diff options
Diffstat (limited to 'scene/3d/physics_body_3d.cpp')
| -rw-r--r-- | scene/3d/physics_body_3d.cpp | 1772 |
1 files changed, 1202 insertions, 570 deletions
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp index 25c7c3d798..976bff4fbc 100644 --- a/scene/3d/physics_body_3d.cpp +++ b/scene/3d/physics_body_3d.cpp @@ -30,22 +30,12 @@ #include "physics_body_3d.h" -#include "core/config/engine.h" #include "core/core_string_names.h" -#include "core/object/class_db.h" -#include "core/templates/list.h" -#include "core/templates/rid.h" -#include "scene/3d/collision_shape_3d.h" #include "scene/scene_string_names.h" -#include "servers/navigation_server_3d.h" - -#ifdef TOOLS_ENABLED -#include "editor/plugins/node_3d_editor_plugin.h" -#endif void PhysicsBody3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only", "safe_margin"), &PhysicsBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false), DEFVAL(0.001)); - ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "collision", "safe_margin"), &PhysicsBody3D::test_move, DEFVAL(true), DEFVAL(true), DEFVAL(Variant()), DEFVAL(0.001)); + ClassDB::bind_method(D_METHOD("move_and_collide", "linear_velocity", "test_only", "safe_margin", "max_collisions"), &PhysicsBody3D::_move, DEFVAL(false), DEFVAL(0.001), DEFVAL(1)); + ClassDB::bind_method(D_METHOD("test_move", "from", "linear_velocity", "collision", "safe_margin", "max_collisions"), &PhysicsBody3D::test_move, DEFVAL(Variant()), DEFVAL(0.001), DEFVAL(1)); ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicsBody3D::set_axis_lock); ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicsBody3D::get_axis_lock); @@ -65,7 +55,7 @@ void PhysicsBody3D::_bind_methods() { PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) : CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), p_mode); + set_body_mode(p_mode); } PhysicsBody3D::~PhysicsBody3D() { @@ -78,8 +68,7 @@ TypedArray<PhysicsBody3D> PhysicsBody3D::get_collision_exceptions() { List<RID> exceptions; PhysicsServer3D::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(); + for (const RID &body : exceptions) { ObjectID instance_id = PhysicsServer3D::get_singleton()->body_get_object_instance_id(body); Object *obj = ObjectDB::get_instance(instance_id); PhysicsBody3D *physics_body = Object::cast_to<PhysicsBody3D>(obj); @@ -102,11 +91,18 @@ void PhysicsBody3D::remove_collision_exception_with(Node *p_node) { PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid()); } -Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only, real_t p_margin) { +Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_linear_velocity, bool p_test_only, real_t p_margin, int p_max_collisions) { + // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky + double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time(); + + PhysicsServer3D::MotionParameters parameters(get_global_transform(), p_linear_velocity * delta, p_margin); + parameters.max_collisions = p_max_collisions; + PhysicsServer3D::MotionResult result; - if (move_and_collide(p_motion, p_infinite_inertia, result, p_margin, p_exclude_raycast_shapes, p_test_only)) { - if (motion_cache.is_null()) { - motion_cache.instance(); + if (move_and_collide(parameters, result, p_test_only)) { + // Create a new instance when the cached reference is invalid or still in use in script. + if (motion_cache.is_null() || motion_cache->reference_get_count() > 1) { + motion_cache.instantiate(); motion_cache->owner = this; } @@ -118,25 +114,63 @@ Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_i return Ref<KinematicCollision3D>(); } -bool PhysicsBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_exclude_raycast_shapes, bool p_test_only) { - Transform3D gt = get_global_transform(); - bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, p_margin, &r_result, p_exclude_raycast_shapes); +bool PhysicsBody3D::move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only, bool p_cancel_sliding) { + bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_parameters, &r_result); + + // Restore direction of motion to be along original motion, + // in order to avoid sliding due to recovery, + // but only if collision depth is low enough to avoid tunneling. + if (p_cancel_sliding) { + real_t motion_length = p_parameters.motion.length(); + real_t precision = 0.001; + + if (colliding) { + // Can't just use margin as a threshold because collision depth is calculated on unsafe motion, + // so even in normal resting cases the depth can be a bit more than the margin. + precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction); + + if (r_result.collisions[0].depth > p_parameters.margin + precision) { + p_cancel_sliding = false; + } + } + + if (p_cancel_sliding) { + // When motion is null, recovery is the resulting motion. + Vector3 motion_normal; + if (motion_length > CMP_EPSILON) { + motion_normal = p_parameters.motion / motion_length; + } + + // Check depth of recovery. + real_t projected_length = r_result.travel.dot(motion_normal); + Vector3 recovery = r_result.travel - motion_normal * projected_length; + real_t recovery_length = recovery.length(); + // Fixes