bfd0d33244
In all physics servers, body_get_direct_state() now silently returns nullptr when the body has been already freed or is removed from space, so the client code can detect this state and invalidate the body rid. In 2D, there is no change in behavior (just no more errors). In 3D, the Bullet server returned a valid direct body state when the body was removed from the physics space, but in this case it didn't make sense to use the information from the body state.
1540 lines
51 KiB
C++
1540 lines
51 KiB
C++
/*************************************************************************/
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/* bullet_physics_server.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "bullet_physics_server.h"
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#include "bullet_utilities.h"
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#include "cone_twist_joint_bullet.h"
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#include "core/error/error_macros.h"
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#include "core/object/class_db.h"
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#include "core/string/ustring.h"
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#include "generic_6dof_joint_bullet.h"
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#include "hinge_joint_bullet.h"
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#include "pin_joint_bullet.h"
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#include "shape_bullet.h"
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#include "slider_joint_bullet.h"
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#include <LinearMath/btVector3.h>
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#include <assert.h>
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/**
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@author AndreaCatania
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*/
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#define CreateThenReturnRID(owner, ridData) \
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RID rid = owner.make_rid(ridData); \
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ridData->set_self(rid); \
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ridData->_set_physics_server(this); \
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return rid;
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// <--------------- Joint creation asserts
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/// Assert the body is assigned to a space
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#define JointAssertSpace(body, bIndex, ret) \
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if (!body->get_space()) { \
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ERR_PRINT("Before create a joint the Body" + String(bIndex) + " must be added to a space!"); \
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return ret; \
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}
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/// Assert the two bodies of joint are in the same space
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#define JointAssertSameSpace(bodyA, bodyB, ret) \
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if (bodyA->get_space() != bodyB->get_space()) { \
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ERR_PRINT("In order to create a joint the Body_A and Body_B must be in the same space!"); \
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return RID(); \
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}
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#define AddJointToSpace(body, joint) \
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body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
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// <--------------- Joint creation asserts
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void BulletPhysicsServer3D::_bind_methods() {
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//ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer3D::DoTest);
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}
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BulletPhysicsServer3D::BulletPhysicsServer3D() :
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PhysicsServer3D() {}
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BulletPhysicsServer3D::~BulletPhysicsServer3D() {}
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RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) {
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ShapeBullet *shape = nullptr;
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switch (p_shape) {
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case SHAPE_WORLD_BOUNDARY: {
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shape = bulletnew(WorldBoundaryShapeBullet);
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} break;
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case SHAPE_SPHERE: {
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shape = bulletnew(SphereShapeBullet);
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} break;
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case SHAPE_BOX: {
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shape = bulletnew(BoxShapeBullet);
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} break;
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case SHAPE_CAPSULE: {
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shape = bulletnew(CapsuleShapeBullet);
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} break;
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case SHAPE_CYLINDER: {
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shape = bulletnew(CylinderShapeBullet);
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} break;
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case SHAPE_CONVEX_POLYGON: {
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shape = bulletnew(ConvexPolygonShapeBullet);
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} break;
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case SHAPE_CONCAVE_POLYGON: {
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shape = bulletnew(ConcavePolygonShapeBullet);
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} break;
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case SHAPE_HEIGHTMAP: {
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shape = bulletnew(HeightMapShapeBullet);
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} break;
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case SHAPE_RAY: {
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shape = bulletnew(RayShapeBullet);
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} break;
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case SHAPE_CUSTOM:
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default:
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ERR_FAIL_V(RID());
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break;
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}
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CreateThenReturnRID(shape_owner, shape)
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}
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void BulletPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) {
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ShapeBullet *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_data(p_data);
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}
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void BulletPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
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//WARN_PRINT("Bias not supported by Bullet physics engine");
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}
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PhysicsServer3D::ShapeType BulletPhysicsServer3D::shape_get_type(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND_V(!shape, PhysicsServer3D::SHAPE_CUSTOM);
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return shape->get_type();
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}
