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Diffstat (limited to 'scene/3d/physics_body.cpp')
| -rw-r--r-- | scene/3d/physics_body.cpp | 2596 |
1 files changed, 0 insertions, 2596 deletions
diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp deleted file mode 100644 index 2f8dc31cb6..0000000000 --- a/scene/3d/physics_body.cpp +++ /dev/null @@ -1,2596 +0,0 @@ -/*************************************************************************/ -/* physics_body.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ - -#include "physics_body.h" - -#include "core/core_string_names.h" -#include "core/engine.h" -#include "core/list.h" -#include "core/method_bind_ext.gen.inc" -#include "core/object.h" -#include "core/rid.h" -#include "scene/3d/collision_shape.h" -#include "scene/scene_string_names.h" -#include "servers/navigation_server.h" - -#ifdef TOOLS_ENABLED -#include "editor/plugins/spatial_editor_plugin.h" -#endif - -Vector3 PhysicsBody::get_linear_velocity() const { - - return Vector3(); -} -Vector3 PhysicsBody::get_angular_velocity() const { - - return Vector3(); -} - -float PhysicsBody::get_inverse_mass() const { - - return 0; -} - -void PhysicsBody::set_collision_layer(uint32_t p_layer) { - - collision_layer = p_layer; - PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), p_layer); -} - -uint32_t PhysicsBody::get_collision_layer() const { - - return collision_layer; -} - -void PhysicsBody::set_collision_mask(uint32_t p_mask) { - - collision_mask = p_mask; - PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), p_mask); -} - -uint32_t PhysicsBody::get_collision_mask() const { - - return collision_mask; -} - -void PhysicsBody::set_collision_mask_bit(int p_bit, bool p_value) { - - uint32_t mask = get_collision_mask(); - if (p_value) - mask |= 1 << p_bit; - else - mask &= ~(1 << p_bit); - set_collision_mask(mask); -} - -bool PhysicsBody::get_collision_mask_bit(int p_bit) const { - - return get_collision_mask() & (1 << p_bit); -} - -void PhysicsBody::set_collision_layer_bit(int p_bit, bool p_value) { - - uint32_t mask = get_collision_layer(); - if (p_value) - mask |= 1 << p_bit; - else - mask &= ~(1 << p_bit); - set_collision_layer(mask); -} - -bool PhysicsBody::get_collision_layer_bit(int p_bit) const { - - return get_collision_layer() & (1 << p_bit); -} - -Array PhysicsBody::get_collision_exceptions() { - List<RID> exceptions; - PhysicsServer::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions); - Array ret; - for (List<RID>::Element *E = exceptions.front(); E; E = E->next()) { - RID body = E->get(); - ObjectID instance_id = PhysicsServer::get_singleton()->body_get_object_instance_id(body); - Object *obj = ObjectDB::get_instance(instance_id); - PhysicsBody *physics_body = Object::cast_to<PhysicsBody>(obj); - ret.append(physics_body); - } - return ret; -} - -void PhysicsBody::add_collision_exception_with(Node *p_node) { - - ERR_FAIL_NULL(p_node); - CollisionObject *collision_object = Object::cast_to<CollisionObject>(p_node); - ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject."); - PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid()); -} - -void PhysicsBody::remove_collision_exception_with(Node *p_node) { - - ERR_FAIL_NULL(p_node); - CollisionObject *collision_object = Object::cast_to<CollisionObject>(p_node); - ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject."); - PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid()); -} - -void PhysicsBody::_set_layers(uint32_t p_mask) { - set_collision_layer(p_mask); - set_collision_mask(p_mask); -} - -uint32_t PhysicsBody::_get_layers() const { - - return get_collision_layer(); -} - -void PhysicsBody::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody::set_collision_layer); - ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody::get_collision_layer); - - ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsBody::set_collision_mask); - ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsBody::get_collision_mask); - - ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &PhysicsBody::set_collision_mask_bit); - ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &PhysicsBody::get_collision_mask_bit); - - ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody::set_collision_layer_bit); - ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody::get_collision_layer_bit); - - ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody::_set_layers); - ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody::_get_layers); - - ADD_GROUP("Collision", "collision_"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask"); -} - -PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode) : - CollisionObject(PhysicsServer::get_singleton()->body_create(p_mode), false) { - - collision_layer = 1; - collision_mask = 1; -} - -void StaticBody::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) { - if (physics_material_override.is_valid()) { - if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody::_reload_physics_characteristics))) { - physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody::_reload_physics_characteristics)); - } - } - - physics_material_override = p_physics_material_override; - - if (physics_material_override.is_valid()) { - physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody::_reload_physics_characteristics)); - } - _reload_physics_characteristics(); -} - -Ref<PhysicsMaterial> StaticBody::get_physics_material_override() const { - return physics_material_override; -} - -void StaticBody::set_constant_linear_velocity(const Vector3 &p_vel) { - - constant_linear_velocity = p_vel; - PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); -} - -void StaticBody::set_constant_angular_velocity(const Vector3 &p_vel) { - - constant_angular_velocity = p_vel; - PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); -} - -Vector3 StaticBody::get_constant_linear_velocity() const { - - return constant_linear_velocity; -} -Vector3 StaticBody::get_constant_angular_velocity() const { - - return constant_angular_velocity; -} - -void StaticBody::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody::set_constant_linear_velocity); - ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody::set_constant_angular_velocity); - ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody::get_constant_linear_velocity); - ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody::get_constant_angular_velocity); - - ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody::set_physics_material_override); - ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody::get_physics_material_override); - - ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody::get_collision_exceptions); - ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody::add_collision_exception_with); - ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody::remove_collision_exception_with); - - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity"); -} - -StaticBody::StaticBody() : - PhysicsBody(PhysicsServer::BODY_MODE_STATIC) { -} - -StaticBody::~StaticBody() {} - -void StaticBody::_reload_physics_characteristics() { - if (physics_material_override.is_null()) { - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, 0); - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, 1); - } else { - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); - } -} - -void RigidBody::_body_enter_tree(ObjectID p_id) { - - Object *obj = ObjectDB::get_instance(p_id); - Node *node = Object::cast_to<Node>(obj); - ERR_FAIL_COND(!node); - - ERR_FAIL_COND(!contact_monitor); - Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id); - ERR_FAIL_COND(!E); - ERR_FAIL_COND(E->get().in_tree); - - E->get().in_tree = true; - - contact_monitor->locked = true; - - emit_signal(SceneStringNames::get_singleton()->body_entered, node); - - for (int i = 0; i < E->get().shapes.size(); i++) { - - emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape); - } - - contact_monitor->locked = false; -} - -void RigidBody::_body_exit_tree(ObjectID p_id) { - - Object *obj = ObjectDB::get_instance(p_id); - Node *node = Object::cast_to<Node>(obj); - ERR_FAIL_COND(!node); - ERR_FAIL_COND(!contact_monitor); - Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id); - ERR_FAIL_COND(!E); - ERR_FAIL_COND(!E->get().in_tree); - E->get().in_tree = false; - - contact_monitor->locked = true; - - emit_signal(SceneStringNames::get_singleton()->body_exited, node); - - for (int i = 0; i < E->get().shapes.size(); i++) { - - emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape); - } - - contact_monitor->locked = false; -} - -void RigidBody::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape) { - - bool body_in = p_status == 1; - ObjectID objid = p_instance; - - Object *obj = ObjectDB::get_instance(objid); - Node *node = Object::cast_to<Node>(obj); - - ERR_FAIL_COND(!contact_monitor); - Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(objid); - - ERR_FAIL_COND(!body_in && !E); - - if (body_in) { - if (!E) { - - E = contact_monitor->body_map.insert(objid, BodyState()); - //E->get().rc=0; - E->get().in_tree = node && node->is_inside_tree(); - if (node) { - node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody::_body_enter_tree), make_binds(objid)); - node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody::_body_exit_tree), make_binds(objid)); - if (E->get().in_tree) { - emit_signal(SceneStringNames::get_singleton()->body_entered, node); - } - } - } - //E->get().rc++; - if (node) - E->get().shapes.insert(ShapePair(p_body_shape, p_local_shape)); - - if (E->get().in_tree) { - emit_signal(SceneStringNames::get_singleton()->body_shape_entered, objid, node, p_body_shape, p_local_shape); - } - - } else { - - //E->get().rc--; - - if (node) - E->get().shapes.erase(ShapePair(p_body_shape, p_local_shape)); - - bool in_tree = E->get().in_tree; - - if (E->get().shapes.empty()) { - - if (node) { - node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody::_body_enter_tree)); - node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody::_body_exit_tree)); - if (in_tree) - emit_signal(SceneStringNames::get_singleton()->body_exited, node); - } - - contact_monitor->body_map.erase(E); - } - if (node && in_tree) { - emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape); - } - } -} - -struct _RigidBodyInOut { - - ObjectID id; - int shape; - int local_shape; -}; - -void RigidBody::_direct_state_changed(Object *p_state) { - -#ifdef DEBUG_ENABLED - state = Object::cast_to<PhysicsDirectBodyState>(p_state); -#else - state = (PhysicsDirectBodyState *)p_state; //trust it -#endif - - set_ignore_transform_notification(true); - set_global_transform(state->get_transform()); - linear_velocity = state->get_linear_velocity(); - angular_velocity = state->get_angular_velocity(); - if (sleeping != state->is_sleeping()) { - sleeping = state->is_sleeping(); - emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); - } - if (get_script_instance()) - get_script_instance()->call("_integrate_forces", state); - set_ignore_transform_notification(false); - - if (contact_monitor) { - - contact_monitor->locked = true; - - //untag all - int rc = 0; - for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { - - for (int i = 0; i < E->get().shapes.size(); i++) { - - E->get().shapes[i].tagged = false; - rc++; - } - } - - _RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut)); - int toadd_count = 0; //state->get_contact_count(); - RigidBody_RemoveAction *toremove = (RigidBody_RemoveAction *)alloca(rc * sizeof(RigidBody_RemoveAction)); - int toremove_count = 0; - - //put the ones to add - - for (int i = 0; i < state->get_contact_count(); i++) { - - ObjectID obj = state->get_contact_collider_id(i); - int local_shape = state->get_contact_local_shape(i); - int shape = state->get_contact_collider_shape(i); - - //bool found=false; - - Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(obj); - if (!E) { - toadd[toadd_count].local_shape = local_shape; - toadd[toadd_count].id = obj; - toadd[toadd_count].shape = shape; - toadd_count++; - continue; - } - - ShapePair sp(shape, local_shape); - int idx = E->get().shapes.find(sp); - if (idx == -1) { - - toadd[toadd_count].local_shape = local_shape; - toadd[toadd_count].id = obj; - toadd[toadd_count].shape = shape; - toadd_count++; - continue; - } - - E->get().shapes[idx].tagged = true; - } - - //put the ones to remove - - for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { - - for (int i = 0; i < E->get().shapes.size(); i++) { - - if (!E->get().shapes[i].tagged) { - - toremove[toremove_count].body_id = E->key(); - toremove[toremove_count].pair = E->get().shapes[i]; - toremove_count++; - } - } - } - - //process remotions - - for (int i = 0; i < toremove_count; i++) { - - _body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape); - } - - //process aditions - - for (int i = 0; i < toadd_count; i++) { - - _body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape); - } - - contact_monitor->locked = false; - } - - state = NULL; -} - -void RigidBody::_notification(int p_what) { - -#ifdef TOOLS_ENABLED - if (p_what == NOTIFICATION_ENTER_TREE) { - if (Engine::get_singleton()->is_editor_hint()) { - set_notify_local_transform(true); //used for warnings and only in editor - } - } - - if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) { - if (Engine::get_singleton()->is_editor_hint()) { - update_configuration_warning(); - } - } - -#endif -} - -void RigidBody::set_mode(Mode p_mode) { - - mode = p_mode; - switch (p_mode) { - - case MODE_RIGID: { - - PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_RIGID); - } break; - case MODE_STATIC: { - - PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC); - - } break; - case MODE_CHARACTER: { - PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_CHARACTER); - - } break; - case MODE_KINEMATIC: { - - PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_KINEMATIC); - } break; - } - update_configuration_warning(); -} - -RigidBody::Mode RigidBody::get_mode() const { - - return mode; -} - -void RigidBody::set_mass(real_t p_mass) { - - ERR_FAIL_COND(p_mass <= 0); - mass = p_mass; - _change_notify("mass"); - _change_notify("weight"); - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_MASS, mass); -} -real_t RigidBody::get_mass() const { - - return mass; -} - -void RigidBody::set_weight(real_t p_weight) { - - set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8))); -} -real_t RigidBody::get_weight() const { - - return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)); -} - -void RigidBody::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) { - if (physics_material_override.is_valid()) { - if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody::_reload_physics_characteristics))) { - physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody::_reload_physics_characteristics)); - } - } - - physics_material_override = p_physics_material_override; - - if (physics_material_override.is_valid()) { - physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody::_reload_physics_characteristics)); - } - _reload_physics_characteristics(); -} - -Ref<PhysicsMaterial> RigidBody::get_physics_material_override() const { - return physics_material_override; -} - -void RigidBody::set_gravity_scale(real_t p_gravity_scale) { - - gravity_scale = p_gravity_scale; - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_GRAVITY_SCALE, gravity_scale); -} -real_t RigidBody::get_gravity_scale() const { - - return gravity_scale; -} - -void RigidBody::set_linear_damp(real_t p_linear_damp) { - - ERR_FAIL_COND(p_linear_damp < -1); - linear_damp = p_linear_damp; - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_LINEAR_DAMP, linear_damp); -} -real_t RigidBody::get_linear_damp() const { - - return linear_damp; -} - -void RigidBody::set_angular_damp(real_t p_angular_damp) { - - ERR_FAIL_COND(p_angular_damp < -1); - angular_damp = p_angular_damp; - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_ANGULAR_DAMP, angular_damp); -} -real_t RigidBody::get_angular_damp() const { - - return angular_damp; -} - -void RigidBody::set_axis_velocity(const Vector3 &p_axis) { - - Vector3 v = state ? state->get_linear_velocity() : linear_velocity; - Vector3 axis = p_axis.normalized(); - v -= axis * axis.dot(v); - v += p_axis; - if (state) { - set_linear_velocity(v); - } else { - PhysicsServer::get_singleton()->body_set_axis_velocity(get_rid(), p_axis); - linear_velocity = v; - } -} - -void RigidBody::set_linear_velocity(const Vector3 &p_velocity) { - - linear_velocity = p_velocity; - if (state) - state->set_linear_velocity(linear_velocity); - else - PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, linear_velocity); -} - -Vector3 RigidBody::get_linear_velocity() const { - - return linear_velocity; -} - -void RigidBody::set_angular_velocity(const Vector3 &p_velocity) { - - angular_velocity = p_velocity; - if (state) - state->set_angular_velocity(angular_velocity); - else - PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); -} -Vector3 RigidBody::get_angular_velocity() const { - - return angular_velocity; -} - -void RigidBody::set_use_custom_integrator(bool p_enable) { - - if (custom_integrator == p_enable) - return; - - custom_integrator = p_enable; - PhysicsServer::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); -} -bool RigidBody::is_using_custom_integrator() { - - return custom_integrator; -} - -void RigidBody::set_sleeping(bool p_sleeping) { - - sleeping = p_sleeping; - PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_SLEEPING, sleeping); -} - -void RigidBody::set_can_sleep(bool p_active) { - - can_sleep = p_active; - PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_CAN_SLEEP, p_active); -} - -bool RigidBody::is_able_to_sleep() const { - - return can_sleep; -} - -bool RigidBody::is_sleeping() const { - - return sleeping; -} - -void RigidBody::set_max_contacts_reported(int p_amount) { - - max_contacts_reported = p_amount; - PhysicsServer::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount); -} - -int RigidBody::get_max_contacts_reported() const { - - return max_contacts_reported; -} - -void RigidBody::add_central_force(const Vector3 &p_force) { - PhysicsServer::get_singleton()->body_add_central_force(get_rid(), p_force); -} - -void RigidBody::add_force(const Vector3 &p_force, const Vector3 &p_pos) { - PhysicsServer::get_singleton()->body_add_force(get_rid(), p_force, p_pos); -} - -void RigidBody::add_torque(const Vector3 &p_torque) { - PhysicsServer::get_singleton()->body_add_torque(get_rid(), p_torque); -} - -void RigidBody::apply_central_impulse(const Vector3 &p_impulse) { - PhysicsServer::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); -} - -void RigidBody::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { - - PhysicsServer::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse); -} - -void RigidBody::apply_torque_impulse(const