cases where canceling slide causes the motion to go too deep into the ground, + // because we're only taking rest information into account and not general recovery. + if (recovery_length < p_parameters.margin + precision) { + // Apply adjustment to motion. + r_result.travel = motion_normal * projected_length; + r_result.remainder = p_parameters.motion - r_result.travel; + } + } + } for (int i = 0; i < 3; i++) { if (locked_axis & (1 << i)) { - r_result.motion[i] = 0; + r_result.travel[i] = 0; } } if (!p_test_only) { - gt.origin += r_result.motion; + Transform3D gt = p_parameters.from; + gt.origin += r_result.travel; set_global_transform(gt); } return colliding; } -bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, const Ref<KinematicCollision3D> &r_collision, real_t p_margin) { +bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_linear_velocity, const Ref<KinematicCollision3D> &r_collision, real_t p_margin, int p_max_collisions) { ERR_FAIL_COND_V(!is_inside_tree(), false); PhysicsServer3D::MotionResult *r = nullptr; @@ -145,7 +179,12 @@ bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion r = const_cast<PhysicsServer3D::MotionResult *>(&r_collision->result); } - return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia, p_margin, r, p_exclude_raycast_shapes); + // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky + double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time(); + + PhysicsServer3D::MotionParameters parameters(p_from, p_linear_velocity * delta, p_margin); + + return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), parameters, r); } void PhysicsBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) { @@ -192,44 +231,16 @@ Ref<PhysicsMaterial> StaticBody3D::get_physics_material_override() const { return physics_material_override; } -void StaticBody3D::set_kinematic_motion_enabled(bool p_enabled) { - if (p_enabled == kinematic_motion) { - return; - } - - kinematic_motion = p_enabled; - - if (kinematic_motion) { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC); - } else { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC); - } - - _update_kinematic_motion(); -} - -bool StaticBody3D::is_kinematic_motion_enabled() const { - return kinematic_motion; -} - void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) { constant_linear_velocity = p_vel; - if (kinematic_motion) { - _update_kinematic_motion(); - } else { - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); - } + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); } void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) { constant_angular_velocity = p_vel; - if (kinematic_motion) { - _update_kinematic_motion(); - } else { - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); - } + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); } Vector3 StaticBody3D::get_constant_linear_velocity() const { @@ -240,79 +251,22 @@ Vector3 StaticBody3D::get_constant_angular_velocity() const { return constant_angular_velocity; } -Vector3 StaticBody3D::get_linear_velocity() const { - return linear_velocity; -} - -Vector3 StaticBody3D::get_angular_velocity() const { - return angular_velocity; -} - -void StaticBody3D::_notification(int p_what) { - if (p_what == NOTIFICATION_INTERNAL_PHYSICS_PROCESS) { -#ifdef TOOLS_ENABLED - if (Engine::get_singleton()->is_editor_hint()) { - return; - } -#endif - - ERR_FAIL_COND(!kinematic_motion); - - real_t delta_time = get_physics_process_delta_time(); - - Transform3D new_transform = get_global_transform(); - new_transform.origin += constant_linear_velocity * delta_time; - - real_t ang_vel = constant_angular_velocity.length(); - if (!Math::is_zero_approx(ang_vel)) { - Vector3 ang_vel_axis = constant_angular_velocity / ang_vel; - Basis rot(ang_vel_axis, ang_vel * delta_time); - new_transform.basis = rot * new_transform.basis; - new_transform.orthonormalize(); - } - - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); - - // Propagate transform change to node. - set_ignore_transform_notification(true); - set_global_transform(new_transform); - set_ignore_transform_notification(false); - _on_transform_changed(); - } -} - void StaticBody3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity); ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity); ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity); ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity); - ClassDB::bind_method(D_METHOD("set_kinematic_motion_enabled", "enabled"), &StaticBody3D::set_kinematic_motion_enabled); - ClassDB::bind_method(D_METHOD("is_kinematic_motion_enabled"), &StaticBody3D::is_kinematic_motion_enabled); - ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override); ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::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"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "kinematic_motion"), "set_kinematic_motion_enabled", "is_kinematic_motion_enabled"); } -void StaticBody3D::_direct_state_changed(Object *p_state) { -#ifdef DEBUG_ENABLED - PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state); - ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument"); -#else - PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it -#endif - - linear_velocity = state->get_linear_velocity(); - angular_velocity = state->get_angular_velocity(); -} - -StaticBody3D::StaticBody3D() : - PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) { +StaticBody3D::StaticBody3D(PhysicsServer3D::BodyMode p_mode) : + PhysicsBody3D(p_mode) { } void StaticBody3D::_reload_physics_characteristics() { @@ -325,28 +279,104 @@ void StaticBody3D::_reload_physics_characteristics() { } } -void StaticBody3D::_update_kinematic_motion() { +Vector3 AnimatableBody3D::get_linear_velocity() const { + return linear_velocity; +} + +Vector3 AnimatableBody3D::get_angular_velocity() const { + return angular_velocity; +} + +void AnimatableBody3D::set_sync_to_physics(bool p_enable) { + if (sync_to_physics == p_enable) { + return; + } + + sync_to_physics = p_enable; + + _update_kinematic_motion(); +} + +bool AnimatableBody3D::is_sync_to_physics_enabled() const { + return sync_to_physics; +} + +void AnimatableBody3D::_update_kinematic_motion() { #ifdef TOOLS_ENABLED if (Engine::get_singleton()->is_editor_hint()) { return; } #endif - if (kinematic_motion) { - PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &StaticBody3D::_direct_state_changed)); - - if (!constant_angular_velocity.is_equal_approx(Vector3()) || !constant_linear_velocity.is_equal_approx(Vector3())) { - set_physics_process_internal(true); - return; - } + if (sync_to_physics) { + set_only_update_transform_changes(true); + set_notify_local_transform(true); } else { - PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), Callable()); + set_only_update_transform_changes(false); + set_notify_local_transform(false); } +} + +void AnimatableBody3D::_body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state) { + AnimatableBody3D *body = (AnimatableBody3D *)p_instance; + body->_body_state_changed(p_state); +} + +void AnimatableBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { + linear_velocity = p_state->get_linear_velocity(); + angular_velocity = p_state->get_angular_velocity(); + + if (!sync_to_physics) { + return; + } + + last_valid_transform = p_state->get_transform(); + set_notify_local_transform(false); + set_global_transform(last_valid_transform); + set_notify_local_transform(true); + _on_transform_changed(); +} + +void AnimatableBody3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + last_valid_transform = get_global_transform(); + _update_kinematic_motion(); + } break; - set_physics_process_internal(false); + case NOTIFICATION_EXIT_TREE: { + set_only_update_transform_changes(false); + set_notify_local_transform(false); + } break; + + case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { + // Used by sync to physics, send the new transform to the physics... + Transform3D new_transform = get_global_transform(); + + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); + + // ... but then revert changes. + set_notify_local_transform(false); + set_global_transform(last_valid_transform); + set_notify_local_transform(true); + _on_transform_changed(); + } break; + } } -void RigidBody3D::_body_enter_tree(ObjectID p_id) { +void AnimatableBody3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &AnimatableBody3D::set_sync_to_physics); + ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &AnimatableBody3D::is_sync_to_physics_enabled); + + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled"); +} + +AnimatableBody3D::AnimatableBody3D() : + StaticBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) { + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), this, _body_state_changed_callback); +} + +void RigidDynamicBody3D::_body_enter_tree(ObjectID p_id) { Object *obj = ObjectDB::get_instance(p_id); Node *node = Object::cast_to<Node>(obj); ERR_FAIL_COND(!node); @@ -369,7 +399,7 @@ void RigidBody3D::_body_enter_tree(ObjectID p_id) { contact_monitor->locked = false; } -void RigidBody3D::_body_exit_tree(ObjectID p_id) { +void RigidDynamicBody3D::_body_exit_tree(ObjectID p_id) { Object *obj = ObjectDB::get_instance(p_id); Node *node = Object::cast_to<Node>(obj); ERR_FAIL_COND(!node); @@ -390,7 +420,7 @@ void RigidBody3D::_body_exit_tree(ObjectID p_id) { contact_monitor->locked = false; } -void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape) { +void RigidDynamicBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape) { bool body_in = p_status == 1; ObjectID objid = p_instance; @@ -409,8 +439,8 @@ void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan //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, &RigidBody3D::_body_enter_tree), make_binds(objid)); - node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree), make_binds(objid)); + node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody3D::_body_enter_tree), make_binds(objid)); + node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody3D::_body_exit_tree), make_binds(objid)); if (E->get().in_tree) { emit_signal(SceneStringNames::get_singleton()->body_entered, node); } @@ -436,8 +466,8 @@ void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan if (E->get().shapes.is_empty()) { if (node) { - node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); - node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody3D::_body_enter_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody3D::_body_exit_tree)); if (in_tree) { emit_signal(SceneStringNames::get_singleton()->body_exited, node); } @@ -451,33 +481,34 @@ void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instan } } -struct _RigidBodyInOut { +struct _RigidDynamicBodyInOut { RID rid; ObjectID id; int shape = 0; int local_shape = 0; }; -void RigidBody3D::_direct_state_changed(Object *p_state) { -#ifdef DEBUG_ENABLED - state = Object::cast_to<PhysicsDirectBodyState3D>(p_state); - ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument"); -#else - state = (PhysicsDirectBodyState3D *)p_state; //trust it -#endif +void RigidDynamicBody3D::_body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state) { + RigidDynamicBody3D *body = (RigidDynamicBody3D *)p_instance; + body->_body_state_changed(p_state); +} +void RigidDynamicBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { set_ignore_transform_notification(true); - set_global_transform(state->get_transform()); - linear_velocity = state->get_linear_velocity(); - angular_velocity = state->get_angular_velocity(); - inverse_inertia_tensor = state->get_inverse_inertia_tensor(); - if (sleeping != state->is_sleeping()) { - sleeping = state->is_sleeping(); + set_global_transform(p_state->get_transform()); + + linear_velocity = p_state->get_linear_velocity(); + angular_velocity = p_state->get_angular_velocity(); + + inverse_inertia_tensor = p_state->get_inverse_inertia_tensor(); + + if (sleeping != p_state->is_sleeping()) { + sleeping = p_state->is_sleeping(); emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); } - if (get_script_instance()) { - get_script_instance()->call("_integrate_forces", state); - } + + GDVIRTUAL_CALL(_integrate_forces, p_state); + set_ignore_transform_notification(false); _on_transform_changed(); @@ -486,25 +517,25 @@ void RigidBody3D::_direct_state_changed(Object *p_state) { //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; + for (KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) { + for (int i = 0; i < E.value.shapes.size(); i++) { + E.value.shapes[i].tagged = false; rc++; } } - _RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut)); + _RigidDynamicBodyInOut *toadd = (_RigidDynamicBodyInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidDynamicBodyInOut)); int toadd_count = 0; //state->get_contact_count(); - RigidBody3D_RemoveAction *toremove = (RigidBody3D_RemoveAction *)alloca(rc * sizeof(RigidBody3D_RemoveAction)); + RigidDynamicBody3D_RemoveAction *toremove = (RigidDynamicBody3D_RemoveAction *)alloca(rc * sizeof(RigidDynamicBody3D_RemoveAction)); int toremove_count = 0; //put the ones to add - for (int i = 0; i < state->get_contact_count(); i++) { - RID rid = state->get_contact_collider(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); + for (int i = 0; i < p_state->get_contact_count(); i++) { + RID rid = p_state->get_contact_collider(i); + ObjectID obj = p_state->get_contact_collider_id(i); + int local_shape = p_state->get_contact_local_shape(i); + int shape = p_state->get_contact_collider_shape(i); //bool found=false; @@ -534,12 +565,12 @@ void RigidBody3D::_direct_state_changed(Object *p_state) { //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].rid = E->get().rid; - toremove[toremove_count].body_id = E->key(); - toremove[toremove_count].pair = E->get().shapes[i]; + for (const KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) { + for (int i = 0; i < E.value.shapes.size(); i++) { + if (!E.value.shapes[i].tagged) { + toremove[toremove_count].rid = E.value.rid; + toremove[toremove_count].body_id = E.key; + toremove[toremove_count].pair = E.value.shapes[i]; toremove_count++; } } @@ -559,154 +590,224 @@ void RigidBody3D::_direct_state_changed(Object *p_state) { contact_monitor->locked = false; } - - state = nullptr; } -void RigidBody3D::_notification(int p_what) { +void RigidDynamicBody3D::_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 - } + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + if (Engine::get_singleton()->is_editor_hint()) { + set_notify_local_transform(true); //used for warnings and only in editor + } + } break; + + case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { + if (Engine::get_singleton()->is_editor_hint()) { + update_configuration_warnings(); + } + } break; } +#endif +} - if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) { - if (Engine::get_singleton()->is_editor_hint()) { - update_configuration_warnings(); +void RigidDynamicBody3D::_apply_body_mode() { + if (freeze) { + switch (freeze_mode) { + case FREEZE_MODE_STATIC: { + set_body_mode(PhysicsServer3D::BODY_MODE_STATIC); + } break; + case FREEZE_MODE_KINEMATIC: { + set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC); + } break; } + } else if (lock_rotation) { + set_body_mode(PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR); + } else { + set_body_mode(PhysicsServer3D::BODY_MODE_DYNAMIC); } +} -#endif +void RigidDynamicBody3D::set_lock_rotation_enabled(bool p_lock_rotation) { + if (p_lock_rotation == lock_rotation) { + return; + } + + lock_rotation = p_lock_rotation; + _apply_body_mode(); } -void RigidBody3D::set_mode(Mode p_mode) { - mode = p_mode; - switch (p_mode) { - case MODE_DYNAMIC: { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_DYNAMIC); - } break; - case MODE_STATIC: { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC); +bool RigidDynamicBody3D::is_lock_rotation_enabled() const { + return lock_rotation; +} - } break; - case MODE_DYNAMIC_LOCKED: { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_DYNAMIC_LOCKED); +void RigidDynamicBody3D::set_freeze_enabled(bool p_freeze) { + if (p_freeze == freeze) { + return; + } - } break; - case MODE_KINEMATIC: { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC); - } break; + freeze = p_freeze; + _apply_body_mode(); +} + +bool RigidDynamicBody3D::is_freeze_enabled() const { + return freeze; +} + +void RigidDynamicBody3D::set_freeze_mode(FreezeMode p_freeze_mode) { + if (p_freeze_mode == freeze_mode) { + return; } - update_configuration_warnings(); + + freeze_mode = p_freeze_mode; + _apply_body_mode(); } -RigidBody3D::Mode RigidBody3D::get_mode() const { - return mode; +RigidDynamicBody3D::FreezeMode RigidDynamicBody3D::get_freeze_mode() const { + return freeze_mode; } -void RigidBody3D::set_mass(real_t p_mass) { +void RigidDynamicBody3D::set_mass(real_t p_mass) { ERR_FAIL_COND(p_mass <= 0); mass = p_mass; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass); } -real_t RigidBody3D::get_mass() const { +real_t RigidDynamicBody3D::get_mass() const { return mass; } -void RigidBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) { +void RigidDynamicBody3D::set_inertia(const Vector3 &p_inertia) { + ERR_FAIL_COND(p_inertia.x < 0); + ERR_FAIL_COND(p_inertia.y < 0); + ERR_FAIL_COND(p_inertia.z < 0); + + inertia = p_inertia; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia); +} + +const Vector3 &RigidDynamicBody3D::get_inertia() const { + return inertia; +} + +void RigidDynamicBody3D::set_center_of_mass_mode(CenterOfMassMode p_mode) { + if (center_of_mass_mode == p_mode) { + return; + } + + center_of_mass_mode = p_mode; + + switch (center_of_mass_mode) { + case CENTER_OF_MASS_MODE_AUTO: { + center_of_mass = Vector3(); + PhysicsServer3D::get_singleton()->body_reset_mass_properties(get_rid()); + if (inertia != Vector3()) { + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia); + } + } break; + + case CENTER_OF_MASS_MODE_CUSTOM: { + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); + } break; + } +} + +RigidDynamicBody3D::CenterOfMassMode RigidDynamicBody3D::get_center_of_mass_mode() const { + return center_of_mass_mode; +} + +void RigidDynamicBody3D::set_center_of_mass(const Vector3 &p_center_of_mass) { + if (center_of_mass == p_center_of_mass) { + return; + } + + ERR_FAIL_COND(center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM); + center_of_mass = p_center_of_mass; + + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); +} + +const Vector3 &RigidDynamicBody3D::get_center_of_mass() const { + return center_of_mass; +} + +void RigidDynamicBody3D::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, &RigidBody3D::_reload_physics_characteristics))) { - physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics)); + if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody3D::_reload_physics_characteristics))) { + physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody3D::_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, &RigidBody3D::_reload_physics_characteristics)); + physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidDynamicBody3D::_reload_physics_characteristics)); } _reload_physics_characteristics(); } -Ref<PhysicsMaterial> RigidBody3D::get_physics_material_override() const { +Ref<PhysicsMaterial> RigidDynamicBody3D::get_physics_material_override() const { return physics_material_override; } -void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) { +void RigidDynamicBody3D::set_gravity_scale(real_t p_gravity_scale) { gravity_scale = p_gravity_scale; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); } -real_t RigidBody3D::get_gravity_scale() const { +real_t RigidDynamicBody3D::get_gravity_scale() const { return gravity_scale; } -void RigidBody3D::set_linear_damp(real_t p_linear_damp) { +void RigidDynamicBody3D::set_linear_damp(real_t p_linear_damp) { ERR_FAIL_COND(p_linear_damp < -1); linear_damp = p_linear_damp; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); } -real_t RigidBody3D::get_linear_damp() const { +real_t RigidDynamicBody3D::get_linear_damp() const { return linear_damp; } -void RigidBody3D::set_angular_damp(real_t p_angular_damp) { +void RigidDynamicBody3D::set_angular_damp(real_t p_angular_damp) { ERR_FAIL_COND(p_angular_damp < -1); angular_damp = p_angular_damp; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); } -real_t RigidBody3D::get_angular_damp() const { +real_t RigidDynamicBody3D::get_angular_damp() const { return