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Variant BulletPhysicsServer3D::shape_get_data(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND_V(!shape, Variant());
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return shape->get_data();
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}
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void BulletPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) {
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ShapeBullet *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_margin(p_margin);
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}
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real_t BulletPhysicsServer3D::shape_get_margin(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND_V(!shape, 0.0);
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return shape->get_margin();
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}
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real_t BulletPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const {
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//WARN_PRINT("Bias not supported by Bullet physics engine");
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return 0.;
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}
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RID BulletPhysicsServer3D::space_create() {
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SpaceBullet *space = bulletnew(SpaceBullet);
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CreateThenReturnRID(space_owner, space);
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}
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void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
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SpaceBullet *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND(!space);
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if (space_is_active(p_space) == p_active) {
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return;
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}
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if (p_active) {
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++active_spaces_count;
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active_spaces.push_back(space);
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} else {
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--active_spaces_count;
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active_spaces.erase(space);
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}
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}
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bool BulletPhysicsServer3D::space_is_active(RID p_space) const {
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SpaceBullet *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND_V(!space, false);
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return -1 != active_spaces.find(space);
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}
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void BulletPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
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SpaceBullet *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND(!space);
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space->set_param(p_param, p_value);
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}
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real_t BulletPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const {
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SpaceBullet *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND_V(!space, 0);
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return space->get_param(p_param);
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}
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PhysicsDirectSpaceState3D *BulletPhysicsServer3D::space_get_direct_state(RID p_space) {
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SpaceBullet *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND_V(!space, nullptr);
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return space->get_direct_state();
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}
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void BulletPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
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SpaceBullet *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND(!space);
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space->set_debug_contacts(p_max_contacts);
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}
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Vector<Vector3> BulletPhysicsServer3D::space_get_contacts(RID p_space) const {
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SpaceBullet *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND_V(!space, Vector<Vector3>());
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return space->get_debug_contacts();
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}
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int BulletPhysicsServer3D::space_get_contact_count(RID p_space) const {
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SpaceBullet *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND_V(!space, 0);
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return space->get_debug_contact_count();
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}
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RID BulletPhysicsServer3D::area_create() {
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AreaBullet *area = bulletnew(AreaBullet);
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area->set_collision_layer(1);
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area->set_collision_mask(1);
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CreateThenReturnRID(area_owner, area)
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}
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void BulletPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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SpaceBullet *space = nullptr;
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if (p_space.is_valid()) {
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space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND(!space);
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}
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area->set_space(space);
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}
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RID BulletPhysicsServer3D::area_get_space(RID p_area) const {
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AreaBullet *area = area_owner.get_or_null(p_area);
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return area->get_space()->get_self();
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}
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void BulletPhysicsServer3D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_spOv_mode(p_mode);
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}
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PhysicsServer3D::AreaSpaceOverrideMode BulletPhysicsServer3D::area_get_space_override_mode(RID p_area) const {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED);
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return area->get_spOv_mode();
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}
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void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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ShapeBullet *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND(!shape);
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area->add_shape(shape, p_transform, p_disabled);
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}
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void BulletPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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ShapeBullet *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND(!shape);
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area->set_shape(p_shape_idx, shape);
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}
