Create GDExtension clases for PhysicsServer3D

* Allows creating a GDExtension based 3D Physics Server (for Bullet, PhysX, etc. support)
* Some changes on native struct binding for PhysicsServer

This allows a 3D Physics server created entirely from GDExtension. Once it works, the idea is to port the 2D one to it.

13 files changed, 1034 insertions, 15 deletions

diff --git a/servers/SCsub b/servers/SCsub
index 2cd4741d56..66a1b9b26f 100644
--- a/servers/SCsub
+++ b/servers/SCsub
@@ -13,6 +13,7 @@ SConscript("rendering/SCsub")
 SConscript("audio/SCsub")
 SConscript("text/SCsub")
 SConscript("debugger/SCsub")
+SConscript("extensions/SCsub")
 
 lib = env.add_library("servers", env.servers_sources)
 
diff --git a/servers/extensions/SCsub b/servers/extensions/SCsub
new file mode 100644
index 0000000000..eac66ea283
--- /dev/null
+++ b/servers/extensions/SCsub
@@ -0,0 +1,12 @@
+#!/usr/bin/env python
+
+Import("env")
+
+import make_wrappers
+from platform_methods import run_in_subprocess
+
+env.CommandNoCache(["ext_wrappers.gen.inc"], "make_wrappers.py", run_in_subprocess(make_wrappers.run))
+
+env_object = env.Clone()
+
+env_object.add_source_files(env.servers_sources, "*.cpp")
diff --git a/servers/extensions/make_wrappers.py b/servers/extensions/make_wrappers.py
new file mode 100644
index 0000000000..862d313fba
--- /dev/null
+++ b/servers/extensions/make_wrappers.py
@@ -0,0 +1,93 @@
+proto = """
+#define EXBIND$VER($RETTYPE m_name$ARG) \\
+GDVIRTUAL$VER($RETTYPE_##m_name$ARG)\\
+virtual $RETVAL m_name($FUNCARGS) $CONST override { \\
+    $RETPRE\\
+    GDVIRTUAL_REQUIRED_CALL(_##m_name$CALLARGS$RETREF);\\
+    $RETPOST\\
+}
+"""
+
+
+def generate_version(argcount, const=False, returns=False):
+    s = proto
+    sproto = str(argcount)
+    method_info = ""
+    if returns:
+        sproto += "R"
+        s = s.replace("$RETTYPE", "m_ret, ")
+        s = s.replace("$RETVAL", "m_ret")
+        s = s.replace("$RETPRE", "m_ret ret; ZeroInitializer<m_ret>::initialize(ret);\\\n")
+        s = s.replace("$RETPOST", "return ret;\\\n")
+
+    else:
+        s = s.replace("$RETTYPE", "")
+        s = s.replace("$RETVAL", "void")
+        s = s.replace("$RETPRE", "")
+        s = s.replace("$RETPOST", "return;")
+
+    if const:
+        sproto += "C"
+        s = s.replace("$CONST", "const")
+    else:
+        s = s.replace("$CONST", "")
+
+    s = s.replace("$VER", sproto)
+    argtext = ""
+    funcargs = ""
+    callargs = ""
+
+    for i in range(argcount):
+        if i > 0:
+            funcargs += ", "
+
+        argtext += ", m_type" + str(i + 1)
+        funcargs += "m_type" + str(i + 1) + " arg" + str(i + 1)
+        callargs += ", arg" + str(i + 1)
+
+    if argcount:
+        s = s.replace("$ARG", argtext)
+        s = s.replace("$FUNCARGS", funcargs)
+        s = s.replace("$CALLARGS", callargs)
+    else:
+        s = s.replace("$ARG", "")
+        s = s.replace("$FUNCARGS", funcargs)
+        s = s.replace("$CALLARGS", callargs)
+
+    if returns:
+        s = s.replace("$RETREF", ", ret")
+    else:
+        s = s.replace("$RETREF", "")
+
+    return s
+
+
+def run(target, source, env):
+
+    max_versions = 12
+
+    txt = """
+#ifndef GDEXTENSION_WRAPPERS_GEN_H
+#define GDEXTENSION_WRAPPERS_GEN_H
+
+
+"""
+
+    for i in range(max_versions + 1):
+
+        txt += "/* " + str(i) + " Arguments */\n\n"
+        txt += generate_version(i, False, False)
+        txt += generate_version(i, False, True)
+        txt += generate_version(i, True, False)
+        txt += generate_version(i, True, True)
+
+    txt += "#endif"
+
+    with open(target[0], "w") as f:
+        f.write(txt)
+
+
+if __name__ == "__main__":
+    from platform_methods import subprocess_main
+
+    subprocess_main(globals())
diff --git a/servers/extensions/physics_server_3d_extension.cpp b/servers/extensions/physics_server_3d_extension.cpp
new file mode 100644
index 0000000000..b2a9273538
--- /dev/null
+++ b/servers/extensions/physics_server_3d_extension.cpp
@@ -0,0 +1,322 @@
+/*************************************************************************/
+/*  physics_server_3d_extension.cpp                                      */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 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.                */
+/*************************************************************************/
+
+#include "physics_server_3d_extension.h"
+
+bool PhysicsDirectSpaceState3DExtension::is_body_excluded_from_query(const RID &p_body) const {
+	return exclude && exclude->has(p_body);
+}
+
+thread_local const Set<RID> *PhysicsDirectSpaceState3DExtension::exclude = nullptr;
+
+void PhysicsDirectSpaceState3DExtension::_bind_methods() {
+	GDVIRTUAL_BIND(_intersect_ray, "from", "to", "collision_mask", "collide_with_bodies", "collide_with_areas", "hit_from_inside", "hit_back_faces", "result");
+	GDVIRTUAL_BIND(_intersect_point, "position", "collision_mask", "collide_with_bodies", "collide_with_areas", "results", "max_results");
+	GDVIRTUAL_BIND(_intersect_shape, "shape_rid", "transform", "motion", "margin", "collision_mask", "collide_with_bodies", "collide_with_areas", "result_count", "max_results");
+	GDVIRTUAL_BIND(_cast_motion, "shape_rid", "transform", "motion", "margin", "collision_mask", "collide_with_bodies", "collide_with_areas", "closest_safe", "closest_unsafe", "info");
+	GDVIRTUAL_BIND(_collide_shape, "shape_rid", "transform", "motion", "margin", "collision_mask", "collide_with_bodies", "collide_with_areas", "results", "max_results", "result_count");
+	GDVIRTUAL_BIND(_rest_info, "shape_rid", "transform", "motion", "margin", "collision_mask", "collide_with_bodies", "collide_with_areas", "rest_info");
+	GDVIRTUAL_BIND(_get_closest_point_to_object_volume, "object", "point");
+}
+
+PhysicsDirectSpaceState3DExtension::PhysicsDirectSpaceState3DExtension() {
+}
+
+void PhysicsDirectBodyState3DExtension::_bind_methods() {
+	GDVIRTUAL_BIND(_get_total_gravity);
+	GDVIRTUAL_BIND(_get_total_linear_damp);
+	GDVIRTUAL_BIND(_get_total_angular_damp);
+
+	GDVIRTUAL_BIND(_get_center_of_mass);
+	GDVIRTUAL_BIND(_get_center_of_mass_local);
+	GDVIRTUAL_BIND(_get_principal_inertia_axes);
+
+	GDVIRTUAL_BIND(_get_inverse_mass);
+	GDVIRTUAL_BIND(_get_inverse_inertia);
+
+	GDVIRTUAL_BIND(_set_linear_velocity, "velocity");
