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d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
1780 lines
56 KiB
C++
1780 lines
56 KiB
C++
/**************************************************************************/
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/* godot_physics_server_3d.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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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 "godot_physics_server_3d.h"
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#include "godot_body_direct_state_3d.h"
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#include "godot_broad_phase_3d_bvh.h"
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#include "joints/godot_cone_twist_joint_3d.h"
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#include "joints/godot_generic_6dof_joint_3d.h"
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#include "joints/godot_hinge_joint_3d.h"
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#include "joints/godot_pin_joint_3d.h"
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#include "joints/godot_slider_joint_3d.h"
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#include "core/debugger/engine_debugger.h"
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#include "core/os/os.h"
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#define FLUSH_QUERY_CHECK(m_object) \
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ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
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RID GodotPhysicsServer3D::world_boundary_shape_create() {
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GodotShape3D *shape = memnew(GodotWorldBoundaryShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::separation_ray_shape_create() {
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GodotShape3D *shape = memnew(GodotSeparationRayShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::sphere_shape_create() {
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GodotShape3D *shape = memnew(GodotSphereShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::box_shape_create() {
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GodotShape3D *shape = memnew(GodotBoxShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::capsule_shape_create() {
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GodotShape3D *shape = memnew(GodotCapsuleShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::cylinder_shape_create() {
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GodotShape3D *shape = memnew(GodotCylinderShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::convex_polygon_shape_create() {
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GodotShape3D *shape = memnew(GodotConvexPolygonShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::concave_polygon_shape_create() {
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GodotShape3D *shape = memnew(GodotConcavePolygonShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::heightmap_shape_create() {
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GodotShape3D *shape = memnew(GodotHeightMapShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_self(rid);
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return rid;
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}
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RID GodotPhysicsServer3D::custom_shape_create() {
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ERR_FAIL_V(RID());
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}
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void GodotPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) {
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GodotShape3D *shape = shape_owner.get_or_null(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 GodotPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
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GodotShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_custom_bias(p_bias);
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}
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PhysicsServer3D::ShapeType GodotPhysicsServer3D::shape_get_type(RID p_shape) const {
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const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
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return shape->get_type();
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};
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Variant GodotPhysicsServer3D::shape_get_data(RID p_shape) const {
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const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND_V(!shape, Variant());
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ERR_FAIL_COND_V(!shape->is_configured(), Variant());
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return shape->get_data();
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};
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void GodotPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) {
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}
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real_t GodotPhysicsServer3D::shape_get_margin(RID p_shape) const {
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return 0.0;
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}
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real_t GodotPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const {
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const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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return shape->get_custom_bias();
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}
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RID GodotPhysicsServer3D::space_create() {
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GodotSpace3D *space = memnew(GodotSpace3D);
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RID id = space_owner.make_rid(space);
