/*************************************************************************/ /* physics_server.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* http://www.godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef PHYSICS_SERVER_H #define PHYSICS_SERVER_H #include "object.h" #include "resource.h" class PhysicsDirectSpaceState; class PhysicsDirectBodyState : public Object { OBJ_TYPE( PhysicsDirectBodyState, Object ); protected: static void _bind_methods(); public: virtual Vector3 get_total_gravity() const=0; virtual float get_total_angular_damp() const=0; virtual float get_total_linear_damp() const=0; virtual float get_inverse_mass() const=0; // get the mass virtual Vector3 get_inverse_inertia() const=0; // get density of this body space virtual Matrix3 get_inverse_inertia_tensor() const=0; // get density of this body space virtual void set_linear_velocity(const Vector3& p_velocity)=0; virtual Vector3 get_linear_velocity() const=0; virtual void set_angular_velocity(const Vector3& p_velocity)=0; virtual Vector3 get_angular_velocity() const=0; virtual void set_transform(const Transform& p_transform)=0; virtual Transform get_transform() const=0; virtual void add_force(const Vector3& p_force, const Vector3& p_pos)=0; virtual void apply_impulse(const Vector3& p_pos, const Vector3& p_j)=0; virtual void set_sleep_state(bool p_enable)=0; virtual bool is_sleeping() const=0; virtual int get_contact_count() const=0; virtual Vector3 get_contact_local_pos(int p_contact_idx) const=0; virtual Vector3 get_contact_local_normal(int p_contact_idx) const=0; virtual int get_contact_local_shape(int p_contact_idx) const=0; virtual RID get_contact_collider(int p_contact_idx) const=0; virtual Vector3 get_contact_collider_pos(int p_contact_idx) const=0; virtual ObjectID get_contact_collider_id(int p_contact_idx) const=0; virtual Object* get_contact_collider_object(int p_contact_idx) const; virtual int get_contact_collider_shape(int p_contact_idx) const=0; virtual Vector3 get_contact_collider_velocity_at_pos(int p_contact_idx) const=0; virtual real_t get_step() const=0; virtual void integrate_forces(); virtual PhysicsDirectSpaceState* get_space_state()=0; PhysicsDirectBodyState(); }; class PhysicsShapeQueryResult; class PhysicsShapeQueryParameters : public Reference { OBJ_TYPE(PhysicsShapeQueryParameters, Reference); friend class PhysicsDirectSpaceState; RID shape; Transform transform; float margin; Set exclude; uint32_t layer_mask; uint32_t object_type_mask; protected: static void _bind_methods(); public: void set_shape(const RES& p_shape); void set_shape_rid(const RID& p_shape); RID get_shape_rid() const; void set_transform(const Transform& p_transform); Transform get_transform() const; void set_margin(float p_margin); float get_margin() const; void set_layer_mask(int p_layer_mask); int get_layer_mask() const; void set_object_type_mask(int p_object_type_mask); int get_object_type_mask() const; void set_exclude(const Vector& p_exclude); Vector get_exclude() const; PhysicsShapeQueryParameters(); }; class PhysicsDirectSpaceState : public Object { OBJ_TYPE( PhysicsDirectSpaceState, Object ); // Variant _intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector& p_exclude=Vector(),uint32_t p_collision_mask=0); // Variant _intersect_shape(const RID& p_shape, const Transform& p_xform,int p_result_max=64,const Vector& p_exclude=Vector(),uint32_t p_collision_mask=0); public: enum ObjectTypeMask { TYPE_MASK_STATIC_BODY=1<<0, TYPE_MASK_KINEMATIC_BODY=1<<1, TYPE_MASK_RIGID_BODY=1<<2, TYPE_MASK_CHARACTER_BODY=1<<3, TYPE_MASK_AREA=1<<4, TYPE_MASK_COLLISION=TYPE_MASK_STATIC_BODY|TYPE_MASK_CHARACTER_BODY|TYPE_MASK_KINEMATIC_BODY|TYPE_MASK_RIGID_BODY }; private: Dictionary _intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector& p_exclude=Vector(),uint32_t p_layers=0,uint32_t p_object_type_mask=TYPE_MASK_COLLISION); Array _intersect_shape(const Ref &p_shape_query,int p_max_results=32); Array _cast_motion(const Ref &p_shape_query,const Vector3& p_motion); Array _collide_shape(const Ref &p_shape_query,int p_max_results=32); Dictionary _get_rest_info(const Ref &p_shape_query); protected: static void _bind_methods(); public: struct RayResult { Vector3 position; Vector3 normal; RID rid; ObjectID collider_id; Object *collider; int shape; }; virtual bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set& p_exclude=Set(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,bool p_pick_ray=false)=0; struct ShapeResult { RID rid; ObjectID collider_id; Object *collider; int shape; }; virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set& p_exclude=Set(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0; struct ShapeRestInfo { Vector3 point; Vector3 normal; RID rid; ObjectID collider_id; int shape; Vector3 linear_velocity; //velocity at contact point }; virtual bool cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set& p_exclude=Set(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,ShapeRestInfo *r_info=NULL)=0; virtual bool collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set& p_exclude=Set(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0; virtual bool rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set& p_exclude=Set(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION)=0; PhysicsDirectSpaceState(); }; class PhysicsShapeQueryResult : public Reference { OBJ_TYPE( PhysicsShapeQueryResult, Reference ); Vector result; friend class PhysicsDirectSpaceState; protected: static void _bind_methods(); public: int get_result_count() const; RID get_result_rid(int p_idx) const; ObjectID get_result_object_id(int p_idx) const; Object* get_result_object(int p_idx) const; int get_result_object_shape(int p_idx) const; PhysicsShapeQueryResult(); }; class PhysicsServer : public Object { OBJ_TYPE( PhysicsServer, Object ); static PhysicsServer * singleton; protected: static void _bind_methods(); public: static PhysicsServer * get_singleton(); enum ShapeType { SHAPE_PLANE, ///< plane:"plane" SHAPE_RAY, ///< float:"length" SHAPE_SPHERE, ///< float:"radius" SHAPE_BOX, ///< vec3:"extents" SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule SHAPE_CONVEX_POLYGON, ///< array of planes:"planes" SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array) SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights" SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error }; virtual RID shape_create(ShapeType p_shape)=0; virtual void shape_set_data(RID p_shape, const Variant& p_data)=0; virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias)=0; virtual ShapeType shape_get_type(RID p_shape) const=0; virtual Variant shape_get_data(RID p_shape) const=0; virtual real_t shape_get_custom_solver_bias(RID p_shape) const=0; /* SPACE API */ virtual RID space_create()=0; virtual void space_set_active(RID p_space,bool p_active)=0; virtual bool space_is_active(RID p_space) const=0; enum SpaceParameter { SPACE_PARAM_CONTACT_RECYCLE_RADIUS, SPACE_PARAM_CONTACT_MAX_SEPARATION, SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION, SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD, SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD, SPACE_PARAM_BODY_TIME_TO_SLEEP, SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO, SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS, }; virtual void space_set_param(RID p_space,SpaceParameter p_param, real_t p_value)=0; virtual real_t space_get_param(RID p_space,SpaceParameter p_param) const=0; // this function only works on fixed process, errors and returns null otherwise virtual PhysicsDirectSpaceState* space_get_direct_state(RID p_space)=0; virtual void space_set_debug_contacts(RID p_space,int p_max_contacts)=0; virtual Vector space_get_contacts(RID p_space) const=0; virtual int space_get_contact_count(RID p_space) const=0; //missing space parameters /* AREA API */ //missing attenuation? missing better override? enum AreaParameter { AREA_PARAM_GRAVITY, AREA_PARAM_GRAVITY_VECTOR, AREA_PARAM_GRAVITY_IS_POINT, AREA_PARAM_GRAVITY_DISTANCE_SCALE, AREA_PARAM_GRAVITY_POINT_ATTENUATION, AREA_PARAM_LINEAR_DAMP, AREA_PARAM_ANGULAR_DAMP, AREA_PARAM_PRIORITY }; virtual RID area_create()=0; virtual void area_set_space(RID p_area, RID p_space)=0; virtual