+	GDVIRTUAL_BIND(_get_linear_velocity);
+
+	GDVIRTUAL_BIND(_set_angular_velocity, "velocity");
+	GDVIRTUAL_BIND(_get_angular_velocity);
+
+	GDVIRTUAL_BIND(_set_transform, "transform");
+	GDVIRTUAL_BIND(_get_transform);
+
+	GDVIRTUAL_BIND(_get_velocity_at_local_position, "local_position");
+
+	GDVIRTUAL_BIND(_apply_central_impulse, "impulse");
+	GDVIRTUAL_BIND(_apply_impulse, "impulse", "position");
+	GDVIRTUAL_BIND(_apply_torque_impulse, "impulse");
+
+	GDVIRTUAL_BIND(_apply_central_force, "force");
+	GDVIRTUAL_BIND(_apply_force, "force", "position");
+	GDVIRTUAL_BIND(_apply_torque, "torque");
+
+	GDVIRTUAL_BIND(_add_constant_central_force, "force");
+	GDVIRTUAL_BIND(_add_constant_force, "force", "position");
+	GDVIRTUAL_BIND(_add_constant_torque, "torque");
+
+	GDVIRTUAL_BIND(_set_constant_force, "force");
+	GDVIRTUAL_BIND(_get_constant_force);
+
+	GDVIRTUAL_BIND(_set_constant_torque, "torque");
+	GDVIRTUAL_BIND(_get_constant_torque);
+
+	GDVIRTUAL_BIND(_set_sleep_state, "enabled");
+	GDVIRTUAL_BIND(_is_sleeping);
+
+	GDVIRTUAL_BIND(_get_contact_count);
+
+	GDVIRTUAL_BIND(_get_contact_local_position, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_local_normal, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_impulse, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_local_shape, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_collider, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_collider_position, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_collider_id, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_collider_object, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_collider_shape, "contact_idx");
+	GDVIRTUAL_BIND(_get_contact_collider_velocity_at_position, "contact_idx");
+	GDVIRTUAL_BIND(_get_step);
+	GDVIRTUAL_BIND(_integrate_forces);
+	GDVIRTUAL_BIND(_get_space_state);
+}
+
+PhysicsDirectBodyState3DExtension::PhysicsDirectBodyState3DExtension() {
+}
+
+thread_local const Set<RID> *PhysicsServer3DExtension::exclude_bodies = nullptr;
+thread_local const Set<ObjectID> *PhysicsServer3DExtension::exclude_objects = nullptr;
+
+bool PhysicsServer3DExtension::body_test_motion_is_excluding_body(RID p_body) const {
+	return exclude_bodies && exclude_bodies->has(p_body);
+}
+
+bool PhysicsServer3DExtension::body_test_motion_is_excluding_object(ObjectID p_object) const {
+	return exclude_objects && exclude_objects->has(p_object);
+}
+
+void PhysicsServer3DExtension::_bind_methods() {
+	GDVIRTUAL_BIND(_world_boundary_shape_create);
+	GDVIRTUAL_BIND(_separation_ray_shape_create);
+	GDVIRTUAL_BIND(_sphere_shape_create);
+	GDVIRTUAL_BIND(_box_shape_create);
+	GDVIRTUAL_BIND(_capsule_shape_create);
+	GDVIRTUAL_BIND(_cylinder_shape_create);
+	GDVIRTUAL_BIND(_convex_polygon_shape_create);
+	GDVIRTUAL_BIND(_concave_polygon_shape_create);
+	GDVIRTUAL_BIND(_heightmap_shape_create);
+	GDVIRTUAL_BIND(_custom_shape_create);
+
+	GDVIRTUAL_BIND(_shape_set_data, "shape", "data");
+
+	GDVIRTUAL_BIND(_shape_get_type, "shape");
+	GDVIRTUAL_BIND(_shape_get_data, "shape");
+
+	GDVIRTUAL_BIND(_space_create);
+	GDVIRTUAL_BIND(_space_set_active, "space", "active");
+	GDVIRTUAL_BIND(_space_is_active, "space");
+	GDVIRTUAL_BIND(_space_set_param, "space", "param", "value");
+	GDVIRTUAL_BIND(_space_get_param, "space", "param");
+	GDVIRTUAL_BIND(_space_get_direct_state, "space");
+
+	GDVIRTUAL_BIND(_area_create);
+	GDVIRTUAL_BIND(_area_set_space, "area", "space");
+	GDVIRTUAL_BIND(_area_get_space, "area");
+
+	GDVIRTUAL_BIND(_area_add_shape, "area", "shape", "transform", "disabled");
+	GDVIRTUAL_BIND(_area_set_shape, "area", "shape_idx", "shape");
+	GDVIRTUAL_BIND(_area_set_shape_transform, "area", "shape_idx", "transform");
+	GDVIRTUAL_BIND(_area_set_shape_disabled, "area", "shape_idx", "disabled");
+
+	GDVIRTUAL_BIND(_area_get_shape_count, "area");
+	GDVIRTUAL_BIND(_area_get_shape, "area", "shape_idx");
+	GDVIRTUAL_BIND(_area_get_shape_transform, "area", "shape_idx");
+
+	GDVIRTUAL_BIND(_area_remove_shape, "area", "shape_idx");
+	GDVIRTUAL_BIND(_area_clear_shapes, "area");
+
+	GDVIRTUAL_BIND(_area_set_collision_layer, "area", "layer");
+	GDVIRTUAL_BIND(_area_set_collision_mask, "area", "mask");
+
+	GDVIRTUAL_BIND(_area_set_param, "area", "param", "value");
+	GDVIRTUAL_BIND(_area_set_transform, "area", "transform");
+
+	GDVIRTUAL_BIND(_area_get_param, "area", "param");
+	GDVIRTUAL_BIND(_area_get_transform, "area");
+
+	GDVIRTUAL_BIND(_area_attach_object_instance_id, "area", "id");
+	GDVIRTUAL_BIND(_area_get_object_instance_id, "area");
+
+	GDVIRTUAL_BIND(_area_set_monitor_callback, "area", "callback");
+	GDVIRTUAL_BIND(_area_set_area_monitor_callback, "area", "callback");
+	GDVIRTUAL_BIND(_area_set_monitorable, "area", "monitorable");
+
+	GDVIRTUAL_BIND(_area_set_ray_pickable, "area", "enable");
+
+	GDVIRTUAL_BIND(_body_create);
+
+	GDVIRTUAL_BIND(_body_set_space, "body", "space");
+	GDVIRTUAL_BIND(_body_get_space, "body");
+
+	GDVIRTUAL_BIND(_body_set_mode, "body", "mode");
+	GDVIRTUAL_BIND(_body_get_mode, "body");
+
+	GDVIRTUAL_BIND(_body_set_collision_layer, "body", "layer");
+	GDVIRTUAL_BIND(_body_get_collision_layer, "body");
+
+	GDVIRTUAL_BIND(_body_set_collision_mask, "body", "mask");
+	GDVIRTUAL_BIND(_body_get_collision_mask, "body");
+
+	GDVIRTUAL_BIND(_body_add_shape, "body", "shape", "transform", "disabled");
+	GDVIRTUAL_BIND(_body_set_shape, "body", "shape_idx", "shape");
+	GDVIRTUAL_BIND(_body_set_shape_transform, "body", "shape_idx", "transform");
+	GDVIRTUAL_BIND(_body_set_shape_disabled, "body", "shape_idx", "disabled");
+
+	GDVIRTUAL_BIND(_body_get_shape_count, "body");
+	GDVIRTUAL_BIND(_body_get_shape, "body", "shape_idx");
+	GDVIRTUAL_BIND(_body_get_shape_transform, "body", "shape_idx");
+
+	GDVIRTUAL_BIND(_body_remove_shape, "body", "shape_idx");
+	GDVIRTUAL_BIND(_body_clear_shapes, "body");
+
+	GDVIRTUAL_BIND(_body_attach_object_instance_id, "body", "id");
+	GDVIRTUAL_BIND(_body_get_object_instance_id, "body");
+
+	GDVIRTUAL_BIND(_body_set_enable_continuous_collision_detection, "body", "enable");
+	GDVIRTUAL_BIND(_body_is_continuous_collision_detection_enabled, "body");
+
+	GDVIRTUAL_BIND(_body_set_param, "body", "param", "value");
+	GDVIRTUAL_BIND(_body_get_param, "body", "param");
+
+	GDVIRTUAL_BIND(_body_reset_mass_properties, "body");