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void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_shape_transform(p_shape_idx, p_transform);
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}
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int BulletPhysicsServer3D::area_get_shape_count(RID p_area) const {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, 0);
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return area->get_shape_count();
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}
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RID BulletPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, RID());
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return area->get_shape(p_shape_idx)->get_self();
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}
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Transform3D BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, Transform3D());
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return area->get_shape_transform(p_shape_idx);
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}
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void BulletPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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return area->remove_shape_full(p_shape_idx);
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}
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void BulletPhysicsServer3D::area_clear_shapes(RID p_area) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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for (int i = area->get_shape_count(); 0 < i; --i) {
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area->remove_shape_full(0);
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}
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}
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void BulletPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_shape_disabled(p_shape_idx, p_disabled);
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}
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void BulletPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
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if (space_owner.owns(p_area)) {
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return;
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}
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_instance_id(p_id);
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}
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ObjectID BulletPhysicsServer3D::area_get_object_instance_id(RID p_area) const {
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if (space_owner.owns(p_area)) {
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return ObjectID();
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}
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, ObjectID());
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return area->get_instance_id();
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}
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void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
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if (space_owner.owns(p_area)) {
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SpaceBullet *space = space_owner.get_or_null(p_area);
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if (space) {
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space->set_param(p_param, p_value);
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}
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} else {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_param(p_param, p_value);
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}
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}
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Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const {
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if (space_owner.owns(p_area)) {
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SpaceBullet *space = space_owner.get_or_null(p_area);
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return space->get_param(p_param);
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} else {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, Variant());
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return area->get_param(p_param);
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}
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}
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void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_transform(p_transform);
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}
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Transform3D BulletPhysicsServer3D::area_get_transform(RID p_area) const {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, Transform3D());
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return area->get_transform();
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}
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void BulletPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_collision_mask(p_mask);
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}
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void BulletPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_collision_layer(p_layer);
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}
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void BulletPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_monitorable(p_monitorable);
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}
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void BulletPhysicsServer3D::area_set_monitor_callback(RID p_area, const Callable &p_callback) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_callback.is_valid() ? p_callback : Callable());
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}
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void BulletPhysicsServer3D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_callback.is_valid() ? p_callback : Callable());
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}
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void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
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AreaBullet *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->set_ray_pickable(p_enable);
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}
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RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) {
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RigidBodyBullet *body = bulletnew(RigidBodyBullet);
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body->set_mode(p_mode);
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body->set_collision_layer(1);
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body->set_collision_mask(1);
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if (p_init_sleeping) {
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body->set_state(BODY_STATE_SLEEPING, p_init_sleeping);
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}
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CreateThenReturnRID(rigid_body_owner, body);
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}
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void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
SpaceBullet *space = nullptr;
|
|
|
|
if (p_space.is_valid()) {
|
|
space = space_owner.get_or_null(p_space);
|
|
ERR_FAIL_COND(!space);
|
|
}
|
|
|
|
if (body->get_space() == space) {
|
|
return; //pointless
|
|
}
|
|
|
|
body->set_space(space);
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::body_get_space(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
SpaceBullet *space = body->get_space();
|
|
if (!space) {
|
|
return RID();
|
|
}
|
|
return space->get_self();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_mode(RID p_body, PhysicsServer3D::BodyMode p_mode) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_mode(p_mode);
|
|
}
|
|
|
|
PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
|
|
