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Diffstat (limited to 'modules/bullet/bullet_physics_server.cpp')
| -rw-r--r-- | modules/bullet/bullet_physics_server.cpp | 1535 |
1 files changed, 0 insertions, 1535 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp deleted file mode 100644 index 7e9e621032..0000000000 --- a/modules/bullet/bullet_physics_server.cpp +++ /dev/null @@ -1,1535 +0,0 @@ -/*************************************************************************/ -/* bullet_physics_server.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 "bullet_physics_server.h" - -#include "bullet_utilities.h" -#include "cone_twist_joint_bullet.h" -#include "core/error/error_macros.h" -#include "core/object/class_db.h" -#include "core/string/ustring.h" -#include "generic_6dof_joint_bullet.h" -#include "hinge_joint_bullet.h" -#include "pin_joint_bullet.h" -#include "shape_bullet.h" -#include "slider_joint_bullet.h" - -#include <LinearMath/btVector3.h> - -#include <assert.h> - -#define CreateThenReturnRID(owner, ridData) \ - RID rid = owner.make_rid(ridData); \ - ridData->set_self(rid); \ - ridData->_set_physics_server(this); \ - return rid; - -// <--------------- Joint creation asserts -/// Assert the body is assigned to a space -#define JointAssertSpace(body, bIndex, ret) \ - if (!body->get_space()) { \ - ERR_PRINT("Before create a joint the Body" + String(bIndex) + " must be added to a space!"); \ - return ret; \ - } - -/// Assert the two bodies of joint are in the same space -#define JointAssertSameSpace(bodyA, bodyB, ret) \ - if (bodyA->get_space() != bodyB->get_space()) { \ - ERR_PRINT("In order to create a joint the Body_A and Body_B must be in the same space!"); \ - return RID(); \ - } - -#define AddJointToSpace(body, joint) \ - body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies()); -// <--------------- Joint creation asserts - -void BulletPhysicsServer3D::_bind_methods() { - //ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer3D::DoTest); -} - -BulletPhysicsServer3D::BulletPhysicsServer3D() : - PhysicsServer3D() {} - -BulletPhysicsServer3D::~BulletPhysicsServer3D() {} - -RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) { - ShapeBullet *shape = nullptr; - - switch (p_shape) { - case SHAPE_WORLD_BOUNDARY: { - shape = bulletnew(WorldBoundaryShapeBullet); - } break; - case SHAPE_SPHERE: { - shape = bulletnew(SphereShapeBullet); - } break; - case SHAPE_BOX: { - shape = bulletnew(BoxShapeBullet); - } break; - case SHAPE_CAPSULE: { - shape = bulletnew(CapsuleShapeBullet); - } break; - case SHAPE_CYLINDER: { - shape = bulletnew(CylinderShapeBullet); - } break; - case SHAPE_CONVEX_POLYGON: { - shape = bulletnew(ConvexPolygonShapeBullet); - } break; - case SHAPE_CONCAVE_POLYGON: { - shape = bulletnew(ConcavePolygonShapeBullet); - } break; - case SHAPE_HEIGHTMAP: { - shape = bulletnew(HeightMapShapeBullet); - } break; - case SHAPE_RAY: { - shape = bulletnew(RayShapeBullet); - } break; - case SHAPE_CUSTOM: - default: - ERR_FAIL_V(RID()); - break; - } - - CreateThenReturnRID(shape_owner, shape) -} - -void BulletPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) { - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - shape->set_data(p_data); -} - -void BulletPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { - //WARN_PRINT("Bias not supported by Bullet physics engine"); -} - -PhysicsServer3D::ShapeType BulletPhysicsServer3D::shape_get_type(RID p_shape) const { - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, PhysicsServer3D::SHAPE_CUSTOM); - return shape->get_type(); -} - -Variant BulletPhysicsServer3D::shape_get_data(RID p_shape) const { - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, Variant()); - return shape->get_data(); -} - -void BulletPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) { - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - shape->set_margin(p_margin); -} - -real_t BulletPhysicsServer3D::shape_get_margin(RID p_shape) const { - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, 0.0); - return shape->get_margin(); -} - -real_t BulletPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const { - //WARN_PRINT("Bias not supported by Bullet physics engine"); - return 0.; -} - -RID BulletPhysicsServer3D::space_create() { - SpaceBullet *space = bulletnew(SpaceBullet); - CreateThenReturnRID(space_owner, space); -} - -void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) { - SpaceBullet *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - - if (space_is_active(p_space) == p_active) { - return; - } - - if (p_active) { - ++active_spaces_count; - active_spaces.push_back(space); - } else { - --active_spaces_count; - active_spaces.erase(space); - } -} - -bool BulletPhysicsServer3D::space_is_active(RID p_space) const { - SpaceBullet *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, false); - - return -1 != active_spaces.find(space); -} - -void BulletPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { - SpaceBullet *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - space->set_param(p_param, p_value); -} - -real_t BulletPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const { - SpaceBullet *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, 0); - return space->get_param(p_param); -} - -PhysicsDirectSpaceState3D *BulletPhysicsServer3D::space_get_direct_state(RID p_space) { - SpaceBullet *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, nullptr); - - return space->get_direct_state(); -} - -void BulletPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) { - SpaceBullet *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - - space->set_debug_contacts(p_max_contacts); -} - -Vector<Vector3> BulletPhysicsServer3D::space_get_contacts(RID p_space) const { - SpaceBullet *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, Vector<Vector3>()); - - return space->get_debug_contacts(); -} - -int BulletPhysicsServer3D::space_get_contact_count(RID p_space) const { - SpaceBullet *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, 0); - - return space->get_debug_contact_count(); -} - -RID BulletPhysicsServer3D::area_create() { - AreaBullet *area = bulletnew(AreaBullet); - area->set_collision_layer(1); - area->set_collision_mask(1); - CreateThenReturnRID(area_owner, area) -} - -void BulletPhysicsServer3D::area_set_space(RID p_area, RID p_space) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - SpaceBullet *space = nullptr; - if (p_space.is_valid()) { - space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - } - area->set_space(space); -} - -RID BulletPhysicsServer3D::area_get_space(RID p_area) const { - AreaBullet *area = area_owner.get_or_null(p_area); - return area->get_space()->get_self(); -} - -void BulletPhysicsServer3D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_spOv_mode(p_mode); -} - -PhysicsServer3D::AreaSpaceOverrideMode BulletPhysicsServer3D::area_get_space_override_mode(RID p_area) const { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED); - - return area->get_spOv_mode(); -} - -void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - - area->add_shape(shape, p_transform, p_disabled); -} - -void BulletPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - - area->set_shape(p_shape_idx, shape); -} - -void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_shape_transform(p_shape_idx, p_transform); -} - -int BulletPhysicsServer3D::area_get_shape_count(RID p_area) const { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, 0); - - return area->get_shape_count(); -} - -RID BulletPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, RID()); - - return area->get_shape(p_shape_idx)->get_self(); -} - -Transform3D BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Transform3D()); - - return area->get_shape_transform(p_shape_idx); -} - -void BulletPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - return area->remove_shape_full(p_shape_idx); -} - -void BulletPhysicsServer3D::area_clear_shapes(RID p_area) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - for (int i = area->get_shape_count(); 0 < i; --i) { - area->remove_shape_full(0); - } -} - -void BulletPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_shape_disabled(p_shape_idx, p_disabled); -} - -void BulletPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) { - if (space_owner.owns(p_area)) { - return; - } - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_instance_id(p_id); -} - -ObjectID BulletPhysicsServer3D::area_get_object_instance_id(RID p_area) const { - if (space_owner.owns(p_area)) { - return ObjectID(); - } - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, ObjectID()); - return area->get_instance_id(); -} - -void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { - if (space_owner.owns(p_area)) { - SpaceBullet *space = space_owner.get_or_null(p_area); - if (space) { - space->set_param(p_param, p_value); - } - } else { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_param(p_param, p_value); - } -} - -Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const { - if (space_owner.owns(p_area)) { - SpaceBullet *space = space_owner.get_or_null(p_area); - return space->get_param(p_param); - } else { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Variant()); - - return area->get_param(p_param); - } -} - -void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_transform(p_transform); -} - -Transform3D BulletPhysicsServer3D::area_get_transform(RID p_area) const { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Transform3D()); - return area->get_transform(); -} - -void BulletPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_collision_mask(p_mask); -} - -void BulletPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_collision_layer(p_layer); -} - -void BulletPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_monitorable(p_monitorable); -} - -void BulletPhysicsServer3D::area_set_monitor_callback(RID p_area, const Callable &p_callback) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_callback.is_valid() ? p_callback : Callable()); -} - -void BulletPhysicsServer3D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_callback.is_valid() ? p_callback : Callable()); -} - -void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) { - AreaBullet *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_ray_pickable(p_enable); -} - -RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) { - RigidBodyBullet *body = bulletnew(RigidBodyBullet); - body->set_mode(p_mode); - body->set_collision_layer(1); - body->set_collision_mask(1); - if (p_init_sleeping) { - body->set_state(BODY_STATE_SLEEPING, p_init_sleeping); - } - CreateThenReturnRID(rigid_body_owner, body); -} - -void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - SpaceBullet *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->set_space(space); -} - -RID BulletPhysicsServer3D::body_get_space(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, RID()); - - SpaceBullet *space = body->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -} - -void BulletPhysicsServer3D::body_set_mode(RID p_body, PhysicsServer3D::BodyMode p_mode) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_mode(p_mode); -} - -PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); - return body->get_mode(); -} - -void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - - body->add_shape(shape, p_transform, p_disabled); -} - -void BulletPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - ShapeBullet *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - - body->set_shape(p_shape_idx, shape); -} - -void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_shape_transform(p_shape_idx, p_transform); -} - -int BulletPhysicsServer3D::body_get_shape_count(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - return body->get_shape_count(); -} - -RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, RID()); - - ShapeBullet *shape = body->get_shape(p_shape_idx); - ERR_FAIL_COND_V(!shape, RID()); - - return shape->get_self(); -} - -Transform3D BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Transform3D()); - return body->get_shape_transform(p_shape_idx); -} - -void BulletPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_shape_disabled(p_shape_idx, p_disabled); -} - -void BulletPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->remove_shape_full(p_shape_idx); -} - -void BulletPhysicsServer3D::body_clear_shapes(RID p_body) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->remove_all_shapes(); -} - -void BulletPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) { - CollisionObjectBullet *body = get_collision_object(p_body); - ERR_FAIL_COND(!body); - - body->set_instance_id(p_id); -} - -ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const { - CollisionObjectBullet *body = get_collision_object(p_body); - ERR_FAIL_COND_V(!body, ObjectID()); - - return body->get_instance_id(); -} - -void BulletPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_continuous_collision_detection(p_enable); -} - -bool BulletPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - - return body->is_continuous_collision_detection_enabled(); -} - -void BulletPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_collision_layer(p_layer); -} - -uint32_t BulletPhysicsServer3D::body_get_collision_layer(RID p_body) const { - const RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_layer(); -} - -void BulletPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_collision_mask(p_mask); -} - -uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_mask(); -} - -void BulletPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) { - // This function is not currently supported -} - -uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const { - // This function is not currently supported - return 0; -} - -void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_param(p_param, p_value); -} - -real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_param(p_param); -} - -void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - if (body->get_kinematic_utilities()) { - body->get_kinematic_utilities()->setSafeMargin(p_margin); - } -} - -real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - if (body->get_kinematic_utilities()) { - return body->get_kinematic_utilities()->safe_margin; - } - - return 0; -} - -void BulletPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_state(p_state, p_variant); -} - -Variant BulletPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Variant()); - - return body->get_state(p_state); -} - -void BulletPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_applied_force(p_force); -} - -Vector3 