diff options
Diffstat (limited to 'modules/bullet')
20 files changed, 120 insertions, 120 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp index e601884486..e07be14c5b 100644 --- a/modules/bullet/bullet_physics_server.cpp +++ b/modules/bullet/bullet_physics_server.cpp @@ -268,7 +268,7 @@ PhysicsServer3D::AreaSpaceOverrideMode BulletPhysicsServer3D::area_get_space_ove return area->get_spOv_mode(); } -void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) { +void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); @@ -288,7 +288,7 @@ void BulletPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_sh area->set_shape(p_shape_idx, shape); } -void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) { +void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); @@ -309,9 +309,9 @@ RID BulletPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const { return area->get_shape(p_shape_idx)->get_self(); } -Transform BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const { +Transform3D BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const { AreaBullet *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, Transform()); + ERR_FAIL_COND_V(!area, Transform3D()); return area->get_shape_transform(p_shape_idx); } @@ -382,15 +382,15 @@ Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) } } -void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform &p_transform) { +void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_transform(p_transform); } -Transform BulletPhysicsServer3D::area_get_transform(RID p_area) const { +Transform3D BulletPhysicsServer3D::area_get_transform(RID p_area) const { AreaBullet *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, Transform()); + ERR_FAIL_COND_V(!area, Transform3D()); return area->get_transform(); } @@ -484,7 +484,7 @@ PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const return body->get_mode(); } -void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) { +void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -504,7 +504,7 @@ void BulletPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_sh body->set_shape(p_shape_idx, shape); } -void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) { +void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -527,9 +527,9 @@ RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const { return shape->get_self(); } -Transform BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const { +Transform3D BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, Transform()); + ERR_FAIL_COND_V(!body, Transform3D()); return body->get_shape_transform(p_shape_idx); } @@ -842,7 +842,7 @@ PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_bod return BulletPhysicsDirectBodyState3D::get_singleton(body); } -bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) { +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) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_COND_V(!body->get_space(), false); @@ -850,7 +850,7 @@ bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes); } -int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { +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.getornull(p_body); ERR_FAIL_COND_V(!body, 0); ERR_FAIL_COND_V(!body->get_space(), 0); @@ -990,7 +990,7 @@ Variant BulletPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state return Variant(); } -void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform &p_transform) { +void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); @@ -1205,7 +1205,7 @@ Vector3 BulletPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const { return pin_joint->getPivotInB(); } -RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) { +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.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); @@ -1277,7 +1277,7 @@ bool BulletPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_f return hinge_joint->get_flag(p_flag); } -RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { +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.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); @@ -1313,7 +1313,7 @@ real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointPar return slider_joint->get_param(p_param); } -RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { +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.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); @@ -1347,7 +1347,7 @@ real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJ return coneTwist_joint->get_param(p_param); } -RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { +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.