RID area_get_space(RID p_area) const=0; enum AreaSpaceOverrideMode { AREA_SPACE_OVERRIDE_DISABLED, AREA_SPACE_OVERRIDE_COMBINE, AREA_SPACE_OVERRIDE_COMBINE_REPLACE, AREA_SPACE_OVERRIDE_REPLACE, AREA_SPACE_OVERRIDE_REPLACE_COMBINE }; virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode)=0; virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const=0; virtual void area_add_shape(RID p_area, RID p_shape, const Transform& p_transform=Transform())=0; virtual void area_set_shape(RID p_area, int p_shape_idx,RID p_shape)=0; virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform& p_transform)=0; virtual int area_get_shape_count(RID p_area) const=0; virtual RID area_get_shape(RID p_area, int p_shape_idx) const=0; virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const=0; virtual void area_remove_shape(RID p_area, int p_shape_idx)=0; virtual void area_clear_shapes(RID p_area)=0; virtual void area_attach_object_instance_ID(RID p_area,ObjectID p_ID)=0; virtual ObjectID area_get_object_instance_ID(RID p_area) const=0; virtual void area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value)=0; virtual void area_set_transform(RID p_area, const Transform& p_transform)=0; virtual Variant area_get_param(RID p_parea,AreaParameter p_param) const=0; virtual Transform area_get_transform(RID p_area) const=0; virtual void area_set_monitorable(RID p_area,bool p_monitorable)=0; virtual void area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method)=0; virtual void area_set_area_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method)=0; virtual void area_set_ray_pickable(RID p_area,bool p_enable)=0; virtual bool area_is_ray_pickable(RID p_area) const=0; /* BODY API */ //missing ccd? enum BodyMode { BODY_MODE_STATIC, BODY_MODE_KINEMATIC, BODY_MODE_RIGID, //BODY_MODE_SOFT BODY_MODE_CHARACTER }; virtual RID body_create(BodyMode p_mode=BODY_MODE_RIGID,bool p_init_sleeping=false)=0; virtual void body_set_space(RID p_body, RID p_space)=0; virtual RID body_get_space(RID p_body) const=0; virtual void body_set_mode(RID p_body, BodyMode p_mode)=0; virtual BodyMode body_get_mode(RID p_body) const=0; virtual void body_add_shape(RID p_body, RID p_shape, const Transform& p_transform=Transform())=0; virtual void body_set_shape(RID p_body, int p_shape_idx,RID p_shape)=0; virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform& p_transform)=0; virtual int body_get_shape_count(RID p_body) const=0; virtual RID body_get_shape(RID p_body, int p_shape_idx) const=0; virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const=0; virtual void body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable)=0; virtual bool body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const=0; virtual void body_remove_shape(RID p_body, int p_shape_idx)=0; virtual void body_clear_shapes(RID p_body)=0; virtual void body_attach_object_instance_ID(RID p_body,uint32_t p_ID)=0; virtual uint32_t body_get_object_instance_ID(RID p_body) const=0; virtual void body_set_enable_continuous_collision_detection(RID p_body,bool p_enable)=0; virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const=0; virtual void body_set_layer_mask(RID p_body, uint32_t p_mask)=0; virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const=0; virtual void body_set_user_flags(RID p_body, uint32_t p_flags)=0; virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const=0; // common body variables enum BodyParameter { BODY_PARAM_BOUNCE, BODY_PARAM_FRICTION, BODY_PARAM_MASS, ///< unused for static, always infinite BODY_PARAM_GRAVITY_SCALE, BODY_PARAM_LINEAR_DAMP, BODY_PARAM_ANGULAR_DAMP, BODY_PARAM_MAX, }; virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value)=0; virtual float body_get_param(RID p_body, BodyParameter p_param) const=0; //state enum BodyState { BODY_STATE_TRANSFORM, BODY_STATE_LINEAR_VELOCITY, BODY_STATE_ANGULAR_VELOCITY, BODY_STATE_SLEEPING, BODY_STATE_CAN_SLEEP }; virtual void body_set_state(RID p_body, BodyState p_state, const Variant& p_variant)=0; virtual Variant body_get_state(RID p_body, BodyState p_state) const=0; //do something about it virtual void