BulletPhysicsServer3D::body_get_applied_force(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Vector3()); - return body->get_applied_force(); -} - -void BulletPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_applied_torque(p_torque); -} - -Vector3 BulletPhysicsServer3D::body_get_applied_torque(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Vector3()); - - return body->get_applied_torque(); -} - -void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->apply_central_force(p_force); -} - -void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->apply_force(p_force, p_position); -} - -void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->apply_torque(p_torque); -} - -void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->apply_central_impulse(p_impulse); -} - -void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->apply_impulse(p_impulse, p_position); -} - -void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->apply_torque_impulse(p_impulse); -} - -void BulletPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - Vector3 v = body->get_linear_velocity(); - Vector3 axis = p_axis_velocity.normalized(); - v -= axis * axis.dot(v); - v += p_axis_velocity; - body->set_linear_velocity(v); -} - -void BulletPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_axis_lock(p_axis, p_lock); -} - -bool BulletPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const { - const RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - return body->is_axis_locked(p_axis); -} - -void BulletPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - RigidBodyBullet *other_body = rigid_body_owner.get_or_null(p_body_b); - ERR_FAIL_COND(!other_body); - - body->add_collision_exception(other_body); -} - -void BulletPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - RigidBodyBullet *other_body = rigid_body_owner.get_or_null(p_body_b); - ERR_FAIL_COND(!other_body); - - body->remove_collision_exception(other_body); -} - -void BulletPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { - RigidBodyBullet *body = rigid_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 BulletPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_max_collisions_detection(p_contacts); -} - -int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_max_collisions_detection(); -} - -void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { - // Not supported by bullet and even Godot -} - -real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { - // Not supported by bullet and even Godot - return 0.; -} - -void BulletPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_omit_forces_integration(p_omit); -} - -bool BulletPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - - return body->get_omit_forces_integration(); -} - -void BulletPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_force_integration_callback(p_callable, p_udata); -} - -void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_ray_pickable(p_enable); -} - -PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) { - if (!rigid_body_owner.owns(p_body)) { - return nullptr; - } - - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, nullptr); - - if (!body->get_space()) { - return nullptr; - } - - return BulletPhysicsDirectBodyState3D::get_singleton(body); -} - -bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - ERR_FAIL_COND_V(!body->get_space(), false); - - return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes, p_exclude); -} - -int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - ERR_FAIL_COND_V(!body->get_space(), 0); - - return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin); -} - -RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) { - SoftBodyBullet *body = bulletnew(SoftBodyBullet); - body->set_collision_layer(1); - body->set_collision_mask(1); - if (p_init_sleeping) { - body->set_activation_state(false); - } - CreateThenReturnRID(soft_body_owner, body); -} - -void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->update_rendering_server(p_rendering_server_handler); -} - -void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - SpaceBullet *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->set_space(space); -} - -RID BulletPhysicsServer3D::soft_body_get_space(RID p_body) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, RID()); - - SpaceBullet *space = body->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -} - -void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_soft_mesh(p_mesh); -} - -AABB BulletPhysicsServer::soft_body_get_bounds(RID p_body) const { - SoftBodyBullet *body = soft_body_owner.get(p_body); - ERR_FAIL_COND_V(!body, AABB()); - - return body->get_bounds(); -} - -void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_collision_layer(p_layer); -} - -uint32_t BulletPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const { - const SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_layer(); -} - -void BulletPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_collision_mask(p_mask); -} - -uint32_t BulletPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const { - const SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_mask(); -} - -void BulletPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - CollisionObjectBullet *other_body = rigid_body_owner.get_or_null(p_body_b); - if (!other_body) { - other_body = soft_body_owner.get_or_null(p_body_b); - } - ERR_FAIL_COND(!other_body); - - body->add_collision_exception(other_body); -} - -void BulletPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - CollisionObjectBullet *other_body = rigid_body_owner.get_or_null(p_body_b); - if (!other_body) { - other_body = soft_body_owner.get_or_null(p_body_b); - } - ERR_FAIL_COND(!other_body); - - body->remove_collision_exception(other_body); -} - -void BulletPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { - SoftBodyBullet *body = soft_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 BulletPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { - // FIXME: Must be implemented. - WARN_PRINT("soft_body_state is not implemented yet in Bullet backend."); -} - -Variant BulletPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const { - // FIXME: Must be implemented. - WARN_PRINT("soft_body_state is not implemented yet in Bullet backend."); - return Variant(); -} - -void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_soft_transform(p_transform); -} - -void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_ray_pickable(p_enable); -} - -void BulletPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_simulation_precision(p_simulation_precision); -} - -int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_simulation_precision(); -} - -void BulletPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_total_mass(p_total_mass); -} - -real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_total_mass(); -} - -void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_linear_stiffness(p_stiffness); -} - -real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_linear_stiffness(); -} - -void BulletPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_pressure_coefficient(p_pressure_coefficient); -} - -real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_pressure_coefficient(); -} - -void BulletPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_damping_coefficient(p_damping_coefficient); -} - -real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_damping_coefficient(); -} - -void BulletPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_drag_coefficient(p_drag_coefficient); -} - -real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_drag_coefficient(); -} - -void BulletPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_node_position(p_point_index, p_global_position); -} - -Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.)); - Vector3 pos; - body->get_node_position(p_point_index, pos); - return pos; -} - -void BulletPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->reset_all_node_mass(); -} - -void BulletPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_node_mass(p_point_index, p_pin ? 0 : 1); -} - -bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0.f); - return body->get_node_mass(p_point_index); -} - -PhysicsServer3D::JointType BulletPhysicsServer3D::joint_get_type(RID p_joint) const { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, JOINT_PIN); - return joint->get_type(); -} - -void BulletPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) { - // Joint priority not supported by bullet -} - -int BulletPhysicsServer3D::joint_get_solver_priority(RID p_joint) const { - // Joint priority not supported by bullet - return 0; -} - -void BulletPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - - joint->disable_collisions_between_bodies(p_disable); -} - -bool BulletPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const { - JointBullet *joint(joint_owner.get_or_null(p_joint)); - ERR_FAIL_COND_V(!joint, false); - - return joint->is_disabled_collisions_between_bodies(); -} - -RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) { - RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A); - ERR_FAIL_COND_V(!body_A, RID()); - - JointAssertSpace(body_A, "A", RID()); - - RigidBodyBullet *body_B = nullptr; - if (p_body_B.is_valid()) { - body_B = rigid_body_owner.get_or_null(p_body_B); - JointAssertSpace(body_B, "B", RID()); - JointAssertSameSpace(body_A, body_B, RID()); - } - - ERR_FAIL_COND_V(body_A == body_B, RID()); - - JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B)); - AddJointToSpace(body_A, joint); - - CreateThenReturnRID(joint_owner, joint); -} - -void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_PIN); - PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); - pin_joint->set_param(p_param, p_value); -} - -real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0); - PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); - return