godot/scene/3d/physics_body_3d.h
PouleyKetchoupp 82ea2a7045 Proper support for custom mass properties in 2D/3D physics bodies
Changes:
-Added support for custom inertia and center of mass in 3D
-Added support for custom center of mass in 2D
-Calculated center of mass from shapes in 2D (same as in 3D)
-Fixed mass properties calculation with disabled shapes in 2D/3D
-Removed first_integration which is not used in 2D and doesn't seem to
make a lot of sense (prevents omit_force_integration to work during the
first frame)
-Support for custom inertia on different axes for RigidBody3D
2021-09-06 10:20:16 -07:00

644 lines
19 KiB
C++

/*************************************************************************/
/* physics_body_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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#ifndef PHYSICS_BODY_3D_H
#define PHYSICS_BODY_3D_H
#include "core/templates/vset.h"
#include "scene/3d/collision_object_3d.h"
#include "scene/resources/physics_material.h"
#include "servers/physics_server_3d.h"
#include "skeleton_3d.h"
class KinematicCollision3D;
class PhysicsBody3D : public CollisionObject3D {
GDCLASS(PhysicsBody3D, CollisionObject3D);
protected:
static void _bind_methods();
PhysicsBody3D(PhysicsServer3D::BodyMode p_mode);
Ref<KinematicCollision3D> motion_cache;
uint16_t locked_axis = 0;
Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001);
public:
bool move_and_collide(const Vector3 &p_motion, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_test_only = false, bool p_cancel_sliding = true, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>());
bool test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001);
void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
virtual Vector3 get_linear_velocity() const;
virtual Vector3 get_angular_velocity() const;
virtual real_t get_inverse_mass() const;
TypedArray<PhysicsBody3D> get_collision_exceptions();
void add_collision_exception_with(Node *p_node); //must be physicsbody
void remove_collision_exception_with(Node *p_node);
virtual ~PhysicsBody3D();
};
class StaticBody3D : public PhysicsBody3D {
GDCLASS(StaticBody3D, PhysicsBody3D);
private:
Vector3 constant_linear_velocity;
Vector3 constant_angular_velocity;
Ref<PhysicsMaterial> physics_material_override;
protected:
static void _bind_methods();
public:
void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
Ref<PhysicsMaterial> get_physics_material_override() const;
void set_constant_linear_velocity(const Vector3 &p_vel);
void set_constant_angular_velocity(const Vector3 &p_vel);
Vector3 get_constant_linear_velocity() const;
Vector3 get_constant_angular_velocity() const;
StaticBody3D(PhysicsServer3D::BodyMode p_mode = PhysicsServer3D::BODY_MODE_STATIC);
private:
void _reload_physics_characteristics();
};
class AnimatableBody3D : public StaticBody3D {
GDCLASS(AnimatableBody3D, StaticBody3D);
private:
Vector3 linear_velocity;
Vector3 angular_velocity;
bool sync_to_physics = false;
Transform3D last_valid_transform;
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
void _body_state_changed(PhysicsDirectBodyState3D *p_state);
protected:
void _notification(int p_what);
static void _bind_methods();
public:
virtual Vector3 get_linear_velocity() const override;
virtual Vector3 get_angular_velocity() const override;
AnimatableBody3D();
private:
void _update_kinematic_motion();
void set_sync_to_physics(bool p_enable);
bool is_sync_to_physics_enabled() const;
};
class RigidBody3D : public PhysicsBody3D {
GDCLASS(RigidBody3D, PhysicsBody3D);
public:
enum Mode {
MODE_DYNAMIC,
MODE_STATIC,
MODE_DYNAMIC_LOCKED,
MODE_KINEMATIC,
};
enum CenterOfMassMode {
CENTER_OF_MASS_MODE_AUTO,
CENTER_OF_MASS_MODE_CUSTOM,
};
GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