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space->set_self(id);
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RID area_id = area_create();
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GodotArea3D *area = area_owner.get_or_null(area_id);
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ERR_FAIL_COND_V(!area, RID());
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space->set_default_area(area);
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area->set_space(space);
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area->set_priority(-1);
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RID sgb = body_create();
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body_set_space(sgb, id);
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body_set_mode(sgb, BODY_MODE_STATIC);
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space->set_static_global_body(sgb);
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return id;
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};
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void GodotPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
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GodotSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND(!space);
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if (p_active) {
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active_spaces.insert(space);
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} else {
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active_spaces.erase(space);
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}
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}
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bool GodotPhysicsServer3D::space_is_active(RID p_space) const {
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const GodotSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND_V(!space, false);
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return active_spaces.has(space);
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}
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void GodotPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
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GodotSpace3D *space = space_owner.get_or_null(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 GodotPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const {
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const GodotSpace3D *space = space_owner.get_or_null(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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PhysicsDirectSpaceState3D *GodotPhysicsServer3D::space_get_direct_state(RID p_space) {
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GodotSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND_V(!space, nullptr);
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ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
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return space->get_direct_state();
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}
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void GodotPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
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GodotSpace3D *space = space_owner.get_or_null(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> GodotPhysicsServer3D::space_get_contacts(RID p_space) const {
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GodotSpace3D *space = space_owner.get_or_null(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 GodotPhysicsServer3D::space_get_contact_count(RID p_space) const {
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GodotSpace3D *space = space_owner.get_or_null(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 GodotPhysicsServer3D::area_create() {
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GodotArea3D *area = memnew(GodotArea3D);
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RID rid = area_owner.make_rid(area);
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area->set_self(rid);
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return rid;
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}
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void GodotPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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GodotSpace3D *space = nullptr;
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if (p_space.is_valid()) {
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space = space_owner.get_or_null(p_space);
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ERR_FAIL_COND(!space);
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}
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if (area->get_space() == space) {
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return; //pointless
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}
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area->clear_constraints();
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area->set_space(space);
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}
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RID GodotPhysicsServer3D::area_get_space(RID p_area) const {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, RID());
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GodotSpace3D *space = area->get_space();
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if (!space) {
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return RID();
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}
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return space->get_self();
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}
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void GodotPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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GodotShape3D *shape = shape_owner.get_or_null(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 GodotPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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GodotShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_COND(!shape);
