove_count;i++) {
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_body_inout(0,toremove[i].body_id,toremove[i].pair.body_shape,toremove[i].pair.local_shape);
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}
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//process aditions
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for(int i=0;i<toadd_count;i++) {
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_body_inout(1,toadd[i].id,toadd[i].shape,toadd[i].local_shape);
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}
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}
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set_ignore_transform_notification(true);
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set_global_transform(state->get_transform());
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linear_velocity=state->get_linear_velocity();
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angular_velocity=state->get_angular_velocity();
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sleeping=state->is_sleeping();
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if (get_script_instance())
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get_script_instance()->call("_integrate_forces",state);
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set_ignore_transform_notification(false);
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state=NULL;
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}
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void RigidBody::_notification(int p_what) {
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}
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void RigidBody::set_mode(Mode p_mode) {
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mode=p_mode;
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switch(p_mode) {
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case MODE_RIGID: {
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PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_RIGID);
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} break;
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case MODE_STATIC: {
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PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_STATIC);
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} break;
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case MODE_CHARACTER: {
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PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_CHARACTER);
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} break;
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case MODE_KINEMATIC: {
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PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_KINEMATIC);
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} break;
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}
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}
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RigidBody::Mode RigidBody::get_mode() const{
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return mode;
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}
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void RigidBody::set_mass(real_t p_mass){
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ERR_FAIL_COND(p_mass<=0);
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mass=p_mass;
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_change_notify("mass");
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_change_notify("weight");
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PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_MASS,mass);
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}
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real_t RigidBody::get_mass() const{
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return mass;
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}
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void RigidBody::set_weight(real_t p_weight){
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set_mass(p_weight/9.8);
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}
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real_t RigidBody::get_weight() const{
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return mass*9.8;
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}
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void RigidBody::set_friction(real_t p_friction){
