b93aeec4a2
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.
1588 lines
51 KiB
C++
1588 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/class_db.h"
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#include "core/error_macros.h"
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#include "core/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 BulletPhysicsServer::_bind_methods() {
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//ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer::DoTest);
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}
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BulletPhysicsServer::BulletPhysicsServer() :
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PhysicsServer(),
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active(true),
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active_spaces_count(0) {}
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BulletPhysicsServer::~BulletPhysicsServer() {}
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RID BulletPhysicsServer::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_PLANE: {
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shape = bulletnew(PlaneShapeBullet);
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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 BulletPhysicsServer::shape_set_data(RID p_shape, const Variant &p_data) {
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ShapeBullet *shape = shape_owner.get(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 BulletPhysicsServer::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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PhysicsServer::ShapeType BulletPhysicsServer::shape_get_type(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, PhysicsServer::SHAPE_CUSTOM);
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return shape->get_type();
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}
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Variant BulletPhysicsServer::shape_get_data(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get(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 BulletPhysicsServer::shape_set_margin(RID p_shape, real_t p_margin) {
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ShapeBullet *shape = shape_owner.get(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 BulletPhysicsServer::shape_get_margin(RID p_shape) const {
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ShapeBullet *shape = shape_owner.get(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 BulletPhysicsServer::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 BulletPhysicsServer::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 BulletPhysicsServer::space_set_active(RID p_space, bool p_active) {
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SpaceBullet *space = space_owner.get(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 BulletPhysicsServer::space_is_active(RID p_space) const {
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SpaceBullet *space = space_owner.get(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 BulletPhysicsServer::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
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SpaceBullet *space = space_owner.get(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 BulletPhysicsServer::space_get_param(RID p_space, SpaceParameter p_param) const {
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SpaceBullet *space = space_owner.get(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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PhysicsDirectSpaceState *BulletPhysicsServer::space_get_direct_state(RID p_space) {
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SpaceBullet *space = space_owner.get(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 BulletPhysicsServer::space_set_debug_contacts(RID p_space, int p_max_contacts) {
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SpaceBullet *space = space_owner.get(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> BulletPhysicsServer::space_get_contacts(RID p_space) const {
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SpaceBullet *space = space_owner.get(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 BulletPhysicsServer::space_get_contact_count(RID p_space) const {
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SpaceBullet *space = space_owner.get(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 BulletPhysicsServer::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 BulletPhysicsServer::area_set_space(RID p_area, RID p_space) {
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AreaBullet *area = area_owner.get(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(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 BulletPhysicsServer::area_get_space(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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return area->get_space()->get_self();
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}
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void BulletPhysicsServer::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
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AreaBullet *area = area_owner.get(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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PhysicsServer::AreaSpaceOverrideMode BulletPhysicsServer::area_get_space_override_mode(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED);
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return area->get_spOv_mode();
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}
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void BulletPhysicsServer::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ShapeBullet *shape = shape_owner.get(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 BulletPhysicsServer::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ShapeBullet *shape = shape_owner.get(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 BulletPhysicsServer::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) {
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::area_get_shape_count(RID p_area) const {
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::area_get_shape(RID p_area, int p_shape_idx) const {
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AreaBullet *area = area_owner.get(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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Transform BulletPhysicsServer::area_get_shape_transform(RID p_area, int p_shape_idx) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, Transform());
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return area->get_shape_transform(p_shape_idx);
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}
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void BulletPhysicsServer::area_remove_shape(RID p_area, int p_shape_idx) {
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::area_clear_shapes(RID p_area) {
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::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(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 BulletPhysicsServer::area_get_object_instance_id(RID p_area) const {
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if (space_owner.owns(p_area)) {
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return 0;
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}