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ERR_FAIL_COND(!shape->is_configured());
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area->set_shape(p_shape_idx, shape);
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}
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void GodotPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
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GodotArea3D *area = area_owner.get_or_null(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 GodotPhysicsServer3D::area_get_shape_count(RID p_area) const {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, -1);
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return area->get_shape_count();
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}
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RID GodotPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, RID());
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GodotShape3D *shape = area->get_shape(p_shape_idx);
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ERR_FAIL_COND_V(!shape, RID());
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return shape->get_self();
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}
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Transform3D GodotPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, Transform3D());
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return area->get_shape_transform(p_shape_idx);
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}
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void GodotPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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area->remove_shape(p_shape_idx);
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}
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void GodotPhysicsServer3D::area_clear_shapes(RID p_area) {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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while (area->get_shape_count()) {
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area->remove_shape(0);
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}
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}
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void GodotPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
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FLUSH_QUERY_CHECK(area);
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area->set_shape_disabled(p_shape_idx, p_disabled);
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}
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void GodotPhysicsServer3D::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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GodotSpace3D *space = space_owner.get_or_null(p_area);
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p_area = space->get_default_area()->get_self();
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}
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GodotArea3D *area = area_owner.get_or_null(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 GodotPhysicsServer3D::area_get_object_instance_id(RID p_area) const {
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if (space_owner.owns(p_area)) {
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GodotSpace3D *space = space_owner.get_or_null(p_area);
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p_area = space->get_default_area()->get_self();
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}
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GodotArea3D *area = area_owner.get_or_null(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 GodotPhysicsServer3D::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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GodotSpace3D *space = space_owner.get_or_null(p_area);
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p_area = space->get_default_area()->get_self();
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}
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GodotArea3D *area = area_owner.get_or_null(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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void GodotPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) {
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GodotArea3D *area = area_owner.get_or_null(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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Variant GodotPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const {
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if (space_owner.owns(p_area)) {
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GodotSpace3D *space = space_owner.get_or_null(p_area);
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p_area = space->get_default_area()->get_self();
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}
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GodotArea3D *area = area_owner.get_or_null(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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Transform3D GodotPhysicsServer3D::area_get_transform(RID p_area) const {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, Transform3D());
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return area->get_transform();
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};
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void GodotPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
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GodotArea3D *area = area_owner.get_or_null(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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uint32_t GodotPhysicsServer3D::area_get_collision_layer(RID p_area) const {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, 0);
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return area->get_collision_layer();
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}
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void GodotPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