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); diff --git a/modules/bullet/bullet_physics_server.h b/modules/bullet/bullet_physics_server.h index de0379c873..6df913ff80 100644 --- a/modules/bullet/bullet_physics_server.h +++ b/modules/bullet/bullet_physics_server.h @@ -134,12 +134,12 @@ public: virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) override; virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const override; - virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) override; + virtual void area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override; virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) override; - virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) override; + virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) override; virtual int area_get_shape_count(RID p_area) const override; virtual RID area_get_shape(RID p_area, int p_shape_idx) const override; - virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const override; + virtual Transform3D area_get_shape_transform(RID p_area, int p_shape_idx) const override; virtual void area_remove_shape(RID p_area, int p_shape_idx) override; virtual void area_clear_shapes(RID p_area) override; virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) override; @@ -153,8 +153,8 @@ public: virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) override; virtual Variant area_get_param(RID p_area, AreaParameter p_param) const override; - virtual void area_set_transform(RID p_area, const Transform &p_transform) override; - virtual Transform area_get_transform(RID p_area) const override; + virtual void area_set_transform(RID p_area, const Transform3D &p_transform) override; + virtual Transform3D area_get_transform(RID p_area) const override; virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) override; virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override; @@ -174,14 +174,14 @@ public: virtual void body_set_mode(RID p_body, BodyMode p_mode) override; virtual BodyMode body_get_mode(RID p_body) const override; - virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) override; + virtual void body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override; // Not supported, Please remove and add new shape virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) override; - virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) override; + virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) override; virtual int body_get_shape_count(RID p_body) const override; virtual RID body_get_shape(RID p_body, int p_shape_idx) const override; - virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const override; + virtual Transform3D body_get_shape_transform(RID p_body, int p_shape_idx) const override; virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override; @@ -253,8 +253,8 @@ public: // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override; - virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; - virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override; + virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; + virtual int 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 = 0.001) override; /* SOFT BODY API */ @@ -283,7 +283,7 @@ public: virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override; /// Special function. This function has bad performance - virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) override; + virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) override; virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override; @@ -333,7 +333,7 @@ public: virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) override; virtual Vector3 pin_joint_get_local_b(RID p_joint) const override; - virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) override; + virtual RID joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) override; virtual RID 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) override; virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override; @@ -343,19 +343,19 @@ public: virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override; /// Reference frame is A - virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; + virtual RID joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override; virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override; virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override; /// Reference frame is A - virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; + virtual RID joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override; virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override; virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override; /// Reference frame is A - virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) override; + virtual RID joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override; virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override; virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override; diff --git a/modules/bullet/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp index 19d4816372..01461767bd 100644 --- a/modules/bullet/bullet_types_converter.cpp +++ b/modules/bullet/bullet_types_converter.cpp @@ -59,7 +59,7 @@ void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) { INVERT_B_TO_G(inVal[2], outVal[2]); } -void B_TO_G(btTransform const &inVal, Transform &outVal) { +void B_TO_G(btTransform const &inVal, Transform3D &outVal) { B_TO_G(inVal.getBasis(), outVal.basis); B_TO_G(inVal.getOrigin(), outVal.origin); } @@ -89,7 +89,7 @@ void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) { INVERT_G_TO_B(inVal[2], outVal[2]); } -void G_TO_B(Transform const &inVal, btTransform &outVal) { +void G_TO_B(Transform3D const &inVal, btTransform &outVal) { G_TO_B(inVal.basis, outVal.getBasis()); G_TO_B(inVal.origin, outVal.getOrigin()); } diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h index ca9b7175dd..e184fe1769 100644 --- a/modules/bullet/bullet_types_converter.h +++ b/modules/bullet/bullet_types_converter.h @@ -32,7 +32,7 @@ #define BULLET_TYPES_CONVERTER_H #include "core/math/basis.h" -#include "core/math/transform.h" +#include "core/math/transform_3d.h" #include "core/math/vector3.h" #include "core/typedefs.h" @@ -49,14 +49,14 @@ extern void B_TO_G(btVector3 const &inVal, Vector3 &outVal); extern void INVERT_B_TO_G(btVector3 const &inVal, Vector3 &outVal); extern void B_TO_G(btMatrix3x3 const &inVal, Basis &outVal); extern void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal); -extern void B_TO_G(btTransform const &inVal, Transform &outVal); +extern void B_TO_G(btTransform const &inVal, Transform3D &outVal); // Godot TO Bullet extern void G_TO_B(Vector3 const &inVal, btVector3 &outVal); extern void INVERT_G_TO_B(Vector3 const &inVal, btVector3 &outVal); extern void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal); extern void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal); -extern void G_TO_B(Transform const &inVal, btTransform &outVal); +extern void G_TO_B(Transform3D const &inVal, btTransform &outVal); extern void UNSCALE_BT_BASIS(btTransform &scaledBasis); #endif diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp index d9f5beb5a1..c45bd5bbc0 100644 --- a/modules/bullet/collision_object_bullet.cpp +++ b/modules/bullet/collision_object_bullet.cpp @@ -49,7 +49,7 @@ CollisionObjectBullet::ShapeWrapper::~ShapeWrapper() {} -void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform &p_transform) { +void CollisionObjectBullet::ShapeWrapper::set_transform(const Transform3D &p_transform) { G_TO_B(p_transform.get_basis().get_scale_abs(), scale); G_TO_B(p_transform, transform); UNSCALE_BT_BASIS(transform); @@ -193,7 +193,7 @@ int CollisionObjectBullet::get_godot_object_flags() const { return bt_collision_object->getUserIndex2(); } -void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { +void CollisionObjectBullet::set_transform(const Transform3D &p_global_transform) { set_body_scale(p_global_transform.basis.get_scale_abs()); btTransform bt_transform; @@ -203,8 +203,8 @@ void CollisionObjectBullet::set_transform(const Transform &p_global_transform) { set_transform__bullet(bt_transform); } -Transform CollisionObjectBullet::get_transform() const { - Transform t; +Transform3D CollisionObjectBullet::get_transform() const { + Transform3D t; B_TO_G(get_transform__bullet(), t); t.basis.scale(body_scale); return t; @@ -230,7 +230,7 @@ RigidCollisionObjectBullet::~RigidCollisionObjectBullet() { } } -void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform &p_transform, bool p_disabled) { +void RigidCollisionObjectBullet::add_shape(ShapeBullet *p_shape, const Transform3D &p_transform, bool p_disabled) { shapes.push_back(ShapeWrapper(p_shape, p_transform, !p_disabled)); p_shape->add_owner(this); reload_shapes(); @@ -296,7 +296,7 @@ void RigidCollisionObjectBullet::remove_all_shapes(bool p_permanentlyFromThisBod } } -void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform &p_transform) { +void RigidCollisionObjectBullet::set_shape_transform(int p_index, const Transform3D &p_transform) { ERR_FAIL_INDEX(p_index, get_shape_count()); shapes.write[p_index].set_transform(p_transform); @@ -307,8 +307,8 @@ const btTransform &RigidCollisionObjectBullet::get_bt_shape_transform(int p_inde return shapes[p_index].transform; } -Transform RigidCollisionObjectBullet::get_shape_transform(int p_index) const { - Transform trs; +Transform3D RigidCollisionObjectBullet::get_shape_transform(int p_index) const { + Transform3D trs; B_TO_G(shapes[p_index].transform, trs); return trs; } diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h index c8081a53f1..944ab89b87 100644 --- a/modules/bullet/collision_object_bullet.h +++ b/modules/bullet/collision_object_bullet.h @@ -31,7 +31,7 @@ #ifndef COLLISION_OBJECT_BULLET_H #define COLLISION_OBJECT_BULLET_H -#include "core/math/transform.h" +#include "core/math/transform_3d.h" #include "core/math/vector3.h" #include "core/object/class_db.h" #include "core/templates/vset.h" @@ -83,7 +83,7 @@ public: set_transform(p_transform); } - ShapeWrapper(ShapeBullet *p_shape, const Transform &p_transform, bool p_active) : + ShapeWrapper(ShapeBullet *p_shape, const Transform3D &p_transform, bool p_active) : shape(p_shape), active(p_active) { set_transform(p_transform); @@ -102,7 +102,7 @@ public: active = otherShape.active; } - void set_transform(const Transform &p_transform); + void set_transform(const Transform3D &p_transform); void set_transform(const btTransform &p_transform); btTransform get_adjusted_transform() const; @@ -202,8 +202,8 @@ public: void set_godot_object_flags(int flags); int get_godot_object_flags() const; - void set_transform(const Transform &p_global_transform); - Transform get_transform() const; + void set_transform(const Transform3D &p_global_transform); + Transform3D get_transform() const; virtual void set_transform__bullet(const btTransform &p_global_transform); virtual const btTransform &get_transform__bullet() const; @@ -225,7 +225,7 @@ public: _FORCE_INLINE_ btCollisionShape *get_main_shape() const { return mainShape; } - void add_shape(ShapeBullet *p_shape, const Transform &p_transform = Transform(), bool p_disabled = false); + void add_shape(ShapeBullet *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false); void set_shape(int p_index, ShapeBullet *p_shape); int get_shape_count() const; @@ -238,10 +238,10 @@ public: void remove_shape_full(int p_index); void remove_all_shapes(bool p_permanentlyFromThisBody = false, bool p_force_not_reload = false); - void set_shape_transform(int p_index, const Transform &p_transform); + void set_shape_transform(int p_index, const Transform3D &p_transform); const btTransform &get_bt_shape_transform(int p_index) const; - Transform get_shape_transform(int p_index) const; + Transform3D get_shape_transform(int p_index) const; void set_shape_disabled(int p_index, bool p_disabled); bool is_shape_disabled(int p_index); diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp index e785780c5b..34516d8b3b 100644 --- a/modules/bullet/cone_twist_joint_bullet.cpp +++ b/modules/bullet/cone_twist_joint_bullet.cpp @@ -40,16 +40,16 @@ @author AndreaCatania */ -ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) : +ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) : JointBullet() { - Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale())); + Transform3D scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); btTransform btFrameA; G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale())); + Transform3D scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); btTransform btFrameB; diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h index 7d6bafd292..7e51f7d644 100644 --- a/modules/bullet/cone_twist_joint_bullet.h +++ b/modules/bullet/cone_twist_joint_bullet.h @@ -43,7 +43,7 @@ class ConeTwistJointBullet : public JointBullet { class btConeTwistConstraint *coneConstraint; public: - ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame); + ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame); virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_CONE_TWIST; } diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp index 43ad6c56d5..7e04d57b9d 100644 --- a/modules/bullet/generic_6dof_joint_bullet.cpp +++ b/modules/bullet/generic_6dof_joint_bullet.cpp @@ -40,7 +40,7 @@ @author AndreaCatania */ -Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : +Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) : JointBullet() { for (int i = 0; i < 3; i++) { for (int j = 0; j < PhysicsServer3D::G6DOF_JOINT_FLAG_MAX; j++) { @@ -48,7 +48,7 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu } } - Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); + Transform3D scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); @@ -56,7 +56,7 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); + Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); @@ -71,30 +71,30 @@ Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBu setup(sixDOFConstraint); } -Transform Generic6DOFJointBullet::getFrameOffsetA() const { +Transform3D Generic6DOFJointBullet::getFrameOffsetA() const { btTransform btTrs = sixDOFConstraint->getFrameOffsetA(); - Transform gTrs; + Transform3D gTrs; B_TO_G(btTrs, gTrs); return gTrs; } -Transform Generic6DOFJointBullet::getFrameOffsetB() const { +Transform3D Generic6DOFJointBullet::getFrameOffsetB() const { btTransform btTrs = sixDOFConstraint->getFrameOffsetB(); - Transform gTrs; + Transform3D gTrs; B_TO_G(btTrs, gTrs); return gTrs; } -Transform Generic6DOFJointBullet::getFrameOffsetA() { +Transform3D Generic6DOFJointBullet::getFrameOffsetA() { btTransform btTrs = sixDOFConstraint->getFrameOffsetA(); - Transform gTrs; + Transform3D gTrs; B_TO_G(btTrs, gTrs); return gTrs; } -Transform Generic6DOFJointBullet::getFrameOffsetB() { +Transform3D Generic6DOFJointBullet::getFrameOffsetB() { btTransform btTrs = sixDOFConstraint->getFrameOffsetB(); - Transform gTrs; + Transform3D gTrs; B_TO_G(btTrs, gTrs); return gTrs; } diff --git a/modules/bullet/generic_6dof_joint_bullet.h b/modules/bullet/generic_6dof_joint_bullet.h index 62b8e85a81..00567e3085 100644 --- a/modules/bullet/generic_6dof_joint_bullet.h +++ b/modules/bullet/generic_6dof_joint_bullet.h @@ -48,14 +48,14 @@ class Generic6DOFJointBullet : public JointBullet { bool flags[3][PhysicsServer3D::G6DOF_JOINT_FLAG_MAX]; public: - Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB); + Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB); virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_6DOF; } - Transform getFrameOffsetA() const; - Transform getFrameOffsetB() const; - Transform getFrameOffsetA(); - Transform getFrameOffsetB(); + Transform3D getFrameOffsetA() const; + Transform3D getFrameOffsetB() const; + Transform3D getFrameOffsetA(); + Transform3D getFrameOffsetB(); void set_linear_lower_limit(const Vector3 &linearLower); void set_linear_upper_limit(const Vector3 &linearUpper); diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp index 4ceb98729f..b5fe50cf5f 100644 --- a/modules/bullet/hinge_joint_bullet.cpp +++ b/modules/bullet/hinge_joint_bullet.cpp @@ -40,16 +40,16 @@ @author AndreaCatania */ -HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) : +HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameA, const