protected:
bool can_sleep = true;
Mode mode = MODE_DYNAMIC;
real_t mass = 1.0;
Vector3 inertia;
CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
Vector3 center_of_mass;
Ref<PhysicsMaterial> physics_material_override;
Vector3 linear_velocity;
Vector3 angular_velocity;
Basis inverse_inertia_tensor;
real_t gravity_scale = 1.0;
real_t linear_damp = -1.0;
real_t angular_damp = -1.0;
bool sleeping = false;
bool ccd = false;
int max_contacts_reported = 0;
bool custom_integrator = false;
struct ShapePair {
int body_shape = 0;
int local_shape = 0;
bool tagged = false;
bool operator<(const ShapePair &p_sp) const {
if (body_shape == p_sp.body_shape) {
return local_shape < p_sp.local_shape;
} else {
return body_shape < p_sp.body_shape;
}
}
ShapePair() {}
ShapePair(int p_bs, int p_ls) {
body_shape = p_bs;
local_shape = p_ls;
tagged = false;
}
};
struct RigidBody3D_RemoveAction {
RID rid;
ObjectID body_id;
ShapePair pair;
};
struct BodyState {
RID rid;
//int rc;
bool in_tree = false;
VSet<ShapePair> shapes;
};
struct ContactMonitor {
bool locked = false;
Map<ObjectID, BodyState> body_map;
};
ContactMonitor *contact_monitor = nullptr;
void _body_enter_tree(ObjectID p_id);
void _body_exit_tree(ObjectID p_id);
void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
void _notification(int p_what);
static void _bind_methods();
virtual void _validate_property(PropertyInfo &property) const override;
public:
void set_mode(Mode p_mode);
Mode get_mode() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
void set_inertia(const Vector3 &p_inertia);
const Vector3 &get_inertia() const;
void set_center_of_mass_mode(CenterOfMassMode p_mode);
CenterOfMassMode get_center_of_mass_mode() const;
void set_center_of_mass(const Vector3 &p_center_of_mass);
const Vector3 &get_center_of_mass() const;
void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
Ref<PhysicsMaterial> get_physics_material_override() const;
void set_linear_velocity(const Vector3 &p_velocity);
Vector3 get_linear_velocity() const override;
void set_axis_velocity(const Vector3 &p_axis);
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const override;
Basis get_inverse_inertia_tensor() const;
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;
void set_linear_damp(real_t p_linear_damp);
real_t get_linear_damp() const;
void set_angular_damp(real_t p_angular_damp);
real_t get_angular_damp() const;
void set_use_custom_integrator(bool p_enable);
bool is_using_custom_integrator();
void set_sleeping(bool p_sleeping);
bool is_sleeping() const;
void set_can_sleep(bool p_active);
bool is_able_to_sleep() const;
void set_contact_monitor(bool p_enabled);
bool is_contact_monitor_enabled() const;
void set_max_contacts_reported(int p_amount);
int get_max_contacts_reported() const;
void set_use_continuous_collision_detection(bool p_enable);
bool is_using_continuous_collision_detection() const;
Array get_colliding_bodies() const;
void add_central_force(const Vector3 &p_force);
void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
void add_torque(const Vector3 &p_torque);
void apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
void apply_torque_impulse(const Vector3 &p_impulse);
virtual TypedArray<String> get_configuration_warnings() const override;
RigidBody3D();
~RigidBody3D();
private:
void _reload_physics_characteristics();
};
VARIANT_ENUM_CAST(RigidBody3D::Mode);
VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode);
class KinematicCollision3D;
class CharacterBody3D : public PhysicsBody3D {
GDCLASS(CharacterBody3D, PhysicsBody3D);
private:
real_t margin = 0.001;
bool floor_stop_on_slope = false;
int max_slides = 4;
real_t floor_max_angle = Math::deg2rad((real_t)45.0);
Vector3 snap;
