summaryrefslogtreecommitdiff
path: root/scene/3d/physics_body.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'scene/3d/physics_body.cpp')
-rw-r--r--scene/3d/physics_body.cpp125
1 files changed, 111 insertions, 14 deletions
diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp
index d7bd89625f..bcfcf33e57 100644
--- a/scene/3d/physics_body.cpp
+++ b/scene/3d/physics_body.cpp
@@ -32,7 +32,10 @@
#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/scene_string_names.h"
#ifdef TOOLS_ENABLED
@@ -108,6 +111,20 @@ 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);
@@ -289,14 +306,15 @@ void StaticBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("_reload_physics_characteristics"), &StaticBody::_reload_physics_characteristics);
+ 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);
#ifndef DISABLE_DEPRECATED
- ADD_PROPERTYNO(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_friction", "get_friction");
- ADD_PROPERTYNZ(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_bounce", "get_bounce");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_friction", "get_friction");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_bounce", "get_bounce");
#endif // DISABLE_DEPRECATED
- ADD_PROPERTYNZ(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
+ 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");
}
@@ -1006,10 +1024,10 @@ void RigidBody::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::REAL, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight");
#ifndef DISABLE_DEPRECATED
- ADD_PROPERTYNO(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_friction", "get_friction");
- ADD_PROPERTYNZ(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_bounce", "get_bounce");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_friction", "get_friction");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01", 0), "set_bounce", "get_bounce");
#endif // DISABLE_DEPRECATED
- ADD_PROPERTYNZ(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
+ 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::REAL, "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");
@@ -1149,7 +1167,8 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
}
}
- Vector3 motion = (floor_velocity + lv) * get_physics_process_delta_time();
+ // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
+ Vector3 motion = (floor_velocity + lv) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
on_floor = false;
on_ceiling = false;
@@ -1248,7 +1267,7 @@ Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Ve
return lv;
}
-Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_floor_direction, bool p_infinite_inertia, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle) {
+Vector3 KinematicBody::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_floor_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;
@@ -1384,9 +1403,9 @@ void KinematicBody::_bind_methods() {
ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "test_only"), &KinematicBody::_move, DEFVAL(true), DEFVAL(false));
ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "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", "floor_normal", "infinite_inertia", "stop_on_slope", "max_bounces", "floor_max_angle"), &KinematicBody::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(true), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)));
+ ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "floor_normal", "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);
+ 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);
@@ -1888,6 +1907,26 @@ bool PhysicalBone::SixDOFJointData::_set(const StringName &p_name, const Variant
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())
@@ -1933,6 +1972,26 @@ bool PhysicalBone::SixDOFJointData::_set(const StringName &p_name, const Variant
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;
}
@@ -1971,6 +2030,14 @@ bool PhysicalBone::SixDOFJointData::_get(const StringName &p_name, Variant &r_re
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) {
@@ -1989,6 +2056,14 @@ bool PhysicalBone::SixDOFJointData::_get(const StringName &p_name, Variant &r_re
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;
}
@@ -2003,6 +2078,10 @@ void PhysicalBone::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_lis
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_limit_upper"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_limit_lower"));
p_list->push_back(PropertyInfo(Variant::REAL, "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::REAL, "joint_constraints/" + axis_names[i] + "/linear_spring_stiffness"));
+ p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_spring_damping"));
+ p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_equilibrium_point"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/linear_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
p_list->push_back(PropertyInfo(Variant::REAL, "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"));
@@ -2012,6 +2091,10 @@ void PhysicalBone::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_lis
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
p_list->push_back(PropertyInfo(Variant::REAL, "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::REAL, "joint_constraints/" + axis_names[i] + "/angular_spring_stiffness"));
+ p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_spring_damping"));
+ p_list->push_back(PropertyInfo(Variant::REAL, "joint_constraints/" + axis_names[i] + "/angular_equilibrium_point"));
}
}
@@ -2275,6 +2358,10 @@ void PhysicalBone::_reload_joint() {
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);
@@ -2284,9 +2371,15 @@ void PhysicalBone::_reload_joint() {
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;
}
}
@@ -2324,7 +2417,8 @@ void PhysicalBone::set_joint_type(JointType p_joint_type) {
if (p_joint_type == get_joint_type())
return;
- memdelete(joint_data);
+ if (joint_data)
+ memdelete(joint_data);
joint_data = NULL;
switch (p_joint_type) {
case JOINT_TYPE_PIN:
@@ -2342,6 +2436,8 @@ void PhysicalBone::set_joint_type(JointType p_joint_type) {
case JOINT_TYPE_6DOF:
joint_data = memnew(SixDOFJointData);
break;
+ case JOINT_TYPE_NONE:
+ break;
}
_reload_joint();
@@ -2505,12 +2601,12 @@ PhysicalBone::PhysicalBone() :
gizmo_move_joint(false),
#endif
joint_data(NULL),
+ parent_skeleton(NULL),
static_body(false),
- simulate_physics(false),
_internal_static_body(false),
+ simulate_physics(false),
_internal_simulate_physics(false),
bone_id(-1),
- parent_skeleton(NULL),
bone_name(""),
bounce(0),
mass(1),
@@ -2522,7 +2618,8 @@ PhysicalBone::PhysicalBone() :
}
PhysicalBone::~PhysicalBone() {
- memdelete(joint_data);
+ if (joint_data)
+ memdelete(joint_data);
}
void PhysicalBone::update_bone_id() {
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-15 21:00:18 +0000