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GodotArea3D *area = area_owner.get_or_null(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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uint32_t GodotPhysicsServer3D::area_get_collision_mask(RID p_area) const {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND_V(!area, 0);
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return area->get_collision_mask();
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}
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void GodotPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) {
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GodotArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_COND(!area);
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FLUSH_QUERY_CHECK(area);
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area->set_monitorable(p_monitorable);
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}
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void GodotPhysicsServer3D::area_set_monitor_callback(RID p_area, const Callable &p_callback) {
|
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GodotArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_COND(!area);
|
|
|
|
area->set_monitor_callback(p_callback.is_valid() ? p_callback : Callable());
|
|
}
|
|
|
|
void GodotPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
|
|
GodotArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_COND(!area);
|
|
|
|
area->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) {
|
|
GodotArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_COND(!area);
|
|
|
|
area->set_area_monitor_callback(p_callback.is_valid() ? p_callback : Callable());
|
|
}
|
|
|
|
/* BODY API */
|
|
|
|
RID GodotPhysicsServer3D::body_create() {
|
|
GodotBody3D *body = memnew(GodotBody3D);
|
|
RID rid = body_owner.make_rid(body);
|
|
body->set_self(rid);
|
|
return rid;
|
|
};
|
|
|
|
void GodotPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
GodotSpace3D *space = nullptr;
|
|
if (p_space.is_valid()) {
|
|
space = space_owner.get_or_null(p_space);
|
|
ERR_FAIL_COND(!space);
|
|
}
|
|
|
|
if (body->get_space() == space) {
|
|
return; //pointless
|
|
}
|
|
|
|
body->clear_constraint_map();
|
|
body->set_space(space);
|
|
};
|
|
|
|
RID GodotPhysicsServer3D::body_get_space(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
GodotSpace3D *space = body->get_space();
|
|
if (!space) {
|
|
return RID();
|
|
}
|
|
return space->get_self();
|
|
};
|
|
|
|
void GodotPhysicsServer3D::body_set_mode(RID p_body, BodyMode p_mode) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_mode(p_mode);
|
|
};
|
|
|
|
PhysicsServer3D::BodyMode GodotPhysicsServer3D::body_get_mode(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
|
|
|
|
return body->get_mode();
|
|
};
|
|
|
|
void GodotPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
GodotShape3D *shape = shape_owner.get_or_null(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->add_shape(shape, p_transform, p_disabled);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
GodotShape3D *shape = shape_owner.get_or_null(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
ERR_FAIL_COND(!shape->is_configured());
|
|
|
|
body->set_shape(p_shape_idx, shape);
|
|
}
|
|
void GodotPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_transform(p_shape_idx, p_transform);
|
|
}
|
|
|
|
int GodotPhysicsServer3D::body_get_shape_count(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, -1);
|
|
|
|
return body->get_shape_count();
|
|
}
|
|
|
|
RID GodotPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, RID());
|
|
|
|
GodotShape3D *shape = body->get_shape(p_shape_idx);
|
|
ERR_FAIL_COND_V(!shape, RID());
|
|
|
|
return shape->get_self();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
|
|
FLUSH_QUERY_CHECK(body);
|
|
|
|
body->set_shape_disabled(p_shape_idx, p_disabled);
|
|
}
|
|
|
|
Transform3D GodotPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Transform3D());
|
|
|
|
return body->get_shape_transform(p_shape_idx);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_shape(p_shape_idx);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_clear_shapes(RID p_body) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
while (body->get_shape_count()) {
|
|
body->remove_shape(0);
|
|
}
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_continuous_collision_detection(p_enable);
|
|
}
|
|
|
|
bool GodotPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
|
|
return body->is_continuous_collision_detection_enabled();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t GodotPhysicsServer3D::body_get_collision_layer(RID p_body) const {
|
|
const GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t GodotPhysicsServer3D::body_get_collision_mask(RID p_body) const {
|
|
const GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_collision_priority(RID p_body, real_t p_priority) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_priority(p_priority);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::body_get_collision_priority(RID p_body) const {
|
|
const GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_priority();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
if (body) {
|
|
body->set_instance_id(p_id);
|
|
return;
|
|
}
|
|
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
if (soft_body) {
|
|
soft_body->set_instance_id(p_id);
|
|
return;
|
|
}
|
|
|
|
ERR_FAIL_MSG("Invalid ID.");
|
|
}
|
|
|
|
ObjectID GodotPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, ObjectID());
|
|
|
|
return body->get_instance_id();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
}
|
|
|
|
uint32_t GodotPhysicsServer3D::body_get_user_flags(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return 0;
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_param(p_param, p_value);
|
|
}
|
|
|
|
Variant GodotPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_param(p_param);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_reset_mass_properties(RID p_body) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