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::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(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(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 BulletPhysicsServer::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(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(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 BulletPhysicsServer::area_set_transform(RID p_area, const Transform &p_transform) {
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AreaBullet *area = area_owner.get(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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Transform BulletPhysicsServer::area_get_transform(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, Transform());
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return area->get_transform();
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}
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void BulletPhysicsServer::area_set_collision_mask(RID p_area, uint32_t p_mask) {
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::area_set_collision_layer(RID p_area, uint32_t p_layer) {
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::area_set_monitorable(RID p_area, bool p_monitorable) {
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AreaBullet *area = area_owner.get(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 BulletPhysicsServer::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_receiver ? p_receiver->get_instance_id() : 0, p_method);
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}
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void BulletPhysicsServer::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_receiver ? p_receiver->get_instance_id() : 0, p_method);
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}
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void BulletPhysicsServer::area_set_ray_pickable(RID p_area, bool p_enable) {
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AreaBullet *area = area_owner.get(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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bool BulletPhysicsServer::area_is_ray_pickable(RID p_area) const {
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AreaBullet *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, false);
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return area->is_ray_pickable();
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}
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RID BulletPhysicsServer::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 BulletPhysicsServer::body_set_space(RID p_body, RID p_space) {
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RigidBodyBullet *body = rigid_body_owner.get(p_body);
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ERR_FAIL_COND(!body);
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SpaceBullet *space = nullptr;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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|
|
if (body->get_space() == space) {
|
|
return; //pointles
|
|
}
|
|
|
|
body->set_space(space);
|
|
}
|
|
|
|
RID BulletPhysicsServer::body_get_space(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
SpaceBullet *space = body->get_space();
|
|
if (!space) {
|
|
return RID();
|
|
}
|
|
return space->get_self();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_mode(RID p_body, PhysicsServer::BodyMode p_mode) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_mode(p_mode);
|
|
}
|
|
|
|
PhysicsServer::BodyMode BulletPhysicsServer::body_get_mode(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
|
|
return body->get_mode();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ShapeBullet *shape = shape_owner.get(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->add_shape(shape, p_transform, p_disabled);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ShapeBullet *shape = shape_owner.get(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->set_shape(p_shape_idx, shape);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_transform(p_shape_idx, p_transform);
|
|
}
|
|
|
|
int BulletPhysicsServer::body_get_shape_count(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return body->get_shape_count();
|
|
}
|
|
|
|
RID BulletPhysicsServer::body_get_shape(RID p_body, int p_shape_idx) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(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();
|
|
}
|
|
|
|
Transform BulletPhysicsServer::body_get_shape_transform(RID p_body, int p_shape_idx) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Transform());
|
|
return body->get_shape_transform(p_shape_idx);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_disabled(p_shape_idx, p_disabled);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_remove_shape(RID p_body, int p_shape_idx) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_shape_full(p_shape_idx);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_clear_shapes(RID p_body) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_all_shapes();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_id) {
|
|
CollisionObjectBullet *body = get_collision_object(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_instance_id(p_id);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::body_get_object_instance_id(RID p_body) const {
|
|
CollisionObjectBullet *body = get_collision_object(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_instance_id();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_continuous_collision_detection(p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_is_continuous_collision_detection_enabled(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
|
|
return body->is_continuous_collision_detection_enabled();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::body_get_collision_layer(RID p_body) const {
|
|
const RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::body_get_collision_mask(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_user_flags(RID p_body, uint32_t p_flags) {
|
|
// This function si not currently supported
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::body_get_user_flags(RID p_body) const {
|
|
// This function si not currently supported
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_param(RID p_body, BodyParameter p_param, float p_value) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_param(p_param, p_value);
|
|
}
|
|
|
|
float BulletPhysicsServer::body_get_param(RID p_body, BodyParameter p_param) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_param(p_param);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
if (body->get_kinematic_utilities()) {
|
|
body->get_kinematic_utilities()->setSafeMargin(p_margin);
|
|
}
|
|
}
|
|
|
|
real_t BulletPhysicsServer::body_get_kinematic_safe_margin(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
if (body->get_kinematic_utilities()) {
|
|
return body->get_kinematic_utilities()->safe_margin;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_state(p_state, p_variant);
|
|
}
|
|
|
|
Variant BulletPhysicsServer::body_get_state(RID p_body, BodyState p_state) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Variant());
|
|
|
|
return body->get_state(p_state);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_applied_force(RID p_body, const Vector3 &p_force) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_force(p_force);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::body_get_applied_force(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
