godot/scene/3d/physics_body.cpp
Rémi Verschelde 5dbf1809c6 A Whole New World (clang-format edition)
I can show you the code
Pretty, with proper whitespace
Tell me, coder, now when did
You last write readable code?

I can open your eyes
Make you see your bad indent
Force you to respect the style
The core devs agreed upon

A whole new world
A new fantastic code format
A de facto standard
With some sugar
Enforced with clang-format

A whole new world
A dazzling style we all dreamed of
And when we read it through
It's crystal clear
That now we're in a whole new world of code
2017-03-05 16:44:50 +01:00

1273 lines
40 KiB
C++

/*************************************************************************/
/* physics_body.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 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. */
/*************************************************************************/
#include "physics_body.h"
#include "scene/scene_string_names.h"
void PhysicsBody::_notification(int p_what) {
/*
switch(p_what) {
case NOTIFICATION_TRANSFORM_CHANGED: {
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_TRANSFORM,get_global_transform());
} break;
}
*/
}
Vector3 PhysicsBody::get_linear_velocity() const {
return Vector3();
}
Vector3 PhysicsBody::get_angular_velocity() const {
return Vector3();
}
float PhysicsBody::get_inverse_mass() const {
return 0;
}
void PhysicsBody::set_collision_layer(uint32_t p_mask) {
layer_mask = p_mask;
PhysicsServer::get_singleton()->body_set_layer_mask(get_rid(), p_mask);
}
uint32_t PhysicsBody::get_collision_layer() const {
return layer_mask;
}
void PhysicsBody::set_collision_mask(uint32_t p_mask) {
collision_mask = p_mask;
PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), p_mask);
}
uint32_t PhysicsBody::get_collision_mask() const {
return collision_mask;
}
void PhysicsBody::set_collision_mask_bit(int p_bit, bool p_value) {
uint32_t mask = get_collision_mask();
if (p_value)
mask |= 1 << p_bit;
else
mask &= ~(1 << p_bit);
set_collision_mask(mask);
}
bool PhysicsBody::get_collision_mask_bit(int p_bit) const {
return get_collision_mask() & (1 << p_bit);
}
void PhysicsBody::set_collision_layer_bit(int p_bit, bool p_value) {
uint32_t mask = get_collision_layer();
if (p_value)
mask |= 1 << p_bit;
else
mask &= ~(1 << p_bit);
set_collision_layer(mask);
}
bool PhysicsBody::get_collision_layer_bit(int p_bit) const {
return get_collision_layer() & (1 << p_bit);
}
void PhysicsBody::add_collision_exception_with(Node *p_node) {
ERR_FAIL_NULL(p_node);
PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
if (!physics_body) {
ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
}
ERR_FAIL_COND(!physics_body);
PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), physics_body->get_rid());
}
void PhysicsBody::remove_collision_exception_with(Node *p_node) {
ERR_FAIL_NULL(p_node);
PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
if (!physics_body) {
ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
}
ERR_FAIL_COND(!physics_body);
PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), physics_body->get_rid());
}
void PhysicsBody::_set_layers(uint32_t p_mask) {
set_collision_layer(p_mask);
set_collision_mask(p_mask);
}
uint32_t PhysicsBody::_get_layers() const {
return get_collision_layer();
}
void PhysicsBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody::set_collision_layer);
ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody::get_collision_layer);
ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsBody::set_collision_mask);
ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsBody::get_collision_mask);
ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &PhysicsBody::set_collision_mask_bit);
ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &PhysicsBody::get_collision_mask_bit);
ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody::set_collision_layer_bit);
ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody::get_collision_layer_bit);
ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody::_set_layers);
ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody::_get_layers);
ADD_GROUP("Collision", "collision_");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
}
PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode)
: CollisionObject(PhysicsServer::get_singleton()->body_create(p_mode), false) {
layer_mask = 1;
collision_mask = 1;
}
void StaticBody::set_friction(real_t p_friction) {
ERR_FAIL_COND(p_friction < 0 || p_friction > 1);
friction = p_friction;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction);
}
real_t StaticBody::get_friction() const {