return body->reset_mass_properties();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_state(p_state, p_variant);
|
|
}
|
|
|
|
Variant GodotPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Variant());
|
|
|
|
return body->get_state(p_state);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
_update_shapes();
|
|
|
|
body->apply_central_impulse(p_impulse);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
_update_shapes();
|
|
|
|
body->apply_impulse(p_impulse, p_position);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
_update_shapes();
|
|
|
|
body->apply_torque_impulse(p_impulse);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_apply_central_force(RID p_body, const Vector3 &p_force) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_central_force(p_force);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_force(p_force, p_position);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_apply_torque(RID p_body, const Vector3 &p_torque) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_torque(p_torque);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_add_constant_central_force(RID p_body, const Vector3 &p_force) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_constant_central_force(p_force);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_constant_force(p_force, p_position);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_add_constant_torque(RID p_body, const Vector3 &p_torque) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_constant_torque(p_torque);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_constant_force(RID p_body, const Vector3 &p_force) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_constant_force(p_force);
|
|
if (!p_force.is_zero_approx()) {
|
|
body->wakeup();
|
|
}
|
|
}
|
|
|
|
Vector3 GodotPhysicsServer3D::body_get_constant_force(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
return body->get_constant_force();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_constant_torque(RID p_body, const Vector3 &p_torque) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_constant_torque(p_torque);
|
|
if (!p_torque.is_zero_approx()) {
|
|
body->wakeup();
|
|
}
|
|
}
|
|
|
|
Vector3 GodotPhysicsServer3D::body_get_constant_torque(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, Vector3());
|
|
|
|
return body->get_constant_torque();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
_update_shapes();
|
|
|
|
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);
|
|
body->wakeup();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_axis_lock(p_axis, p_lock);
|
|
body->wakeup();
|
|
}
|
|
|
|
bool GodotPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
|
|
const GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return body->is_axis_locked(p_axis);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_exception(p_body_b);
|
|
body->wakeup();
|
|
};
|
|
|
|
void GodotPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_exception(p_body_b);
|
|
body->wakeup();
|
|
};
|
|
|
|
void GodotPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
GodotBody3D *body = body_owner.get_or_null(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 GodotPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
};
|
|
|
|
real_t GodotPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return 0;
|
|
};
|
|
|
|
void GodotPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_omit_force_integration(p_omit);
|
|
};
|
|
|
|
bool GodotPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
return body->get_omit_force_integration();
|
|
};
|
|
|
|
void GodotPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_max_contacts_reported(p_contacts);
|
|
}
|
|
|
|
int GodotPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, -1);
|
|
return body->get_max_contacts_reported();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_state_sync_callback(RID p_body, const Callable &p_callable) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_state_sync_callback(p_callable);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_force_integration_callback(p_callable, p_udata);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
bool GodotPhysicsServer3D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
ERR_FAIL_COND_V(!body->get_space(), false);
|
|
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
|
|
|
|
_update_shapes();
|
|
|
|
return body->get_space()->test_body_motion(body, p_parameters, r_result);
|
|
}
|
|
|
|
PhysicsDirectBodyState3D *GodotPhysicsServer3D::body_get_direct_state(RID p_body) {
|
|
ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
|
|
|
|
if (!body_owner.owns(p_body)) {
|
|
return nullptr;
|
|
}
|
|
|
|
GodotBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, nullptr);
|
|
|
|
if (!body->get_space()) {
|
|
return nullptr;
|
|
}
|
|
|
|
ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
|
|
|
|
return body->get_direct_state();
|
|
}
|
|
|
|
/* SOFT BODY */
|
|
|
|
RID GodotPhysicsServer3D::soft_body_create() {
|
|
GodotSoftBody3D *soft_body = memnew(GodotSoftBody3D);
|
|
RID rid = soft_body_owner.make_rid(soft_body);
|
|
soft_body->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_update_rendering_server(RID p_body, PhysicsServer3DRenderingServerHandler *p_rendering_server_handler) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->update_rendering_server(p_rendering_server_handler);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
GodotSpace3D *space = nullptr;
|
|
if (p_space.is_valid()) {
|
|
space = space_owner.get_or_null(p_space);
|
|
ERR_FAIL_COND(!space);
|
|
}
|
|
|
|
if (soft_body->get_space() == space) {
|
|
return;
|
|
}
|
|
|
|
soft_body->set_space(space);
|
|
}
|
|
|
|
RID GodotPhysicsServer3D::soft_body_get_space(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, RID());
|
|
|
|
GodotSpace3D *space = soft_body->get_space();
|
|
if (!space) {
|
|
return RID();
|
|
}
|
|
return space->get_self();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t GodotPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, 0);
|