+
+	GDVIRTUAL_BIND(_body_set_state, "body", "state", "value");
+	GDVIRTUAL_BIND(_body_get_state, "body", "state");
+
+	GDVIRTUAL_BIND(_body_apply_central_impulse, "body", "impulse");
+	GDVIRTUAL_BIND(_body_apply_impulse, "body", "impulse", "position");
+	GDVIRTUAL_BIND(_body_apply_torque_impulse, "body", "impulse");
+
+	GDVIRTUAL_BIND(_body_apply_central_force, "body", "force");
+	GDVIRTUAL_BIND(_body_apply_force, "body", "force", "position");
+	GDVIRTUAL_BIND(_body_apply_torque, "body", "torque");
+
+	GDVIRTUAL_BIND(_body_add_constant_central_force, "body", "force");
+	GDVIRTUAL_BIND(_body_add_constant_force, "body", "force", "position");
+	GDVIRTUAL_BIND(_body_add_constant_torque, "body", "torque");
+
+	GDVIRTUAL_BIND(_body_set_constant_force, "body", "force");
+	GDVIRTUAL_BIND(_body_get_constant_force, "body");
+
+	GDVIRTUAL_BIND(_body_set_constant_torque, "body", "torque");
+	GDVIRTUAL_BIND(_body_get_constant_torque, "body");
+
+	GDVIRTUAL_BIND(_body_set_axis_velocity, "body", "axis_velocity");
+
+	GDVIRTUAL_BIND(_body_set_axis_lock, "body", "axis", "lock");
+	GDVIRTUAL_BIND(_body_is_axis_locked, "body", "axis");
+
+	GDVIRTUAL_BIND(_body_add_collision_exception, "body", "excepted_body");
+	GDVIRTUAL_BIND(_body_remove_collision_exception, "body", "excepted_body");
+
+	GDVIRTUAL_BIND(_body_set_max_contacts_reported, "body", "amount");
+	GDVIRTUAL_BIND(_body_get_max_contacts_reported, "body");
+
+	GDVIRTUAL_BIND(_body_set_omit_force_integration, "body", "enable");
+	GDVIRTUAL_BIND(_body_is_omitting_force_integration, "body");
+
+	GDVIRTUAL_BIND(_body_set_force_integration_callback, "body", "callable", "userdata");
+
+	GDVIRTUAL_BIND(_body_set_ray_pickable, "body", "enable");
+
+	GDVIRTUAL_BIND(_body_test_motion, "body", "from", "motion", "margin", "max_collisions", "collide_separation_ray", "result");
+
+	GDVIRTUAL_BIND(_body_get_direct_state, "body");
+
+	GDVIRTUAL_BIND(_soft_body_get_bounds, "body");
+
+	GDVIRTUAL_BIND(_joint_create);
+	GDVIRTUAL_BIND(_joint_clear, "joint");
+
+	GDVIRTUAL_BIND(_joint_make_pin, "joint", "body_A", "local_A", "body_B", "local_B");
+	GDVIRTUAL_BIND(_pin_joint_set_param, "joint", "param", "value");
+	GDVIRTUAL_BIND(_pin_joint_get_param, "joint", "param");
+
+	GDVIRTUAL_BIND(_pin_joint_set_local_a, "joint", "local_A");
+	GDVIRTUAL_BIND(_pin_joint_get_local_a, "joint");
+
+	GDVIRTUAL_BIND(_pin_joint_set_local_b, "joint", "local_B");
+	GDVIRTUAL_BIND(_pin_joint_get_local_b, "joint");
+
+	GDVIRTUAL_BIND(_joint_make_hinge, "joint", "body_A", "hinge_A", "body_B", "hinge_B");
+
+	GDVIRTUAL_BIND(_hinge_joint_set_param, "joint", "param", "value");
+	GDVIRTUAL_BIND(_hinge_joint_get_param, "joint", "param");
+
+	GDVIRTUAL_BIND(_hinge_joint_set_flag, "joint", "flag", "enabled");
+	GDVIRTUAL_BIND(_hinge_joint_get_flag, "joint", "flag");
+
+	GDVIRTUAL_BIND(_joint_make_slider, "joint", "body_A", "local_ref_A", "body_B", "local_ref_B");
+
+	GDVIRTUAL_BIND(_slider_joint_set_param, "joint", "param", "value");
+	GDVIRTUAL_BIND(_slider_joint_get_param, "joint", "param");
+
+	GDVIRTUAL_BIND(_joint_make_cone_twist, "joint", "body_A", "local_ref_A", "body_B", "local_ref_B");
+
+	GDVIRTUAL_BIND(_cone_twist_joint_set_param, "joint", "param", "value");
+	GDVIRTUAL_BIND(_cone_twist_joint_get_param, "joint", "param");
+
+	GDVIRTUAL_BIND(_joint_get_type, "joint");
+
+	GDVIRTUAL_BIND(_joint_set_solver_priority, "joint", "priority");
+	GDVIRTUAL_BIND(_joint_get_solver_priority, "joint");
+
+	GDVIRTUAL_BIND(_joint_make_generic_6dof, "joint", "body_A", "local_ref_A", "body_B", "local_ref_B");
+
+	GDVIRTUAL_BIND(_generic_6dof_joint_set_param, "joint", "axis", "param", "value");
+	GDVIRTUAL_BIND(_generic_6dof_joint_get_param, "joint", "axis", "param");
+
+	GDVIRTUAL_BIND(_generic_6dof_joint_set_flag, "joint", "axis", "flag", "enable");
+	GDVIRTUAL_BIND(_generic_6dof_joint_get_flag, "joint", "axis", "flag");
+
+	GDVIRTUAL_BIND(_free_rid, "rid");
+
+	GDVIRTUAL_BIND(_set_active, "active");
+
+	GDVIRTUAL_BIND(_get_process_info, "process_info");
+}
+
+PhysicsServer3DExtension::PhysicsServer3DExtension() {
+}
+
+PhysicsServer3DExtension::~PhysicsServer3DExtension() {
+}
diff --git a/servers/extensions/physics_server_3d_extension.h b/servers/extensions/physics_server_3d_extension.h
new file mode 100644
index 0000000000..b40ab8a295
--- /dev/null
+++ b/servers/extensions/physics_server_3d_extension.h
@@ -0,0 +1,548 @@
+/*************************************************************************/
+/*  physics_server_3d_extension.h                                        */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 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_SERVER_3D_EXTENSION_H
+#define PHYSICS_SERVER_3D_EXTENSION_H
+
+#include "core/object/script_language.h"
+#include "core/variant/native_ptr.h"
+#include "core/variant/type_info.h"
+#include "core/variant/typed_array.h"
+#include "servers/extensions/ext_wrappers.gen.inc"
+#include "servers/physics_server_3d.h"
+
+class PhysicsDirectBodyState3DExtension : public PhysicsDirectBodyState3D {
+	GDCLASS(PhysicsDirectBodyState3DExtension, PhysicsDirectBodyState3D);
+
+protected:
+	static void _bind_methods();
+
+public:
+	// The warning is valid, but unavoidable. If the function is not overriden it will error anyway.
+
+	EXBIND0RC(Vector3, get_total_gravity)
+	EXBIND0RC(real_t, get_total_angular_damp)
+	EXBIND0RC(real_t, get_total_linear_damp)
+
+	EXBIND0RC(Vector3, get_center_of_mass)
+	EXBIND0RC(Vector3, get_center_of_mass_local)
+	EXBIND0RC(Basis, get_principal_inertia_axes)
+	EXBIND0RC(real_t, get_inverse_mass)
+	EXBIND0RC(Vector3, get_inverse_inertia)
+	EXBIND0RC(Basis, get_inverse_inertia_tensor)
+
+	EXBIND1(set_linear_velocity, const Vector3 &)
+	EXBIND0RC(Vector3, get_linear_velocity)
+
+	EXBIND1(set_angular_velocity, const Vector3 &)
+	EXBIND0RC(Vector3, get_angular_velocity)
+
+	EXBIND1(set_transform, const Transform3D &)
+	EXBIND0RC(Transform3D, get_transform)
+
+	EXBIND1RC(Vector3, get_velocity_at_local_position, const Vector3 &)
+
+	EXBIND1(apply_central_impulse, const Vector3 &)
+	EXBIND2(apply_impulse, const Vector3 &, const Vector3 &)
+	EXBIND1(apply_torque_impulse, const Vector3 &)
+
+	EXBIND1(apply_central_force, const Vector3 &)
+	EXBIND2(apply_force, const Vector3 &, const Vector3 &)