Vector3 &p_impulse) { - PhysicsServer::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse); -} - -void RigidBody::set_use_continuous_collision_detection(bool p_enable) { - - ccd = p_enable; - PhysicsServer::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable); -} - -bool RigidBody::is_using_continuous_collision_detection() const { - - return ccd; -} - -void RigidBody::set_contact_monitor(bool p_enabled) { - - if (p_enabled == is_contact_monitor_enabled()) - return; - - if (!p_enabled) { - - ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead."); - - for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { - - //clean up mess - Object *obj = ObjectDB::get_instance(E->key()); - Node *node = Object::cast_to<Node>(obj); - - if (node) { - node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody::_body_enter_tree)); - node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody::_body_exit_tree)); - } - } - - memdelete(contact_monitor); - contact_monitor = NULL; - } else { - - contact_monitor = memnew(ContactMonitor); - contact_monitor->locked = false; - } -} - -bool RigidBody::is_contact_monitor_enabled() const { - - return contact_monitor != NULL; -} - -void RigidBody::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock) { - PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); -} - -bool RigidBody::get_axis_lock(PhysicsServer::BodyAxis p_axis) const { - return PhysicsServer::get_singleton()->body_is_axis_locked(get_rid(), p_axis); -} - -Array RigidBody::get_colliding_bodies() const { - - ERR_FAIL_COND_V(!contact_monitor, Array()); - - Array ret; - ret.resize(contact_monitor->body_map.size()); - int idx = 0; - for (const Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { - Object *obj = ObjectDB::get_instance(E->key()); - if (!obj) { - ret.resize(ret.size() - 1); //ops - } else { - ret[idx++] = obj; - } - } - - return ret; -} - -String RigidBody::get_configuration_warning() const { - - Transform t = get_transform(); - - String warning = CollisionObject::get_configuration_warning(); - - if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) { - if (warning != String()) { - warning += "\n\n"; - } - warning += TTR("Size changes to RigidBody (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."); - } - - return warning; -} - -void RigidBody::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody::set_mode); - ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody::get_mode); - - ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody::set_mass); - ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody::get_mass); - - ClassDB::bind_method(D_METHOD("set_weight", "weight"), &RigidBody::set_weight); - ClassDB::bind_method(D_METHOD("get_weight"), &RigidBody::get_weight); - - ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody::set_physics_material_override); - ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody::get_physics_material_override); - - ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody::set_linear_velocity); - ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody::get_linear_velocity); - - ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody::set_angular_velocity); - ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody::get_angular_velocity); - - ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody::set_gravity_scale); - ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody::get_gravity_scale); - - ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody::set_linear_damp); - ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody::get_linear_damp); - - ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody::set_angular_damp); - ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody::get_angular_damp); - - ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody::set_max_contacts_reported); - ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody::get_max_contacts_reported); - - ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody::set_use_custom_integrator); - ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody::is_using_custom_integrator); - - ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody::set_contact_monitor); - ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody::is_contact_monitor_enabled); - - ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody::set_use_continuous_collision_detection); - ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody::is_using_continuous_collision_detection); - - ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody::set_axis_velocity); - - ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody::add_central_force); - ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody::add_force); - ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody::add_torque); - - ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody::apply_central_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &RigidBody::apply_impulse); - ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody::apply_torque_impulse); - - ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody::set_sleeping); - ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody::is_sleeping); - - ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody::set_can_sleep); - ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody::is_able_to_sleep); - - ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody::_direct_state_changed); - - ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody::set_axis_lock); - ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody::get_axis_lock); - - ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody::get_colliding_bodies); - - BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectBodyState"))); - - ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); - ADD_GROUP("Axis Lock", "axis_lock_"); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_X); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Y); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Z); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_X); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_Y); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_Z); - ADD_GROUP("Linear", "linear_"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); - ADD_GROUP("Angular", "angular_"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); - - ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); - ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); - ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); - ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); - ADD_SIGNAL(MethodInfo("sleeping_state_changed")); - - BIND_ENUM_CONSTANT(MODE_RIGID); - BIND_ENUM_CONSTANT(MODE_STATIC); - BIND_ENUM_CONSTANT(MODE_CHARACTER); - BIND_ENUM_CONSTANT(MODE_KINEMATIC); -} - -RigidBody::RigidBody() : - PhysicsBody(PhysicsServer::BODY_MODE_RIGID) { - - mode = MODE_RIGID; - - mass = 1; - max_contacts_reported = 0; - state = NULL; - - gravity_scale = 1; - linear_damp = -1; - angular_damp = -1; - - //angular_velocity=0; - sleeping = false; - ccd = false; - - custom_integrator = false; - contact_monitor = NULL; - can_sleep = true; - - PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed"); -} - -RigidBody::~RigidBody() { - - if (contact_monitor) - memdelete(contact_monitor); -} - -void RigidBody::_reload_physics_characteristics() { - if (physics_material_override.is_null()) { - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, 0); - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, 1); - } else { - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); - } -} - -////////////////////////////////////////////////////// -////////////////////////// - -Ref<KinematicCollision> KinematicBody::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only) { - - Collision col; - if (move_and_collide(p_motion, p_infinite_inertia, col, p_exclude_raycast_shapes, p_test_only)) { - if (motion_cache.is_null()) { - motion_cache.instance(); - motion_cache->owner = this; - } - - motion_cache->collision = col; - - return motion_cache; - } - - return Ref<KinematicCollision>(); -} - -Vector3 KinematicBody::get_linear_velocity() const { - return linear_velocity; -} - -Vector3 KinematicBody::get_angular_velocity() const { - return angular_velocity; -} - -bool KinematicBody::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) { - - Transform gt = get_global_transform(); - PhysicsServer::MotionResult result; - bool colliding = PhysicsServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes); - - if (colliding) { - r_collision.collider_metadata = result.collider_metadata; - r_collision.collider_shape = result.collider_shape; - r_collision.collider_vel = result.collider_velocity; - r_collision.collision = result.collision_point; - r_collision.normal = result.collision_normal; - r_collision.collider = result.collider_id; - r_collision.collider_rid = result.collider; - r_collision.travel = result.motion; - r_collision.remainder = result.remainder; - r_collision.local_shape = result.collision_local_shape; - } - - for (int i = 0; i < 3; i++) { - if (locked_axis & (1 << i)) { - result.motion[i] = 0; - } - } - - if (!p_test_only) { - gt.origin += result.motion; - set_global_transform(gt); - } - - return colliding; -} - -//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45. -#define FLOOR_ANGLE_THRESHOLD 0.01 - -Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) { - - Vector3 body_velocity = p_linear_velocity; - Vector3 body_velocity_normal = body_velocity.normalized(); - - for (int i = 0; i < 3; i++) { - if (locked_axis & (1 << i)) { - body_velocity[i] = 0; - } - } - - // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky - Vector3 motion = (floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time()); - - on_floor = false; - on_floor_body = RID(); - on_ceiling = false; - on_wall = false; - colliders.clear(); - floor_normal = Vector3(); - floor_velocity = Vector3(); - - while (p_max_slides) { - - Collision collision; - bool found_collision = false; - - for (int i = 0; i < 2; ++i) { - bool collided; - if (i == 0) { //collide - collided = move_and_collide(motion, p_infinite_inertia, collision); - if (!collided) { - motion = Vector3(); //clear because no collision happened and motion completed - } - } else { //separate raycasts (if any) - collided = separate_raycast_shapes(p_infinite_inertia, collision); - if (collided) { - collision.remainder = motion; //keep - collision.travel = Vector3(); - } - } - - if (collided) { - found_collision = true; - - colliders.push_back(collision); - motion = collision.remainder; - - if (p_up_direction == Vector3()) { - //all is a wall - on_wall = true; - } else { - if (Math::acos(collision.normal.dot(p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor - - on_floor = true; - floor_normal = collision.normal; - on_floor_body = collision.collider_rid; - floor_velocity = collision.collider_vel; - - if (p_stop_on_slope) { - if ((body_velocity_normal + p_up_direction).length() < 0.01 && collision.travel.length() < 1) { - Transform gt = get_global_transform(); - gt.origin -= collision.travel.slide(p_up_direction); - set_global_transform(gt); - return Vector3(); - } - } - } else if (Math::acos(collision.normal.dot(-p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling - on_ceiling = true; - } else { - on_wall = true; - } - } - - motion = motion.slide(collision.normal); - body_velocity = body_velocity.slide(collision.normal); - - for (int j = 0; j < 3; j++) { - if (locked_axis & (1 << j)) { - body_velocity[j] = 0; - } - } - } - } - - if (!found_collision || motion == Vector3()) - break; - - --p_max_slides; - } - - return body_velocity; -} - -Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) { - - bool was_on_floor = on_floor; - - Vector3 ret = move_and_slide(p_linear_velocity, p_up_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia); - if (!was_on_floor || p_snap == Vector3()) { - return ret; - } - - Collision col; - Transform gt = get_global_transform(); - - if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) { - - bool apply = true; - if (p_up_direction != Vector3()) { - if (Math::acos(p_up_direction.normalized().dot(col.normal)) < p_floor_max_angle) { - on_floor = true; - floor_normal = col.normal; - on_floor_body = col.collider_rid; - floor_velocity = col.collider_vel; - if (p_stop_on_slope) { - // move and collide may stray the object a bit because of pre un-stucking, - // so only ensure that motion happens on floor direction in this case. - col.travel = col.travel.project(p_up_direction); - } - } else { - apply = false; //snapped with floor direction, but did not snap to a floor, do not snap. - } - } - if (apply) { - gt.origin += col.travel; - set_global_transform(gt); - } - } - - return ret; -} - -bool KinematicBody::is_on_floor() const { - - return on_floor; -} - -bool KinematicBody::is_on_wall() const { - - return on_wall; -} -bool KinematicBody::is_on_ceiling() const { - - return on_ceiling; -} - -Vector3 KinematicBody::get_floor_normal() const { - - return floor_normal; -} - -Vector3 KinematicBody::get_floor_velocity() const { - - return floor_velocity; -} - -bool KinematicBody::test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia) { - - ERR_FAIL_COND_V(!is_inside_tree(), false); - - return PhysicsServer::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia); -} - -bool KinematicBody::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) { - - PhysicsServer::SeparationResult sep_res[8]; //max 8 rays - - Transform gt = get_global_transform(); - - Vector3 recover; - int hits = PhysicsServer::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin); - int deepest = -1; - float deepest_depth; - for (int i = 0; i < hits; i++) { - if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) { - deepest = i; - deepest_depth = sep_res[i].collision_depth; - } - } - - gt.origin += recover; - set_global_transform(gt); - - if (deepest != -1) { - r_collision.collider = sep_res[deepest].collider_id; - r_collision.collider_metadata = sep_res[deepest].collider_metadata; - r_collision.collider_shape = sep_res[deepest].collider_shape; - r_collision.collider_vel = sep_res[deepest].collider_velocity; - r_collision.collision = sep_res[deepest].collision_point; - r_collision.normal = sep_res[deepest].collision_normal; - r_collision.local_shape = sep_res[deepest].collision_local_shape; - r_collision.travel = recover; - r_collision.remainder = Vector3(); - - return true; - } else { - return false; - } -} - -void KinematicBody::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock) { - PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); -} - -bool KinematicBody::get_axis_lock(PhysicsServer::BodyAxis p_axis) const { - return PhysicsServer::get_singleton()->body_is_axis_locked(get_rid(), p_axis); -} - -void KinematicBody::set_safe_margin(float p_margin) { - - margin = p_margin; - PhysicsServer::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin); -} - -float KinematicBody::get_safe_margin() const { - - return margin; -} -int KinematicBody::get_slide_count() const { - - return colliders.size(); -} - -KinematicBody::Collision KinematicBody::get_slide_collision(int p_bounce) const { - ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Collision()); - return colliders[p_bounce]; -} - -Ref<KinematicCollision> KinematicBody::_get_slide_collision(int p_bounce) { - - ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Ref<KinematicCollision>()); - if (p_bounce >= slide_colliders.size()) { - slide_colliders.resize(p_bounce + 1); - } - - if (slide_colliders[p_bounce].is_null()) { - slide_colliders.write[p_bounce].instance(); - slide_colliders.write[p_bounce]->owner = this; - } - - slide_colliders.write[p_bounce]->collision = colliders[p_bounce]; - return slide_colliders[p_bounce]; -} - -void KinematicBody::_notification(int p_what) { - if (p_what == NOTIFICATION_ENTER_TREE) { - // Reset move_and_slide() data. - on_floor = false; - on_floor_body = RID(); - on_ceiling = false; - on_wall = false; - colliders.clear(); - floor_velocity = Vector3(); - } -} - -void KinematicBody::_bind_methods() { - - ClassDB::bind_method(D_METHOD("_direct_state_changed"), &KinematicBody::_direct_state_changed); - - ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false)); - ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true)); - ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true)); - - ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody::test_move, DEFVAL(true)); - - ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody::is_on_floor); - ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody::is_on_ceiling); - ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody::is_on_wall); - ClassDB::bind_method(D_METHOD("get_floor_normal"), &KinematicBody::get_floor_normal); - ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody::get_floor_velocity); - - ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &KinematicBody::set_axis_lock); - ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &KinematicBody::get_axis_lock); - - ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody::set_safe_margin); - ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody::get_safe_margin); - - ClassDB::bind_method(D_METHOD("get_slide_count"), &KinematicBody::get_slide_count); - ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody::_get_slide_collision); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_x", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_X); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_y", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Y); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_z", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Z); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin"); -} - -void KinematicBody::_direct_state_changed(Object *p_state) { -#ifdef DEBUG_ENABLED - PhysicsDirectBodyState *state = Object::cast_to<PhysicsDirectBodyState>(p_state); -#else - PhysicsDirectBodyState *state = (PhysicsDirectBodyState *)p_state; //trust it -#endif - - linear_velocity = state->get_linear_velocity(); - angular_velocity = state->get_angular_velocity(); -} - -KinematicBody::KinematicBody() : - PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC) { - - margin = 0.001; - locked_axis = 0; - on_floor = false; - on_ceiling = false; - on_wall = false; - - PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed"); -} -KinematicBody::~KinematicBody() { - - if (motion_cache.is_valid()) { - motion_cache->owner = NULL; - } - - for (int i = 0; i < slide_colliders.size(); i++) { - if (slide_colliders[i].is_valid()) { - slide_colliders.write[i]->owner = NULL; - } - } -} -/////////////////////////////////////// - -Vector3 KinematicCollision::get_position() const { - - return collision.collision; -} -Vector3 KinematicCollision::get_normal() const { - return