|
|
|
return soft_body->get_collision_layer();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t GodotPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, 0);
|
|
|
|
return soft_body->get_collision_mask();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->add_exception(p_body_b);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->remove_exception(p_body_b);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
for (int i = 0; i < soft_body->get_exceptions().size(); i++) {
|
|
p_exceptions->push_back(soft_body->get_exceptions()[i]);
|
|
}
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_state(p_state, p_variant);
|
|
}
|
|
|
|
Variant GodotPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, Variant());
|
|
|
|
return soft_body->get_state(p_state);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_state(BODY_STATE_TRANSFORM, p_transform);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_ray_pickable(p_enable);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_iteration_count(p_simulation_precision);
|
|
}
|
|
|
|
int GodotPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, 0.f);
|
|
|
|
return soft_body->get_iteration_count();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_total_mass(p_total_mass);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, 0.f);
|
|
|
|
return soft_body->get_total_mass();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_linear_stiffness(p_stiffness);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, 0.f);
|
|
|
|
return soft_body->get_linear_stiffness();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_pressure_coefficient(p_pressure_coefficient);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, 0.f);
|
|
|
|
return soft_body->get_pressure_coefficient();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_damping_coefficient(p_damping_coefficient);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, 0.f);
|
|
|
|
return soft_body->get_damping_coefficient();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_drag_coefficient(p_drag_coefficient);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, 0.f);
|
|
|
|
return soft_body->get_drag_coefficient();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_mesh(p_mesh);
|
|
}
|
|
|
|
AABB GodotPhysicsServer3D::soft_body_get_bounds(RID p_body) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, AABB());
|
|
|
|
return soft_body->get_bounds();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->set_vertex_position(p_point_index, p_global_position);
|
|
}
|
|
|
|
Vector3 GodotPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, Vector3());
|
|
|
|
return soft_body->get_vertex_position(p_point_index);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
soft_body->unpin_all_vertices();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND(!soft_body);
|
|
|
|
if (p_pin) {
|
|
soft_body->pin_vertex(p_point_index);
|
|
} else {
|
|
soft_body->unpin_vertex(p_point_index);
|
|
}
|
|
}
|
|
|
|
bool GodotPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_COND_V(!soft_body, false);
|
|
|
|
return soft_body->is_vertex_pinned(p_point_index);
|
|
}
|
|
|
|
/* JOINT API */
|
|
|
|
RID GodotPhysicsServer3D::joint_create() {
|
|
GodotJoint3D *joint = memnew(GodotJoint3D);
|
|
RID rid = joint_owner.make_rid(joint);
|
|
joint->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_clear(RID p_joint) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
if (joint->get_type() != JOINT_TYPE_MAX) {
|
|
GodotJoint3D *empty_joint = memnew(GodotJoint3D);
|
|
empty_joint->copy_settings_from(joint);
|
|
|
|
joint_owner.replace(p_joint, empty_joint);
|
|
memdelete(joint);
|
|
}
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
|
|
GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND(!body_A);
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND(!body_A->get_space());
|
|
p_body_B = body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
|
|
ERR_FAIL_COND(!body_B);
|
|
|
|
ERR_FAIL_COND(body_A == body_B);
|
|
|
|
GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(prev_joint == nullptr);
|
|
|
|
GodotJoint3D *joint = memnew(GodotPinJoint3D(body_A, p_local_A, body_B, p_local_B));
|
|
|
|
joint->copy_settings_from(prev_joint);
|
|
joint_owner.replace(p_joint, joint);
|
|
memdelete(prev_joint);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
|
|
GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
|
|
pin_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0);
|
|
GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
|
|
return pin_joint->get_param(p_param);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
|
|
GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
|
|
pin_joint->set_pos_a(p_A);
|
|
}
|
|
|
|
Vector3 GodotPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, Vector3());
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
|
|
GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
|
|
return pin_joint->get_position_a();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
|
|
GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
|
|
pin_joint->set_pos_b(p_B);
|
|
}
|
|
|
|
Vector3 GodotPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, Vector3());
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
|
|
GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
|
|
return pin_joint->get_position_b();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_frame_A, RID p_body_B, const Transform3D &p_frame_B) {
|
|
GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND(!body_A);
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND(!body_A->get_space());
|
|
p_body_B = body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
|
|
ERR_FAIL_COND(!body_B);
|
|
|
|
ERR_FAIL_COND(body_A == body_B);
|
|
|
|
GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(prev_joint == nullptr);
|
|
|
|
GodotJoint3D *joint = memnew(GodotHingeJoint3D(body_A, body_B, p_frame_A, p_frame_B));
|
|
|
|
joint->copy_settings_from(prev_joint);
|
|
joint_owner.replace(p_joint, joint);
|
|