return friction;
}
void StaticBody::set_bounce(real_t p_bounce) {
ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1);
bounce = p_bounce;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, bounce);
}
real_t StaticBody::get_bounce() const {
return bounce;
}
void StaticBody::set_constant_linear_velocity(const Vector3 &p_vel) {
constant_linear_velocity = p_vel;
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
}
void StaticBody::set_constant_angular_velocity(const Vector3 &p_vel) {
constant_angular_velocity = p_vel;
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
}
Vector3 StaticBody::get_constant_linear_velocity() const {
return constant_linear_velocity;
}
Vector3 StaticBody::get_constant_angular_velocity() const {
return constant_angular_velocity;
}
void StaticBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody::set_constant_linear_velocity);
ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody::set_constant_angular_velocity);
ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody::get_constant_linear_velocity);
ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody::get_constant_angular_velocity);
ClassDB::bind_method(D_METHOD("set_friction", "friction"), &StaticBody::set_friction);
ClassDB::bind_method(D_METHOD("get_friction"), &StaticBody::get_friction);
ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &StaticBody::set_bounce);
ClassDB::bind_method(D_METHOD("get_bounce"), &StaticBody::get_bounce);
ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body:PhysicsBody"), &PhysicsBody::add_collision_exception_with);
ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body:PhysicsBody"), &PhysicsBody::remove_collision_exception_with);
ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
}
StaticBody::StaticBody()
: PhysicsBody(PhysicsServer::BODY_MODE_STATIC) {
bounce = 0;
friction = 1;
}
StaticBody::~StaticBody() {
}
void RigidBody::_body_enter_tree(ObjectID p_id) {
Object *obj = ObjectDB::get_instance(p_id);
Node *node = obj ? obj->cast_to<Node>() : NULL;
ERR_FAIL_COND(!node);
Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
ERR_FAIL_COND(!E);
ERR_FAIL_COND(E->get().in_tree);
E->get().in_tree = true;
contact_monitor->locked = true;
emit_signal(SceneStringNames::get_singleton()->body_entered, node);
for (int i = 0; i < E->get().shapes.size(); i++) {
emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
}
contact_monitor->locked = false;
}
void RigidBody::_body_exit_tree(ObjectID p_id) {
Object *obj = ObjectDB::get_instance(p_id);
Node *node = obj ? obj->cast_to<Node>() : NULL;
ERR_FAIL_COND(!node);
Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
ERR_FAIL_COND(!E);
ERR_FAIL_COND(!E->get().in_tree);
E->get().in_tree = false;
contact_monitor->locked = true;
emit_signal(SceneStringNames::get_singleton()->body_exited, node);
for (int i = 0; i < E->get().shapes.size(); i++) {
emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
}
contact_monitor->locked = false;
}
void RigidBody::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape) {
bool body_in = p_status == 1;
ObjectID objid = p_instance;
Object *obj = ObjectDB::get_instance(objid);
Node *node = obj ? obj->cast_to<Node>() : NULL;
Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(objid);
ERR_FAIL_COND(!body_in && !E);
if (body_in) {
if (!E) {
E = contact_monitor->body_map.insert(objid, BodyState());
//E->get().rc=0;
E->get().in_tree = node && node->is_inside_tree();
if (node) {
node->connect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree, make_binds(objid));
node->connect(SceneStringNames::get_singleton()->tree_exited, this, SceneStringNames::get_singleton()->_body_exit_tree, make_binds(objid));
if (E->get().in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_entered, node);
}
}
}
//E->get().rc++;
if (node)
E->get().shapes.insert(ShapePair(p_body_shape, p_local_shape));
if (E->get().in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_shape_entered, objid, node, p_body_shape, p_local_shape);
}
} else {
//E->get().rc--;
if (node)
E->get().shapes.erase(ShapePair(p_body_shape, p_local_shape));
bool in_tree = E->get().in_tree;
if (E->get().shapes.empty()) {
if (node) {
node->disconnect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree);
node->disconnect(SceneStringNames::get_singleton()->tree_exited, this, SceneStringNames::get_singleton()->_body_exit_tree);
if (in_tree)
emit_signal(SceneStringNames::get_singleton()->body_exited, obj);
}
contact_monitor->body_map.erase(E);
}
if (node && in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape);
}
}
}
struct _RigidBodyInOut {
