godot/scene/3d/physics_body.h

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/*************************************************************************/
/* physics_body.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS_BODY__H
#define PHYSICS_BODY__H
#include "core/vset.h"
#include "scene/3d/collision_object.h"
#include "scene/resources/physics_material.h"
#include "servers/physics_server.h"
#include "skeleton.h"
class PhysicsBody : public CollisionObject {
GDCLASS(PhysicsBody, CollisionObject);
void _set_layers(uint32_t p_mask);
uint32_t _get_layers() const;
protected:
static void _bind_methods();
void _notification(int p_what);
PhysicsBody(PhysicsServer::BodyMode p_mode);
public:
virtual Vector3 get_linear_velocity() const;
virtual Vector3 get_angular_velocity() const;
virtual float get_inverse_mass() const;
Array get_collision_exceptions();
void add_collision_exception_with(Node *p_node); //must be physicsbody
void remove_collision_exception_with(Node *p_node);
PhysicsBody();
};
class StaticBody : public PhysicsBody {
GDCLASS(StaticBody, PhysicsBody);
Vector3 constant_linear_velocity;
Vector3 constant_angular_velocity;
Ref<PhysicsMaterial> physics_material_override;
protected:
static void _bind_methods();
public:
#ifndef DISABLE_DEPRECATED
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_bounce(real_t p_bounce);
real_t get_bounce() const;
#endif
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;
StaticBody();
~StaticBody();
private:
void _reload_physics_characteristics();
};
class RigidBody : public PhysicsBody {
GDCLASS(RigidBody, PhysicsBody);
public:
enum Mode {
MODE_RIGID,
MODE_STATIC,
MODE_CHARACTER,
MODE_KINEMATIC,
};
protected:
bool can_sleep;
PhysicsDirectBodyState *state;
Mode mode;
real_t mass;
Ref<PhysicsMaterial> physics_material_override;
Vector3 linear_velocity;
Vector3 angular_velocity;
Basis inverse_inertia_tensor;
real_t gravity_scale;
real_t linear_damp;
real_t angular_damp;
bool sleeping;
bool ccd;
int max_contacts_reported;
bool custom_integrator;
struct ShapePair {
int body_shape;
int local_shape;
bool tagged;
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 RigidBody_RemoveAction {
RID rid;
ObjectID body_id;
ShapePair pair;
};
struct BodyState {
RID rid;
bool in_tree;
VSet<ShapePair> shapes;
};
struct ContactMonitor {
bool locked;
Map<ObjectID, BodyState> body_map;
};
ContactMonitor *contact_monitor;
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);
virtual void _direct_state_changed(Object *p_state);
void _notification(int p_what);
static void _bind_methods();
public:
void set_mode(Mode p_mode);
Mode get_mode() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
virtual float get_inverse_mass() const { return 1.0 / mass; }
void set_weight(real_t p_weight);
real_t get_weight() const;
#ifndef DISABLE_DEPRECATED
void set_friction(real_t p_friction);
real_t get_friction() const;
void set_bounce(real_t p_bounce);
real_t get_bounce() const;
#endif
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;
void set_axis_velocity(const Vector3 &p_axis);
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const;
Basis get_inverse_inertia_tensor();
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;
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
Array get_colliding_bodies() const;
void add_central_force(const Vector3 &p_force);
void add_force(const Vector3 &p_force, const Vector3 &p_pos);
void add_torque(const Vector3 &p_torque);
void apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
void apply_torque_impulse(const Vector3 &p_impulse);
virtual String get_configuration_warning() const;
RigidBody();
~RigidBody();
private:
void _reload_physics_characteristics();
};
VARIANT_ENUM_CAST(RigidBody::Mode);
class KinematicCollision;
class KinematicBody : public PhysicsBody {
GDCLASS(KinematicBody, PhysicsBody);
public:
struct Collision {
Vector3 collision;
Vector3 normal;
Vector3 collider_vel;
ObjectID collider;
RID collider_rid;
int collider_shape;
Variant collider_metadata;
Vector3 remainder;
Vector3 travel;
int local_shape;
};
private:
uint16_t locked_axis;
float margin;
Vector3 floor_normal;
Vector3 floor_velocity;
RID on_floor_body;
bool on_floor;
bool on_ceiling;
bool on_wall;
Vector<Collision> colliders;
Vector<Ref<KinematicCollision>> slide_colliders;
Ref<KinematicCollision> motion_cache;
_FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const;
Ref<KinematicCollision> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
Ref<KinematicCollision> _get_slide_collision(int p_bounce);
protected:
void _notification(int p_what);
static void _bind_methods();
public:
bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);
void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock);
bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const;
void set_safe_margin(float p_margin);
float get_safe_margin() const;
Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true);
Vector3 move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45), bool p_infinite_inertia = true);
bool is_on_floor() const;
bool is_on_wall() const;
bool is_on_ceiling() const;