memdelete(prev_joint);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_make_hinge_simple(RID p_joint, 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) {
|
|
GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND(!body_A);
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND(!body_A->get_space());
|
|
p_body_B = body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
|
|
ERR_FAIL_COND(!body_B);
|
|
|
|
ERR_FAIL_COND(body_A == body_B);
|
|
|
|
GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(prev_joint == nullptr);
|
|
|
|
GodotJoint3D *joint = memnew(GodotHingeJoint3D(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
|
|
|
|
joint->copy_settings_from(prev_joint);
|
|
joint_owner.replace(p_joint, joint);
|
|
memdelete(prev_joint);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
|
|
GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
|
|
hinge_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0);
|
|
GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
|
|
return hinge_joint->get_param(p_param);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
|
|
GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
|
|
hinge_joint->set_flag(p_flag, p_value);
|
|
}
|
|
|
|
bool GodotPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, false);
|
|
GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
|
|
return hinge_joint->get_flag(p_flag);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
joint->set_priority(p_priority);
|
|
}
|
|
|
|
int GodotPhysicsServer3D::joint_get_solver_priority(RID p_joint) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
return joint->get_priority();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, bool p_disable) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
|
|
joint->disable_collisions_between_bodies(p_disable);
|
|
|
|
if (2 == joint->get_body_count()) {
|
|
GodotBody3D *body_a = *joint->get_body_ptr();
|
|
GodotBody3D *body_b = *(joint->get_body_ptr() + 1);
|
|
|
|
if (p_disable) {
|
|
body_add_collision_exception(body_a->get_self(), body_b->get_self());
|
|
body_add_collision_exception(body_b->get_self(), body_a->get_self());
|
|
} else {
|
|
body_remove_collision_exception(body_a->get_self(), body_b->get_self());
|
|
body_remove_collision_exception(body_b->get_self(), body_a->get_self());
|
|
}
|
|
}
|
|
}
|
|
|
|
bool GodotPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, true);
|
|
|
|
return joint->is_disabled_collisions_between_bodies();
|
|
}
|
|
|
|
GodotPhysicsServer3D::JointType GodotPhysicsServer3D::joint_get_type(RID p_joint) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN);
|
|
return joint->get_type();
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
|
|
GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND(!body_A);
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND(!body_A->get_space());
|
|
p_body_B = body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
|
|
ERR_FAIL_COND(!body_B);
|
|
|
|
ERR_FAIL_COND(body_A == body_B);
|
|
|
|
GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(prev_joint == nullptr);
|
|
|
|
GodotJoint3D *joint = memnew(GodotSliderJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B));
|
|
|
|
joint->copy_settings_from(prev_joint);
|
|
joint_owner.replace(p_joint, joint);
|
|
memdelete(prev_joint);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER);
|
|
GodotSliderJoint3D *slider_joint = static_cast<GodotSliderJoint3D *>(joint);
|
|
slider_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0);
|
|
GodotSliderJoint3D *slider_joint = static_cast<GodotSliderJoint3D *>(joint);
|
|
return slider_joint->get_param(p_param);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
|
|
GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND(!body_A);
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND(!body_A->get_space());
|
|
p_body_B = body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
|
|
ERR_FAIL_COND(!body_B);
|
|
|
|
ERR_FAIL_COND(body_A == body_B);
|
|
|
|
GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(prev_joint == nullptr);
|
|
|
|
GodotJoint3D *joint = memnew(GodotConeTwistJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B));
|
|
|
|
joint->copy_settings_from(prev_joint);
|
|
joint_owner.replace(p_joint, joint);
|
|
memdelete(prev_joint);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST);
|
|
GodotConeTwistJoint3D *cone_twist_joint = static_cast<GodotConeTwistJoint3D *>(joint);
|
|
cone_twist_joint->set_param(p_param, p_value);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0);
|
|
GodotConeTwistJoint3D *cone_twist_joint = static_cast<GodotConeTwistJoint3D *>(joint);
|
|
return cone_twist_joint->get_param(p_param);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
|
|
GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
|
|
ERR_FAIL_COND(!body_A);
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND(!body_A->get_space());
|
|
p_body_B = body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
|
|
ERR_FAIL_COND(!body_B);
|
|
|
|
ERR_FAIL_COND(body_A == body_B);
|
|
|
|
GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(prev_joint == nullptr);
|
|
|
|
GodotJoint3D *joint = memnew(GodotGeneric6DOFJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
|
|
|
|
joint->copy_settings_from(prev_joint);
|
|
joint_owner.replace(p_joint, joint);
|
|
memdelete(prev_joint);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
|
|
GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
|
|
generic_6dof_joint->set_param(p_axis, p_param, p_value);
|
|
}
|
|
|
|
real_t GodotPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, 0);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0);
|
|
GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
|
|
return generic_6dof_joint->get_param(p_axis, p_param);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
|
|
GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
|
|
generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
|
|
}
|
|
|
|
bool GodotPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) const {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_COND_V(!joint, false);
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, false);