+	EXBIND1(apply_torque, const Vector3 &)
+
+	EXBIND1(add_constant_central_force, const Vector3 &)
+	EXBIND2(add_constant_force, const Vector3 &, const Vector3 &)
+	EXBIND1(add_constant_torque, const Vector3 &)
+
+	EXBIND1(set_constant_force, const Vector3 &)
+	EXBIND0RC(Vector3, get_constant_force)
+
+	EXBIND1(set_constant_torque, const Vector3 &)
+	EXBIND0RC(Vector3, get_constant_torque)
+
+	EXBIND1(set_sleep_state, bool)
+	EXBIND0RC(bool, is_sleeping)
+
+	EXBIND0RC(int, get_contact_count)
+
+	EXBIND1RC(Vector3, get_contact_local_position, int)
+	EXBIND1RC(Vector3, get_contact_local_normal, int)
+	EXBIND1RC(real_t, get_contact_impulse, int)
+	EXBIND1RC(int, get_contact_local_shape, int)
+	EXBIND1RC(RID, get_contact_collider, int)
+	EXBIND1RC(Vector3, get_contact_collider_position, int)
+	EXBIND1RC(ObjectID, get_contact_collider_id, int)
+	EXBIND1RC(Object *, get_contact_collider_object, int)
+	EXBIND1RC(int, get_contact_collider_shape, int)
+	EXBIND1RC(Vector3, get_contact_collider_velocity_at_position, int)
+
+	EXBIND0RC(real_t, get_step)
+
+	EXBIND0(integrate_forces)
+	EXBIND0R(PhysicsDirectSpaceState3D *, get_space_state)
+
+	PhysicsDirectBodyState3DExtension();
+};
+
+typedef PhysicsDirectSpaceState3D::RayResult PhysicsServer3DExtensionRayResult;
+typedef PhysicsDirectSpaceState3D::ShapeResult PhysicsServer3DExtensionShapeResult;
+typedef PhysicsDirectSpaceState3D::ShapeRestInfo PhysicsServer3DExtensionShapeRestInfo;
+
+GDVIRTUAL_NATIVE_PTR(PhysicsServer3DExtensionRayResult)
+GDVIRTUAL_NATIVE_PTR(PhysicsServer3DExtensionShapeResult)
+GDVIRTUAL_NATIVE_PTR(PhysicsServer3DExtensionShapeRestInfo)
+
+class PhysicsDirectSpaceState3DExtension : public PhysicsDirectSpaceState3D {
+	GDCLASS(PhysicsDirectSpaceState3DExtension, PhysicsDirectSpaceState3D);
+
+	thread_local static const Set<RID> *exclude;
+
+protected:
+	static void _bind_methods();
+	bool is_body_excluded_from_query(const RID &p_body) const;
+
+	GDVIRTUAL8R(bool, _intersect_ray, const Vector3 &, const Vector3 &, uint32_t, bool, bool, bool, bool, GDNativePtr<PhysicsServer3DExtensionRayResult>)
+	GDVIRTUAL6R(int, _intersect_point, const Vector3 &, uint32_t, bool, bool, GDNativePtr<PhysicsServer3DExtensionShapeResult>, int)
+	GDVIRTUAL9R(int, _intersect_shape, RID, const Transform3D &, const Vector3 &, real_t, uint32_t, bool, bool, GDNativePtr<PhysicsServer3DExtensionShapeResult>, int)
+	GDVIRTUAL10R(bool, _cast_motion, RID, const Transform3D &, const Vector3 &, real_t, uint32_t, bool, bool, GDNativePtr<real_t>, GDNativePtr<real_t>, GDNativePtr<PhysicsServer3DExtensionShapeRestInfo>)
+	GDVIRTUAL10R(bool, _collide_shape, RID, const Transform3D &, const Vector3 &, real_t, uint32_t, bool, bool, GDNativePtr<Vector3>, int, GDNativePtr<int>)
+	GDVIRTUAL8R(bool, _rest_info, RID, const Transform3D &, const Vector3 &, real_t, uint32_t, bool, bool, GDNativePtr<PhysicsServer3DExtensionShapeRestInfo>)
+	GDVIRTUAL2RC(Vector3, _get_closest_point_to_object_volume, RID, const Vector3 &)
+
+public:
+	virtual bool intersect_ray(const RayParameters &p_parameters, RayResult &r_result) override {
+		exclude = &p_parameters.exclude;
+		bool ret = false;
+		GDVIRTUAL_REQUIRED_CALL(_intersect_ray, p_parameters.from, p_parameters.to, p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas, p_parameters.hit_from_inside, p_parameters.hit_back_faces, &r_result, ret);
+		exclude = nullptr;
+		return ret;
+	}
+	virtual int intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) override {
+		exclude = &p_parameters.exclude;
+		int ret = false;
+		GDVIRTUAL_REQUIRED_CALL(_intersect_point, p_parameters.position, p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas, r_results, p_result_max, ret);
+		exclude = nullptr;
+		return ret;
+	}
+	virtual int intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) override {
+		exclude = &p_parameters.exclude;
+		int ret = 0;
+		GDVIRTUAL_REQUIRED_CALL(_intersect_shape, p_parameters.shape_rid, p_parameters.transform, p_parameters.motion, p_parameters.margin, p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas, r_results, p_result_max, ret);
+		exclude = nullptr;
+		return ret;
+	}
+	virtual bool cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe, ShapeRestInfo *r_info = nullptr) override {
+		exclude = &p_parameters.exclude;
+		bool ret = false;
+		GDVIRTUAL_REQUIRED_CALL(_cast_motion, p_parameters.shape_rid, p_parameters.transform, p_parameters.motion, p_parameters.margin, p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas, &p_closest_safe, &p_closest_unsafe, r_info, ret);
+		exclude = nullptr;
+		return ret;
+	}
+	virtual bool collide_shape(const ShapeParameters &p_parameters, Vector3 *r_results, int p_result_max, int &r_result_count) override {
+		exclude = &p_parameters.exclude;
+		bool ret = false;
+		GDVIRTUAL_REQUIRED_CALL(_collide_shape, p_parameters.shape_rid, p_parameters.transform, p_parameters.motion, p_parameters.margin, p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas, r_results, p_result_max, &r_result_count, ret);
+		exclude = nullptr;
+		return ret;
+	}
+	virtual bool rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) override {
+		exclude = &p_parameters.exclude;
+		bool ret = false;
+		GDVIRTUAL_REQUIRED_CALL(_rest_info, p_parameters.shape_rid, p_parameters.transform, p_parameters.motion, p_parameters.margin, p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas, r_info, ret);
+		exclude = nullptr;
+		return ret;
+	}
+
+	virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override {
+		Vector3 ret;
+		GDVIRTUAL_REQUIRED_CALL(_get_closest_point_to_object_volume, p_object, p_point, ret);
+		return ret;
+	}
+
+	PhysicsDirectSpaceState3DExtension();
+};
+
+typedef PhysicsServer3D::MotionCollision PhysicsServer3DExtensionMotionCollision;
+typedef PhysicsServer3D::MotionResult PhysicsServer3DExtensionMotionResult;
+
+struct PhysicsServer3DExtensionStateCallback {
+	void *instance;
+	void (*callback)(void *p_instance, PhysicsDirectBodyState3D *p_state);
+};
+
+GDVIRTUAL_NATIVE_PTR(PhysicsServer3DExtensionMotionCollision)
+GDVIRTUAL_NATIVE_PTR(PhysicsServer3DExtensionMotionResult)
+GDVIRTUAL_NATIVE_PTR(PhysicsServer3DExtensionStateCallback)
+
+class PhysicsServer3DExtension : public PhysicsServer3D {
+	GDCLASS(PhysicsServer3DExtension, PhysicsServer3D);
