godot/scene/3d/physics_body.h

328 lines
8.9 KiB
C++

/*************************************************************************/
/* physics_body.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 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 "scene/3d/collision_object.h"
#include "servers/physics_server.h"
#include "vset.h"
class PhysicsBody : public CollisionObject {
GDCLASS(PhysicsBody, CollisionObject);
uint32_t collision_layer;
uint32_t collision_mask;
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;
void set_collision_layer(uint32_t p_layer);
uint32_t get_collision_layer() const;
void set_collision_mask(uint32_t p_mask);
uint32_t get_collision_mask() const;
void set_collision_layer_bit(int p_bit, bool p_value);
bool get_collision_layer_bit(int p_bit) const;
void set_collision_mask_bit(int p_bit, bool p_value);
bool get_collision_mask_bit(int p_bit) const;
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;
real_t bounce;
real_t friction;
protected:
static void _bind_methods();
public:
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_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();
};
class RigidBody : public PhysicsBody {
GDCLASS(RigidBody, PhysicsBody);
public:
enum Mode {
MODE_RIGID,
MODE_STATIC,
MODE_CHARACTER,
MODE_KINEMATIC,
};
enum AxisLock {
AXIS_LOCK_DISABLED,
AXIS_LOCK_X,
AXIS_LOCK_Y,
AXIS_LOCK_Z,
};
private:
bool can_sleep;
PhysicsDirectBodyState *state;
Mode mode;
real_t bounce;
real_t mass;
real_t friction;
Vector3 linear_velocity;
Vector3 angular_velocity;
real_t gravity_scale;
real_t linear_damp;
real_t angular_damp;
bool sleeping;
bool ccd;
AxisLock axis_lock;
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;
}
};
struct RigidBody_RemoveAction {
ObjectID body_id;
ShapePair pair;
};
struct BodyState {
//int rc;
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, ObjectID p_instance, int p_body_shape, int p_local_shape);
void _direct_state_changed(Object *p_state);
protected:
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;
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_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;
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(AxisLock p_lock);
AxisLock get_axis_lock() const;
Array get_colliding_bodies() const;
void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse);
virtual String get_configuration_warning() const;
RigidBody();
~RigidBody();
};
VARIANT_ENUM_CAST(RigidBody::Mode);
VARIANT_ENUM_CAST(RigidBody::AxisLock);
class KinematicBody : public PhysicsBody {
GDCLASS(KinematicBody, PhysicsBody);
public:
struct Collision {
Vector3 collision;
Vector3 normal;
Vector3 collider_vel;
ObjectID collider;
int collider_shape;
Variant collider_metadata;
Vector3 remainder;
Vector3 travel;
int local_shape;
};
private:
float margin;
Vector3 floor_velocity;
bool on_floor;
bool on_ceiling;
bool on_wall;
Vector<Collision> colliders;
_FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const;
Dictionary _move(const Vector3 &p_motion);
protected:
static void _bind_methods();
public:
bool move(const Vector3 &p_motion, Collision &r_collision);
bool test_move(const Transform &p_from, const Vector3 &p_motion);
void set_safe_margin(float p_margin);
float get_safe_margin() const;
Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), float p_slope_stop_min_velocity = 0.05, int p_max_bounces = 4, float p_floor_max_angle = Math::deg2rad((float)45));
bool is_on_floor() const;
bool is_on_wall() const;
bool is_on_ceiling() const;
Vector3 get_floor_velocity() const;
int get_collision_count() const;
Vector3 get_collision_position(int p_collision) const;
Vector3 get_collision_normal(int p_collision) const;
Vector3 get_collision_travel(int p_collision) const;
Vector3 get_collision_remainder(int p_collision) const;
Object *get_collision_local_shape(int p_collision) const;
Object *get_collision_collider(int p_collision) const;
ObjectID get_collision_collider_id(int p_collision) const;
Object *get_collision_collider_shape(int p_collision) const;
int get_collision_collider_shape_index(int p_collision) const;
Vector3 get_collision_collider_velocity(int p_collision) const;
Variant get_collision_collider_metadata(int p_collision) const;
KinematicBody();
~KinematicBody();
};
#endif // PHYSICS_BODY__H