body_set_applied_force(RID p_body, const Vector3& p_force)=0; virtual Vector3 body_get_applied_force(RID p_body) const=0; virtual void body_set_applied_torque(RID p_body, const Vector3& p_torque)=0; virtual Vector3 body_get_applied_torque(RID p_body) const=0; virtual void body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse)=0; virtual void body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity)=0; enum BodyAxisLock { BODY_AXIS_LOCK_DISABLED, BODY_AXIS_LOCK_X, BODY_AXIS_LOCK_Y, BODY_AXIS_LOCK_Z, }; virtual void body_set_axis_lock(RID p_body,BodyAxisLock p_lock)=0; virtual BodyAxisLock body_get_axis_lock(RID p_body) const=0; //fix virtual void body_add_collision_exception(RID p_body, RID p_body_b)=0; virtual void body_remove_collision_exception(RID p_body, RID p_body_b)=0; virtual void body_get_collision_exceptions(RID p_body, List *p_exceptions)=0; virtual void body_set_max_contacts_reported(RID p_body, int p_contacts)=0; virtual int body_get_max_contacts_reported(RID p_body) const=0; //missing remove virtual void body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold)=0; virtual float body_get_contacts_reported_depth_treshold(RID p_body) const=0; virtual void body_set_omit_force_integration(RID p_body,bool p_omit)=0; virtual bool body_is_omitting_force_integration(RID p_body) const=0; virtual void body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata=Variant())=0; virtual void body_set_ray_pickable(RID p_body,bool p_enable)=0; virtual bool body_is_ray_pickable(RID p_body) const=0; /* JOINT API */ enum JointType { JOINT_PIN, JOINT_HINGE, JOINT_SLIDER, JOINT_CONE_TWIST, JOINT_6DOF }; virtual JointType joint_get_type(RID p_joint) const=0; virtual void joint_set_solver_priority(RID p_joint,int p_priority)=0; virtual int joint_get_solver_priority(RID p_joint) const=0; virtual RID joint_create_pin(RID p_body_A,const Vector3& p_local_A,RID p_body_B,const Vector3& p_local_B)=0; enum PinJointParam { PIN_JOINT_BIAS, PIN_JOINT_DAMPING, PIN_JOINT_IMPULSE_CLAMP }; virtual void pin_joint_set_param(RID p_joint,PinJointParam p_param, float p_value)=0; virtual float pin_joint_get_param(RID p_joint,PinJointParam p_param) const=0; virtual void pin_joint_set_local_A(RID p_joint, const Vector3& p_A)=0; virtual Vector3 pin_joint_get_local_A(RID p_joint) const=0; virtual void pin_joint_set_local_B(RID p_joint, const Vector3& p_B)=0; virtual Vector3 pin_joint_get_local_B(RID p_joint) const=0; enum HingeJointParam { HINGE_JOINT_BIAS, HINGE_JOINT_LIMIT_UPPER, HINGE_JOINT_LIMIT_LOWER, HINGE_JOINT_LIMIT_BIAS, HINGE_JOINT_LIMIT_SOFTNESS, HINGE_JOINT_LIMIT_RELAXATION, HINGE_JOINT_MOTOR_TARGET_VELOCITY, HINGE_JOINT_MOTOR_MAX_IMPULSE, HINGE_JOINT_MAX }; enum HingeJointFlag { HINGE_JOINT_FLAG_USE_LIMIT, HINGE_JOINT_FLAG_ENABLE_MOTOR, HINGE_JOINT_FLAG_MAX }; virtual RID joint_create_hinge(RID p_body_A,const Transform& p_hinge_A,RID p_body_B,const Transform& p_hinge_B)=0; 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)=0; virtual void hinge_joint_set_param(RID p_joint,HingeJointParam p_param, float p_value)=0; virtual float hinge_joint_get_param(RID p_joint,HingeJointParam p_param) const=0; virtual void hinge_joint_set_flag(RID p_joint,HingeJointFlag p_flag, bool p_value)=0; virtual bool hinge_joint_get_flag(RID p_joint,HingeJointFlag p_flag) const=0; enum SliderJointParam { SLIDER_JOINT_LINEAR_LIMIT_UPPER, SLIDER_JOINT_LINEAR_LIMIT_LOWER, SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, SLIDER_JOINT_LINEAR_LIMIT_DAMPING, SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, SLIDER_JOINT_LINEAR_MOTION_DAMPING, SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, SLIDER_JOINT_ANGULAR_LIMIT_UPPER, SLIDER_JOINT_ANGULAR_LIMIT_LOWER, SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, SLIDER_JOINT_ANGULAR_MOTION_DAMPING, SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, SLIDER_JOINT_MAX }; virtual RID joint_create_slider(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B)=0; //reference frame is A virtual void slider_joint_set_param(RID p_joint,SliderJointParam p_param, float p_value)=0; virtual float