angular_damp; } -void RigidBody3D::set_axis_velocity(const Vector3 &p_axis) { - Vector3 v = state ? state->get_linear_velocity() : linear_velocity; +void RigidDynamicBody3D::set_axis_velocity(const Vector3 &p_axis) { Vector3 axis = p_axis.normalized(); - v -= axis * axis.dot(v); - v += p_axis; - if (state) { - set_linear_velocity(v); - } else { - PhysicsServer3D::get_singleton()->body_set_axis_velocity(get_rid(), p_axis); - linear_velocity = v; - } + linear_velocity -= axis * axis.dot(linear_velocity); + linear_velocity += p_axis; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); } -void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) { +void RigidDynamicBody3D::set_linear_velocity(const Vector3 &p_velocity) { linear_velocity = p_velocity; - if (state) { - state->set_linear_velocity(linear_velocity); - } else { - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); - } + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); } -Vector3 RigidBody3D::get_linear_velocity() const { +Vector3 RigidDynamicBody3D::get_linear_velocity() const { return linear_velocity; } -void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) { +void RigidDynamicBody3D::set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; - if (state) { - state->set_angular_velocity(angular_velocity); - } else { - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); - } + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); } -Vector3 RigidBody3D::get_angular_velocity() const { +Vector3 RigidDynamicBody3D::get_angular_velocity() const { return angular_velocity; } -Basis RigidBody3D::get_inverse_inertia_tensor() const { +Basis RigidDynamicBody3D::get_inverse_inertia_tensor() const { return inverse_inertia_tensor; } -void RigidBody3D::set_use_custom_integrator(bool p_enable) { +void RigidDynamicBody3D::set_use_custom_integrator(bool p_enable) { if (custom_integrator == p_enable) { return; } @@ -715,73 +816,73 @@ void RigidBody3D::set_use_custom_integrator(bool p_enable) { PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); } -bool RigidBody3D::is_using_custom_integrator() { +bool RigidDynamicBody3D::is_using_custom_integrator() { return custom_integrator; } -void RigidBody3D::set_sleeping(bool p_sleeping) { +void RigidDynamicBody3D::set_sleeping(bool p_sleeping) { sleeping = p_sleeping; PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_SLEEPING, sleeping); } -void RigidBody3D::set_can_sleep(bool p_active) { +void RigidDynamicBody3D::set_can_sleep(bool p_active) { can_sleep = p_active; PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); } -bool RigidBody3D::is_able_to_sleep() const { +bool RigidDynamicBody3D::is_able_to_sleep() const { return can_sleep; } -bool RigidBody3D::is_sleeping() const { +bool RigidDynamicBody3D::is_sleeping() const { return sleeping; } -void RigidBody3D::set_max_contacts_reported(int p_amount) { +void RigidDynamicBody3D::set_max_contacts_reported(int p_amount) { max_contacts_reported = p_amount; PhysicsServer3D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount); } -int RigidBody3D::get_max_contacts_reported() const { +int RigidDynamicBody3D::get_max_contacts_reported() const { return max_contacts_reported; } -void RigidBody3D::add_central_force(const Vector3 &p_force) { +void RigidDynamicBody3D::add_central_force(const Vector3 &p_force) { PhysicsServer3D::get_singleton()->body_add_central_force(get_rid(), p_force); } -void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) { +void RigidDynamicBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) { PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); singleton->body_add_force(get_rid(), p_force, p_position); } -void RigidBody3D::add_torque(const Vector3 &p_torque) { +void RigidDynamicBody3D::add_torque(const Vector3 &p_torque) { PhysicsServer3D::get_singleton()->body_add_torque(get_rid(), p_torque); } -void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) { +void RigidDynamicBody3D::apply_central_impulse(const Vector3 &p_impulse) { PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); } -void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { +void RigidDynamicBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); singleton->body_apply_impulse(get_rid(), p_impulse, p_position); } -void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) { +void RigidDynamicBody3D::apply_torque_impulse(const Vector3 &p_impulse) { PhysicsServer3D::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse); } -void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) { +void RigidDynamicBody3D::set_use_continuous_collision_detection(bool p_enable) { ccd = p_enable; PhysicsServer3D::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable); } -bool RigidBody3D::is_using_continuous_collision_detection() const { +bool RigidDynamicBody3D::is_using_continuous_collision_detection() const { return ccd; } -void RigidBody3D::set_contact_monitor(bool p_enabled) { +void RigidDynamicBody3D::set_contact_monitor(bool p_enabled) { if (p_enabled == is_contact_monitor_enabled()) { return; } @@ -789,14 +890,14 @@ void RigidBody3D::set_contact_monitor(bool p_enabled) { 