+
+protected:
+	static void _bind_methods();
+
+public:
+	// The warning is valid, but unavoidable. If the function is not overriden it will error anyway.
+
+	EXBIND0R(RID, world_boundary_shape_create)
+	EXBIND0R(RID, separation_ray_shape_create)
+	EXBIND0R(RID, sphere_shape_create)
+	EXBIND0R(RID, box_shape_create)
+	EXBIND0R(RID, capsule_shape_create)
+	EXBIND0R(RID, cylinder_shape_create)
+	EXBIND0R(RID, convex_polygon_shape_create)
+	EXBIND0R(RID, concave_polygon_shape_create)
+	EXBIND0R(RID, heightmap_shape_create)
+	EXBIND0R(RID, custom_shape_create)
+
+	EXBIND2(shape_set_data, RID, const Variant &)
+	EXBIND2(shape_set_custom_solver_bias, RID, real_t)
+
+	EXBIND2(shape_set_margin, RID, real_t)
+	EXBIND1RC(real_t, shape_get_margin, RID)
+
+	EXBIND1RC(ShapeType, shape_get_type, RID)
+	EXBIND1RC(Variant, shape_get_data, RID)
+	EXBIND1RC(real_t, shape_get_custom_solver_bias, RID)
+
+	/* SPACE API */
+
+	EXBIND0R(RID, space_create)
+	EXBIND2(space_set_active, RID, bool)
+	EXBIND1RC(bool, space_is_active, RID)
+
+	EXBIND3(space_set_param, RID, SpaceParameter, real_t)
+	EXBIND2RC(real_t, space_get_param, RID, SpaceParameter)
+
+	EXBIND1R(PhysicsDirectSpaceState3D *, space_get_direct_state, RID)
+
+	EXBIND2(space_set_debug_contacts, RID, int)
+	EXBIND1RC(Vector<Vector3>, space_get_contacts, RID)
+	EXBIND1RC(int, space_get_contact_count, RID)
+
+	/* AREA API */
+
+	//EXBIND0RID(area);
+	EXBIND0R(RID, area_create)
+
+	EXBIND2(area_set_space, RID, RID)
+	EXBIND1RC(RID, area_get_space, RID)
+
+	EXBIND4(area_add_shape, RID, RID, const Transform3D &, bool)
+	EXBIND3(area_set_shape, RID, int, RID)
+	EXBIND3(area_set_shape_transform, RID, int, const Transform3D &)
+	EXBIND3(area_set_shape_disabled, RID, int, bool)
+
+	EXBIND1RC(int, area_get_shape_count, RID)
+	EXBIND2RC(RID, area_get_shape, RID, int)
+	EXBIND2RC(Transform3D, area_get_shape_transform, RID, int)
+	EXBIND2(area_remove_shape, RID, int)
+	EXBIND1(area_clear_shapes, RID)
+
+	EXBIND2(area_attach_object_instance_id, RID, ObjectID)
+	EXBIND1RC(ObjectID, area_get_object_instance_id, RID)
+
+	EXBIND3(area_set_param, RID, AreaParameter, const Variant &)
+	EXBIND2(area_set_transform, RID, const Transform3D &)
+
+	EXBIND2RC(Variant, area_get_param, RID, AreaParameter)
+	EXBIND1RC(Transform3D, area_get_transform, RID)
+
+	EXBIND2(area_set_collision_mask, RID, uint32_t)
+	EXBIND2(area_set_collision_layer, RID, uint32_t)
+
+	EXBIND2(area_set_monitorable, RID, bool)
+	EXBIND2(area_set_ray_pickable, RID, bool)
+
+	EXBIND2(area_set_monitor_callback, RID, const Callable &)
+	EXBIND2(area_set_area_monitor_callback, RID, const Callable &)
+
+	/* BODY API */
+
+	//EXBIND2RID(body,BodyMode,bool);
+	EXBIND0R(RID, body_create)
+
+	EXBIND2(body_set_space, RID, RID)
+	EXBIND1RC(RID, body_get_space, RID)
+
+	EXBIND2(body_set_mode, RID, BodyMode)
+	EXBIND1RC(BodyMode, body_get_mode, RID)
+
+	EXBIND4(body_add_shape, RID, RID, const Transform3D &, bool)
+	EXBIND3(body_set_shape, RID, int, RID)
+	EXBIND3(body_set_shape_transform, RID, int, const Transform3D &)
+
+	EXBIND1RC(int, body_get_shape_count, RID)
+	EXBIND2RC(Transform3D, body_get_shape_transform, RID, int)
+	EXBIND2RC(RID, body_get_shape, RID, int)
+
+	EXBIND3(body_set_shape_disabled, RID, int, bool)
+
+	EXBIND2(body_remove_shape, RID, int)
+	EXBIND1(body_clear_shapes, RID)
+
+	EXBIND2(body_attach_object_instance_id, RID, ObjectID)
+	EXBIND1RC(ObjectID, body_get_object_instance_id, RID)
+
+	EXBIND2(body_set_enable_continuous_collision_detection, RID, bool)
+	EXBIND1RC(bool, body_is_continuous_collision_detection_enabled, RID)
+
+	EXBIND2(body_set_collision_layer, RID, uint32_t)
+	EXBIND1RC(uint32_t, body_get_collision_layer, RID)
+
+	EXBIND2(body_set_collision_mask, RID, uint32_t)
+	EXBIND1RC(uint32_t, body_get_collision_mask, RID)
+
+	EXBIND2(body_set_user_flags, RID, uint32_t)
+	EXBIND1RC(uint32_t, body_get_user_flags, RID)
+
+	EXBIND3(body_set_param, RID, BodyParameter, const Variant &)
+	EXBIND2RC(Variant, body_get_param, RID, BodyParameter)
+
+	EXBIND1(body_reset_mass_properties, RID)
+
+	EXBIND3(body_set_state, RID, BodyState, const Variant &)
+	EXBIND2RC(Variant, body_get_state, RID, BodyState)
+
+	EXBIND2(body_apply_torque_impulse, RID, const Vector3 &)
+	EXBIND2(body_apply_central_impulse, RID, const Vector3 &)
+	EXBIND3(body_apply_impulse, RID, const Vector3 &, const Vector3 &)
+
+	EXBIND2(body_apply_central_force, RID, const Vector3 &)
+	EXBIND3(body_apply_force, RID, const Vector3 &, const Vector3 &)
+	EXBIND2(body_apply_torque, RID, const Vector3 &)
+
+	EXBIND2(body_add_constant_central_force, RID, const Vector3 &)
+	EXBIND3(body_add_constant_force, RID, const Vector3 &, const Vector3 &)
+	EXBIND2(body_add_constant_torque, RID, const Vector3 &)
+
+	EXBIND2(body_set_constant_force, RID, const Vector3 &)
+	EXBIND1RC(Vector3, body_get_constant_force, RID)
+
+	EXBIND2(body_set_constant_torque, RID, const Vector3 &)
+	EXBIND1RC(Vector3, body_get_constant_torque, RID)
+
+	EXBIND2(body_set_axis_velocity, RID, const Vector3 &)
+
+	EXBIND3(body_set_axis_lock, RID, BodyAxis, bool)
+	EXBIND2RC(bool, body_is_axis_locked, RID, BodyAxis)
+
+	EXBIND2(body_add_collision_exception, RID, RID)
+	EXBIND2(body_remove_collision_exception, RID, RID)
+
+	GDVIRTUAL1RC(TypedArray<RID>, _body_get_collision_exceptions, RID)
+
+	void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override {
+		TypedArray<RID> ret;
+		GDVIRTUAL_REQUIRED_CALL(_body_get_collision_exceptions, p_body, ret);
+		for (int i = 0; i < ret.size(); i++) {
+			p_exceptions->push_back(ret[i]);
+		}
+	}
+
+	EXBIND2(body_set_max_contacts_reported, RID, int)
+	EXBIND1RC(int, body_get_max_contacts_reported, RID)
+
+	EXBIND2(body_set_contacts_reported_depth_threshold, RID, real_t)
+	EXBIND1RC(real_t, body_get_contacts_reported_depth_threshold, RID)
+
+	EXBIND2(body_set_omit_force_integration, RID, bool)
+	EXBIND1RC(bool, body_is_omitting_force_integration, RID)
+
+	GDVIRTUAL2(_body_set_state_sync_callback, RID, GDNativePtr<PhysicsServer3DExtensionStateCallback>)
+	void body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) override {
+		PhysicsServer3DExtensionStateCallback callback;
+		callback.callback = p_callback;
+		callback.instance = p_instance;
+		GDVIRTUAL_REQUIRED_CALL(_body_set_state_sync_callback, p_body, &callback);