slider_joint_get_param(RID p_joint,SliderJointParam p_param) const=0; enum ConeTwistJointParam { CONE_TWIST_JOINT_SWING_SPAN, CONE_TWIST_JOINT_TWIST_SPAN, CONE_TWIST_JOINT_BIAS, CONE_TWIST_JOINT_SOFTNESS, CONE_TWIST_JOINT_RELAXATION, CONE_TWIST_MAX }; virtual RID joint_create_cone_twist(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B)=0; //reference frame is A virtual void cone_twist_joint_set_param(RID p_joint,ConeTwistJointParam p_param, float p_value)=0; virtual float cone_twist_joint_get_param(RID p_joint,ConeTwistJointParam p_param) const=0; enum G6DOFJointAxisParam { G6DOF_JOINT_LINEAR_LOWER_LIMIT, G6DOF_JOINT_LINEAR_UPPER_LIMIT, G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, G6DOF_JOINT_LINEAR_RESTITUTION, G6DOF_JOINT_LINEAR_DAMPING, G6DOF_JOINT_ANGULAR_LOWER_LIMIT, G6DOF_JOINT_ANGULAR_UPPER_LIMIT, G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, G6DOF_JOINT_ANGULAR_DAMPING, G6DOF_JOINT_ANGULAR_RESTITUTION, G6DOF_JOINT_ANGULAR_FORCE_LIMIT, G6DOF_JOINT_ANGULAR_ERP, G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, G6DOF_JOINT_MAX }; enum G6DOFJointAxisFlag { G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, G6DOF_JOINT_FLAG_ENABLE_MOTOR, G6DOF_JOINT_FLAG_MAX }; virtual RID joint_create_generic_6dof(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B)=0; //reference frame is A virtual void generic_6dof_joint_set_param(RID p_joint,Vector3::Axis,G6DOFJointAxisParam p_param, float p_value)=0; virtual float generic_6dof_joint_get_param(RID p_joint,Vector3::Axis,G6DOFJointAxisParam p_param)=0; virtual void generic_6dof_joint_set_flag(RID p_joint,Vector3::Axis,G6DOFJointAxisFlag p_flag, bool p_enable)=0; virtual bool generic_6dof_joint_get_flag(RID p_joint,Vector3::Axis,G6DOFJointAxisFlag p_flag)=0; #if 0 enum JointType { JOINT_PIN, JOINT_GROOVE, JOINT_DAMPED_SPRING }; enum JointParam { JOINT_PARAM_BIAS, JOINT_PARAM_MAX_BIAS, JOINT_PARAM_MAX_FORCE, }; virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value)=0; virtual real_t joint_get_param(RID p_joint,JointParam p_param) const=0; virtual RID pin_joint_create(const Vector3& p_anchor,RID p_body_a,RID p_body_b=RID())=0; virtual RID groove_joint_create(const Vector3& p_a_groove1,const Vector3& p_a_groove2, const Vector3& p_b_anchor, RID p_body_a,RID p_body_b)=0; virtual RID damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b=RID())=0; enum DampedStringParam { DAMPED_STRING_REST_LENGTH, DAMPED_STRING_STIFFNESS, DAMPED_STRING_DAMPING }; virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value)=0; virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const=0; virtual JointType joint_get_type(RID p_joint) const=0; #endif /* QUERY API */ enum AreaBodyStatus { AREA_BODY_ADDED, AREA_BODY_REMOVED }; /* MISC */ virtual void free(RID p_rid)=0; virtual void set_active(bool p_active)=0; virtual void init()=0; virtual void step(float p_step)=0; virtual void sync()=0; virtual void flush_queries()=0; virtual void finish()=0; enum ProcessInfo { INFO_ACTIVE_OBJECTS, INFO_COLLISION_PAIRS, INFO_ISLAND_COUNT }; virtual int get_process_info(ProcessInfo p_info)=0; PhysicsServer(); ~PhysicsServer(); }; VARIANT_ENUM_CAST( PhysicsServer::ShapeType ); VARIANT_ENUM_CAST( PhysicsServer::SpaceParameter ); VARIANT_ENUM_CAST( PhysicsServer::AreaParameter ); VARIANT_ENUM_CAST( PhysicsServer::AreaSpaceOverrideMode ); VARIANT_ENUM_CAST( PhysicsServer::BodyMode ); VARIANT_ENUM_CAST( PhysicsServer::BodyParameter ); VARIANT_ENUM_CAST( PhysicsServer::BodyState ); VARIANT_ENUM_CAST( PhysicsServer::BodyAxisLock ); VARIANT_ENUM_CAST( PhysicsServer::PinJointParam ); VARIANT_ENUM_CAST( PhysicsServer::JointType ); VARIANT_ENUM_CAST( PhysicsServer::HingeJointParam ); VARIANT_ENUM_CAST( PhysicsServer::HingeJointFlag ); VARIANT_ENUM_CAST( PhysicsServer::SliderJointParam ); VARIANT_ENUM_CAST( PhysicsServer::ConeTwistJointParam ); VARIANT_ENUM_CAST( PhysicsServer::G6DOFJointAxisParam ); VARIANT_ENUM_CAST( PhysicsServer::G6DOFJointAxisFlag); //VARIANT_ENUM_CAST( PhysicsServer::ObjectType ); VARIANT_ENUM_CAST( PhysicsServer::AreaBodyStatus ); VARIANT_ENUM_CAST( PhysicsServer::ProcessInfo ); #endif