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ERR_FAIL_COND(p_friction<0 || p_friction>1);
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friction=p_friction;
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PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_FRICTION,friction);
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}
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real_t RigidBody::get_friction() const{
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return friction;
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}
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void RigidBody::set_bounce(real_t p_bounce){
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ERR_FAIL_COND(p_bounce<0 || p_bounce>1);
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bounce=p_bounce;
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PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_BOUNCE,bounce);
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}
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real_t RigidBody::get_bounce() const{
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return bounce;
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}
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void RigidBody::set_axis_velocity(const Vector3& p_axis) {
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Vector3 v = state? state->get_linear_velocity() : linear_velocity;
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Vector3 axis = p_axis.normalized();
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v-=axis*axis.dot(v);
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v+=p_axis;
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if (state) {
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set_linear_velocity(v);
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} else {
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PhysicsServer::get_singleton()->body_set_axis_velocity(get_rid(),p_axis);
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linear_velocity=v;
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|
}
|
|
}
|
|
|
|
void RigidBody::set_linear_velocity(const Vector3& p_velocity){
|
|
|
|
linear_velocity=p_velocity;
|
|
if (state)
|
|
state->set_linear_velocity(linear_velocity);
|
|
else
|
|
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_LINEAR_VELOCITY,linear_velocity);
|
|
|
|
}
|
|
|
|
Vector3 RigidBody::get_linear_velocity() const{
|
|
|
|
return linear_velocity;
|
|
}
|
|
|
|
void RigidBody::set_angular_velocity(const Vector3& p_velocity){
|
|
|
|
angular_velocity=p_velocity;
|
|
if (state)
|
|
state->set_angular_velocity(angular_velocity);
|
|
else
|
|
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_ANGULAR_VELOCITY,angular_velocity);
|
|
}
|
|
Vector3 RigidBody::get_angular_velocity() const{
|
|
|
|
return angular_velocity;
|
|
}
|
|
|
|
void RigidBody::set_use_custom_integrator(bool p_enable){
|
|
|
|
if (custom_integrator==p_enable)
|
|
return;
|
|
|
|
custom_integrator=p_enable;
|
|
PhysicsServer::get_singleton()->body_set_omit_force_integration(get_rid(),p_enable);
|
|
|
|
|
|
}
|
|
bool RigidBody::is_using_custom_integrator(){
|
|
|
|
return custom_integrator;
|
|
}
|
|
|
|
void RigidBody::set_sleeping(bool p_sleeping) {
|
|
|
|
sleeping=p_sleeping;
|
|
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_SLEEPING,sleeping);
|
|
|
|
}
|
|
|
|
void RigidBody::set_can_sleep(bool p_active) {
|
|
|
|
can_sleep=p_active;
|
|
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_CAN_SLEEP,p_active);
|
|
}
|
|
|
|
bool RigidBody::is_able_to_sleep() const {
|
|
|
|
return can_sleep;
|
|
}
|
|
|
|
bool RigidBody::is_sleeping() const {
|
|
|
|
return sleeping;
|
|
}
|
|
|
|
void RigidBody::set_max_contacts_reported(int p_amount) {
|
|
|
|
max_contacts_reported=p_amount;
|
|
PhysicsServer::get_singleton()->body_set_max_contacts_reported(get_rid(),p_amount);
|
|
}
|
|
|
|
int RigidBody::get_max_contacts_reported() const{
|
|
|
|
return max_contacts_reported;
|
|
}
|
|
|
|
void RigidBody::apply_impulse(const Vector3& p_pos, const Vector3& p_impulse) {
|
|
|
|
PhysicsServer::get_singleton()->body_apply_impulse(get_rid(),p_pos,p_impulse);
|
|
}
|
|
|
|
void RigidBody::set_use_continuous_collision_detection(bool p_enable) {
|
|
|
|
ccd=p_enable;
|
|
PhysicsServer::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(),p_enable);
|
|
}
|
|
|
|
bool RigidBody::is_using_continuous_collision_detection() const {
|
|
|
|
|
|
return ccd;
|
|
}
|
|
|
|
|
|
void RigidBody::set_contact_monitor(bool p_enabled) {