return body->get_applied_force();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_torque(p_torque);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::body_get_applied_torque(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
|
|
return body->get_applied_torque();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_central_force(RID p_body, const Vector3 &p_force) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_central_force(p_force);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_force(p_force, p_pos);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_torque(RID p_body, const Vector3 &p_torque) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_torque(p_torque);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_central_impulse(p_impulse);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_impulse(p_pos, p_impulse);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_torque_impulse(p_impulse);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(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 BulletPhysicsServer::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_axis_lock(p_axis, p_lock);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
|
|
const RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return body->is_axis_locked(p_axis);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
RigidBodyBullet *other_body = rigid_body_owner.get(p_body_b);
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->add_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
RigidBodyBullet *other_body = rigid_body_owner.get(p_body_b);
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->remove_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(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 BulletPhysicsServer::body_set_max_contacts_reported(RID p_body, int p_contacts) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_max_collisions_detection(p_contacts);
|
|
}
|
|
|
|
int BulletPhysicsServer::body_get_max_contacts_reported(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_max_collisions_detection();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) {
|
|
// Not supported by bullet and even Godot
|
|
}
|
|
|
|
float BulletPhysicsServer::body_get_contacts_reported_depth_threshold(RID p_body) const {
|
|
// Not supported by bullet and even Godot
|
|
return 0.;
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_omit_force_integration(RID p_body, bool p_omit) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_omit_forces_integration(p_omit);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_is_omitting_force_integration(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
|
|
return body->get_omit_forces_integration();
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_force_integration_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(0), p_method, p_udata);
|
|
}
|
|
|
|
void BulletPhysicsServer::body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_is_ray_pickable(RID p_body) const {
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
return body->is_ray_pickable();
|
|
}
|
|
|
|
PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) {
|
|
if (!rigid_body_owner.owns(p_body)) {
|
|
return nullptr;
|
|
}
|
|
|
|
RigidBodyBullet *body = rigid_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, nullptr);
|
|
|
|
if (!body->get_space()) {
|
|
return nullptr;
|
|
}
|
|
|
|
return BulletPhysicsDirectBodyState::get_singleton(body);
|
|
}
|
|
|
|
bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &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(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 BulletPhysicsServer::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
|
|
RigidBodyBullet *body = rigid_body_owner.get(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 BulletPhysicsServer::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 BulletPhysicsServer::soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->update_visual_server(p_visual_server_handler);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_space(RID p_body, RID p_space) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
SpaceBullet *space = nullptr;
|
|
|
|
if (p_space.is_valid()) {
|
|
space = space_owner.get(p_space);
|
|
ERR_FAIL_COND(!space);
|
|
}
|
|
|
|
if (body->get_space() == space) {
|
|
return; //pointles
|
|
}
|
|
|
|
body->set_space(space);
|
|
}
|
|
|
|
RID BulletPhysicsServer::soft_body_get_space(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
SpaceBullet *space = body->get_space();
|
|
if (!space) {
|
|
return RID();
|
|
}
|
|
return space->get_self();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_mesh(RID p_body, const REF &p_mesh) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_soft_mesh(p_mesh);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::soft_body_get_collision_layer(RID p_body) const {
|
|
const SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t BulletPhysicsServer::soft_body_get_collision_mask(RID p_body) const {
|
|
const SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
CollisionObjectBullet *other_body = rigid_body_owner.get(p_body_b);
|
|
if (!other_body) {
|
|
other_body = soft_body_owner.get(p_body_b);
|
|
}
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->add_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
CollisionObjectBullet *other_body = rigid_body_owner.get(p_body_b);
|
|
if (!other_body) {
|
|
other_body = soft_body_owner.get(p_body_b);
|
|
}
|
|
ERR_FAIL_COND(!other_body);
|
|
|
|
body->remove_collision_exception(other_body);
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
SoftBodyBullet *body = soft_body_owner.get(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 BulletPhysicsServer::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 BulletPhysicsServer::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 BulletPhysicsServer::soft_body_set_transform(RID p_body, const Transform &p_transform) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_soft_transform(p_transform);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::soft_body_get_vertex_position(RID p_body, int vertex_index) const {
|
|
const SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
Vector3 pos;
|
|
ERR_FAIL_COND_V(!body, pos);
|
|
|
|
body->get_node_position(vertex_index, pos);
|
|
return pos;
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::soft_body_is_ray_pickable(RID p_body) const {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
return body->is_ray_pickable();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_simulation_precision(p_simulation_precision);
|
|
}
|
|
|
|
int BulletPhysicsServer::soft_body_get_simulation_precision(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_simulation_precision();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_total_mass(p_total_mass);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_total_mass(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_total_mass();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_linear_stiffness(p_stiffness);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_linear_stiffness(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_linear_stiffness();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_areaAngular_stiffness(p_stiffness);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_areaAngular_stiffness(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_areaAngular_stiffness();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_volume_stiffness(p_stiffness);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_volume_stiffness(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_volume_stiffness();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_pressure_coefficient(p_pressure_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_pressure_coefficient(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_pressure_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