return body->get_mode();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ShapeBullet *shape = shape_owner.get_or_null(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->add_shape(shape, p_transform, p_disabled);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ShapeBullet *shape = shape_owner.get_or_null(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->set_shape(p_shape_idx, shape);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_transform(p_shape_idx, p_transform);
|
|
}
|
|
|
|
int BulletPhysicsServer3D::body_get_shape_count(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return body->get_shape_count();
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
ShapeBullet *shape = body->get_shape(p_shape_idx);
|
|
ERR_FAIL_COND_V(!shape, RID());
|
|
|
|
return shape->get_self();
|
|
}
|
|
|
|
Transform3D BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Transform3D());
|
|
return body->get_shape_transform(p_shape_idx);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_disabled(p_shape_idx, p_disabled);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_shape_full(p_shape_idx);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_clear_shapes(RID p_body) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_all_shapes();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
|
|
CollisionObjectBullet *body = get_collision_object(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_instance_id(p_id);
|
|
}
|
|
|
|
ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
|
|
CollisionObjectBullet *body = get_collision_object(p_body);
|
|
ERR_FAIL_COND_V(!body, ObjectID());
|
|
|
|
return body->get_instance_id();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_continuous_collision_detection(p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
|
|
return body->is_continuous_collision_detection_enabled();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer3D::body_get_collision_layer(RID p_body) const {
|
|
const RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
|
|
// This function is not currently supported
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const {
|
|
// This function is not currently supported
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_param(p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
if (body->get_kinematic_utilities()) {
|
|
body->get_kinematic_utilities()->setSafeMargin(p_margin);
|
|
}
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
if (body->get_kinematic_utilities()) {
|
|
return body->get_kinematic_utilities()->safe_margin;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_state(p_state, p_variant);
|
|
}
|
|
|
|
Variant BulletPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Variant());
|
|
|
|
return body->get_state(p_state);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_force(p_force);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer3D::body_get_applied_force(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
return body->get_applied_force();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_torque(p_torque);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer3D::body_get_applied_torque(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
|
|
return body->get_applied_torque();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_central_force(p_force);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_force(p_force, p_position);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_torque(p_torque);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_central_impulse(p_impulse);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_impulse(p_impulse, p_position);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_torque_impulse(p_impulse);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
Vector3 v = body->get_linear_velocity();
|
|
Vector3 axis = p_axis_velocity.normalized();
|
|
v -= axis * axis.dot(v);
|
|
v += p_axis_velocity;
|
|
body->set_linear_velocity(v);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_axis_lock(p_axis, p_lock);
|
|
}
|
|
|
|
bool BulletPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
|
|
const RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return body->is_axis_locked(p_axis);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
RigidBodyBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->add_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
RigidBodyBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->remove_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
for (int i = 0; i < body->get_exceptions().size(); i++) {
|
|
p_exceptions->push_back(body->get_exceptions()[i]);
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_max_collisions_detection(p_contacts);
|
|
}
|
|
|
|
int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_max_collisions_detection();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
|
|
// Not supported by bullet and even Godot
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
|
|
// Not supported by bullet and even Godot
|
|
return 0.;
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_omit_forces_integration(p_omit);
|
|
}
|
|
|
|
bool BulletPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
|
|
return body->get_omit_forces_integration();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_force_integration_callback(p_callable, p_udata);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) {
|
|
if (!rigid_body_owner.owns(p_body)) {
|
|
return nullptr;
|
|
}
|
|
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, nullptr);
|
|
|
|
if (!body->get_space()) {
|
|
return nullptr;
|
|
}
|
|
|
|
return BulletPhysicsDirectBodyState3D::get_singleton(body);
|
|
}
|
|
|
|
bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
ERR_FAIL_COND_V(!body->get_space(), false);
|
|
|
|
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes, p_exclude);
|
|
}
|
|
|
|
int BulletPhysicsServer3D::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) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
ERR_FAIL_COND_V(!body->get_space(), 0);
|
|
|
|
return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) {
|
|
SoftBodyBullet *body = bulletnew(SoftBodyBullet);
|
|
body->set_collision_layer(1);
|
|
body->set_collision_mask(1);
|
|
if (p_init_sleeping) {
|
|
body->set_activation_state(false);
|
|
}
|
|
CreateThenReturnRID(soft_body_owner, body);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->update_rendering_server(p_rendering_server_handler);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
SpaceBullet *space = nullptr;
|
|
|
|
if (p_space.is_valid()) {
|
|
space = space_owner.get_or_null(p_space);
|
|
ERR_FAIL_COND(!space);
|
|
}
|
|
|
|
if (body->get_space() == space) {
|
|
return; //pointless
|
|
}
|
|
|
|
body->set_space(space);
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::soft_body_get_space(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
SpaceBullet *space = body->get_space();
|
|
if (!space) {
|
|
return RID();
|
|
}
|
|
return space->get_self();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_soft_mesh(p_mesh);
|
|
}
|
|
|
|
AABB BulletPhysicsServer::soft_body_get_bounds(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, AABB());
|
|
|
|
return body->get_bounds();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const {
|
|
const SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const {
|
|
const SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
CollisionObjectBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
|
|
if (!other_body) {
|
|
other_body = soft_body_owner.get_or_null(p_body_b);
|
|
}
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->add_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
CollisionObjectBullet *other_body = rigid_body_owner.get_or_null(p_body_b);
|
|
if (!other_body) {
|
|
other_body = soft_body_owner.get_or_null(p_body_b);
|
|
}
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->remove_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
for (int i = 0; i < body->get_exceptions().size(); i++) {
|
|
p_exceptions->push_back(body->get_exceptions()[i]);
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
|
|
// FIXME: Must be implemented.
|
|
WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
|
|
}
|
|
|
|
Variant BulletPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const {
|
|
// FIXME: Must be implemented.