ObjectID id;
int shape;
int local_shape;
};
void RigidBody::_direct_state_changed(Object *p_state) {
//eh.. fuck
#ifdef DEBUG_ENABLED
state = p_state->cast_to<PhysicsDirectBodyState>();
#else
state = (PhysicsDirectBodyState *)p_state; //trust it
#endif
set_ignore_transform_notification(true);
set_global_transform(state->get_transform());
linear_velocity = state->get_linear_velocity();
angular_velocity = state->get_angular_velocity();
if (sleeping != state->is_sleeping()) {
sleeping = state->is_sleeping();
emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
}
if (get_script_instance())
get_script_instance()->call("_integrate_forces", state);
set_ignore_transform_notification(false);
if (contact_monitor) {
contact_monitor->locked = true;
//untag all
int rc = 0;
for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
for (int i = 0; i < E->get().shapes.size(); i++) {
E->get().shapes[i].tagged = false;
rc++;
}
}
_RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut));
int toadd_count = 0; //state->get_contact_count();
RigidBody_RemoveAction *toremove = (RigidBody_RemoveAction *)alloca(rc * sizeof(RigidBody_RemoveAction));
int toremove_count = 0;
//put the ones to add
for (int i = 0; i < state->get_contact_count(); i++) {
ObjectID obj = state->get_contact_collider_id(i);
int local_shape = state->get_contact_local_shape(i);
int shape = state->get_contact_collider_shape(i);
//bool found=false;
Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(obj);
if (!E) {
toadd[toadd_count].local_shape = local_shape;
toadd[toadd_count].id = obj;
toadd[toadd_count].shape = shape;
toadd_count++;
continue;
}
ShapePair sp(shape, local_shape);
int idx = E->get().shapes.find(sp);
if (idx == -1) {
toadd[toadd_count].local_shape = local_shape;
toadd[toadd_count].id = obj;
toadd[toadd_count].shape = shape;
toadd_count++;
continue;
}
E->get().shapes[idx].tagged = true;
}
//put the ones to remove
for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
for (int i = 0; i < E->get().shapes.size(); i++) {
if (!E->get().shapes[i].tagged) {
toremove[toremove_count].body_id = E->key();
toremove[toremove_count].pair = E->get().shapes[i];
toremove_count++;
}
}
}
//process remotions
for (int i = 0; i < toremove_count; i++) {
_body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape);
}
//process aditions
for (int i = 0; i < toadd_count; i++) {
_body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape);
}
contact_monitor->locked = false;
}
state = NULL;
}
void RigidBody::_notification(int p_what) {
}
void RigidBody::set_mode(Mode p_mode) {
mode = p_mode;
switch (p_mode) {
case MODE_RIGID: {
PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_RIGID);
} break;
case MODE_STATIC: {
PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC);
} break;
case MODE_CHARACTER: {
PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_CHARACTER);
} break;
case MODE_KINEMATIC: {
PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_KINEMATIC);
} break;
}
}
RigidBody::Mode RigidBody::get_mode() const {
return mode;
}
void RigidBody::set_mass(real_t p_mass) {
ERR_FAIL_COND(p_mass <= 0);
mass = p_mass;
_change_notify("mass");
_change_notify("weight");
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_MASS, mass);
}
real_t RigidBody::get_mass() const {
return mass;
}
void RigidBody::set_weight(real_t p_weight) {
set_mass(p_weight / 9.8);
}
real_t RigidBody::get_weight() const {
return mass * 9.8;
}
void RigidBody::set_friction(real_t p_friction) {
ERR_FAIL_COND(p_friction < 0 || p_friction > 1);
friction = p_friction;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction);
}
real_t RigidBody::get_friction() const {
return friction;
}
void RigidBody::set_bounce(real_t p_bounce) {
ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1);
bounce = p_bounce;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, bounce);
}
real_t RigidBody::get_bounce() const {
return bounce;
}
void RigidBody::set_gravity_scale(real_t p_gravity_scale) {
gravity_scale = p_gravity_scale;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
}
real_t RigidBody::get_gravity_scale() const {
return gravity_scale;
}
void RigidBody::set_linear_damp(real_t p_linear_damp) {
ERR_FAIL_COND(p_linear_damp < -1);
linear_damp = p_linear_damp;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_LINEAR_DAMP, linear_damp);
}
real_t RigidBody::get_linear_damp() const {
return linear_damp;
}
void RigidBody::set_angular_damp(real_t p_angular_damp) {
ERR_FAIL_COND(p_angular_damp < -1);
angular_damp = p_angular_damp;
PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_ANGULAR_DAMP, angular_damp);
