godot/scene/3d/physics_body.h

/*************************************************************************/
/*  physics_body.h                                                       */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
/*************************************************************************/
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
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/* 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,  */
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/*************************************************************************/
#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 {

	OBJ_TYPE(PhysicsBody,CollisionObject);

protected:

	void _notification(int p_what);
	PhysicsBody(PhysicsServer::BodyMode p_mode);
public:

	PhysicsBody();

};

class StaticBody : public PhysicsBody {

	OBJ_TYPE(StaticBody,PhysicsBody);

	Transform *pre_xform;
	//RID query;
	bool setting;
	bool pending;
	bool simulating_motion;
	Vector3 constant_linear_velocity;
	Vector3 constant_angular_velocity;
	void _update_xform();
	void _state_notify(Object *p_object);

protected:

	void _notification(int p_what);
	static void _bind_methods();

public:

	void set_simulate_motion(bool p_enable);
	bool is_simulating_motion() 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 {

	OBJ_TYPE(RigidBody,PhysicsBody);
public:

	enum Mode {
		MODE_RIGID,
		MODE_STATIC,
		MODE_CHARACTER,
		MODE_KINEMATIC,
	};
private:

	bool can_sleep;
	PhysicsDirectBodyState *state;
	Mode mode;

	real_t bounce;
	real_t mass;
	real_t friction;

	Vector3 linear_velocity;
	Vector3  angular_velocity;
	bool active;
	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; }
	};
	struct RigidBody_RemoveAction {


		ObjectID body_id;
		ShapePair pair;

	};
	struct BodyState {

		int rc;
		bool in_scene;
		VSet<ShapePair> shapes;
	};

	struct ContactMonitor {


		Map<ObjectID,BodyState> body_map;

	};


	ContactMonitor *contact_monitor;
	void _body_enter_scene(ObjectID p_id);
	void _body_exit_scene(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;

	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_use_custom_integrator(bool p_enable);
	bool is_using_custom_integrator();

	void set_active(bool p_active);
	bool is_active() 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 apply_impulse(const Vector3& p_pos, const Vector3& p_impulse);

	RigidBody();
	~RigidBody();

};

VARIANT_ENUM_CAST(RigidBody::Mode);
#endif // PHYSICS_BODY__H