|
|
|
|
if (p_enabled==is_contact_monitor_enabled())
|
|
return;
|
|
|
|
if (!p_enabled) {
|
|
|
|
for(Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
|
|
|
|
//clean up mess
|
|
}
|
|
|
|
memdelete( contact_monitor );
|
|
contact_monitor=NULL;
|
|
} else {
|
|
|
|
contact_monitor = memnew( ContactMonitor );
|
|
}
|
|
|
|
}
|
|
|
|
bool RigidBody::is_contact_monitor_enabled() const {
|
|
|
|
return contact_monitor!=NULL;
|
|
}
|
|
|
|
void RigidBody::set_axis_lock(AxisLock p_lock) {
|
|
|
|
axis_lock=p_lock;
|
|
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(),PhysicsServer::BodyAxisLock(axis_lock));
|
|
}
|
|
|
|
RigidBody::AxisLock RigidBody::get_axis_lock() const {
|
|
|
|
return axis_lock;
|
|
}
|
|
|
|
|
|
Array RigidBody::get_colliding_bodies() const {
|
|
|
|
ERR_FAIL_COND_V(!contact_monitor,Array());
|
|
|
|
Array ret;
|
|
ret.resize(contact_monitor->body_map.size());
|
|
int idx=0;
|
|
for (const Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
|
|
Object *obj = ObjectDB::get_instance(E->key());
|
|
if (!obj) {
|
|
ret.resize( ret.size() -1 ); //ops
|
|
} else {
|
|
ret[idx++]=obj;
|
|
}
|
|
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
|
|
void RigidBody::_bind_methods() {
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_mode","mode"),&RigidBody::set_mode);
|
|
ObjectTypeDB::bind_method(_MD("get_mode"),&RigidBody::get_mode);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_mass","mass"),&RigidBody::set_mass);
|
|
ObjectTypeDB::bind_method(_MD("get_mass"),&RigidBody::get_mass);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_weight","weight"),&RigidBody::set_weight);
|
|
ObjectTypeDB::bind_method(_MD("get_weight"),&RigidBody::get_weight);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_friction","friction"),&RigidBody::set_friction);
|
|
ObjectTypeDB::bind_method(_MD("get_friction"),&RigidBody::get_friction);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_bounce","bounce"),&RigidBody::set_bounce);
|
|
ObjectTypeDB::bind_method(_MD("get_bounce"),&RigidBody::get_bounce);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_linear_velocity","linear_velocity"),&RigidBody::set_linear_velocity);
|
|
ObjectTypeDB::bind_method(_MD("get_linear_velocity"),&RigidBody::get_linear_velocity);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_angular_velocity","angular_velocity"),&RigidBody::set_angular_velocity);
|
|
ObjectTypeDB::bind_method(_MD("get_angular_velocity"),&RigidBody::get_angular_velocity);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_max_contacts_reported","amount"),&RigidBody::set_max_contacts_reported);
|
|
ObjectTypeDB::bind_method(_MD("get_max_contacts_reported"),&RigidBody::get_max_contacts_reported);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_use_custom_integrator","enable"),&RigidBody::set_use_custom_integrator);
|
|
ObjectTypeDB::bind_method(_MD("is_using_custom_integrator"),&RigidBody::is_using_custom_integrator);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_contact_monitor","enabled"),&RigidBody::set_contact_monitor);
|
|
ObjectTypeDB::bind_method(_MD("is_contact_monitor_enabled"),&RigidBody::is_contact_monitor_enabled);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_use_continuous_collision_detection","enable"),&RigidBody::set_use_continuous_collision_detection);
|
|
ObjectTypeDB::bind_method(_MD("is_using_continuous_collision_detection"),&RigidBody::is_using_continuous_collision_detection);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_axis_velocity","axis_velocity"),&RigidBody::set_axis_velocity);
|
|
ObjectTypeDB::bind_method(_MD("apply_impulse","pos","impulse"),&RigidBody::apply_impulse);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_sleeping","sleeping"),&RigidBody::set_sleeping);
|
|
ObjectTypeDB::bind_method(_MD("is_sleeping"),&RigidBody::is_sleeping);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_can_sleep","able_to_sleep"),&RigidBody::set_can_sleep);
|
|
ObjectTypeDB::bind_method(_MD("is_able_to_sleep"),&RigidBody::is_able_to_sleep);
|
|
|
|
ObjectTypeDB::bind_method(_MD("_direct_state_changed"),&RigidBody::_direct_state_changed);
|
|
ObjectTypeDB::bind_method(_MD("_body_enter_tree"),&RigidBody::_body_enter_tree);
|
|
ObjectTypeDB::bind_method(_MD("_body_exit_tree"),&RigidBody::_body_exit_tree);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_axis_lock","axis_lock"),&RigidBody::set_axis_lock);
|
|
ObjectTypeDB::bind_method(_MD("get_axis_lock"),&RigidBody::get_axis_lock);
|
|
|
|
ObjectTypeDB::bind_method(_MD("get_colliding_bodies"),&RigidBody::get_colliding_bodies);
