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godot/modules/bullet/bullet_physics_server.h
PouleyKetchoupp ec9fed69f4 Fix 3D moving platform logic 
Same thing that was already done in 2D, applies moving platform motion
by using a call to move_and_collide that excludes the platform itself,
instead of making it part of the body motion.

Helps with handling walls and slopes correctly when the character walks
on the moving platform.

Also made some minor adjustments to the 2D version and documentation.

Co-authored-by: fabriceci <fabricecipolla@gmail.com>
2021-08-09 20:21:04 -07:00

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/*************************************************************************/
/* bullet_physics_server.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BULLET_PHYSICS_SERVER_H
#define BULLET_PHYSICS_SERVER_H
#include "area_bullet.h"
#include "core/templates/rid.h"
#include "core/templates/rid_owner.h"
#include "joint_bullet.h"
#include "rigid_body_bullet.h"
#include "servers/physics_server_3d.h"
#include "shape_bullet.h"
#include "soft_body_bullet.h"
#include "space_bullet.h"
/**
@author AndreaCatania
*/
class BulletPhysicsServer3D : public PhysicsServer3D {
GDCLASS(BulletPhysicsServer3D, PhysicsServer3D);
friend class BulletPhysicsDirectSpaceState;
bool active = true;
char active_spaces_count = 0;
Vector<SpaceBullet *> active_spaces;
mutable RID_PtrOwner<SpaceBullet> space_owner;
mutable RID_PtrOwner<ShapeBullet> shape_owner;
mutable RID_PtrOwner<AreaBullet> area_owner;
mutable RID_PtrOwner<RigidBodyBullet> rigid_body_owner;
mutable RID_PtrOwner<SoftBodyBullet> soft_body_owner;
mutable RID_PtrOwner<JointBullet> joint_owner;
protected:
static void _bind_methods();
public:
BulletPhysicsServer3D();
~BulletPhysicsServer3D();
_FORCE_INLINE_ RID_PtrOwner<SpaceBullet> *get_space_owner() {
return &space_owner;
}
_FORCE_INLINE_ RID_PtrOwner<ShapeBullet> *get_shape_owner() {
return &shape_owner;
}
_FORCE_INLINE_ RID_PtrOwner<AreaBullet> *get_area_owner() {
return &area_owner;
}
_FORCE_INLINE_ RID_PtrOwner<RigidBodyBullet> *get_rigid_body_owner() {
return &rigid_body_owner;
}
_FORCE_INLINE_ RID_PtrOwner<SoftBodyBullet> *get_soft_body_owner() {
return &soft_body_owner;
}
_FORCE_INLINE_ RID_PtrOwner<JointBullet> *get_joint_owner() {
return &joint_owner;
}
/* SHAPE API */
virtual RID shape_create(ShapeType p_shape) override;
virtual void shape_set_data(RID p_shape, const Variant &p_data) override;
virtual ShapeType shape_get_type(RID p_shape) const override;
virtual Variant shape_get_data(RID p_shape) const override;
virtual void shape_set_margin(RID p_shape, real_t p_margin) override;
virtual real_t shape_get_margin(RID p_shape) const override;
/// Not supported
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) override;
/// Not supported
virtual real_t shape_get_custom_solver_bias(RID p_shape) const override;
/* SPACE API */
virtual RID space_create() override;
virtual void space_set_active(RID p_space, bool p_active) override;
virtual bool space_is_active(RID p_space) const override;
/// Not supported
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) override;
/// Not supported
virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const override;
virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) override;
virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) override;
virtual Vector<Vector3> space_get_contacts(RID p_space) const override;
virtual int space_get_contact_count(RID p_space) const override;
/* AREA API */
/// Bullet Physics Engine not support "Area", this must be handled by the game developer in another way.
/// Since godot Physics use the concept of area even to define the main world, the API area_set_param is used to set initial physics world information.
/// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console.
/// All other APIs returns a warning message if used
virtual RID area_create() override;
virtual void area_set_space(RID p_area, RID p_space) override;
virtual RID area_get_space(RID p_area) const override;
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) override;
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const override;
virtual void area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override;
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) override;
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) override;
virtual int area_get_shape_count(RID p_area) const override;
virtual RID area_get_shape(RID p_area, int p_shape_idx) const override;
virtual Transform3D area_get_shape_transform(RID p_area, int p_shape_idx) const override;
virtual void area_remove_shape(RID p_area, int p_shape_idx) override;
virtual void area_clear_shapes(RID p_area) override;
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) override;
virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) override;
virtual ObjectID area_get_object_instance_id(RID p_area) const override;
/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
/// AREA_PARAM_GRAVITY
/// AREA_PARAM_GRAVITY_VECTOR
/// Otherwise you can set area parameters
virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) override;
virtual Variant area_get_param(RID p_area, AreaParameter p_param) const override;
virtual void area_set_transform(RID p_area, const Transform3D &p_transform) override;
virtual Transform3D area_get_transform(RID p_area) const override;
virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) override;
virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override;
virtual void area_set_monitorable(RID p_area, bool p_monitorable) override;
virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override;
virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override;
virtual void area_set_ray_pickable(RID p_area, bool p_enable) override;
/* RIGID BODY API */
virtual RID body_create(BodyMode p_mode = BODY_MODE_DYNAMIC, bool p_init_sleeping = false) override;
virtual void body_set_space(RID p_body, RID p_space) override;
virtual RID body_get_space(RID p_body) const override;
virtual void body_set_mode(RID p_body, BodyMode p_mode) override;
virtual BodyMode body_get_mode(RID p_body) const override;
virtual void body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override;
// Not supported, Please remove and add new shape
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) override;
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) override;
virtual int body_get_shape_count(RID p_body) const override;
virtual RID body_get_shape(RID p_body, int p_shape_idx) const override;
virtual Transform3D body_get_shape_transform(RID p_body, int p_shape_idx) const override;
virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override;
virtual void body_remove_shape(RID p_body, int p_shape_idx) override;
virtual void body_clear_shapes(RID p_body) override;
// Used for Rigid and Soft Bodies
virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) override;
virtual ObjectID body_get_object_instance_id(RID p_body) const override;
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) override;
virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const override;
virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) override;
virtual uint32_t body_get_collision_layer(RID p_body) const override;
virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override;