+	}
+	EXBIND3(body_set_force_integration_callback, RID, const Callable &, const Variant &)
+
+	EXBIND2(body_set_ray_pickable, RID, bool)
+
+	GDVIRTUAL7RC(bool, _body_test_motion, RID, const Transform3D &, const Vector3 &, real_t, int, bool, GDNativePtr<PhysicsServer3DExtensionMotionResult>)
+
+	thread_local static const Set<RID> *exclude_bodies;
+	thread_local static const Set<ObjectID> *exclude_objects;
+
+	bool body_test_motion_is_excluding_body(RID p_body) const;
+	bool body_test_motion_is_excluding_object(ObjectID p_object) const;
+
+	bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) override {
+		bool ret = false;
+		exclude_bodies = &p_parameters.exclude_bodies;
+		exclude_objects = &p_parameters.exclude_objects;
+		GDVIRTUAL_REQUIRED_CALL(_body_test_motion, p_body, p_parameters.from, p_parameters.motion, p_parameters.margin, p_parameters.max_collisions, p_parameters.collide_separation_ray, r_result, ret);
+		exclude_bodies = nullptr;
+		exclude_objects = nullptr;
+		return ret;
+	}
+
+	EXBIND1R(PhysicsDirectBodyState3D *, body_get_direct_state, RID)
+
+	/* SOFT BODY API */
+
+	EXBIND0R(RID, soft_body_create)
+
+	EXBIND2(soft_body_update_rendering_server, RID, PhysicsServer3DRenderingServerHandler *)
+
+	EXBIND2(soft_body_set_space, RID, RID)
+	EXBIND1RC(RID, soft_body_get_space, RID)
+
+	EXBIND2(soft_body_set_ray_pickable, RID, bool)
+
+	EXBIND2(soft_body_set_collision_layer, RID, uint32_t)
+	EXBIND1RC(uint32_t, soft_body_get_collision_layer, RID)
+
+	EXBIND2(soft_body_set_collision_mask, RID, uint32_t)
+	EXBIND1RC(uint32_t, soft_body_get_collision_mask, RID)
+
+	EXBIND2(soft_body_add_collision_exception, RID, RID)
+	EXBIND2(soft_body_remove_collision_exception, RID, RID)
+
+	GDVIRTUAL1RC(TypedArray<RID>, _soft_body_get_collision_exceptions, RID)
+
+	void soft_body_get_collision_exceptions(RID p_soft_body, List<RID> *p_exceptions) override {
+		TypedArray<RID> ret;
+		GDVIRTUAL_REQUIRED_CALL(_soft_body_get_collision_exceptions, p_soft_body, ret);
+		for (int i = 0; i < ret.size(); i++) {
+			p_exceptions->push_back(ret[i]);
+		}
+	}
+
+	EXBIND3(soft_body_set_state, RID, BodyState, const Variant &)
+	EXBIND2RC(Variant, soft_body_get_state, RID, BodyState)
+
+	EXBIND2(soft_body_set_transform, RID, const Transform3D &)
+
+	EXBIND2(soft_body_set_simulation_precision, RID, int)
+	EXBIND1RC(int, soft_body_get_simulation_precision, RID)
+
+	EXBIND2(soft_body_set_total_mass, RID, real_t)
+	EXBIND1RC(real_t, soft_body_get_total_mass, RID)
+
+	EXBIND2(soft_body_set_linear_stiffness, RID, real_t)
+	EXBIND1RC(real_t, soft_body_get_linear_stiffness, RID)
+
+	EXBIND2(soft_body_set_pressure_coefficient, RID, real_t)
+	EXBIND1RC(real_t, soft_body_get_pressure_coefficient, RID)
+
+	EXBIND2(soft_body_set_damping_coefficient, RID, real_t)
+	EXBIND1RC(real_t, soft_body_get_damping_coefficient, RID)
+
+	EXBIND2(soft_body_set_drag_coefficient, RID, real_t)
+	EXBIND1RC(real_t, soft_body_get_drag_coefficient, RID)
+
+	EXBIND2(soft_body_set_mesh, RID, RID)
+
+	EXBIND1RC(AABB, soft_body_get_bounds, RID)
+
+	EXBIND3(soft_body_move_point, RID, int, const Vector3 &)
+	EXBIND2RC(Vector3, soft_body_get_point_global_position, RID, int)
+
+	EXBIND1(soft_body_remove_all_pinned_points, RID)
+	EXBIND3(soft_body_pin_point, RID, int, bool)
+	EXBIND2RC(bool, soft_body_is_point_pinned, RID, int)
+
+	/* JOINT API */
+
+	EXBIND0R(RID, joint_create)
+
+	EXBIND1(joint_clear, RID)
+
+	EXBIND5(joint_make_pin, RID, RID, const Vector3 &, RID, const Vector3 &)
+
+	EXBIND3(pin_joint_set_param, RID, PinJointParam, real_t)
+	EXBIND2RC(real_t, pin_joint_get_param, RID, PinJointParam)
+
+	EXBIND2(pin_joint_set_local_a, RID, const Vector3 &)
+	EXBIND1RC(Vector3, pin_joint_get_local_a, RID)
+
+	EXBIND2(pin_joint_set_local_b, RID, const Vector3 &)
+	EXBIND1RC(Vector3, pin_joint_get_local_b, RID)
+
+	EXBIND5(joint_make_hinge, RID, RID, const Transform3D &, RID, const Transform3D &)
+	EXBIND7(joint_make_hinge_simple, RID, RID, const Vector3 &, const Vector3 &, RID, const Vector3 &, const Vector3 &)
+
+	EXBIND3(hinge_joint_set_param, RID, HingeJointParam, real_t)
+	EXBIND2RC(real_t, hinge_joint_get_param, RID, HingeJointParam)
+
+	EXBIND3(hinge_joint_set_flag, RID, HingeJointFlag, bool)
+	EXBIND2RC(bool, hinge_joint_get_flag, RID, HingeJointFlag)
+
+	EXBIND5(joint_make_slider, RID, RID, const Transform3D &, RID, const Transform3D &)
+
+	EXBIND3(slider_joint_set_param, RID, SliderJointParam, real_t)
+	EXBIND2RC(real_t, slider_joint_get_param, RID, SliderJointParam)
+
+	EXBIND5(joint_make_cone_twist, RID, RID, const Transform3D &, RID, const Transform3D &)
+
+	EXBIND3(cone_twist_joint_set_param, RID, ConeTwistJointParam, real_t)
+	EXBIND2RC(real_t, cone_twist_joint_get_param, RID, ConeTwistJointParam)
+
+	EXBIND5(joint_make_generic_6dof, RID, RID, const Transform3D &, RID, const Transform3D &)
+
+	EXBIND4(generic_6dof_joint_set_param, RID, Vector3::Axis, G6DOFJointAxisParam, real_t)
+	EXBIND3RC(real_t, generic_6dof_joint_get_param, RID, Vector3::Axis, G6DOFJointAxisParam)
+
+	EXBIND4(generic_6dof_joint_set_flag, RID, Vector3::Axis, G6DOFJointAxisFlag, bool)
+	EXBIND3RC(bool, generic_6dof_joint_get_flag, RID, Vector3::Axis, G6DOFJointAxisFlag)
+
+	EXBIND1RC(JointType, joint_get_type, RID)
+
+	EXBIND2(joint_set_solver_priority, RID, int)
+	EXBIND1RC(int, joint_get_solver_priority, RID)
+
+	EXBIND2(joint_disable_collisions_between_bodies, RID, bool)
+	EXBIND1RC(bool, joint_is_disabled_collisions_between_bodies, RID)
+
+	/* MISC */
+
+	GDVIRTUAL1(_free_rid, RID)
+	virtual void free(RID p_rid) override {
+		GDVIRTUAL_REQUIRED_CALL(_free_rid, p_rid);
+	}
+
+	EXBIND1(set_active, bool)
+
+	EXBIND0(init)
+	EXBIND1(step, real_t)
+	EXBIND0(sync)
+	EXBIND0(end_sync)
+	EXBIND0(flush_queries)
+	EXBIND0(finish)
+
+	EXBIND0RC(bool, is_flushing_queries)
+	EXBIND1R(int, get_process_info, ProcessInfo)
+
+	PhysicsServer3DExtension();
+	~PhysicsServer3DExtension();
+};
+
+#endif // PHYSICSSERVER3DEXTENSION_H
diff --git a/servers/physics_3d/godot_physics_server_3d.cpp b/servers/physics_3d/godot_physics_server_3d.cpp
index a1912dc660..f7270713e0 100644
--- a/servers/physics_3d/godot_physics_server_3d.cpp
+++ b/servers/physics_3d/godot_physics_server_3d.cpp
@@ -920,7 +920,7 @@ RID GodotPhysicsServer3D::soft_body_create() {
 	return rid;
 }
 