|
|
|
|
BIND_VMETHOD(MethodInfo("_integrate_forces",PropertyInfo(Variant::OBJECT,"state:PhysicsDirectBodyState")));
|
|
|
|
ADD_PROPERTY( PropertyInfo(Variant::INT,"mode",PROPERTY_HINT_ENUM,"Rigid,Static,Character,Kinematic"),_SCS("set_mode"),_SCS("get_mode"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"mass",PROPERTY_HINT_EXP_RANGE,"0.01,65535,0.01"),_SCS("set_mass"),_SCS("get_mass"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"weight",PROPERTY_HINT_EXP_RANGE,"0.01,65535,0.01",PROPERTY_USAGE_EDITOR),_SCS("set_weight"),_SCS("get_weight"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"friction",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"bounce",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_bounce"),_SCS("get_bounce"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"custom_integrator"),_SCS("set_use_custom_integrator"),_SCS("is_using_custom_integrator"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"continuous_cd"),_SCS("set_use_continuous_collision_detection"),_SCS("is_using_continuous_collision_detection"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::INT,"contacts_reported"),_SCS("set_max_contacts_reported"),_SCS("get_max_contacts_reported"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"contact_monitor"),_SCS("set_contact_monitor"),_SCS("is_contact_monitor_enabled"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"sleeping"),_SCS("set_sleeping"),_SCS("is_sleeping"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"can_sleep"),_SCS("set_can_sleep"),_SCS("is_able_to_sleep"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::INT,"axis_lock",PROPERTY_HINT_ENUM,"Disabled,Lock X,Lock Y,Lock Z"),_SCS("set_axis_lock"),_SCS("get_axis_lock"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::VECTOR3,"velocity/linear"),_SCS("set_linear_velocity"),_SCS("get_linear_velocity"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::VECTOR3,"velocity/angular"),_SCS("set_angular_velocity"),_SCS("get_angular_velocity"));
|
|
|
|
ADD_SIGNAL( MethodInfo("body_enter_shape",PropertyInfo(Variant::INT,"body_id"),PropertyInfo(Variant::OBJECT,"body"),PropertyInfo(Variant::INT,"body_shape"),PropertyInfo(Variant::INT,"local_shape")));
|
|
ADD_SIGNAL( MethodInfo("body_exit_shape",PropertyInfo(Variant::INT,"body_id"),PropertyInfo(Variant::OBJECT,"body"),PropertyInfo(Variant::INT,"body_shape"),PropertyInfo(Variant::INT,"local_shape")));
|
|
ADD_SIGNAL( MethodInfo("body_enter",PropertyInfo(Variant::OBJECT,"body")));
|
|
ADD_SIGNAL( MethodInfo("body_exit",PropertyInfo(Variant::OBJECT,"body")));
|
|
|
|
BIND_CONSTANT( MODE_STATIC );
|
|
BIND_CONSTANT( MODE_KINEMATIC );
|
|
BIND_CONSTANT( MODE_RIGID );
|
|
BIND_CONSTANT( MODE_CHARACTER );
|
|
}
|
|
|
|
RigidBody::RigidBody() : PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {
|
|
|
|
mode=MODE_RIGID;
|
|
|
|
bounce=0;
|
|
mass=1;
|
|
friction=1;
|
|
max_contacts_reported=0;
|
|
state=NULL;
|
|
|
|
//angular_velocity=0;
|
|
sleeping=false;
|
|
ccd=false;
|
|
|
|
custom_integrator=false;
|
|
contact_monitor=NULL;
|
|
can_sleep=true;
|
|
|
|
axis_lock = AXIS_LOCK_DISABLED;
|
|
|
|
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),this,"_direct_state_changed");
|
|
}
|
|
|
|
RigidBody::~RigidBody() {
|
|
|
|
if (contact_monitor)
|
|
memdelete( contact_monitor );
|
|
|
|
|
|
|
|
}
|
|
//////////////////////////////////////////////////////
|
|
//////////////////////////
|
|
|
|
|
|
Variant KinematicBody::_get_collider() const {
|
|
|
|
ObjectID oid=get_collider();
|
|
if (oid==0)
|
|
return Variant();
|
|
Object *obj = ObjectDB::get_instance(oid);
|
|
if (!obj)
|
|
return Variant();
|
|
|
|
Reference *ref = obj->cast_to<Reference>();
|
|
if (ref) {
|
|
return Ref<Reference>(ref);
|
|
}
|
|
|
|
return obj;
|
|
}
|
|
|
|
|
|
bool KinematicBody::_ignores_mode(PhysicsServer::BodyMode p_mode) const {
|
|
|
|
switch(p_mode) {
|
|
case PhysicsServer::BODY_MODE_STATIC: return !collide_static;
|
|
case PhysicsServer::BODY_MODE_KINEMATIC: return !collide_kinematic;
|
|
case PhysicsServer::BODY_MODE_RIGID: return !collide_rigid;
|
|
case PhysicsServer::BODY_MODE_CHARACTER: return !collide_character;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
Vector3 KinematicBody::move(const Vector3& p_motion) {
|
|
|
|
//give me back regular physics engine logic
|
|
//this is madness
|
|
//and most people using this function will think
|
|
//what it does is simpler than using physics
|
|
//this took about a week to get right..
|
|
//but is it right? who knows at this point..