return body->set_pose_matching_coefficient(p_pose_matching_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_pose_matching_coefficient(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_pose_matching_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_damping_coefficient(p_damping_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_damping_coefficient(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_damping_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_drag_coefficient(p_drag_coefficient);
|
|
}
|
|
|
|
real_t BulletPhysicsServer::soft_body_get_drag_coefficient(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_drag_coefficient();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_node_position(p_point_index, p_global_position);
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::soft_body_get_point_global_position(RID p_body, int p_point_index) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.));
|
|
Vector3 pos;
|
|
body->get_node_position(p_point_index, pos);
|
|
return pos;
|
|
}
|
|
|
|
Vector3 BulletPhysicsServer::soft_body_get_point_offset(RID p_body, int p_point_index) const {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
Vector3 res;
|
|
body->get_node_offset(p_point_index, res);
|
|
return res;
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_remove_all_pinned_points(RID p_body) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->reset_all_node_mass();
|
|
}
|
|
|
|
void BulletPhysicsServer::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_node_mass(p_point_index, p_pin ? 0 : 1);
|
|
}
|
|
|
|
bool BulletPhysicsServer::soft_body_is_point_pinned(RID p_body, int p_point_index) {
|
|
SoftBodyBullet *body = soft_body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0.f);
|
|
return body->get_node_mass(p_point_index);
|
|
}
|
|
|
|
PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, JOINT_PIN);
|
|
return joint->get_type();
|
|
}
|
|
|
|
void BulletPhysicsServer::joint_set_solver_priority(RID p_joint, int p_priority) {
|
|
// Joint priority not supported by bullet
|
|
}
|
|
|
|
int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const {
|
|
// Joint priority not supported by bullet
|
|
return 0;
|
|
}
|
|
|
|
void BulletPhysicsServer::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
|
|
JointBullet *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
|
|
joint->disable_collisions_between_bodies(p_disable);
|
|
}
|
|
|
|
bool BulletPhysicsServer::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
|
|
JointBullet *joint(joint_owner.get(p_joint));
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
|
|
return joint->is_disabled_collisions_between_bodies();
|
|
}
|
|
|
|
RID BulletPhysicsServer::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(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(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 BulletPhysicsServer::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(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);
|
|
}
|
|
|
|
float BulletPhysicsServer::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::pin_joint_get_local_a(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::pin_joint_get_local_b(RID p_joint) const {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(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(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 BulletPhysicsServer::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(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(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 BulletPhysicsServer::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(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);
|
|
}
|
|
|
|
float BulletPhysicsServer::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(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(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 BulletPhysicsServer::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(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);
|
|
}
|
|
|
|
float BulletPhysicsServer::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(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(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 BulletPhysicsServer::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(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);
|
|
}
|
|
|
|
float BulletPhysicsServer::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
|
|
RigidBodyBullet *body_A = rigid_body_owner.get(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(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 BulletPhysicsServer::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) {
|
|
JointBullet *joint = joint_owner.get(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);
|
|
}
|
|
|
|
float BulletPhysicsServer::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) {
|
|
JointBullet *joint = joint_owner.get(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 BulletPhysicsServer::free(RID p_rid) {
|
|
if (shape_owner.owns(p_rid)) {
|
|
ShapeBullet *shape = shape_owner.get(p_rid);
|
|
|
|
// Notify the shape is configured
|
|
for (Map<ShapeOwnerBullet *, int>::Element *element = shape->get_owners().front(); element; element = element->next()) {
|
|
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(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(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(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(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(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 BulletPhysicsServer::init() {
|
|
BulletPhysicsDirectBodyState::initSingleton();
|
|
}
|
|
|
|
void BulletPhysicsServer::step(float p_deltaTime) {
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
BulletPhysicsDirectBodyState::singleton_setDeltaTime(p_deltaTime);
|
|
|
|
for (int i = 0; i < active_spaces_count; ++i) {
|
|
active_spaces[i]->step(p_deltaTime);
|
|
}
|
|
}
|
|
|
|
void BulletPhysicsServer::flush_queries() {
|
|
}
|
|
|
|
void BulletPhysicsServer::finish() {
|
|
BulletPhysicsDirectBodyState::destroySingleton();
|
|
}
|
|
|
|
void BulletPhysicsServer::set_collision_iterations(int p_iterations) {
|
|
WARN_PRINT("Changing the number of 3D physics collision iterations is only supported when using GodotPhysics, not Bullet.");
|
|
}
|
|
|
|
int BulletPhysicsServer::get_process_info(ProcessInfo p_info) {
|
|
return 0;
|
|
}
|
|
|
|
CollisionObjectBullet *BulletPhysicsServer::get_collision_object(RID p_object) const {
|
|
if (rigid_body_owner.owns(p_object)) {
|
|
return rigid_body_owner.getornull(p_object);
|
|
}
|
|
if (area_owner.owns(p_object)) {
|
|
return area_owner.getornull(p_object);
|
|
}
|
|
if (soft_body_owner.owns(p_object)) {
|
|
return soft_body_owner.getornull(p_object);
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
RigidCollisionObjectBullet *BulletPhysicsServer::get_rigid_collision_object(RID p_object) const {
|
|
if (rigid_body_owner.owns(p_object)) {
|
|
return rigid_body_owner.getornull(p_object);
|
|
}
|
|
if (area_owner.owns(p_object)) {
|
|
return area_owner.getornull(p_object);
|
|
}
|
|
return nullptr;
|
|
}
|