}
real_t RigidBody::get_angular_damp() const {
return angular_damp;
}
void RigidBody::set_axis_velocity(const Vector3 &p_axis) {
Vector3 v = state ? state->get_linear_velocity() : linear_velocity;
Vector3 axis = p_axis.normalized();
v -= axis * axis.dot(v);
v += p_axis;
if (state) {
set_linear_velocity(v);
} else {
PhysicsServer::get_singleton()->body_set_axis_velocity(get_rid(), p_axis);
linear_velocity = v;
}
}
void RigidBody::set_linear_velocity(const Vector3 &p_velocity) {
linear_velocity = p_velocity;
if (state)
state->set_linear_velocity(linear_velocity);
else
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
}
Vector3 RigidBody::get_linear_velocity() const {
return linear_velocity;
}
void RigidBody::set_angular_velocity(const Vector3 &p_velocity) {
angular_velocity = p_velocity;
if (state)
state->set_angular_velocity(angular_velocity);
else
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
}
Vector3 RigidBody::get_angular_velocity() const {
return angular_velocity;
}
void RigidBody::set_use_custom_integrator(bool p_enable) {
if (custom_integrator == p_enable)
return;
custom_integrator = p_enable;
PhysicsServer::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
}
bool RigidBody::is_using_custom_integrator() {
return custom_integrator;
}
void RigidBody::set_sleeping(bool p_sleeping) {
sleeping = p_sleeping;
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_SLEEPING, sleeping);
}
void RigidBody::set_can_sleep(bool p_active) {
can_sleep = p_active;
PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_CAN_SLEEP, p_active);
}
bool RigidBody::is_able_to_sleep() const {
return can_sleep;
}
bool RigidBody::is_sleeping() const {
return sleeping;
}
void RigidBody::set_max_contacts_reported(int p_amount) {
max_contacts_reported = p_amount;
PhysicsServer::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount);
}
int RigidBody::get_max_contacts_reported() const {
return max_contacts_reported;
}
void RigidBody::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
PhysicsServer::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
}
void RigidBody::set_use_continuous_collision_detection(bool p_enable) {
ccd = p_enable;
PhysicsServer::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable);
}
bool RigidBody::is_using_continuous_collision_detection() const {
return ccd;
}
void RigidBody::set_contact_monitor(bool p_enabled) {
if (p_enabled == is_contact_monitor_enabled())
return;
if (!p_enabled) {
if (contact_monitor->locked) {
ERR_EXPLAIN("Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\",false) instead");
}
ERR_FAIL_COND(contact_monitor->locked);
for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
//clean up mess
}
memdelete(contact_monitor);
contact_monitor = NULL;
} else {
contact_monitor = memnew(ContactMonitor);
contact_monitor->locked = false;
}
}
bool RigidBody::is_contact_monitor_enabled() const {
return contact_monitor != NULL;
}
void RigidBody::set_axis_lock(AxisLock p_lock) {
axis_lock = p_lock;
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), PhysicsServer::BodyAxisLock(axis_lock));
}
RigidBody::AxisLock RigidBody::get_axis_lock() const {
return axis_lock;
}
Array RigidBody::get_colliding_bodies() const {
ERR_FAIL_COND_V(!contact_monitor, Array());
Array ret;
ret.resize(contact_monitor->body_map.size());
int idx = 0;
for (const Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
Object *obj = ObjectDB::get_instance(E->key());
if (!obj) {
ret.resize(ret.size() - 1); //ops
} else {
ret[idx++] = obj;
}
}
return ret;
}
void RigidBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody::set_mode);
ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody::get_mode);
ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody::set_mass);
ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody::get_mass);
ClassDB::bind_method(D_METHOD("set_weight", "weight"), &RigidBody::set_weight);
ClassDB::bind_method(D_METHOD("get_weight"), &RigidBody::get_weight);
ClassDB::bind_method(D_METHOD("set_friction", "friction"), &RigidBody::set_friction);
ClassDB::bind_method(D_METHOD("get_friction"), &RigidBody::get_friction);
ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &RigidBody::set_bounce);
ClassDB::bind_method(D_METHOD("get_bounce"), &RigidBody::get_bounce);
ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody::set_linear_velocity);
ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody::get_linear_velocity);
ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody::get_angular_velocity);
ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody::set_gravity_scale);
ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody::get_gravity_scale);
ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody::set_linear_damp);
ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody::get_linear_damp);
ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody::set_angular_damp);
ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody::get_angular_damp);
ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody::set_max_contacts_reported);
ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody::get_max_contacts_reported);
ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody::set_use_custom_integrator);
ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody::is_using_custom_integrator);
ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody::set_contact_monitor);
ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody::is_contact_monitor_enabled);
ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody::set_use_continuous_collision_detection);
ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody::is_using_continuous_collision_detection);
ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody::set_axis_velocity);
ClassDB::bind_method(D_METHOD("apply_impulse", "pos", "impulse"), &RigidBody::apply_impulse);
ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody::set_sleeping);
ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody::is_sleeping);
ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody::set_can_sleep);
ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody::is_able_to_sleep);
ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody::_direct_state_changed);
ClassDB::bind_method(D_METHOD("_body_enter_tree"), &RigidBody::_body_enter_tree);
ClassDB::bind_method(D_METHOD("_body_exit_tree"), &RigidBody::_body_exit_tree);
ClassDB::bind_method(D_METHOD("set_axis_lock", "axis_lock"), &RigidBody::set_axis_lock);
ClassDB::bind_method(D_METHOD("get_axis_lock"), &RigidBody::get_axis_lock);
ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody::get_colliding_bodies);
BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state:PhysicsDirectBodyState")));
ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection");
ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported"), "set_max_contacts_reported", "get_max_contacts_reported");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
ADD_PROPERTY(PropertyInfo(Variant::INT, "axis_lock", PROPERTY_HINT_ENUM, "Disabled,Lock X,Lock Y,Lock Z"), "set_axis_lock", "get_axis_lock");
ADD_GROUP("Linear", "linear_");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "linear_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "set_linear_damp", "get_linear_damp");
ADD_GROUP("Angular", "angular_");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "set_angular_damp", "get_angular_damp");
ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body")));
ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body")));
ADD_SIGNAL(MethodInfo("sleeping_state_changed"));
BIND_CONSTANT(MODE_STATIC);
BIND_CONSTANT(MODE_KINEMATIC);
BIND_CONSTANT(MODE_RIGID);
BIND_CONSTANT(MODE_CHARACTER);
}
RigidBody::RigidBody()
: PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {
mode = MODE_RIGID;
bounce = 0;
mass = 1;
friction = 1;
max_contacts_reported = 0;
state = NULL;
gravity_scale = 1;
linear_damp = -1;
angular_damp = -1;
//angular_velocity=0;
sleeping = false;
ccd = false;
custom_integrator = false;
contact_monitor = NULL;
can_sleep = true;
axis_lock = AXIS_LOCK_DISABLED;
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
}
RigidBody::~RigidBody() {
if (contact_monitor)
memdelete(contact_monitor);
}
//////////////////////////////////////////////////////
//////////////////////////
Variant KinematicBody::_get_collider() const {
ObjectID oid = get_collider();
if (oid == 0)
return Variant();
Object *obj = ObjectDB::get_instance(oid);
if (!obj)
return Variant();
Reference *ref = obj->cast_to<Reference>();
if (ref) {
return Ref<Reference>(ref);
}
return obj;
}
bool KinematicBody::_ignores_mode(PhysicsServer::BodyMode p_mode) const {
switch (p_mode) {
case PhysicsServer::BODY_MODE_STATIC: return !collide_static;
case PhysicsServer::BODY_MODE_KINEMATIC: return !collide_kinematic;
case PhysicsServer::BODY_MODE_RIGID: return !collide_rigid;
case PhysicsServer::BODY_MODE_CHARACTER: return !collide_character;
}
return true;
}
Vector3 KinematicBody::move(const Vector3 &p_motion) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
//what it does is simpler than using physics
//this took about a week to get right..
//but is it right? who knows at this point..