pin_joint->get_param(p_param); -} - -void BulletPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_PIN); - PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); - pin_joint->setPivotInA(p_A); -} - -Vector3 BulletPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, Vector3()); - ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3()); - PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); - return pin_joint->getPivotInA(); -} - -void BulletPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_PIN); - PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); - pin_joint->setPivotInB(p_B); -} - -Vector3 BulletPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, Vector3()); - ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3()); - PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); - return pin_joint->getPivotInB(); -} - -RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) { - RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A); - ERR_FAIL_COND_V(!body_A, RID()); - JointAssertSpace(body_A, "A", RID()); - - RigidBodyBullet *body_B = nullptr; - if (p_body_B.is_valid()) { - body_B = rigid_body_owner.get_or_null(p_body_B); - JointAssertSpace(body_B, "B", RID()); - JointAssertSameSpace(body_A, body_B, RID()); - } - - ERR_FAIL_COND_V(body_A == body_B, RID()); - - JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B)); - AddJointToSpace(body_A, joint); - - CreateThenReturnRID(joint_owner, joint); -} - -RID BulletPhysicsServer3D::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) { - RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A); - ERR_FAIL_COND_V(!body_A, RID()); - JointAssertSpace(body_A, "A", RID()); - - RigidBodyBullet *body_B = nullptr; - if (p_body_B.is_valid()) { - body_B = rigid_body_owner.get_or_null(p_body_B); - JointAssertSpace(body_B, "B", RID()); - JointAssertSameSpace(body_A, body_B, RID()); - } - - ERR_FAIL_COND_V(body_A == body_B, RID()); - - JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B)); - AddJointToSpace(body_A, joint); - - CreateThenReturnRID(joint_owner, joint); -} - -void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); - HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); - hinge_joint->set_param(p_param, p_value); -} - -real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0); - HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); - return hinge_joint->get_param(p_param); -} - -void BulletPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); - HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); - hinge_joint->set_flag(p_flag, p_value); -} - -bool BulletPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, false); - ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false); - HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); - return hinge_joint->get_flag(p_flag); -} - -RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { - RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A); - ERR_FAIL_COND_V(!body_A, RID()); - JointAssertSpace(body_A, "A", RID()); - - RigidBodyBullet *body_B = nullptr; - if (p_body_B.is_valid()) { - body_B = rigid_body_owner.get_or_null(p_body_B); - JointAssertSpace(body_B, "B", RID()); - JointAssertSameSpace(body_A, body_B, RID()); - } - - ERR_FAIL_COND_V(body_A == body_B, RID()); - - JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); - AddJointToSpace(body_A, joint); - - CreateThenReturnRID(joint_owner, joint); -} - -void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER); - SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint); - slider_joint->set_param(p_param, p_value); -} - -real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0); - SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint); - return slider_joint->get_param(p_param); -} - -RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { - RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A); - ERR_FAIL_COND_V(!body_A, RID()); - JointAssertSpace(body_A, "A", RID()); - - RigidBodyBullet *body_B = nullptr; - if (p_body_B.is_valid()) { - body_B = rigid_body_owner.get_or_null(p_body_B); - JointAssertSpace(body_B, "B", RID()); - JointAssertSameSpace(body_A, body_B, RID()); - } - - JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); - AddJointToSpace(body_A, joint); - - CreateThenReturnRID(joint_owner, joint); -} - -void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST); - ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint); - coneTwist_joint->set_param(p_param, p_value); -} - -real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0.); - ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.); - ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint); - return