|
|
|
|
|
|
colliding=false;
|
|
ERR_FAIL_COND_V(!is_inside_tree(),Vector3());
|
|
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
|
|
ERR_FAIL_COND_V(!dss,Vector3());
|
|
const int max_shapes=32;
|
|
Vector3 sr[max_shapes*2];
|
|
int res_shapes;
|
|
|
|
Set<RID> exclude;
|
|
exclude.insert(get_rid());
|
|
|
|
|
|
//recover first
|
|
int recover_attempts=4;
|
|
|
|
bool collided=false;
|
|
uint32_t mask=0;
|
|
if (collide_static)
|
|
mask|=PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
|
|
if (collide_kinematic)
|
|
mask|=PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
|
|
if (collide_rigid)
|
|
mask|=PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
|
|
if (collide_character)
|
|
mask|=PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
|
|
|
|
// print_line("motion: "+p_motion+" margin: "+rtos(margin));
|
|
|
|
//print_line("margin: "+rtos(margin));
|
|
|
|
float m = margin;
|
|
//m=0.001;
|
|
|
|
do {
|
|
|
|
//motion recover
|
|
for(int i=0;i<get_shape_count();i++) {
|
|
|
|
if (is_shape_set_as_trigger(i))
|
|
continue;
|
|
|
|
if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),m,sr,max_shapes,res_shapes,exclude,get_layer_mask(),mask)) {
|
|
collided=true;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if (!collided)
|
|
break;
|
|
|
|
//print_line("have to recover");
|
|
Vector3 recover_motion;
|
|
bool all_outside=true;
|
|
for(int j=0;j<8;j++) {
|
|
for(int i=0;i<res_shapes;i++) {
|
|
|
|
Vector3 a = sr[i*2+0];
|
|
Vector3 b = sr[i*2+1];
|
|
//print_line(String()+a+" -> "+b);
|
|
#if 0
|
|
float d = a.distance_to(b);
|
|
|
|
//if (d<margin)
|
|
/// continue;
|
|
///
|
|
///
|
|
recover_motion+=(b-a)*0.2;
|
|
#else
|
|
float dist = a.distance_to(b);
|
|
if (dist>CMP_EPSILON) {
|
|
Vector3 norm = (b-a).normalized();
|
|
if (dist>margin*0.5)
|
|
all_outside=false;
|
|
float adv = norm.dot(recover_motion);
|
|
//print_line(itos(i)+" dist: "+rtos(dist)+" adv: "+rtos(adv));
|
|
recover_motion+=norm*MAX(dist-adv,0)*0.4;
|
|
}
|
|
#endif
|
|
|
|
}
|
|
}
|
|
|
|
|
|
if (recover_motion==Vector3()) {
|
|
collided=false;
|
|
break;
|
|
}
|
|
|
|
//print_line("**** RECOVER: "+recover_motion);
|
|
|
|
Transform gt = get_global_transform();
|
|
gt.origin+=recover_motion;
|
|
set_global_transform(gt);
|
|
|
|
recover_attempts--;
|
|
|
|
if (all_outside)
|
|
break;
|
|
|
|
} while (recover_attempts);
|
|
|
|
|
|
//move second
|
|
float safe = 1.0;
|
|
float unsafe = 1.0;
|
|
int best_shape=-1;
|
|
|
|
PhysicsDirectSpaceState::ShapeRestInfo rest;
|
|
|
|
//print_line("pos: "+get_global_transform().origin);
|
|
//print_line("motion: "+p_motion);
|
|
|
|
|
|
for(int i=0;i<get_shape_count();i++) {
|
|
|
|
|
|
if (is_shape_set_as_trigger(i))
|
|
continue;
|
|
|
|
float lsafe,lunsafe;
|
|
PhysicsDirectSpaceState::ShapeRestInfo lrest;
|
|
bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion,0, lsafe,lunsafe,exclude,get_layer_mask(),mask,&lrest);
|
|
//print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
|
|
if (!valid) {
|
|
safe=0;
|
|
unsafe=0;
|
|
best_shape=i; //sadly it's the best
|
|
//print_line("initial stuck");
|
|
|
|
break;
|
|
}
|
|
if (lsafe==1.0) {
|
|
//print_line("initial free");
|
|
continue;
|
|
}
|
|
if (lsafe < safe) {
|
|
|
|
//print_line("initial at "+rtos(lsafe));
|
|
safe=lsafe;
|
|
safe=MAX(0,lsafe-0.01);
|
|
unsafe=lunsafe;
|
|
best_shape=i;
|
|
rest=lrest;
|
|
}
|
|
}
|
|
|
|
|
|
//print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
|
|
|
|
if (safe>=1) {
|
|
//not collided
|
|
colliding=false;
|
|
} else {
|
|
|
|
colliding=true;
|
|
|
|
if (true || (safe==0 && unsafe==0)) { //use it always because it's more precise than GJK
|
|
//no advance, use rest info from collision
|
|
Transform ugt = get_global_transform();
|
|
ugt.origin+=p_motion*unsafe;
|
|
|
|
PhysicsDirectSpaceState::ShapeRestInfo rest_info;
|
|
bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt*get_shape_transform(best_shape), m,&rest,exclude,get_layer_mask(),mask);
|
|
if (!c2) {
|
|
//should not happen, but floating point precision is so weird..