collision.normal; -} -Vector3 KinematicCollision::get_travel() const { - return collision.travel; -} -Vector3 KinematicCollision::get_remainder() const { - return collision.remainder; -} -Object *KinematicCollision::get_local_shape() const { - if (!owner) return NULL; - uint32_t ownerid = owner->shape_find_owner(collision.local_shape); - return owner->shape_owner_get_owner(ownerid); -} - -Object *KinematicCollision::get_collider() const { - - if (collision.collider.is_valid()) { - return ObjectDB::get_instance(collision.collider); - } - - return NULL; -} -ObjectID KinematicCollision::get_collider_id() const { - - return collision.collider; -} -Object *KinematicCollision::get_collider_shape() const { - - Object *collider = get_collider(); - if (collider) { - CollisionObject *obj2d = Object::cast_to<CollisionObject>(collider); - if (obj2d) { - uint32_t ownerid = obj2d->shape_find_owner(collision.collider_shape); - return obj2d->shape_owner_get_owner(ownerid); - } - } - - return NULL; -} -int KinematicCollision::get_collider_shape_index() const { - - return collision.collider_shape; -} -Vector3 KinematicCollision::get_collider_velocity() const { - - return collision.collider_vel; -} -Variant KinematicCollision::get_collider_metadata() const { - - return Variant(); -} - -void KinematicCollision::_bind_methods() { - - ClassDB::bind_method(D_METHOD("get_position"), &KinematicCollision::get_position); - ClassDB::bind_method(D_METHOD("get_normal"), &KinematicCollision::get_normal); - ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision::get_travel); - ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision::get_remainder); - ClassDB::bind_method(D_METHOD("get_local_shape"), &KinematicCollision::get_local_shape); - ClassDB::bind_method(D_METHOD("get_collider"), &KinematicCollision::get_collider); - ClassDB::bind_method(D_METHOD("get_collider_id"), &KinematicCollision::get_collider_id); - ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicCollision::get_collider_shape); - ClassDB::bind_method(D_METHOD("get_collider_shape_index"), &KinematicCollision::get_collider_shape_index); - ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicCollision::get_collider_velocity); - ClassDB::bind_method(D_METHOD("get_collider_metadata"), &KinematicCollision::get_collider_metadata); - - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "position"), "", "get_position"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "normal"), "", "get_normal"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "travel"), "", "get_travel"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "remainder"), "", "get_remainder"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "local_shape"), "", "get_local_shape"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id"), "", "get_collider_id"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider_shape"), "", "get_collider_shape"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape_index"), "", "get_collider_shape_index"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collider_velocity"), "", "get_collider_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::NIL, "collider_metadata", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NIL_IS_VARIANT), "", "get_collider_metadata"); -} - -KinematicCollision::KinematicCollision() { - - collision.collider_shape = 0; - collision.local_shape = 0; - owner = NULL; -} - -/////////////////////////////////////// - -bool PhysicalBone::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - return false; -} - -bool PhysicalBone::JointData::_get(const StringName &p_name, Variant &r_ret) const { - return false; -} - -void PhysicalBone::JointData::_get_property_list(List<PropertyInfo> *p_list) const { -} - -void PhysicalBone::apply_central_impulse(const Vector3 &p_impulse) { - PhysicsServer::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); -} - -void PhysicalBone::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { - PhysicsServer::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse); -} - -void PhysicalBone::reset_physics_simulation_state() { - if (simulate_physics) { - _start_physics_simulation(); - } else { - _stop_physics_simulation(); - } -} - -void PhysicalBone::reset_to_rest_position() { - if (parent_skeleton) { - if (-1 == bone_id) { - set_global_transform(parent_skeleton->get_global_transform() * body_offset); - } else { - set_global_transform(parent_skeleton->get_global_transform() * parent_skeleton->get_bone_global_pose(bone_id) * body_offset); - } - } -} - -bool PhysicalBone::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - if ("joint_constraints/bias" == p_name) { - bias = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PIN_JOINT_BIAS, bias); - - } else if ("joint_constraints/damping" == p_name) { - damping = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PIN_JOINT_DAMPING, damping); - - } else if ("joint_constraints/impulse_clamp" == p_name) { - impulse_clamp = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PIN_JOINT_IMPULSE_CLAMP, impulse_clamp); - - } else { - return false; - } - - return true; -} - -bool PhysicalBone::PinJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - if ("joint_constraints/bias" == p_name) { - r_ret = bias; - } else if ("joint_constraints/damping" == p_name) { - r_ret = damping; - } else if ("joint_constraints/impulse_clamp" == p_name) { - r_ret = impulse_clamp; - } else { - return false; - } - - return true; -} - -void PhysicalBone::PinJointData::_get_property_list(List<PropertyInfo> *p_list) const { - JointData::_get_property_list(p_list); - - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01")); -} - -bool PhysicalBone::ConeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - if ("joint_constraints/swing_span" == p_name) { - swing_span = Math::deg2rad(real_t(p_value)); - if (j.is_valid()) - PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN, swing_span); - - } else if ("joint_constraints/twist_span" == p_name) { - twist_span = Math::deg2rad(real_t(p_value)); - if (j.is_valid()) - PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN, twist_span); - - } else if ("joint_constraints/bias" == p_name) { - bias = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_BIAS, bias); - - } else if ("joint_constraints/softness" == p_name) { - softness = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_SOFTNESS, softness); - - } else if ("joint_constraints/relaxation" == p_name) { - relaxation = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_RELAXATION, relaxation); - - } else { - return false; - } - - return true; -} - -bool PhysicalBone::ConeJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - if ("joint_constraints/swing_span" == p_name) { - r_ret = Math::rad2deg(swing_span); - } else if ("joint_constraints/twist_span" == p_name) { - r_ret = Math::rad2deg(twist_span); - } else if ("joint_constraints/bias" == p_name) { - r_ret = bias; - } else if ("joint_constraints/softness" == p_name) { - r_ret = softness; - } else if ("joint_constraints/relaxation" == p_name) { - r_ret = relaxation; - } else { - return false; - } - - return true; -} - -void PhysicalBone::ConeJointData::_get_property_list(List<PropertyInfo> *p_list) const { - JointData::_get_property_list(p_list); - - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/swing_span", PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1,or_lesser,or_greater")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); -} - -bool PhysicalBone::HingeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - if ("joint_constraints/angular_limit_enabled" == p_name) { - angular_limit_enabled = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->hinge_joint_set_flag(j, PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT, angular_limit_enabled); - - } else if ("joint_constraints/angular_limit_upper" == p_name) { - angular_limit_upper = Math::deg2rad(real_t(p_value)); - if (j.is_valid()) - PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_UPPER, angular_limit_upper); - - } else if ("joint_constraints/angular_limit_lower" == p_name) { - angular_limit_lower = Math::deg2rad(real_t(p_value)); - if (j.is_valid()) - PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_LOWER, angular_limit_lower); - - } else if ("joint_constraints/angular_limit_bias" == p_name) { - angular_limit_bias = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_BIAS, angular_limit_bias); - - } else if ("joint_constraints/angular_limit_softness" == p_name) { - angular_limit_softness = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS, angular_limit_softness); - - } else if ("joint_constraints/angular_limit_relaxation" == p_name) { - angular_limit_relaxation = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION, angular_limit_relaxation); - - } else { - return false; - } - - return true; -} - -bool PhysicalBone::HingeJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - if ("joint_constraints/angular_limit_enabled" == p_name) { - r_ret = angular_limit_enabled; - } else if ("joint_constraints/angular_limit_upper" == p_name) { - r_ret = Math::rad2deg(angular_limit_upper); - } else if ("joint_constraints/angular_limit_lower" == p_name) { - r_ret = Math::rad2deg(angular_limit_lower); - } else if ("joint_constraints/angular_limit_bias" == p_name) { - r_ret = angular_limit_bias; - } else if ("joint_constraints/angular_limit_softness" == p_name) { - r_ret = angular_limit_softness; - } else if ("joint_constraints/angular_limit_relaxation" == p_name) { - r_ret = angular_limit_relaxation; - } else { - return false; - } - - return true; -} - -void PhysicalBone::HingeJointData::_get_property_list(List<PropertyInfo> *p_list) const { - JointData::_get_property_list(p_list); - - p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/angular_limit_enabled")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01")); -} - -bool PhysicalBone::SliderJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - if ("joint_constraints/linear_limit_upper" == p_name) { - linear_limit_upper = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER, linear_limit_upper); - - } else if ("joint_constraints/linear_limit_lower" == p_name) { - linear_limit_lower = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER, linear_limit_lower); - - } else if ("joint_constraints/linear_limit_softness" == p_name) { - linear_limit_softness = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, linear_limit_softness); - - } else if ("joint_constraints/linear_limit_restitution" == p_name) { - linear_limit_restitution = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, linear_limit_restitution); - - } else if ("joint_constraints/linear_limit_damping" == p_name) { - linear_limit_damping = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, linear_limit_restitution); - - } else if ("joint_constraints/angular_limit_upper" == p_name) { - angular_limit_upper = Math::deg2rad(real_t(p_value)); - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, angular_limit_upper); - - } else if ("joint_constraints/angular_limit_lower" == p_name) { - angular_limit_lower = Math::deg2rad(real_t(p_value)); - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, angular_limit_lower); - - } else if ("joint_constraints/angular_limit_softness" == p_name) { - angular_limit_softness = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); - - } else if ("joint_constraints/angular_limit_restitution" == p_name) { - angular_limit_restitution = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); - - } else if ("joint_constraints/angular_limit_damping" == p_name) { - angular_limit_damping = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, angular_limit_damping); - - } else { - return false; - } - - return true; -} - -bool PhysicalBone::SliderJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - if ("joint_constraints/linear_limit_upper" == p_name) { - r_ret = linear_limit_upper; - } else if ("joint_constraints/linear_limit_lower" == p_name) { - r_ret = linear_limit_lower; - } else if ("joint_constraints/linear_limit_softness" == p_name) { - r_ret = linear_limit_softness; - } else if ("joint_constraints/linear_limit_restitution" == p_name) { - r_ret = linear_limit_restitution; - } else if ("joint_constraints/linear_limit_damping" == p_name) { - r_ret = linear_limit_damping; - } else if ("joint_constraints/angular_limit_upper" == p_name) { - r_ret = Math::rad2deg(angular_limit_upper); - } else if ("joint_constraints/angular_limit_lower" == p_name) { - r_ret = Math::rad2deg(angular_limit_lower); - } else if ("joint_constraints/angular_limit_softness" == p_name) { - r_ret = angular_limit_softness; - } else if ("joint_constraints/angular_limit_restitution" == p_name) { - r_ret = angular_limit_restitution; - } else if ("joint_constraints/angular_limit_damping" == p_name) { - r_ret = angular_limit_damping; - } else { - return false; - } - - return true; -} - -void PhysicalBone::SliderJointData::_get_property_list(List<PropertyInfo> *p_list) const { - JointData::_get_property_list(p_list); - - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_upper")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_lower")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01")); - - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01")); -} - -bool PhysicalBone::SixDOFJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - String path = p_name; - - Vector3::Axis axis; - { - const String axis_s = path.get_slicec('/', 1); - if ("x" == axis_s) { - axis = Vector3::AXIS_X; - } else if ("y" == axis_s) { - axis = Vector3::AXIS_Y; - } else if ("z" == axis_s) { - axis = Vector3::AXIS_Z; - } else { - return false; - } - } - - String var_name = path.get_slicec('/', 2); - - if ("linear_limit_enabled" == var_name) { - axis_data[axis].linear_limit_enabled = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, axis_data[axis].linear_limit_enabled); - - } else if ("linear_limit_upper" == var_name) { - axis_data[axis].linear_limit_upper = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT, axis_data[axis].linear_limit_upper); - - } else if ("linear_limit_lower" == var_name) { - axis_data[axis].linear_limit_lower = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT, axis_data[axis].linear_limit_lower); - - } else if ("linear_limit_softness" == var_name) { - axis_data[axis].linear_limit_softness = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness); - - } else if ("linear_spring_enabled" == var_name) { - axis_data[axis].linear_spring_enabled = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled); - - } else if ("linear_spring_stiffness" == var_name) { - axis_data[axis].linear_spring_stiffness = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness); - - } else if ("linear_spring_damping" == var_name) { - axis_data[axis].linear_spring_damping = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping); - - } else if ("linear_equilibrium_point" == var_name) { - axis_data[axis].linear_equilibrium_point = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point); - - } else if ("linear_restitution" == var_name) { - axis_data[axis].linear_restitution = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, axis_data[axis].linear_restitution); - - } else if ("linear_damping" == var_name) { - axis_data[axis].linear_damping = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, axis_data[axis].linear_damping); - - } else if ("angular_limit_enabled" == var_name) { - axis_data[axis].angular_limit_enabled = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, axis_data[axis].angular_limit_enabled); - - } else if ("angular_limit_upper" == var_name) { - axis_data[axis].angular_limit_upper = Math::deg2rad(real_t(p_value)); - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, axis_data[axis].angular_limit_upper); - - } else if ("angular_limit_lower" == var_name) { - axis_data[axis].angular_limit_lower = Math::deg2rad(real_t(p_value)); - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, axis_data[axis].angular_limit_lower); - - } else if ("angular_limit_softness" == var_name) { - axis_data[axis].angular_limit_softness = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, axis_data[axis].angular_limit_softness); - - } else if ("angular_restitution" == var_name) { - axis_data[axis].angular_restitution = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION, axis_data[axis].angular_restitution); - - } else if ("angular_damping" == var_name) { - axis_data[axis].angular_damping = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING, axis_data[axis].angular_damping); - - } else if ("erp" == var_name) { - axis_data[axis].erp = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp); - - } else if ("angular_spring_enabled" == var_name) { - axis_data[axis].angular_spring_enabled = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled); - - } else if ("angular_spring_stiffness" == var_name) { - axis_data[axis].angular_spring_stiffness = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness); - - } else if ("angular_spring_damping" == var_name) { - axis_data[axis].angular_spring_damping = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping); - - } else if ("angular_equilibrium_point" == var_name) { - axis_data[axis].angular_equilibrium_point = p_value; - if (j.is_valid()) - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point); - - } else { - return false; - } - - return true; -} - -bool PhysicalBone::SixDOFJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - String path = p_name; - - int axis; - { - const String axis_s = path.get_slicec('/', 1); - if ("x" == axis_s) { - axis = 0; - } else if ("y" == axis_s) { - axis = 1; - } else if ("z" == axis_s) { - axis = 2; - } else { - return false; - } - } - - String var_name = path.get_slicec('/', 2); - - if ("linear_limit_enabled" == var_name) { - r_ret = axis_data[axis].linear_limit_enabled; - } else if ("linear_limit_upper" == var_name) { - r_ret = axis_data[axis].linear_limit_upper; - } else if ("linear_limit_lower" == var_name) { - r_ret = axis_data[axis].linear_limit_lower; - } else if ("linear_limit_softness" == var_name) { - r_ret = axis_data[axis].linear_limit_softness; - } else if ("linear_spring_enabled" == var_name) { - r_ret = axis_data[axis].linear_spring_enabled; - } else if ("linear_spring_stiffness" == var_name) { - r_ret = axis_data[axis].linear_spring_stiffness; - } else if ("linear_spring_damping" == var_name) { - r_ret = axis_data[axis].linear_spring_damping; - } else if ("linear_equilibrium_point" == var_name) { - r_ret = axis_data[axis].linear_equilibrium_point; - } else if ("linear_restitution" == var_name) { - r_ret = axis_data[axis].linear_restitution; - } else if ("linear_damping" == var_name) { - r_ret = axis_data[axis].linear_damping; - } else if ("angular_limit_enabled" == var_name) { - r_ret = axis_data[axis].angular_limit_enabled; - } else if ("angular_limit_upper" == var_name) { - r_ret = Math::rad2deg(axis_data[axis].angular_limit_upper); - } else if ("angular_limit_lower" == var_name) { - r_ret = Math::rad2deg(axis_data[axis].angular_limit_lower); - } else if ("angular_limit_softness" == var_name) { - r_ret = axis_data[axis].angular_limit_softness; - } else if ("angular_restitution" == var_name) { - r_ret = axis_data[axis].angular_restitution; - } else if ("angular_damping" == var_name) { - r_ret = axis_data[axis].angular_damping; - } else if ("erp" == var_name) { - r_ret = axis_data[axis].erp; - } else if ("angular_spring_enabled" == var_name) { - r_ret = axis_data[axis].angular_spring_enabled; - } else if ("angular_spring_stiffness" == var_name) { - r_ret = axis_data[axis].angular_spring_stiffness; - } else if ("angular_spring_damping" == var_name) { - r_ret = axis_data[axis].angular_spring_damping; - } else if ("angular_equilibrium_point" == var_name) { - r_ret = axis_data[axis].angular_equilibrium_point; - } else { - return false; - } - - return true; -} - -void PhysicalBone::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_list) const { - const StringName axis_names[] = { "x", "y", "z" }; - for (int i = 0; i < 3; ++i) { - p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_limit_enabled")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_upper")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_lower")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_spring_enabled")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_stiffness")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_damping")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_equilibrium_point")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_limit_enabled")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/erp")); - p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_spring_enabled")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_stiffness")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_damping")); - p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_equilibrium_point")); - } -} - -bool PhysicalBone::_set(const StringName &p_name, const Variant &p_value) { - if (p_name == "bone_name") { - set_bone_name(p_value); - return true; - } - - if (joint_data) { - if (joint_data->_set(p_name, p_value)) { -#ifdef TOOLS_ENABLED - if (get_gizmo().is_valid()) - get_gizmo()->redraw(); -#endif - return true; - } - } - - return false; -} - -bool PhysicalBone::_get(const StringName &p_name, Variant &r_ret) const { - if (p_name == "bone_name") { - r_ret = get_bone_name(); - return true; - } - - if (joint_data) { - return joint_data->_get(p_name, r_ret); - } - - return false; -} - -void PhysicalBone::_get_property_list(List<PropertyInfo> *p_list) const { - - Skeleton *parent = find_skeleton_parent(get_parent()); - - if (parent) { - - String names; - for (int i = 0; i < parent->get_bone_count(); i++) { - if (i > 0) - names += ","; - names += parent->get_bone_name(i); - } - - p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name", PROPERTY_HINT_ENUM, names)); - } else { - - p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name")); - } - - if (joint_data) { - joint_data->_get_property_list(p_list); - } -} - -void PhysicalBone::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_ENTER_TREE: - parent_skeleton = find_skeleton_parent(get_parent()); - update_bone_id(); - reset_to_rest_position(); - reset_physics_simulation_state(); - if (!joint.is_valid() && joint_data) { - _reload_joint(); - } - break; - case NOTIFICATION_EXIT_TREE: - if (parent_skeleton) { - if (-1 != bone_id) { - parent_skeleton->unbind_physical_bone_from_bone(bone_id); - } - } - parent_skeleton = NULL; - if (joint.is_valid()) { - PhysicsServer::get_singleton()->free(joint); - joint = RID(); - } - break; - case NOTIFICATION_TRANSFORM_CHANGED: - if (Engine::get_singleton()->is_editor_hint()) { - - update_offset(); - } - break; - } -} - -void PhysicalBone::_direct_state_changed(Object *p_state) { - - if (!simulate_physics || !_internal_simulate_physics) { - return; - } - - /// Update bone transform - - PhysicsDirectBodyState *state; - -#ifdef DEBUG_ENABLED - state = Object::cast_to<PhysicsDirectBodyState>(p_state); -#else - state = (PhysicsDirectBodyState *)p_state; //trust it -#endif - - Transform global_transform(state->get_transform()); - - set_ignore_transform_notification(true); - set_global_transform(global_transform); - set_ignore_transform_notification(false); - - // Update skeleton - if (parent_skeleton) { - if (-1 != bone_id) { - parent_skeleton->set_bone_global_pose_override(bone_id, parent_skeleton->get_global_transform().affine_inverse() * (global_transform * body_offset_inverse), 1.0, true); - } - } -} - -void PhysicalBone::_bind_methods() { - ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone::apply_central_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &PhysicalBone::apply_impulse); - - ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone::_direct_state_changed); - - ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone::set_joint_type); - ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone::get_joint_type); - - ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone::set_joint_offset); - ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone::get_joint_offset); - - ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone::set_body_offset); - ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone::get_body_offset); - - ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone::get_simulate_physics); - - ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone::is_simulating_physics); - - ClassDB::bind_method(D_METHOD("get_bone_id"), &PhysicalBone::get_bone_id); - - ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone::set_mass); - ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone::get_mass); - - ClassDB::bind_method(D_METHOD("set_weight", "weight"), &PhysicalBone::set_weight); - ClassDB::bind_method(D_METHOD("get_weight"), &PhysicalBone::get_weight); - - ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone::set_friction); - ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone::get_friction); - - ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &PhysicalBone::set_bounce); - ClassDB::bind_method(D_METHOD("get_bounce"), &PhysicalBone::get_bounce); - - ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone::set_gravity_scale); - ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone::get_gravity_scale); - - ADD_GROUP("Joint", "joint_"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type"); - ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "joint_offset"), "set_joint_offset", "get_joint_offset"); - - ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "body_offset"), "set_body_offset", "get_body_offset"); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_weight", "get_weight"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale"); - - BIND_ENUM_CONSTANT(JOINT_TYPE_NONE); - BIND_ENUM_CONSTANT(JOINT_TYPE_PIN); - BIND_ENUM_CONSTANT(JOINT_TYPE_CONE); - BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE); - BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER); - BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF); -} - -Skeleton *PhysicalBone::find_skeleton_parent(Node *p_parent) { - if (!p_parent) { - return NULL; - } - Skeleton *s = Object::cast_to<Skeleton>(p_parent); - return s ? s : find_skeleton_parent(p_parent->get_parent()); -} - -void PhysicalBone::_fix_joint_offset() { - // Clamp joint origin to bone origin - if (parent_skeleton) { - joint_offset.origin = body_offset.affine_inverse().origin; - } -} - -void PhysicalBone::_reload_joint() { - - if (joint.is_valid()) { - PhysicsServer::get_singleton()->free(joint); - joint = RID(); - } - - if (!parent_skeleton) { - return; - } - - PhysicalBone *body_a = parent_skeleton->get_physical_bone_parent(bone_id); - if (!body_a) { - return; - } - - Transform joint_transf = get_global_transform() * joint_offset; - Transform local_a = body_a->get_global_transform().affine_inverse() * joint_transf; - local_a.orthonormalize(); - - switch (get_joint_type()) { - case JOINT_TYPE_PIN: { - - joint = PhysicsServer::get_singleton()->joint_create_pin(body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin); - const PinJointData *pjd(static_cast<const PinJointData *>(joint_data)); - PhysicsServer::get_singleton()->pin_joint_set_param(joint, PhysicsServer::PIN_JOINT_BIAS, pjd->bias); - PhysicsServer::get_singleton()->pin_joint_set_param(joint, PhysicsServer::PIN_JOINT_DAMPING, pjd->damping); - PhysicsServer::get_singleton()->pin_joint_set_param(joint, PhysicsServer::PIN_JOINT_IMPULSE_CLAMP, pjd->impulse_clamp); - - } break; - case JOINT_TYPE_CONE: { - - joint = PhysicsServer::get_singleton()->joint_create_cone_twist(body_a->get_rid(), local_a, get_rid(), joint_offset); - const ConeJointData *cjd(static_cast<const ConeJointData *>(joint_data)); - PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span); - PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span); - PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_BIAS, cjd->bias); - PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_SOFTNESS, cjd->softness); - PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_RELAXATION, cjd->relaxation); - - } break; - case JOINT_TYPE_HINGE: { - - joint = PhysicsServer::get_singleton()->joint_create_hinge(body_a->get_rid(), local_a, get_rid(), joint_offset); - const