Vector3 up_direction = Vector3(0.0, 1.0, 0.0);
Vector3 linear_velocity;
Vector3 floor_normal;
Vector3 floor_velocity;
RID on_floor_body;
bool on_floor = false;
bool on_ceiling = false;
bool on_wall = false;
Vector<PhysicsServer3D::MotionResult> motion_results;
Vector<Ref<KinematicCollision3D>> slide_colliders;
Ref<KinematicCollision3D> _get_slide_collision(int p_bounce);
Ref<KinematicCollision3D> _get_last_slide_collision();
void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result);
void set_safe_margin(real_t p_margin);
real_t get_safe_margin() const;
bool is_floor_stop_on_slope_enabled() const;
void set_floor_stop_on_slope_enabled(bool p_enabled);
int get_max_slides() const;
void set_max_slides(int p_max_slides);
real_t get_floor_max_angle() const;
void set_floor_max_angle(real_t p_radians);
const Vector3 &get_snap() const;
void set_snap(const Vector3 &p_snap);
const Vector3 &get_up_direction() const;
void set_up_direction(const Vector3 &p_up_direction);
protected:
void _notification(int p_what);
static void _bind_methods();
public:
bool move_and_slide();
virtual Vector3 get_linear_velocity() const override;
void set_linear_velocity(const Vector3 &p_velocity);
bool is_on_floor() const;
bool is_on_floor_only() const;
bool is_on_wall() const;
bool is_on_wall_only() const;
bool is_on_ceiling() const;
bool is_on_ceiling_only() const;
Vector3 get_floor_normal() const;
real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
Vector3 get_platform_velocity() const;
int get_slide_collision_count() const;
PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const;
CharacterBody3D();
~CharacterBody3D();
};
class KinematicCollision3D : public RefCounted {
GDCLASS(KinematicCollision3D, RefCounted);
PhysicsBody3D *owner = nullptr;
friend class PhysicsBody3D;
friend class CharacterBody3D;
PhysicsServer3D::MotionResult result;
protected:
static void _bind_methods();
public:
Vector3 get_position() const;
Vector3 get_normal() const;
Vector3 get_travel() const;
Vector3 get_remainder() const;
real_t get_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
Object *get_local_shape() const;
Object *get_collider() const;
ObjectID get_collider_id() const;
RID get_collider_rid() const;
Object *get_collider_shape() const;
int get_collider_shape_index() const;
Vector3 get_collider_velocity() const;
Variant get_collider_metadata() const;
};
class PhysicalBone3D : public PhysicsBody3D {
GDCLASS(PhysicalBone3D, PhysicsBody3D);
public:
enum JointType {
JOINT_TYPE_NONE,
JOINT_TYPE_PIN,
JOINT_TYPE_CONE,
JOINT_TYPE_HINGE,
JOINT_TYPE_SLIDER,
JOINT_TYPE_6DOF
};
struct JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
/// "j" is used to set the parameter inside the PhysicsServer3D
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
virtual ~JointData() {}
};
struct PinJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
real_t bias = 0.3;
real_t damping = 1.0;
real_t impulse_clamp = 0.0;
};
struct ConeJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
real_t swing_span = Math_PI * 0.25;
real_t twist_span = Math_PI;
real_t bias = 0.3;
real_t softness = 0.8;
real_t relaxation = 1.;
};
struct HingeJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
bool angular_limit_enabled = false;
real_t angular_limit_upper = Math_PI * 0.5;
real_t angular_limit_lower = -Math_PI * 0.5;
real_t angular_limit_bias = 0.3;
real_t angular_limit_softness = 0.9;
real_t angular_limit_relaxation = 1.;
};
struct SliderJointData : public JointData {
virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
real_t linear_limit_upper = 1.0;
real_t linear_limit_lower = -1.0;
real_t linear_limit_softness = 1.0;
real_t linear_limit_restitution = 0.7;
real_t linear_limit_damping = 1.0;
real_t angular_limit_upper = 0.0;