|
|
colliding=false;
|
|
}
|
|
|
|
// print_line("Rest Travel: "+rest.normal);
|
|
|
|
}
|
|
|
|
if (colliding) {
|
|
|
|
collision=rest.point;
|
|
normal=rest.normal;
|
|
collider=rest.collider_id;
|
|
collider_vel=rest.linear_velocity;
|
|
collider_shape=rest.shape;
|
|
}
|
|
}
|
|
|
|
Vector3 motion=p_motion*safe;
|
|
//if (colliding)
|
|
// motion+=normal*0.001;
|
|
Transform gt = get_global_transform();
|
|
gt.origin+=motion;
|
|
set_global_transform(gt);
|
|
|
|
return p_motion-motion;
|
|
|
|
}
|
|
|
|
Vector3 KinematicBody::move_to(const Vector3& p_position) {
|
|
|
|
return move(p_position-get_global_transform().origin);
|
|
}
|
|
|
|
bool KinematicBody::can_move_to(const Vector3& p_position, bool p_discrete) {
|
|
|
|
ERR_FAIL_COND_V(!is_inside_tree(),false);
|
|
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
|
|
ERR_FAIL_COND_V(!dss,false);
|
|
|
|
uint32_t mask=0;
|
|
if (collide_static)
|
|
mask|=PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
|
|
if (collide_kinematic)
|
|
mask|=PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
|
|
if (collide_rigid)
|
|
mask|=PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
|
|
if (collide_character)
|
|
mask|=PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
|
|
|
|
Vector3 motion = p_position-get_global_transform().origin;
|
|
Transform xform=get_global_transform();
|
|
|
|
if (true || p_discrete) {
|
|
|
|
xform.origin+=motion;
|
|
motion=Vector3();
|
|
}
|
|
|
|
Set<RID> exclude;
|
|
exclude.insert(get_rid());
|
|
|
|
//fill exclude list..
|
|
for(int i=0;i<get_shape_count();i++) {
|
|
|
|
if (is_shape_set_as_trigger(i))
|
|
continue;
|
|
|
|
bool col = dss->intersect_shape(get_shape(i)->get_rid(), xform * get_shape_transform(i),0,NULL,0,exclude,get_layer_mask(),mask);
|
|
if (col)
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool KinematicBody::is_colliding() const {
|
|
|
|
ERR_FAIL_COND_V(!is_inside_tree(),false);
|
|
|
|
return colliding;
|
|
}
|
|
Vector3 KinematicBody::get_collision_pos() const {
|
|
|
|
ERR_FAIL_COND_V(!colliding,Vector3());
|
|
return collision;
|
|
|
|
}
|
|
Vector3 KinematicBody::get_collision_normal() const {
|
|
|
|
ERR_FAIL_COND_V(!colliding,Vector3());
|
|
return normal;
|
|
|
|
}
|
|
|
|
Vector3 KinematicBody::get_collider_velocity() const {
|
|
|
|
return collider_vel;
|
|
}
|
|
|
|
ObjectID KinematicBody::get_collider() const {
|
|
|
|
ERR_FAIL_COND_V(!colliding,0);
|
|
return collider;
|
|
}
|
|
int KinematicBody::get_collider_shape() const {
|
|
|
|
ERR_FAIL_COND_V(!colliding,-1);
|
|
return collider_shape;
|
|
|
|
}
|
|
void KinematicBody::set_collide_with_static_bodies(bool p_enable) {
|
|
|
|
collide_static=p_enable;
|
|
}
|
|
bool KinematicBody::can_collide_with_static_bodies() const {
|
|
|
|
return collide_static;
|
|
}
|
|
|
|
void KinematicBody::set_collide_with_rigid_bodies(bool p_enable) {
|
|
|
|
collide_rigid=p_enable;
|
|
|
|
}
|
|
bool KinematicBody::can_collide_with_rigid_bodies() const {
|
|
|
|
|
|
return collide_rigid;
|
|
}
|
|
|
|
void KinematicBody::set_collide_with_kinematic_bodies(bool p_enable) {
|
|
|
|
collide_kinematic=p_enable;
|
|
|
|
}
|
|
bool KinematicBody::can_collide_with_kinematic_bodies() const {
|
|
|
|
return collide_kinematic;
|
|
}
|
|
|
|
void KinematicBody::set_collide_with_character_bodies(bool p_enable) {
|
|
|
|
collide_character=p_enable;
|
|
}
|
|
bool KinematicBody::can_collide_with_character_bodies() const {
|
|
|
|