|
|
GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
|
|
return generic_6dof_joint->get_flag(p_axis, p_flag);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::free(RID p_rid) {
|
|
_update_shapes(); //just in case
|
|
|
|
if (shape_owner.owns(p_rid)) {
|
|
GodotShape3D *shape = shape_owner.get_or_null(p_rid);
|
|
|
|
while (shape->get_owners().size()) {
|
|
GodotShapeOwner3D *so = shape->get_owners().begin()->key;
|
|
so->remove_shape(shape);
|
|
}
|
|
|
|
shape_owner.free(p_rid);
|
|
memdelete(shape);
|
|
} else if (body_owner.owns(p_rid)) {
|
|
GodotBody3D *body = body_owner.get_or_null(p_rid);
|
|
|
|
body->set_space(nullptr);
|
|
|
|
while (body->get_shape_count()) {
|
|
body->remove_shape(0);
|
|
}
|
|
|
|
body_owner.free(p_rid);
|
|
memdelete(body);
|
|
} else if (soft_body_owner.owns(p_rid)) {
|
|
GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_rid);
|
|
|
|
soft_body->set_space(nullptr);
|
|
|
|
soft_body_owner.free(p_rid);
|
|
memdelete(soft_body);
|
|
} else if (area_owner.owns(p_rid)) {
|
|
GodotArea3D *area = area_owner.get_or_null(p_rid);
|
|
|
|
area->set_space(nullptr);
|
|
|
|
while (area->get_shape_count()) {
|
|
area->remove_shape(0);
|
|
}
|
|
|
|
area_owner.free(p_rid);
|
|
memdelete(area);
|
|
} else if (space_owner.owns(p_rid)) {
|
|
GodotSpace3D *space = space_owner.get_or_null(p_rid);
|
|
|
|
while (space->get_objects().size()) {
|
|
GodotCollisionObject3D *co = static_cast<GodotCollisionObject3D *>(*space->get_objects().begin());
|
|
co->set_space(nullptr);
|
|
}
|
|
|
|
active_spaces.erase(space);
|
|
free(space->get_default_area()->get_self());
|
|
free(space->get_static_global_body());
|
|
|
|
space_owner.free(p_rid);
|
|
memdelete(space);
|
|
} else if (joint_owner.owns(p_rid)) {
|
|
GodotJoint3D *joint = joint_owner.get_or_null(p_rid);
|
|
|
|
joint_owner.free(p_rid);
|
|
memdelete(joint);
|
|
|
|
} else {
|
|
ERR_FAIL_MSG("Invalid ID.");
|
|
}
|
|
}
|
|
|
|
void GodotPhysicsServer3D::set_active(bool p_active) {
|
|
active = p_active;
|
|
}
|
|
|
|
void GodotPhysicsServer3D::init() {
|
|
stepper = memnew(GodotStep3D);
|
|
}
|
|
|
|
void GodotPhysicsServer3D::step(real_t p_step) {
|
|
#ifndef _3D_DISABLED
|
|
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
_update_shapes();
|
|
|
|
island_count = 0;
|
|
active_objects = 0;
|
|
collision_pairs = 0;
|
|
for (const GodotSpace3D *E : active_spaces) {
|
|
stepper->step(const_cast<GodotSpace3D *>(E), p_step);
|
|
island_count += E->get_island_count();
|
|
active_objects += E->get_active_objects();
|
|
collision_pairs += E->get_collision_pairs();
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void GodotPhysicsServer3D::sync() {
|
|
doing_sync = true;
|
|
}
|
|
|
|
void GodotPhysicsServer3D::flush_queries() {
|
|
#ifndef _3D_DISABLED
|
|
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
flushing_queries = true;
|
|
|
|
uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
|
|
|
|
for (const GodotSpace3D *E : active_spaces) {
|
|
GodotSpace3D *space = const_cast<GodotSpace3D *>(E);
|
|
space->call_queries();
|
|
}
|
|
|
|
flushing_queries = false;
|
|
|
|
if (EngineDebugger::is_profiling("servers")) {
|
|
uint64_t total_time[GodotSpace3D::ELAPSED_TIME_MAX];
|
|
static const char *time_name[GodotSpace3D::ELAPSED_TIME_MAX] = {
|
|
"integrate_forces",
|
|
"generate_islands",
|
|
"setup_constraints",
|
|
"solve_constraints",
|
|
"integrate_velocities"
|
|
};
|
|
|
|
for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) {
|
|
total_time[i] = 0;
|
|
}
|
|
|
|
for (const GodotSpace3D *E : active_spaces) {
|
|
for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) {
|
|
total_time[i] += E->get_elapsed_time(GodotSpace3D::ElapsedTime(i));
|
|
}
|
|
}
|
|
|
|
Array values;
|
|
values.resize(GodotSpace3D::ELAPSED_TIME_MAX * 2);
|
|
for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) {
|
|
values[i * 2 + 0] = time_name[i];
|
|
values[i * 2 + 1] = USEC_TO_SEC(total_time[i]);
|
|
}
|
|
values.push_back("flush_queries");
|
|
values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg));
|
|
|
|
values.push_front("physics_3d");
|
|
EngineDebugger::profiler_add_frame_data("servers", values);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void GodotPhysicsServer3D::end_sync() {
|
|
doing_sync = false;
|
|
}
|
|
|
|
void GodotPhysicsServer3D::finish() {
|
|
memdelete(stepper);
|
|
}
|
|
|
|
int GodotPhysicsServer3D::get_process_info(ProcessInfo p_info) {
|
|
switch (p_info) {
|
|
case INFO_ACTIVE_OBJECTS: {
|
|
return active_objects;
|
|
} break;
|
|
case INFO_COLLISION_PAIRS: {
|
|
return collision_pairs;
|
|
} break;
|
|
case INFO_ISLAND_COUNT: {
|
|
return island_count;
|
|
} break;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void GodotPhysicsServer3D::_update_shapes() {
|
|
while (pending_shape_update_list.first()) {
|
|
pending_shape_update_list.first()->self()->_shape_changed();
|
|
pending_shape_update_list.remove(pending_shape_update_list.first());
|
|
}
|
|
}
|
|
|
|
void GodotPhysicsServer3D::_shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
|
|
CollCbkData *cbk = static_cast<CollCbkData *>(p_userdata);
|
|
|
|
if (cbk->max == 0) {
|
|
return;
|
|
}
|
|
|
|
if (cbk->amount == cbk->max) {
|
|
//find least deep
|
|
real_t min_depth = 1e20;
|
|
int min_depth_idx = 0;
|
|
for (int i = 0; i < cbk->amount; i++) {
|
|
real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]);
|
|
if (d < min_depth) {
|
|
min_depth = d;
|
|
min_depth_idx = i;
|
|
}
|
|
}
|
|
|
|
real_t d = p_point_A.distance_squared_to(p_point_B);
|
|
if (d < min_depth) {
|
|
return;
|
|
}
|
|
cbk->ptr[min_depth_idx * 2 + 0] = p_point_A;
|
|
cbk->ptr[min_depth_idx * 2 + 1] = p_point_B;
|
|
|
|
} else {
|
|
cbk->ptr[cbk->amount * 2 + 0] = p_point_A;
|
|
cbk->ptr[cbk->amount * 2 + 1] = p_point_B;
|
|
cbk->amount++;
|
|
}
|
|
}
|
|
|
|
GodotPhysicsServer3D *GodotPhysicsServer3D::godot_singleton = nullptr;
|
|
GodotPhysicsServer3D::GodotPhysicsServer3D(bool p_using_threads) {
|
|
godot_singleton = this;
|
|
GodotBroadPhase3D::create_func = GodotBroadPhase3DBVH::_create;
|
|
|
|
using_threads = p_using_threads;
|
|
};
|