real_t angular_limit_lower = 0.0;
real_t angular_limit_softness = 1.0;
real_t angular_limit_restitution = 0.7;
real_t angular_limit_damping = 1.0;
};
struct SixDOFJointData : public JointData {
struct SixDOFAxisData {
bool linear_limit_enabled = true;
real_t linear_limit_upper = 0.0;
real_t linear_limit_lower = 0.0;
real_t linear_limit_softness = 0.7;
real_t linear_restitution = 0.5;
real_t linear_damping = 1.0;
bool linear_spring_enabled = false;
real_t linear_spring_stiffness = 0.0;
real_t linear_spring_damping = 0.0;
real_t linear_equilibrium_point = 0.0;
bool angular_limit_enabled = true;
real_t angular_limit_upper = 0.0;
real_t angular_limit_lower = 0.0;
real_t angular_limit_softness = 0.5;
real_t angular_restitution = 0.0;
real_t angular_damping = 1.0;
real_t erp = 0.5;
bool angular_spring_enabled = false;
real_t angular_spring_stiffness = 0.0;
real_t angular_spring_damping = 0.0;
real_t angular_equilibrium_point = 0.0;
};
virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
SixDOFAxisData axis_data[3];
SixDOFJointData() {}
};
private:
#ifdef TOOLS_ENABLED
// if false gizmo move body
bool gizmo_move_joint = false;
#endif
JointData *joint_data = nullptr;
Transform3D joint_offset;
RID joint;
Skeleton3D *parent_skeleton = nullptr;
Transform3D body_offset;
Transform3D body_offset_inverse;
bool simulate_physics = false;
bool _internal_simulate_physics = false;
int bone_id = -1;
String bone_name;
real_t bounce = 0.0;
real_t mass = 1.0;
real_t friction = 1.0;
real_t gravity_scale = 1.0;
real_t linear_damp = -1.0;
real_t angular_damp = -1.0;
bool can_sleep = true;
protected:
bool _set(const StringName &p_name, const Variant &p_value);
bool _get(const StringName &p_name, Variant &r_ret) const;
void _get_property_list(List<PropertyInfo> *p_list) const;
void _notification(int p_what);
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
void _body_state_changed(PhysicsDirectBodyState3D *p_state);
static void _bind_methods();
private:
static Skeleton3D *find_skeleton_parent(Node *p_parent);
void _update_joint_offset();
void _fix_joint_offset();
void _reload_joint();
public:
void _on_bone_parent_changed();
void _set_gizmo_move_joint(bool p_move_joint);
public:
#ifdef TOOLS_ENABLED
virtual Transform3D get_global_gizmo_transform() const override;
virtual Transform3D get_local_gizmo_transform() const override;
#endif
const JointData *get_joint_data() const;
Skeleton3D *find_skeleton_parent();
int get_bone_id() const { return bone_id; }
void set_joint_type(JointType p_joint_type);
JointType get_joint_type() const;
void set_joint_offset(const Transform3D &p_offset);
const Transform3D &get_joint_offset() const;
void set_joint_rotation(const Vector3 &p_euler_rad);
Vector3 get_joint_rotation() const;
void set_body_offset(const Transform3D &p_offset);
const Transform3D &get_body_offset() const;
void set_simulate_physics(bool p_simulate);
bool get_simulate_physics();
bool is_simulating_physics();
void set_bone_name(const String &p_name);
const String &get_bone_name() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_bounce(real_t p_bounce);
real_t get_bounce() const;
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;
void set_linear_damp(real_t p_linear_damp);
real_t get_linear_damp() const;
void set_angular_damp(real_t p_angular_damp);
real_t get_angular_damp() const;
void set_can_sleep(bool p_active);
bool is_able_to_sleep() const;
void apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
void reset_physics_simulation_state();
void reset_to_rest_position();
PhysicalBone3D();
~PhysicalBone3D();
private:
void update_bone_id();
void update_offset();
void _start_physics_simulation();
void _stop_physics_simulation();
};
VARIANT_ENUM_CAST(PhysicalBone3D::JointType);
#endif // PHYSICS_BODY__H