-void GodotPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
+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);
 
@@ -1355,7 +1355,7 @@ int GodotPhysicsServer3D::joint_get_solver_priority(RID p_joint) const {
 	return joint->get_priority();
 }
 
-void GodotPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+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);
 
diff --git a/servers/physics_3d/godot_physics_server_3d.h b/servers/physics_3d/godot_physics_server_3d.h
index b903f4808c..00ed763e01 100644
--- a/servers/physics_3d/godot_physics_server_3d.h
+++ b/servers/physics_3d/godot_physics_server_3d.h
@@ -253,7 +253,7 @@ public:
 
 	virtual RID soft_body_create() override;
 
-	virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) override;
+	virtual void soft_body_update_rendering_server(RID p_body, PhysicsServer3DRenderingServerHandler *p_rendering_server_handler) override;
 
 	virtual void soft_body_set_space(RID p_body, RID p_space) override;
 	virtual RID soft_body_get_space(RID p_body) const override;
@@ -353,7 +353,7 @@ public:
 	virtual void joint_set_solver_priority(RID p_joint, int p_priority) override;
 	virtual int joint_get_solver_priority(RID p_joint) const override;
 
-	virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) override;
+	virtual void joint_disable_collisions_between_bodies(RID p_joint, bool p_disable) override;
 	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const override;
 
 	/* MISC */
diff --git a/servers/physics_3d/godot_soft_body_3d.cpp b/servers/physics_3d/godot_soft_body_3d.cpp
index 095050b7f3..f09da92cae 100644
--- a/servers/physics_3d/godot_soft_body_3d.cpp
+++ b/servers/physics_3d/godot_soft_body_3d.cpp
@@ -147,7 +147,7 @@ void GodotSoftBody3D::set_mesh(RID p_mesh) {
 	}
 }
 
-void GodotSoftBody3D::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
+void GodotSoftBody3D::update_rendering_server(PhysicsServer3DRenderingServerHandler *p_rendering_server_handler) {
 	if (soft_mesh.is_null()) {
 		return;
 	}
diff --git a/servers/physics_3d/godot_soft_body_3d.h b/servers/physics_3d/godot_soft_body_3d.h
index 5028e81dd8..d9f5078313 100644
--- a/servers/physics_3d/godot_soft_body_3d.h
+++ b/servers/physics_3d/godot_soft_body_3d.h
@@ -157,7 +157,7 @@ public:
 
 	void set_mesh(RID p_mesh);
 
-	void update_rendering_server(RenderingServerHandler *p_rendering_server_handler);
+	void update_rendering_server(PhysicsServer3DRenderingServerHandler *p_rendering_server_handler);
 
 	Vector3 get_vertex_position(int p_index) const;
 	void set_vertex_position(int p_index, const Vector3 &p_position);
diff --git a/servers/physics_server_3d.cpp b/servers/physics_server_3d.cpp
index fc119e49e9..17c94978d1 100644
--- a/servers/physics_server_3d.cpp
+++ b/servers/physics_server_3d.cpp
@@ -33,6 +33,22 @@
 #include "core/config/project_settings.h"
 #include "core/string/print_string.h"
 
