diff options
Diffstat (limited to 'scene/3d/physics_body.h')
| -rw-r--r-- | scene/3d/physics_body.h | 279 |
1 files changed, 272 insertions, 7 deletions
diff --git a/scene/3d/physics_body.h b/scene/3d/physics_body.h index f64733e707..17d2769c79 100644 --- a/scene/3d/physics_body.h +++ b/scene/3d/physics_body.h @@ -27,11 +27,13 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ + #ifndef PHYSICS_BODY__H #define PHYSICS_BODY__H #include "scene/3d/collision_object.h" #include "servers/physics_server.h" +#include "skeleton.h" #include "vset.h" class PhysicsBody : public CollisionObject { @@ -114,7 +116,7 @@ public: MODE_KINEMATIC, }; -private: +protected: bool can_sleep; PhysicsDirectBodyState *state; Mode mode; @@ -177,9 +179,8 @@ private: void _body_exit_tree(ObjectID p_id); void _body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape); - void _direct_state_changed(Object *p_state); + virtual void _direct_state_changed(Object *p_state); -protected: void _notification(int p_what); static void _bind_methods(); @@ -242,6 +243,7 @@ public: Array get_colliding_bodies() const; void apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse); + void apply_torque_impulse(const Vector3 &p_impulse); virtual String get_configuration_warning() const; @@ -285,15 +287,15 @@ private: _FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const; - Ref<KinematicCollision> _move(const Vector3 &p_motion); + Ref<KinematicCollision> _move(const Vector3 &p_motion, bool p_infinite_inertia = true); Ref<KinematicCollision> _get_slide_collision(int p_bounce); protected: static void _bind_methods(); public: - bool move_and_collide(const Vector3 &p_motion, Collision &r_collision); - bool test_move(const Transform &p_from, const Vector3 &p_motion); + bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision); + bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia); void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock); bool get_axis_lock(PhysicsServer::BodyAxis p_axis) const; @@ -301,7 +303,7 @@ public: void set_safe_margin(float p_margin); float get_safe_margin() const; - Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), float p_slope_stop_min_velocity = 0.05, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45)); + Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction = Vector3(0, 0, 0), bool p_infinite_inertia = true, float p_slope_stop_min_velocity = 0.05, int p_max_slides = 4, float p_floor_max_angle = Math::deg2rad((float)45)); bool is_on_floor() const; bool is_on_wall() const; bool is_on_ceiling() const; @@ -341,4 +343,267 @@ public: KinematicCollision(); }; +class PhysicalBone : public PhysicsBody { + + GDCLASS(PhysicalBone, PhysicsBody); + +public: + enum JointType { + JOINT_TYPE_NONE, + JOINT_TYPE_PIN, + JOINT_TYPE_CONE, + JOINT_TYPE_HINGE, + JOINT_TYPE_SLIDER, + JOINT_TYPE_6DOF + }; + + struct JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_NONE; } + + /// "j" is used to set the parameter inside the PhysicsServer + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + }; + + struct PinJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_PIN; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t bias; + real_t damping; + real_t impulse_clamp; + + PinJointData() : + bias(0.3), + damping(1.), + impulse_clamp(0) {} + }; + + struct ConeJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_CONE; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t swing_span; + real_t twist_span; + real_t bias; + real_t softness; + real_t relaxation; + + ConeJointData() : + swing_span(Math_PI * 0.25), + twist_span(Math_PI), + bias(0.3), + softness(0.8), + relaxation(1.) {} + }; + + struct HingeJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + bool angular_limit_enabled; + real_t angular_limit_upper; + real_t angular_limit_lower; + real_t angular_limit_bias; + real_t angular_limit_softness; + real_t angular_limit_relaxation; + + HingeJointData() : + angular_limit_enabled(false), + angular_limit_upper(Math_PI * 0.5), + angular_limit_lower(-Math_PI * 0.5), + angular_limit_bias(0.3), + angular_limit_softness(0.9), + angular_limit_relaxation(1.) {} + }; + + struct SliderJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t linear_limit_upper; + real_t linear_limit_lower; + real_t linear_limit_softness; + real_t linear_limit_restitution; + real_t linear_limit_damping; + real_t angular_limit_upper; + real_t angular_limit_lower; + real_t angular_limit_softness; + real_t angular_limit_restitution; + real_t angular_limit_damping; + + SliderJointData() : + linear_limit_upper(1.), + linear_limit_lower(-1.), + linear_limit_softness(1.), + linear_limit_restitution(0.7), + linear_limit_damping(1.), + angular_limit_upper(0), + angular_limit_lower(0), + angular_limit_softness(1.), + angular_limit_restitution(0.7), + angular_limit_damping(1.) {} + }; + + struct SixDOFJointData : public JointData { + struct SixDOFAxisData { + bool linear_limit_enabled; + real_t linear_limit_upper; + real_t linear_limit_lower; + real_t linear_limit_softness; + real_t linear_restitution; + real_t linear_damping; + bool angular_limit_enabled; + real_t angular_limit_upper; + real_t angular_limit_lower; + real_t angular_limit_softness; + real_t angular_restitution; + real_t angular_damping; + real_t erp; + + SixDOFAxisData() : + linear_limit_enabled(true), + linear_limit_upper(0), + linear_limit_lower(0), + linear_limit_softness(0.7), + linear_restitution(0.5), + linear_damping(1.), + angular_limit_enabled(true), + angular_limit_upper(0), + angular_limit_lower(0), + angular_limit_softness(0.5), + angular_restitution(0), + angular_damping(1.), + erp(0.5) {} + }; + + virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + SixDOFAxisData axis_data[3]; + + SixDOFJointData() {} + }; + +private: +#ifdef TOOLS_ENABLED + // if false gizmo move body + bool gizmo_move_joint; +#endif + + JointData *joint_data; + Transform joint_offset; + RID joint; + + Skeleton *parent_skeleton; + Transform body_offset; + Transform body_offset_inverse; + bool static_body; + bool _internal_static_body; + bool simulate_physics; + bool _internal_simulate_physics; + int bone_id; + + String bone_name; + real_t bounce; + real_t mass; + real_t friction; + real_t gravity_scale; + +protected: + bool _set(const StringName &p_name, const Variant &p_value); + bool _get(const StringName &p_name, Variant &r_ret) const; + void _get_property_list(List<PropertyInfo> *p_list) const; + void _notification(int p_what); + void _direct_state_changed(Object *p_state); + + static void _bind_methods(); + +private: + static Skeleton *find_skeleton_parent(Node *p_parent); + void _fix_joint_offset(); + void _reload_joint(); + +public: + void _on_bone_parent_changed(); + void _set_gizmo_move_joint(bool p_move_joint); + +public: +#ifdef TOOLS_ENABLED + virtual Transform get_global_gizmo_transform() const; + virtual Transform get_local_gizmo_transform() const; +#endif + + const JointData *get_joint_data() const; + Skeleton *find_skeleton_parent(); + + int get_bone_id() const { return bone_id; } + + void set_joint_type(JointType p_joint_type); + JointType get_joint_type() const; + + void set_joint_offset(const Transform &p_offset); + const Transform &get_joint_offset() const; + + void set_body_offset(const Transform &p_offset); + const Transform &get_body_offset() const; + + void set_static_body(bool p_static); + bool is_static_body(); + + void set_simulate_physics(bool p_simulate); + bool get_simulate_physics(); + bool is_simulating_physics(); + + void set_bone_name(const String &p_name); + const String &get_bone_name() const; + + void set_mass(real_t p_mass); + real_t get_mass() const; + + void set_weight(real_t p_weight); + real_t get_weight() const; + + void set_friction(real_t p_friction); + real_t get_friction() const; + + void set_bounce(real_t p_bounce); + real_t get_bounce() const; + + void set_gravity_scale(real_t p_gravity_scale); + real_t get_gravity_scale() const; + + PhysicalBone(); + ~PhysicalBone(); + +private: + void update_bone_id(); + void update_offset(); + void reset_to_rest_position(); + + void _reset_physics_simulation_state(); + void _reset_staticness_state(); + + void _start_physics_simulation(); + void _stop_physics_simulation(); +}; + +VARIANT_ENUM_CAST(PhysicalBone::JointType); + #endif // PHYSICS_BODY__H |