HingeJointData *hjd(static_cast<const HingeJointData *>(joint_data)); - PhysicsServer::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled); - PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper); - PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_LOWER, hjd->angular_limit_lower); - PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_BIAS, hjd->angular_limit_bias); - PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS, hjd->angular_limit_softness); - PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION, hjd->angular_limit_relaxation); - - } break; - case JOINT_TYPE_SLIDER: { - - joint = PhysicsServer::get_singleton()->joint_create_slider(body_a->get_rid(), local_a, get_rid(), joint_offset); - const SliderJointData *sjd(static_cast<const SliderJointData *>(joint_data)); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, sjd->linear_limit_softness); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, sjd->linear_limit_restitution); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, sjd->linear_limit_restitution); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, sjd->angular_limit_upper); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, sjd->angular_limit_lower); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); - PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, sjd->angular_limit_damping); - - } break; - case JOINT_TYPE_6DOF: { - - joint = PhysicsServer::get_singleton()->joint_create_generic_6dof(body_a->get_rid(), local_a, get_rid(), joint_offset); - const SixDOFJointData *g6dofjd(static_cast<const SixDOFJointData *>(joint_data)); - for (int axis = 0; axis < 3; ++axis) { - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness); - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping); - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, g6dofjd->axis_data[axis].angular_limit_upper); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, g6dofjd->axis_data[axis].angular_limit_lower); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].angular_limit_softness); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp); - PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping); - PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point); - } - - } break; - case JOINT_TYPE_NONE: { - } break; - } -} - -void PhysicalBone::_on_bone_parent_changed() { - _reload_joint(); -} - -void PhysicalBone::_set_gizmo_move_joint(bool p_move_joint) { -#ifdef TOOLS_ENABLED - gizmo_move_joint = p_move_joint; - SpatialEditor::get_singleton()->update_transform_gizmo(); -#endif -} - -#ifdef TOOLS_ENABLED -Transform PhysicalBone::get_global_gizmo_transform() const { - return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform(); -} - -Transform PhysicalBone::get_local_gizmo_transform() const { - return gizmo_move_joint ? get_transform() * joint_offset : get_transform(); -} -#endif - -const PhysicalBone::JointData *PhysicalBone::get_joint_data() const { - return joint_data; -} - -Skeleton *PhysicalBone::find_skeleton_parent() { - return find_skeleton_parent(this); -} - -void PhysicalBone::set_joint_type(JointType p_joint_type) { - - if (p_joint_type == get_joint_type()) - return; - - if (joint_data) - memdelete(joint_data); - joint_data = NULL; - switch (p_joint_type) { - case JOINT_TYPE_PIN: - joint_data = memnew(PinJointData); - break; - case JOINT_TYPE_CONE: - joint_data = memnew(ConeJointData); - break; - case JOINT_TYPE_HINGE: - joint_data = memnew(HingeJointData); - break; - case JOINT_TYPE_SLIDER: - joint_data = memnew(SliderJointData); - break; - case JOINT_TYPE_6DOF: - joint_data = memnew(SixDOFJointData); - break; - case JOINT_TYPE_NONE: - break; - } - - _reload_joint(); - -#ifdef TOOLS_ENABLED - _change_notify(); - if (get_gizmo().is_valid()) - get_gizmo()->redraw(); -#endif -} - -PhysicalBone::JointType PhysicalBone::get_joint_type() const { - return joint_data ? joint_data->get_joint_type() : JOINT_TYPE_NONE; -} - -void PhysicalBone::set_joint_offset(const Transform &p_offset) { - joint_offset = p_offset; - - _fix_joint_offset(); - - set_ignore_transform_notification(true); - reset_to_rest_position(); - set_ignore_transform_notification(false); - -#ifdef TOOLS_ENABLED - if (get_gizmo().is_valid()) - get_gizmo()->redraw(); -#endif -} - -const Transform &PhysicalBone::get_body_offset() const { - return body_offset; -} - -void PhysicalBone::set_body_offset(const Transform &p_offset) { - body_offset = p_offset; - body_offset_inverse = body_offset.affine_inverse(); - - _fix_joint_offset(); - - set_ignore_transform_notification(true); - reset_to_rest_position(); - set_ignore_transform_notification(false); - -#ifdef TOOLS_ENABLED - if (get_gizmo().is_valid()) - get_gizmo()->redraw(); -#endif -} - -const Transform &PhysicalBone::get_joint_offset() const { - return joint_offset; -} - -void PhysicalBone::set_simulate_physics(bool p_simulate) { - if (simulate_physics == p_simulate) { - return; - } - - simulate_physics = p_simulate; - reset_physics_simulation_state(); -} - -bool PhysicalBone::get_simulate_physics() { - return simulate_physics; -} - -bool PhysicalBone::is_simulating_physics() { - return _internal_simulate_physics; -} - -void PhysicalBone::set_bone_name(const String &p_name) { - - bone_name = p_name; - bone_id = -1; - - update_bone_id(); - reset_to_rest_position(); -} - -const String &PhysicalBone::get_bone_name() const { - - return bone_name; -} - -void PhysicalBone::set_mass(real_t p_mass) { - - ERR_FAIL_COND(p_mass <= 0); - mass = p_mass; - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_MASS, mass); -} - -real_t PhysicalBone::get_mass() const { - - return mass; -} - -void PhysicalBone::set_weight(real_t p_weight) { - - set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8))); -} - -real_t PhysicalBone::get_weight() const { - - return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)); -} - -void PhysicalBone::set_friction(real_t p_friction) { - - ERR_FAIL_COND(p_friction < 0 || p_friction > 1); - - friction = p_friction; - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction); -} - -real_t PhysicalBone::get_friction() const { - - return friction; -} - -void PhysicalBone::set_bounce(real_t p_bounce) { - - ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); - - bounce = p_bounce; - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, bounce); -} - -real_t PhysicalBone::get_bounce() const { - - return bounce; -} - -void PhysicalBone::set_gravity_scale(real_t p_gravity_scale) { - - gravity_scale = p_gravity_scale; - PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_GRAVITY_SCALE, gravity_scale); -} - -real_t PhysicalBone::get_gravity_scale() const { - - return gravity_scale; -} - -PhysicalBone::PhysicalBone() : - PhysicsBody(PhysicsServer::BODY_MODE_STATIC), -#ifdef TOOLS_ENABLED - gizmo_move_joint(false), -#endif - joint_data(NULL), - parent_skeleton(NULL), - simulate_physics(false), - _internal_simulate_physics(false), - bone_id(-1), - bone_name(""), - bounce(0), - mass(1), - friction(1), - gravity_scale(1) { - - reset_physics_simulation_state(); -} - -PhysicalBone::~PhysicalBone() { - if (joint_data) - memdelete(joint_data); -} - -void PhysicalBone::update_bone_id() { - if (!parent_skeleton) { - return; - } - - const int new_bone_id = parent_skeleton->find_bone(bone_name); - - if (new_bone_id != bone_id) { - if (-1 != bone_id) { - // Assert the unbind from old node - parent_skeleton->unbind_physical_bone_from_bone(bone_id); - parent_skeleton->unbind_child_node_from_bone(bone_id, this); - } - - bone_id = new_bone_id; - - parent_skeleton->bind_physical_bone_to_bone(bone_id, this); - - _fix_joint_offset(); - reset_physics_simulation_state(); - } -} - -void PhysicalBone::update_offset() { -#ifdef TOOLS_ENABLED - if (parent_skeleton) { - - Transform bone_transform(parent_skeleton->get_global_transform()); - if (-1 != bone_id) - bone_transform *= parent_skeleton->get_bone_global_pose(bone_id); - - if (gizmo_move_joint) { - bone_transform *= body_offset; - set_joint_offset(bone_transform.affine_inverse() * get_global_transform()); - } else { - set_body_offset(bone_transform.affine_inverse() * get_global_transform()); - } - } -#endif -} - -void PhysicalBone::_start_physics_simulation() { - if (_internal_simulate_physics || !parent_skeleton) { - return; - } - reset_to_rest_position(); - PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_RIGID); - PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); - PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); - PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed"); - set_as_toplevel(true); - _internal_simulate_physics = true; -} - -void PhysicalBone::_stop_physics_simulation() { - if (!parent_skeleton) { - return; - } - if (parent_skeleton->get_animate_physical_bones()) { - PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_KINEMATIC); - PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); - PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); - } else { - PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC); - PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), 0); - PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), 0); - } - if (_internal_simulate_physics) { - PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), NULL, ""); - parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false); - set_as_toplevel(false); - _internal_simulate_physics = false; - } -} |