virtual uint32_t body_get_collision_mask(RID p_body) const override;
/// This is not supported by physics server
virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override;
/// This is not supported by physics server
virtual uint32_t body_get_user_flags(RID p_body) const override;
virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override;
virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override;
virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override;
virtual real_t body_get_kinematic_safe_margin(RID p_body) const override;
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
virtual Variant body_get_state(RID p_body, BodyState p_state) const override;
virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) override;
virtual Vector3 body_get_applied_force(RID p_body) const override;
virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) override;
virtual Vector3 body_get_applied_torque(RID p_body) const override;
virtual void body_add_central_force(RID p_body, const Vector3 &p_force) override;
virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void body_add_torque(RID p_body, const Vector3 &p_torque) override;
virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override;
virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) override;
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) override;
virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) override;
virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const override;
virtual void body_add_collision_exception(RID p_body, RID p_body_b) override;
virtual void body_remove_collision_exception(RID p_body, RID p_body_b) override;
virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override;
virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override;
virtual int body_get_max_contacts_reported(RID p_body) const override;
virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) override;
virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override;
virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override;
virtual bool body_is_omitting_force_integration(RID p_body) const override;
virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) override;
virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
/* SOFT BODY API */
virtual RID soft_body_create(bool p_init_sleeping = false) override;
virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) override;
virtual void soft_body_set_space(RID p_body, RID p_space) override;
virtual RID soft_body_get_space(RID p_body) const override;
virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) override;
virtual AABB soft_body_get_bounds(RID p_body) const override;
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override;
virtual uint32_t soft_body_get_collision_layer(RID p_body) const override;
virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) override;
virtual uint32_t soft_body_get_collision_mask(RID p_body) const override;
virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) override;
virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) override;
virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override;
virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override;
/// Special function. This function has bad performance
virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) override;
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override;
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override;
virtual int soft_body_get_simulation_precision(RID p_body) const override;
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override;
virtual real_t soft_body_get_total_mass(RID p_body) const override;
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override;
virtual real_t soft_body_get_linear_stiffness(RID p_body) const override;
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override;
virtual real_t soft_body_get_pressure_coefficient(RID p_body) const override;
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override;
virtual real_t soft_body_get_damping_coefficient(RID p_body) const override;
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override;
virtual real_t soft_body_get_drag_coefficient(RID p_body) const override;
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override;
virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const override;
virtual void soft_body_remove_all_pinned_points(RID p_body) override;
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override;
virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const override;
/* JOINT API */
virtual JointType joint_get_type(RID p_joint) const override;
virtual void joint_set_solver_priority(RID p_joint, int p_priority) override;
virtual int joint_get_solver_priority(RID p_joint) const override;
virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) override;
virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const override;
virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override;
virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) override;
virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override;
virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override;
virtual Vector3 pin_joint_get_local_a(RID p_joint) const override;
virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) override;
virtual Vector3 pin_joint_get_local_b(RID p_joint) const override;
virtual RID joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) override;
virtual RID 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) override;
virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override;
virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override;
virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) override;
virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override;
/// Reference frame is A
virtual RID joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override;
virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override;
/// Reference frame is A
virtual RID joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override;
virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override;
/// Reference frame is A
virtual RID joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override;
virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override;
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) override;
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) override;
/* MISC */
virtual void free(RID p_rid) override;
virtual void set_active(bool p_active) override {
active = p_active;
}
static bool singleton_isActive() {
return static_cast<BulletPhysicsServer3D *>(get_singleton())->active;
}
bool isActive() {
return active;
}
virtual void init() override;
virtual void step(real_t p_deltaTime) override;
virtual void flush_queries() override;
virtual void finish() override;
virtual bool is_flushing_queries() const override { return false; }
virtual int get_process_info(ProcessInfo p_info) override;
SpaceBullet *get_space(RID p_rid) const;
ShapeBullet *get_shape(RID p_rid) const;
CollisionObjectBullet *get_collision_object(RID p_object) const;
RigidCollisionObjectBullet *get_rigid_collision_object(RID p_object) const;
JointBullet *get_joint(RID p_rid) const;
};
#endif
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