Transform3D &frameB) : JointBullet() { - Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale())); + Transform3D scaled_AFrame(frameA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); btTransform btFrameA; G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale())); + Transform3D scaled_BFrame(frameB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); btTransform btFrameB; diff --git a/modules/bullet/hinge_joint_bullet.h b/modules/bullet/hinge_joint_bullet.h index 06a95be374..dd0f69ba68 100644 --- a/modules/bullet/hinge_joint_bullet.h +++ b/modules/bullet/hinge_joint_bullet.h @@ -41,7 +41,7 @@ class HingeJointBullet : public JointBullet { class btHingeConstraint *hingeConstraint; public: - HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB); + HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameA, const Transform3D &frameB); HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB); virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_HINGE; } diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 675da1a597..def978cf14 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -106,11 +106,11 @@ Vector3 BulletPhysicsDirectBodyState3D::get_angular_velocity() const { return body->get_angular_velocity(); } -void BulletPhysicsDirectBodyState3D::set_transform(const Transform &p_transform) { +void BulletPhysicsDirectBodyState3D::set_transform(const Transform3D &p_transform) { body->set_transform(p_transform); } -Transform BulletPhysicsDirectBodyState3D::get_transform() const { +Transform3D BulletPhysicsDirectBodyState3D::get_transform() const { return body->get_transform(); } diff --git a/modules/bullet/rigid_body_bullet.h b/modules/bullet/rigid_body_bullet.h index 843ff4a7af..606df7134b 100644 --- a/modules/bullet/rigid_body_bullet.h +++ b/modules/bullet/rigid_body_bullet.h @@ -107,8 +107,8 @@ public: virtual void set_angular_velocity(const Vector3 &p_velocity) override; virtual Vector3 get_angular_velocity() const override; - virtual void set_transform(const Transform &p_transform) override; - virtual Transform get_transform() const override; + virtual void set_transform(const Transform3D &p_transform) override; + virtual Transform3D get_transform() const override; virtual void add_central_force(const Vector3 &p_force) override; virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override; diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp index 45c892851b..1d83118468 100644 --- a/modules/bullet/slider_joint_bullet.cpp +++ b/modules/bullet/slider_joint_bullet.cpp @@ -40,16 +40,16 @@ @author AndreaCatania */ -SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) : +SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB) : JointBullet() { - Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); + Transform3D scaled_AFrame(frameInA.scaled(rbA->get_body_scale())); scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis); btTransform btFrameA; G_TO_B(scaled_AFrame, btFrameA); if (rbB) { - Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); + Transform3D scaled_BFrame(frameInB.scaled(rbB->get_body_scale())); scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis); btTransform btFrameB; @@ -70,44 +70,44 @@ const RigidBodyBullet *SliderJointBullet::getRigidBodyB() const { return static_cast<RigidBodyBullet *>(sliderConstraint->getRigidBodyB().getUserPointer()); } -const Transform SliderJointBullet::getCalculatedTransformA() const { +const Transform3D SliderJointBullet::getCalculatedTransformA() const { btTransform btTransform = sliderConstraint->getCalculatedTransformA(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -const Transform SliderJointBullet::getCalculatedTransformB() const { +const Transform3D SliderJointBullet::getCalculatedTransformB() const { btTransform btTransform = sliderConstraint->getCalculatedTransformB(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -const Transform SliderJointBullet::getFrameOffsetA() const { +const Transform3D SliderJointBullet::getFrameOffsetA() const { btTransform btTransform = sliderConstraint->getFrameOffsetA(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -const Transform SliderJointBullet::getFrameOffsetB() const { +const Transform3D SliderJointBullet::getFrameOffsetB() const { btTransform btTransform = sliderConstraint->getFrameOffsetB(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -Transform SliderJointBullet::getFrameOffsetA() { +Transform3D SliderJointBullet::getFrameOffsetA() { btTransform btTransform = sliderConstraint->getFrameOffsetA(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } -Transform SliderJointBullet::getFrameOffsetB() { +Transform3D SliderJointBullet::getFrameOffsetB() { btTransform btTransform = sliderConstraint->getFrameOffsetB(); - Transform gTrans; + Transform3D gTrans; B_TO_G(btTransform, gTrans); return gTrans; } diff --git a/modules/bullet/slider_joint_bullet.h b/modules/bullet/slider_joint_bullet.h index 90964671c2..0c93558449 100644 --- a/modules/bullet/slider_joint_bullet.h +++ b/modules/bullet/slider_joint_bullet.h @@ -44,18 +44,18 @@ class SliderJointBullet : public JointBullet { public: /// Reference frame is A - SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB); + SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform3D &frameInA, const Transform3D &frameInB); virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_SLIDER; } const RigidBodyBullet *getRigidBodyA() const; const RigidBodyBullet *getRigidBodyB() const; - const Transform getCalculatedTransformA() const; - const Transform getCalculatedTransformB() const; - const Transform getFrameOffsetA() const; - const Transform getFrameOffsetB() const; - Transform getFrameOffsetA(); - Transform getFrameOffsetB(); + const Transform3D getCalculatedTransformA() const; + const Transform3D getCalculatedTransformB() const; + const Transform3D getFrameOffsetA() const; + const Transform3D getFrameOffsetB() const; + Transform3D getFrameOffsetA(); + Transform3D getFrameOffsetB(); real_t getLowerLinLimit() const; void setLowerLinLimit(real_t lowerLimit); real_t getUpperLinLimit() const; diff --git a/modules/bullet/soft_body_bullet.cpp b/modules/bullet/soft_body_bullet.cpp index 2c8727baf2..bbbb0e7851 100644 --- a/modules/bullet/soft_body_bullet.cpp +++ b/modules/bullet/soft_body_bullet.cpp @@ -136,7 +136,7 @@ void SoftBodyBullet::destroy_soft_body() { bt_soft_body = nullptr; } -void SoftBodyBullet::set_soft_transform(const Transform &p_transform) { +void SoftBodyBullet::set_soft_transform(const Transform3D &p_transform) { reset_all_node_positions(); move_all_nodes(p_transform); } @@ -159,7 +159,7 @@ AABB SoftBodyBullet::get_bounds() const { return aabb; } -void SoftBodyBullet::move_all_nodes(const Transform &p_transform) { +void SoftBodyBullet::move_all_nodes(const Transform3D &p_transform) { if (!bt_soft_body) { return; } diff --git a/modules/bullet/soft_body_bullet.h b/modules/bullet/soft_body_bullet.h index 87023b2517..63708b57a7 100644 --- a/modules/bullet/soft_body_bullet.h +++ b/modules/bullet/soft_body_bullet.h @@ -104,11 +104,11 @@ public: void destroy_soft_body(); // Special function. This function has bad performance - void set_soft_transform(const Transform &p_transform); + void set_soft_transform(const Transform3D &p_transform); AABB get_bounds() const; - void move_all_nodes(const Transform &p_transform); + void move_all_nodes(const Transform3D &p_transform); void set_node_position(int node_index, const Vector3 &p_global_position); void set_node_position(int node_index, const btVector3 &p_global_position); void get_node_position(int node_index, Vector3 &r_position) const; diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index bdaec4a09e..712ecb3e22 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -117,7 +117,7 @@ bool BulletPhysicsDirectSpaceState::intersect_ray(const Vector3 &p_from, const V } } -int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return 0; } @@ -152,7 +152,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { +bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { r_closest_safe = 0.0f; r_closest_unsafe = 0.0f; btVector3 bt_motion; @@ -214,7 +214,7 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf } /// Returns the list of contacts pairs in this order: Local contact, other body contact -bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return false; } @@ -250,7 +250,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform & return btQuery.m_count; } -bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->getornull(p_shape); ERR_FAIL_COND_V(!shape, false); @@ -908,7 +908,7 @@ static Ref<StandardMaterial3D> red_mat; static Ref<StandardMaterial3D> blue_mat; #endif -bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) { +bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes) { #if debug_test_motion /// Yes I know this is not good, but I've used it as fast debugging hack. /// I'm leaving it here just for speedup the other eventual debugs @@ -1062,7 +1062,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f return has_penetration; } -int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) { +int SpaceBullet::test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin) { btTransform body_transform; G_TO_B(p_transform, body_transform); UNSCALE_BT_BASIS(body_transform); diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index 87aa2b9e93..36d0538e6b 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -78,11 +78,11 @@ public: virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override; - virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; + virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &r_closest_safe, real_t &r_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override; /// Returns the list of contacts pairs in this order: Local contact, other body contact - virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; + virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override; }; @@ -188,8 +188,8 @@ public: real_t get_linear_damp() const { return linear_damp; } real_t get_angular_damp() const { return angular_damp; } - bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); - int test_ray_separation(RigidBodyBullet *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin); + bool test_body_motion(RigidBodyBullet *p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); + int test_ray_separation(RigidBodyBullet *p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin); private: void create_empty_world(bool p_create_soft_world); |