colliding = false;
ERR_FAIL_COND_V(!is_inside_tree(), Vector3());
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
ERR_FAIL_COND_V(!dss, Vector3());
const int max_shapes = 32;
Vector3 sr[max_shapes * 2];
int res_shapes;
Set<RID> exclude;
exclude.insert(get_rid());
//recover first
int recover_attempts = 4;
bool collided = false;
uint32_t mask = 0;
if (collide_static)
mask |= PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
mask |= PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
mask |= PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
mask |= PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
//print_line("motion: "+p_motion+" margin: "+rtos(margin));
//print_line("margin: "+rtos(margin));
float m = margin;
//m=0.001;
do {
//motion recover
for (int i = 0; i < get_shape_count(); i++) {
if (is_shape_set_as_trigger(i))
continue;
if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), m, sr, max_shapes, res_shapes, exclude, get_collision_layer(), mask)) {
collided = true;
}
}
if (!collided)
break;
//print_line("have to recover");
Vector3 recover_motion;
bool all_outside = true;
for (int j = 0; j < 8; j++) {
for (int i = 0; i < res_shapes; i++) {
Vector3 a = sr[i * 2 + 0];
Vector3 b = sr[i * 2 + 1];
//print_line(String()+a+" -> "+b);
#if 0
float d = a.distance_to(b);
/*
if (d<margin)
continue;
*/
recover_motion+=(b-a)*0.2;
#else
float dist = a.distance_to(b);
if (dist > CMP_EPSILON) {
Vector3 norm = (b - a).normalized();
if (dist > margin * 0.5)
all_outside = false;
float adv = norm.dot(recover_motion);
//print_line(itos(i)+" dist: "+rtos(dist)+" adv: "+rtos(adv));
recover_motion += norm * MAX(dist - adv, 0) * 0.4;
}
#endif
}
}
if (recover_motion == Vector3()) {
collided = false;
break;
}
//print_line("**** RECOVER: "+recover_motion);
Transform gt = get_global_transform();
gt.origin += recover_motion;
set_global_transform(gt);
recover_attempts--;
if (all_outside)
break;
} while (recover_attempts);
//move second
float safe = 1.0;
float unsafe = 1.0;
int best_shape = -1;
PhysicsDirectSpaceState::ShapeRestInfo rest;
//print_line("pos: "+get_global_transform().origin);
//print_line("motion: "+p_motion);
for (int i = 0; i < get_shape_count(); i++) {
if (is_shape_set_as_trigger(i))
continue;
float lsafe, lunsafe;
PhysicsDirectSpaceState::ShapeRestInfo lrest;
bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, 0, lsafe, lunsafe, exclude, get_collision_layer(), mask, &lrest);
//print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
if (!valid) {
safe = 0;
unsafe = 0;
best_shape = i; //sadly it's the best
//print_line("initial stuck");
break;
}
if (lsafe == 1.0) {
//print_line("initial free");
continue;
}
if (lsafe < safe) {
//print_line("initial at "+rtos(lsafe));
safe = lsafe;
safe = MAX(0, lsafe - 0.01);
unsafe = lunsafe;
best_shape = i;
rest = lrest;
}
}
//print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
if (safe >= 1) {
//not collided
colliding = false;
} else {
colliding = true;
if (true || (safe == 0 && unsafe == 0)) { //use it always because it's more precise than GJK
//no advance, use rest info from collision
Transform ugt = get_global_transform();
ugt.origin += p_motion * unsafe;
PhysicsDirectSpaceState::ShapeRestInfo rest_info;
bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt * get_shape_transform(best_shape), m, &rest, exclude, get_collision_layer(), mask);
if (!c2) {
//should not happen, but floating point precision is so weird..
colliding = false;
}
//print_line("Rest Travel: "+rest.normal);
}
if (colliding) {
collision = rest.point;
normal = rest.normal;
collider = rest.collider_id;
collider_vel = rest.linear_velocity;
collider_shape = rest.shape;
}
}
Vector3 motion = p_motion * safe;
/*
if (colliding)
motion+=normal*0.001;
*/
Transform gt = get_global_transform();
gt.origin += motion;
set_global_transform(gt);
return p_motion - motion;
}
Vector3 KinematicBody::move_to(const Vector3 &p_position) {
return move(p_position - get_global_transform().origin);
}
bool KinematicBody::can_teleport_to(const Vector3 &p_position) {
ERR_FAIL_COND_V(!is_inside_tree(), false);
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
ERR_FAIL_COND_V(!dss, false);
uint32_t mask = 0;
if (collide_static)
mask |= PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
mask |= PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
mask |= PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
mask |= PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
Transform xform = get_global_transform();
xform.origin = p_position;
Set<RID> exclude;
exclude.insert(get_rid());
for (int i = 0; i < get_shape_count(); i++) {
if (is_shape_set_as_trigger(i))
continue;