+void PhysicsServer3DRenderingServerHandler::set_vertex(int p_vertex_id, const void *p_vector3) {
+	GDVIRTUAL_REQUIRED_CALL(_set_vertex, p_vertex_id, p_vector3);
+}
+void PhysicsServer3DRenderingServerHandler::set_normal(int p_vertex_id, const void *p_vector3) {
+	GDVIRTUAL_REQUIRED_CALL(_set_normal, p_vertex_id, p_vector3);
+}
+void PhysicsServer3DRenderingServerHandler::set_aabb(const AABB &p_aabb) {
+	GDVIRTUAL_REQUIRED_CALL(_set_aabb, p_aabb);
+}
+
+void PhysicsServer3DRenderingServerHandler::_bind_methods() {
+	GDVIRTUAL_BIND(_set_vertex, "vertex_id", "vertices");
+	GDVIRTUAL_BIND(_set_normal, "vertex_id", "normals");
+	GDVIRTUAL_BIND(_set_aabb, "aabb");
+}
+
 PhysicsServer3D *PhysicsServer3D::singleton = nullptr;
 
 void PhysicsDirectBodyState3D::integrate_forces() {
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index f830c95b58..4811f7a039 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -33,6 +33,9 @@
 
 #include "core/io/resource.h"
 #include "core/object/class_db.h"
+#include "core/object/gdvirtual.gen.inc"
+#include "core/object/script_language.h"
+#include "core/variant/native_ptr.h"
 
 class PhysicsDirectSpaceState3D;
 
@@ -202,13 +205,21 @@ public:
 	PhysicsDirectSpaceState3D();
 };
 
-class RenderingServerHandler {
+class PhysicsServer3DRenderingServerHandler : public Object {
+	GDCLASS(PhysicsServer3DRenderingServerHandler, Object)
+protected:
+	GDVIRTUAL2(_set_vertex, int, GDNativeConstPtr<void>)
+	GDVIRTUAL2(_set_normal, int, GDNativeConstPtr<void>)
+	GDVIRTUAL1(_set_aabb, const AABB &)
+
+	static void _bind_methods();
+
 public:
-	virtual void set_vertex(int p_vertex_id, const void *p_vector3) = 0;
-	virtual void set_normal(int p_vertex_id, const void *p_vector3) = 0;
-	virtual void set_aabb(const AABB &p_aabb) = 0;
+	virtual void set_vertex(int p_vertex_id, const void *p_vector3);
+	virtual void set_normal(int p_vertex_id, const void *p_vector3);
+	virtual void set_aabb(const AABB &p_aabb);
 
-	virtual ~RenderingServerHandler() {}
+	virtual ~PhysicsServer3DRenderingServerHandler() {}
 };
 
 class PhysicsTestMotionParameters3D;
@@ -552,7 +563,7 @@ public:
 
 	virtual RID soft_body_create() = 0;
 
-	virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) = 0;
+	virtual void soft_body_update_rendering_server(RID p_body, PhysicsServer3DRenderingServerHandler *p_rendering_server_handler) = 0;
 
 	virtual void soft_body_set_space(RID p_body, RID p_space) = 0;
 	virtual RID soft_body_get_space(RID p_body) const = 0;
@@ -624,7 +635,7 @@ public:
 	virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0;
 	virtual int joint_get_solver_priority(RID p_joint) const = 0;
 
-	virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0;
+	virtual void joint_disable_collisions_between_bodies(RID p_joint, bool p_disable) = 0;
 	virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0;
 
 	virtual void joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0;
diff --git a/servers/physics_server_3d_wrap_mt.h b/servers/physics_server_3d_wrap_mt.h
index ecaef886e1..e44f82672d 100644
--- a/servers/physics_server_3d_wrap_mt.h
+++ b/servers/physics_server_3d_wrap_mt.h
@@ -269,7 +269,7 @@ public:
 
 	FUNCRID(soft_body)
 
-	FUNC2(soft_body_update_rendering_server, RID, class RenderingServerHandler *)
+	FUNC2(soft_body_update_rendering_server, RID, PhysicsServer3DRenderingServerHandler *)
 
 	FUNC2(soft_body_set_space, RID, RID)
 	FUNC1RC(RID, soft_body_get_space, RID)
@@ -369,7 +369,7 @@ public:
 	FUNC2(joint_set_solver_priority, RID, int);
 	FUNC1RC(int, joint_get_solver_priority, RID);
 
-	FUNC2(joint_disable_collisions_between_bodies, RID, const bool);
+	FUNC2(joint_disable_collisions_between_bodies, RID, bool);
 	FUNC1RC(bool, joint_is_disabled_collisions_between_bodies, RID);
 
 	/* MISC */
diff --git a/servers/register_server_types.cpp b/servers/register_server_types.cpp
index 6848620b48..b001b7aa2a 100644
--- a/servers/register_server_types.cpp
+++ b/servers/register_server_types.cpp
@@ -70,6 +70,7 @@
 #include "rendering/rendering_device.h"
 #include "rendering/rendering_device_binds.h"
 #include "rendering_server.h"
+#include "servers/extensions/physics_server_3d_extension.h"
 #include "servers/rendering/shader_types.h"
 #include "text/text_server_extension.h"
 #include "text_server.h"
@@ -113,6 +114,9 @@ void preregister_server_types() {
 	GDREGISTER_ABSTRACT_CLASS(TextServer);
 	GDREGISTER_CLASS(TextServerExtension);
 
+	GDREGISTER_NATIVE_STRUCT(Glyph, "int start;int end;uint8_t count;uint8_t repeat;uint16_t flags;float x_off;float y_off;float advance;RID font_rid;int font_size;int32_t index");
+	GDREGISTER_NATIVE_STRUCT(CaretInfo, "int start;int end;uint8_t count;uint8_t repeat;uint16_t flags;float x_off;float y_off;float advance;RID font_rid;int font_size;int32_t index");
+
 	Engine::get_singleton()->add_singleton(Engine::Singleton("TextServerManager", TextServerManager::get_singleton(), "TextServerManager"));
 }
 
@@ -125,6 +129,18 @@ void register_server_types() {
 
 	GDREGISTER_ABSTRACT_CLASS(PhysicsServer2D);
 	GDREGISTER_ABSTRACT_CLASS(PhysicsServer3D);
+	GDREGISTER_VIRTUAL_CLASS(PhysicsServer3DExtension);
+	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectBodyState3DExtension);
+	GDREGISTER_VIRTUAL_CLASS(PhysicsDirectSpaceState3DExtension)
+	GDREGISTER_VIRTUAL_CLASS(PhysicsServer3DRenderingServerHandler)
+
+	GDREGISTER_NATIVE_STRUCT(PhysicsServer3DExtensionRayResult, "Vector3 position;Vector3 normal;RID rid;ObjectID collider_id;Object*collider;int shape");
+	GDREGISTER_NATIVE_STRUCT(PhysicsServer3DExtensionShapeResult, "RID rid;ObjectID collider_id;Object*collider;int shape");
+	GDREGISTER_NATIVE_STRUCT(PhysicsServer3DExtensionShapeRestInfo, "Vector3 point;Vector3 normal;RID rid;ObjectID collider_id;int shape;Vector3 linear_velocity;");
+	GDREGISTER_NATIVE_STRUCT(PhysicsServer3DExtensionMotionCollision, "Vector3 position;Vector3 normal;Vector3 collider_velocity;real_t depth;int local_shape;ObjectID collider_id;RID collider;int collider_shape;");
+	GDREGISTER_NATIVE_STRUCT(PhysicsServer3DExtensionMotionResult, "Vector3 travel;Vector3 remainder;real_t collision_safe_fraction;real_t collision_unsafe_fraction;MotionCollision collisions[32];int collision_count");
+	GDREGISTER_NATIVE_STRUCT(PhysicsServer3DExtensionStateCallback, "void *instance;void (*callback)(void *p_instance, PhysicsDirectBodyState3D *p_state)");
+
 	GDREGISTER_ABSTRACT_CLASS(NavigationServer2D);
 	GDREGISTER_ABSTRACT_CLASS(NavigationServer3D);
 	GDREGISTER_CLASS(XRServer);