Vector3 get_floor_normal() const;
Vector3 get_floor_velocity() const;
int get_slide_count() const;
Collision get_slide_collision(int p_bounce) const;
KinematicBody();
~KinematicBody();
};
class KinematicCollision : public Reference {
GDCLASS(KinematicCollision, Reference);
KinematicBody *owner;
friend class KinematicBody;
KinematicBody::Collision collision;
protected:
static void _bind_methods();
public:
Vector3 get_position() const;
Vector3 get_normal() const;
Vector3 get_travel() const;
Vector3 get_remainder() const;
Object *get_local_shape() const;
Object *get_collider() const;
ObjectID get_collider_id() const;
Object *get_collider_shape() const;
int get_collider_shape_index() const;
Vector3 get_collider_velocity() const;
Variant get_collider_metadata() const;
KinematicCollision();
};
class PhysicalBone : public PhysicsBody {
GDCLASS(PhysicalBone, PhysicsBody);
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 PhysicsServer
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;
real_t damping;
real_t impulse_clamp;
PinJointData() :
bias(0.3),
damping(1.),
impulse_clamp(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;
real_t twist_span;
real_t bias;
real_t softness;
real_t relaxation;
ConeJointData() :
swing_span(Math_PI * 0.25),
twist_span(Math_PI),
bias(0.3),
softness(0.8),
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;
real_t angular_limit_upper;
real_t angular_limit_lower;
real_t angular_limit_bias;
real_t angular_limit_softness;
real_t angular_limit_relaxation;
HingeJointData() :
angular_limit_enabled(false),
angular_limit_upper(Math_PI * 0.5),
angular_limit_lower(-Math_PI * 0.5),
angular_limit_bias(0.3),
angular_limit_softness(0.9),
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;
real_t linear_limit_lower;
real_t linear_limit_softness;
real_t linear_limit_restitution;
real_t linear_limit_damping;
real_t angular_limit_upper;
real_t angular_limit_lower;
real_t angular_limit_softness;
real_t angular_limit_restitution;
real_t angular_limit_damping;
SliderJointData() :
linear_limit_upper(1.),
linear_limit_lower(-1.),
linear_limit_softness(1.),
linear_limit_restitution(0.7),
linear_limit_damping(1.),
angular_limit_upper(0),
angular_limit_lower(0),
angular_limit_softness(1.),
angular_limit_restitution(0.7),
angular_limit_damping(1.) {}
};
struct SixDOFJointData : public JointData {
struct SixDOFAxisData {
bool linear_limit_enabled;
real_t linear_limit_upper;
real_t linear_limit_lower;
real_t linear_limit_softness;
real_t linear_restitution;
real_t linear_damping;
bool linear_spring_enabled;
real_t linear_spring_stiffness;
real_t linear_spring_damping;
real_t linear_equilibrium_point;
bool angular_limit_enabled;
real_t angular_limit_upper;
real_t angular_limit_lower;
real_t angular_limit_softness;
real_t angular_restitution;
real_t angular_damping;
real_t erp;
bool angular_spring_enabled;
real_t angular_spring_stiffness;
real_t angular_spring_damping;
real_t angular_equilibrium_point;
SixDOFAxisData() :
linear_limit_enabled(true),
linear_limit_upper(0),
linear_limit_lower(0),
linear_limit_softness(0.7),
linear_restitution(0.5),
linear_damping(1.),
linear_spring_enabled(false),
linear_spring_stiffness(0),
linear_spring_damping(0),
linear_equilibrium_point(0),
angular_limit_enabled(true),
angular_limit_upper(0),
angular_limit_lower(0),
angular_limit_softness(0.5),
angular_restitution(0),
angular_damping(1.),
erp(0.5),
angular_spring_enabled(false),
angular_spring_stiffness(0),
angular_spring_damping(0.),
angular_equilibrium_point(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;
#endif
JointData *joint_data;
Transform joint_offset;
RID joint;
Skeleton *parent_skeleton;
Transform body_offset;
Transform body_offset_inverse;
bool static_body;
bool _internal_static_body;
bool simulate_physics;
bool _internal_simulate_physics;
int bone_id;
String bone_name;
real_t bounce;
real_t mass;
real_t friction;
real_t gravity_scale;
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);
void _direct_state_changed(Object *p_state);
static void _bind_methods();
private:
static Skeleton *find_skeleton_parent(Node *p_parent);
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 Transform get_global_gizmo_transform() const;
virtual Transform get_local_gizmo_transform() const;
#endif
const JointData *get_joint_data() const;
Skeleton *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 Transform &p_offset);
const Transform &get_joint_offset() const;
void set_body_offset(const Transform &p_offset);
const Transform &get_body_offset() const;
void set_static_body(bool p_static);
bool is_static_body();
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_weight(real_t p_weight);
real_t get_weight() 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 apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
PhysicalBone();
~PhysicalBone();
private:
void update_bone_id();
void update_offset();
void reset_to_rest_position();
void _reset_physics_simulation_state();
void _reset_staticness_state();
void _start_physics_simulation();
void _stop_physics_simulation();
};
VARIANT_ENUM_CAST(PhysicalBone::JointType);
#endif // PHYSICS_BODY__H