bool col = dss->intersect_shape(get_shape(i)->get_rid(), xform * get_shape_transform(i), 0, NULL, 1, exclude, get_collision_layer(), mask);
if (col)
return false;
}
return true;
}
bool KinematicBody::is_colliding() const {
ERR_FAIL_COND_V(!is_inside_tree(), false);
return colliding;
}
Vector3 KinematicBody::get_collision_pos() const {
ERR_FAIL_COND_V(!colliding, Vector3());
return collision;
}
Vector3 KinematicBody::get_collision_normal() const {
ERR_FAIL_COND_V(!colliding, Vector3());
return normal;
}
Vector3 KinematicBody::get_collider_velocity() const {
return collider_vel;
}
ObjectID KinematicBody::get_collider() const {
ERR_FAIL_COND_V(!colliding, 0);
return collider;
}
int KinematicBody::get_collider_shape() const {
ERR_FAIL_COND_V(!colliding, -1);
return collider_shape;
}
void KinematicBody::set_collide_with_static_bodies(bool p_enable) {
collide_static = p_enable;
}
bool KinematicBody::can_collide_with_static_bodies() const {
return collide_static;
}
void KinematicBody::set_collide_with_rigid_bodies(bool p_enable) {
collide_rigid = p_enable;
}
bool KinematicBody::can_collide_with_rigid_bodies() const {
return collide_rigid;
}
void KinematicBody::set_collide_with_kinematic_bodies(bool p_enable) {
collide_kinematic = p_enable;
}
bool KinematicBody::can_collide_with_kinematic_bodies() const {
return collide_kinematic;
}
void KinematicBody::set_collide_with_character_bodies(bool p_enable) {
collide_character = p_enable;
}
bool KinematicBody::can_collide_with_character_bodies() const {
return collide_character;
}
void KinematicBody::set_collision_margin(float p_margin) {
margin = p_margin;
}
float KinematicBody::get_collision_margin() const {
return margin;
}
void KinematicBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("move", "rel_vec"), &KinematicBody::move);
ClassDB::bind_method(D_METHOD("move_to", "position"), &KinematicBody::move_to);
ClassDB::bind_method(D_METHOD("can_teleport_to", "position"), &KinematicBody::can_teleport_to);
ClassDB::bind_method(D_METHOD("is_colliding"), &KinematicBody::is_colliding);
ClassDB::bind_method(D_METHOD("get_collision_pos"), &KinematicBody::get_collision_pos);
ClassDB::bind_method(D_METHOD("get_collision_normal"), &KinematicBody::get_collision_normal);
ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicBody::get_collider_velocity);
ClassDB::bind_method(D_METHOD("get_collider:Variant"), &KinematicBody::_get_collider);
ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicBody::get_collider_shape);
ClassDB::bind_method(D_METHOD("set_collide_with_static_bodies", "enable"), &KinematicBody::set_collide_with_static_bodies);
ClassDB::bind_method(D_METHOD("can_collide_with_static_bodies"), &KinematicBody::can_collide_with_static_bodies);
ClassDB::bind_method(D_METHOD("set_collide_with_kinematic_bodies", "enable"), &KinematicBody::set_collide_with_kinematic_bodies);
ClassDB::bind_method(D_METHOD("can_collide_with_kinematic_bodies"), &KinematicBody::can_collide_with_kinematic_bodies);
ClassDB::bind_method(D_METHOD("set_collide_with_rigid_bodies", "enable"), &KinematicBody::set_collide_with_rigid_bodies);
ClassDB::bind_method(D_METHOD("can_collide_with_rigid_bodies"), &KinematicBody::can_collide_with_rigid_bodies);
ClassDB::bind_method(D_METHOD("set_collide_with_character_bodies", "enable"), &KinematicBody::set_collide_with_character_bodies);
ClassDB::bind_method(D_METHOD("can_collide_with_character_bodies"), &KinematicBody::can_collide_with_character_bodies);
ClassDB::bind_method(D_METHOD("set_collision_margin", "pixels"), &KinematicBody::set_collision_margin);
ClassDB::bind_method(D_METHOD("get_collision_margin", "pixels"), &KinematicBody::get_collision_margin);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with/static"), "set_collide_with_static_bodies", "can_collide_with_static_bodies");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with/kinematic"), "set_collide_with_kinematic_bodies", "can_collide_with_kinematic_bodies");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with/rigid"), "set_collide_with_rigid_bodies", "can_collide_with_rigid_bodies");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with/character"), "set_collide_with_character_bodies", "can_collide_with_character_bodies");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision/margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_collision_margin", "get_collision_margin");
}
KinematicBody::KinematicBody()
: PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC) {
collide_static = true;
collide_rigid = true;
collide_kinematic = true;
collide_character = true;
colliding = false;
collider = 0;
margin = 0.001;
collider_shape = 0;
}
KinematicBody::~KinematicBody() {
}