coneTwist_joint->get_param(p_param); -} - -RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { - RigidBodyBullet *body_A = rigid_body_owner.get_or_null(p_body_A); - ERR_FAIL_COND_V(!body_A, RID()); - JointAssertSpace(body_A, "A", RID()); - - RigidBodyBullet *body_B = nullptr; - if (p_body_B.is_valid()) { - body_B = rigid_body_owner.get_or_null(p_body_B); - JointAssertSpace(body_B, "B", RID()); - JointAssertSameSpace(body_A, body_B, RID()); - } - - ERR_FAIL_COND_V(body_A == body_B, RID()); - - JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); - AddJointToSpace(body_A, joint); - - CreateThenReturnRID(joint_owner, joint); -} - -void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - generic_6dof_joint->set_param(p_axis, p_param, p_value); -} - -real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - return generic_6dof_joint->get_param(p_axis, p_param); -} - -void BulletPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - generic_6dof_joint->set_flag(p_axis, p_flag, p_enable); -} - -bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) { - JointBullet *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, false); - ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false); - Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); - return generic_6dof_joint->get_flag(p_axis, p_flag); -} - -void BulletPhysicsServer3D::free(RID p_rid) { - if (shape_owner.owns(p_rid)) { - ShapeBullet *shape = shape_owner.get_or_null(p_rid); - - // Notify the shape is configured - for (const KeyValue<ShapeOwnerBullet *, int> &element : shape->get_owners()) { - static_cast<ShapeOwnerBullet *>(element.key)->remove_shape_full(shape); - } - - shape_owner.free(p_rid); - bulletdelete(shape); - } else if (rigid_body_owner.owns(p_rid)) { - RigidBodyBullet *body = rigid_body_owner.get_or_null(p_rid); - - body->set_space(nullptr); - - body->remove_all_shapes(true, true); - - rigid_body_owner.free(p_rid); - bulletdelete(body); - - } else if (soft_body_owner.owns(p_rid)) { - SoftBodyBullet *body = soft_body_owner.get_or_null(p_rid); - - body->set_space(nullptr); - - soft_body_owner.free(p_rid); - bulletdelete(body); - - } else if (area_owner.owns(p_rid)) { - AreaBullet *area = area_owner.get_or_null(p_rid); - - area->set_space(nullptr); - - area->remove_all_shapes(true, true); - - area_owner.free(p_rid); - bulletdelete(area); - - } else if (joint_owner.owns(p_rid)) { - JointBullet *joint = joint_owner.get_or_null(p_rid); - joint->destroy_internal_constraint(); - joint_owner.free(p_rid); - bulletdelete(joint); - - } else if (space_owner.owns(p_rid)) { - SpaceBullet *space = space_owner.get_or_null(p_rid); - - space->remove_all_collision_objects(); - - space_set_active(p_rid, false); - space_owner.free(p_rid); - bulletdelete(space); - } else { - ERR_FAIL_MSG("Invalid ID."); - } -} - -void BulletPhysicsServer3D::init() { - BulletPhysicsDirectBodyState3D::initSingleton(); -} - -void BulletPhysicsServer3D::step(real_t p_deltaTime) { - if (!active) { - return; - } - - BulletPhysicsDirectBodyState3D::singleton_setDeltaTime(p_deltaTime); - - for (int i = 0; i < active_spaces_count; ++i) { - active_spaces[i]->step(p_deltaTime); - } -} - -void BulletPhysicsServer3D::flush_queries() { - if (!active) { - return; - } - - for (int i = 0; i < active_spaces_count; ++i) { - active_spaces[i]->flush_queries(); - } -} - -void BulletPhysicsServer3D::finish() { - BulletPhysicsDirectBodyState3D::destroySingleton(); -} - -int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) { - return 0; -} - -SpaceBullet *BulletPhysicsServer3D::get_space(RID p_rid) const { - ERR_FAIL_COND_V_MSG(space_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); - return space_owner.get_or_null(p_rid); -} - -ShapeBullet *BulletPhysicsServer3D::get_shape(RID p_rid) const { - ERR_FAIL_COND_V_MSG(shape_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); - return shape_owner.get_or_null(p_rid); -} - -CollisionObjectBullet *BulletPhysicsServer3D::get_collision_object(RID p_object) const { - if (rigid_body_owner.owns(p_object)) { - return rigid_body_owner.get_or_null(p_object); - } - if (area_owner.owns(p_object)) { - return area_owner.get_or_null(p_object); - } - if (soft_body_owner.owns(p_object)) { - return soft_body_owner.get_or_null(p_object); - } - ERR_FAIL_V_MSG(nullptr, "The RID is no valid."); -} - -RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collision_object(RID p_object) const { - if (rigid_body_owner.owns(p_object)) { - return rigid_body_owner.get_or_null(p_object); - } - if (area_owner.owns(p_object)) { - return area_owner.get_or_null(p_object); - } - ERR_FAIL_V_MSG(nullptr, "The RID is no valid."); -} - -JointBullet *BulletPhysicsServer3D::get_joint(RID p_rid) const { - ERR_FAIL_COND_V_MSG(joint_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); - return joint_owner.get_or_null(p_rid); -} |