|
|
WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
|
|
return Variant();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_soft_transform(p_transform);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_simulation_precision(p_simulation_precision);
|
|
}
|
|
|
|
int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_simulation_precision();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_total_mass(p_total_mass);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_total_mass();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_linear_stiffness(p_stiffness);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_linear_stiffness();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_pressure_coefficient(p_pressure_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_pressure_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_damping_coefficient(p_damping_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_damping_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_drag_coefficient(p_drag_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_drag_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_node_position(p_point_index, p_global_position);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
|
|
Vector3 pos;
|
|
body->get_node_position(p_point_index, pos);
|
|
return pos;
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->reset_all_node_mass();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_node_mass(p_point_index, p_pin ? 0 : 1);
|
|
}
|
|
|
|
bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_node_mass(p_point_index);
|
|
}
|
|
|
|
PhysicsServer3D::JointType BulletPhysicsServer3D::joint_get_type(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, JOINT_PIN);
|
|
return joint->get_type();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) {
|
|
// Joint priority not supported by bullet
|
|
}
|
|
|
|
int BulletPhysicsServer3D::joint_get_solver_priority(RID p_joint) const {
|
|
// Joint priority not supported by bullet
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
|
|
joint->disable_collisions_between_bodies(p_disable);
|
|
}
|
|
|
|
bool BulletPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
|
|
JointBullet *joint(joint_owner.get_or_null(p_joint));
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
|
|
return joint->is_disabled_collisions_between_bodies();
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = nullptr;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get_or_null(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
pin_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0);
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
return pin_joint->get_param(p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
pin_joint->setPivotInA(p_A);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, Vector3());
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
return pin_joint->getPivotInA();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
pin_joint->setPivotInB(p_B);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, Vector3());
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
|
|
PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint);
|
|
return pin_joint->getPivotInB();
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = nullptr;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get_or_null(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = nullptr;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get_or_null(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
|
|
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
|
|
hinge_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0);
|
|
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
|
|
return hinge_joint->get_param(p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
|
|
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
|
|
hinge_joint->set_flag(p_flag, p_value);
|
|
}
|
|
|
|
bool BulletPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false);
|
|
HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint);
|
|
return hinge_joint->get_flag(p_flag);
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = nullptr;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get_or_null(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER);
|
|
SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
|
|
slider_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0);
|
|
SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint);
|
|
return slider_joint->get_param(p_param);
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = nullptr;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get_or_null(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST);
|
|
ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
|
|
coneTwist_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0.);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.);
|
|
ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint);
|
|
return coneTwist_joint->get_param(p_param);
|
|
}
|
|
|
|
RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A, RID());
|
|
JointAssertSpace(body_A, "A", RID());
|
|
|
|
RigidBodyBullet *body_B = nullptr;
|
|
if (p_body_B.is_valid()) {
|
|
body_B = rigid_body_owner.get_or_null(p_body_B);
|
|
JointAssertSpace(body_B, "B", RID());
|
|
JointAssertSameSpace(body_A, body_B, RID());
|
|
}
|
|
|
|
ERR_FAIL_COND_V(body_A == body_B, RID());
|
|
|
|
JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B));
|
|
AddJointToSpace(body_A, joint);
|
|
|
|
CreateThenReturnRID(joint_owner, joint);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
generic_6dof_joint->set_param(p_axis, p_param, p_value);
|
|
}
|
|
|
|
real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
return generic_6dof_joint->get_param(p_axis, p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false);
|
|
Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint);
|
|
return generic_6dof_joint->get_flag(p_axis, p_flag);
|
|
}
|
|
|
|
void BulletPhysicsServer3D::free(RID p_rid) {
|
|
if (shape_owner.owns(p_rid)) {
|
|
ShapeBullet *shape = shape_owner.get_or_null(p_rid);
|
|
|
|
// Notify the shape is configured
|
|
for (const KeyValue<ShapeOwnerBullet *, int> &element : shape->get_owners()) {
|
|
static_cast<ShapeOwnerBullet *>(element.key)->remove_shape_full(shape);
|
|
}
|
|
|
|
shape_owner.free(p_rid);
|
|
bulletdelete(shape);
|
|
} else if (rigid_body_owner.owns(p_rid)) {
|
|
RigidBodyBullet *body = rigid_body_owner.get_or_null(p_rid);
|
|
|
|
body->set_space(nullptr);
|
|
|
|
body->remove_all_shapes(true, true);
|
|
|
|
rigid_body_owner.free(p_rid);
|
|
bulletdelete(body);
|
|
|
|
} else if (soft_body_owner.owns(p_rid)) {
|
|
SoftBodyBullet *body = soft_body_owner.get_or_null(p_rid);
|
|
|
|
body->set_space(nullptr);
|
|
|
|
soft_body_owner.free(p_rid);
|
|
bulletdelete(body);
|
|
|
|
} else if (area_owner.owns(p_rid)) {
|
|
AreaBullet *area = area_owner.get_or_null(p_rid);
|
|
|
|
area->set_space(nullptr);
|
|
|
|
area->remove_all_shapes(true, true);
|
|
|
|
area_owner.free(p_rid);
|
|
bulletdelete(area);
|
|
|
|
} else if (joint_owner.owns(p_rid)) {
|
|
JointBullet *joint = joint_owner.get_or_null(p_rid);
|
|
joint->destroy_internal_constraint();
|
|
joint_owner.free(p_rid);
|
|
bulletdelete(joint);
|
|
|
|
} else if (space_owner.owns(p_rid)) {
|
|
SpaceBullet *space = space_owner.get_or_null(p_rid);
|
|
|
|
space->remove_all_collision_objects();
|
|
|
|
space_set_active(p_rid, false);
|
|
space_owner.free(p_rid);
|
|
bulletdelete(space);
|
|
} else {
|
|
ERR_FAIL_MSG("Invalid ID.");
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer3D::init() {
|
|
BulletPhysicsDirectBodyState3D::initSingleton();
|
|
}
|
|
|
|
void BulletPhysicsServer3D::step(real_t p_deltaTime) {
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
BulletPhysicsDirectBodyState3D::singleton_setDeltaTime(p_deltaTime);
|
|
|
|
for (int i = 0; i < active_spaces_count; ++i) {
|
|
active_spaces[i]->step(p_deltaTime);
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer3D::flush_queries() {
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
for (int i = 0; i < active_spaces_count; ++i) {
|
|
active_spaces[i]->flush_queries();
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer3D::finish() {
|
|
BulletPhysicsDirectBodyState3D::destroySingleton();
|
|
}
|
|
|
|
int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) {
|
|
return 0;
|
|
}
|
|
|
|
SpaceBullet *BulletPhysicsServer3D::get_space(RID p_rid) const {
|
|
ERR_FAIL_COND_V_MSG(space_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
|
|
return space_owner.get_or_null(p_rid);
|
|
}
|
|
|
|
ShapeBullet *BulletPhysicsServer3D::get_shape(RID p_rid) const {
|
|
ERR_FAIL_COND_V_MSG(shape_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
|
|
return shape_owner.get_or_null(p_rid);
|
|
}
|
|
|
|
CollisionObjectBullet *BulletPhysicsServer3D::get_collision_object(RID p_object) const {
|
|
if (rigid_body_owner.owns(p_object)) {
|
|
return rigid_body_owner.get_or_null(p_object);
|
|
}
|
|
if (area_owner.owns(p_object)) {
|
|
return area_owner.get_or_null(p_object);
|
|
}
|
|
if (soft_body_owner.owns(p_object)) {
|
|
return soft_body_owner.get_or_null(p_object);
|
|
}
|
|
ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
|
|
}
|
|
|
|
RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collision_object(RID p_object) const {
|
|
if (rigid_body_owner.owns(p_object)) {
|
|
return rigid_body_owner.get_or_null(p_object);
|
|
}
|
|
if (area_owner.owns(p_object)) {
|
|
return area_owner.get_or_null(p_object);
|
|
}
|
|
ERR_FAIL_V_MSG(nullptr, "The RID is no valid.");
|
|
}
|
|
|
|
JointBullet *BulletPhysicsServer3D::get_joint(RID p_rid) const {
|
|
ERR_FAIL_COND_V_MSG(joint_owner.owns(p_rid) == false, nullptr, "The RID is not valid.");
|
|
return joint_owner.get_or_null(p_rid);
|
|
}
|