return collide_character;
|
|
}
|
|
|
|
void KinematicBody::set_collision_margin(float p_margin) {
|
|
|
|
margin=p_margin;
|
|
}
|
|
|
|
float KinematicBody::get_collision_margin() const{
|
|
|
|
return margin;
|
|
}
|
|
|
|
void KinematicBody::_bind_methods() {
|
|
|
|
|
|
ObjectTypeDB::bind_method(_MD("move","rel_vec"),&KinematicBody::move);
|
|
ObjectTypeDB::bind_method(_MD("move_to","position"),&KinematicBody::move_to);
|
|
|
|
ObjectTypeDB::bind_method(_MD("can_move_to","position"),&KinematicBody::can_move_to);
|
|
|
|
ObjectTypeDB::bind_method(_MD("is_colliding"),&KinematicBody::is_colliding);
|
|
|
|
ObjectTypeDB::bind_method(_MD("get_collision_pos"),&KinematicBody::get_collision_pos);
|
|
ObjectTypeDB::bind_method(_MD("get_collision_normal"),&KinematicBody::get_collision_normal);
|
|
ObjectTypeDB::bind_method(_MD("get_collider_velocity"),&KinematicBody::get_collider_velocity);
|
|
ObjectTypeDB::bind_method(_MD("get_collider:Object"),&KinematicBody::_get_collider);
|
|
ObjectTypeDB::bind_method(_MD("get_collider_shape"),&KinematicBody::get_collider_shape);
|
|
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_collide_with_static_bodies","enable"),&KinematicBody::set_collide_with_static_bodies);
|
|
ObjectTypeDB::bind_method(_MD("can_collide_with_static_bodies"),&KinematicBody::can_collide_with_static_bodies);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_collide_with_kinematic_bodies","enable"),&KinematicBody::set_collide_with_kinematic_bodies);
|
|
ObjectTypeDB::bind_method(_MD("can_collide_with_kinematic_bodies"),&KinematicBody::can_collide_with_kinematic_bodies);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_collide_with_rigid_bodies","enable"),&KinematicBody::set_collide_with_rigid_bodies);
|
|
ObjectTypeDB::bind_method(_MD("can_collide_with_rigid_bodies"),&KinematicBody::can_collide_with_rigid_bodies);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_collide_with_character_bodies","enable"),&KinematicBody::set_collide_with_character_bodies);
|
|
ObjectTypeDB::bind_method(_MD("can_collide_with_character_bodies"),&KinematicBody::can_collide_with_character_bodies);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_collision_margin","pixels"),&KinematicBody::set_collision_margin);
|
|
ObjectTypeDB::bind_method(_MD("get_collision_margin","pixels"),&KinematicBody::get_collision_margin);
|
|
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/static"),_SCS("set_collide_with_static_bodies"),_SCS("can_collide_with_static_bodies"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/kinematic"),_SCS("set_collide_with_kinematic_bodies"),_SCS("can_collide_with_kinematic_bodies"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/rigid"),_SCS("set_collide_with_rigid_bodies"),_SCS("can_collide_with_rigid_bodies"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/character"),_SCS("set_collide_with_character_bodies"),_SCS("can_collide_with_character_bodies"));
|
|
ADD_PROPERTY( PropertyInfo(Variant::REAL,"collision/margin",PROPERTY_HINT_RANGE,"0.001,256,0.001"),_SCS("set_collision_margin"),_SCS("get_collision_margin"));
|
|
|
|
|
|
}
|
|
|
|
KinematicBody::KinematicBody() : PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC){
|
|
|
|
collide_static=true;
|
|
collide_rigid=true;
|
|
collide_kinematic=true;
|
|
collide_character=true;
|
|
|
|
colliding=false;
|
|
collider=0;
|
|
margin=0.001;
|
|
collider_shape=0;
|
|
}
|
|
KinematicBody::~KinematicBody() {
|
|
|
|
|
|
}
|
|
|
|
|