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()) { + for (const KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) { //clean up mess - Object *obj = ObjectDB::get_instance(E->key()); + 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, &RigidBody3D::_body_enter_tree)); - node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidDynamicBody3D::_body_enter_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidDynamicBody3D::_body_exit_tree)); } } @@ -808,18 +909,18 @@ void RigidBody3D::set_contact_monitor(bool p_enabled) { } } -bool RigidBody3D::is_contact_monitor_enabled() const { +bool RigidDynamicBody3D::is_contact_monitor_enabled() const { return contact_monitor != nullptr; } -Array RigidBody3D::get_colliding_bodies() const { +Array RigidDynamicBody3D::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()); + for (const KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) { + Object *obj = ObjectDB::get_instance(E.key); if (!obj) { ret.resize(ret.size() - 1); //ops } else { @@ -830,79 +931,97 @@ Array RigidBody3D::get_colliding_bodies() const { return ret; } -TypedArray<String> RigidBody3D::get_configuration_warnings() const { +TypedArray<String> RigidDynamicBody3D::get_configuration_warnings() const { Transform3D t = get_transform(); TypedArray<String> warnings = Node::get_configuration_warnings(); - if ((get_mode() == MODE_DYNAMIC || get_mode() == MODE_DYNAMIC_LOCKED) && (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)) { - warnings.push_back(TTR("Size changes to RigidBody3D (in dynamic modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.")); + if (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) { + warnings.push_back(TTR("Size changes to RigidDynamicBody will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.")); } return warnings; } -void RigidBody3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody3D::set_mode); - ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody3D::get_mode); +void RigidDynamicBody3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidDynamicBody3D::set_mass); + ClassDB::bind_method(D_METHOD("get_mass"), &RigidDynamicBody3D::get_mass); + + ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidDynamicBody3D::set_inertia); + ClassDB::bind_method(D_METHOD("get_inertia"), &RigidDynamicBody3D::get_inertia); + + ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidDynamicBody3D::set_center_of_mass_mode); + ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidDynamicBody3D::get_center_of_mass_mode); + + ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidDynamicBody3D::set_center_of_mass); + ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidDynamicBody3D::get_center_of_mass); - ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass); - ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass); + ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidDynamicBody3D::set_physics_material_override); + ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidDynamicBody3D::get_physics_material_override); - ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody3D::set_physics_material_override); - ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody3D::get_physics_material_override); + ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidDynamicBody3D::set_linear_velocity); + ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidDynamicBody3D::get_linear_velocity); - ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody3D::set_linear_velocity); - ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody3D::get_linear_velocity); + ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidDynamicBody3D::set_angular_velocity); + ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidDynamicBody3D::get_angular_velocity); - ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity); - ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity); + ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidDynamicBody3D::get_inverse_inertia_tensor); - ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor); + ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidDynamicBody3D::set_gravity_scale); + ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidDynamicBody3D::get_gravity_scale); - ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale); - ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale); + ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidDynamicBody3D::set_linear_damp); + ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidDynamicBody3D::get_linear_damp); - ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody3D::set_linear_damp); - ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody3D::get_linear_damp); + ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidDynamicBody3D::set_angular_damp); + ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidDynamicBody3D::get_angular_damp); - ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody3D::set_angular_damp); - ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody3D::get_angular_damp); + ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidDynamicBody3D::set_max_contacts_reported); + ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidDynamicBody3D::get_max_contacts_reported); - ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody3D::set_max_contacts_reported); - ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody3D::get_max_contacts_reported); + ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidDynamicBody3D::set_use_custom_integrator); + ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidDynamicBody3D::is_using_custom_integrator); - ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody3D::set_use_custom_integrator); - ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody3D::is_using_custom_integrator); + ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidDynamicBody3D::set_contact_monitor); + ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidDynamicBody3D::is_contact_monitor_enabled); - ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody3D::set_contact_monitor); - ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody3D::is_contact_monitor_enabled); + ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidDynamicBody3D::set_use_continuous_collision_detection); + ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidDynamicBody3D::is_using_continuous_collision_detection); - ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody3D::set_use_continuous_collision_detection); - ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody3D::is_using_continuous_collision_detection); + ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidDynamicBody3D::set_axis_velocity); - ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity); + ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidDynamicBody3D::add_central_force); + ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidDynamicBody3D::add_force, Vector3()); + ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidDynamicBody3D::add_torque); - ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody3D::add_central_force); - ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force, Vector3()); - ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque); + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidDynamicBody3D::apply_central_impulse); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidDynamicBody3D::apply_impulse, Vector3()); + ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidDynamicBody3D::apply_torque_impulse); - ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3()); - ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse); + ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidDynamicBody3D::set_sleeping); + ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidDynamicBody3D::is_sleeping); - ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping); - ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody3D::is_sleeping); + ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidDynamicBody3D::set_can_sleep); + ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidDynamicBody3D::is_able_to_sleep); - ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody3D::set_can_sleep); - ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep); + ClassDB::bind_method(D_METHOD("set_lock_rotation_enabled", "lock_rotation"), &RigidDynamicBody3D::set_lock_rotation_enabled); + ClassDB::bind_method(D_METHOD("is_lock_rotation_enabled"), &RigidDynamicBody3D::is_lock_rotation_enabled); - ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies); + ClassDB::bind_method(D_METHOD("set_freeze_enabled", "freeze_mode"), &RigidDynamicBody3D::set_freeze_enabled); + ClassDB::bind_method(D_METHOD("is_freeze_enabled"), &RigidDynamicBody3D::is_freeze_enabled); - BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectBodyState3D"))); + ClassDB::bind_method(D_METHOD("set_freeze_mode", "freeze_mode"), &RigidDynamicBody3D::set_freeze_mode); + ClassDB::bind_method(D_METHOD("get_freeze_mode"), &RigidDynamicBody3D::get_freeze_mode); - ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Dynamic,Static,DynamicLocked,Kinematic"), "set_mode", "get_mode"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass"); + ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidDynamicBody3D::get_colliding_bodies); + + GDVIRTUAL_BIND(_integrate_forces, "state"); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp"), "set_mass", "get_mass"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inertia", PROPERTY_HINT_RANGE, "0,1000,0.01,or_greater,exp"), "set_inertia", "get_inertia"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "center_of_mass_mode", PROPERTY_HINT_ENUM, "Auto,Custom", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_center_of_mass_mode", "get_center_of_mass_mode"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass", PROPERTY_HINT_RANGE, "-10,10,0.01,or_lesser,or_greater"), "set_center_of_mass", "get_center_of_mass"); + ADD_LINKED_PROPERTY("center_of_mass_mode", "center_of_mass"); 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"); @@ -911,6 +1030,9 @@ void RigidBody3D::_bind_methods() { 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_PROPERTY(PropertyInfo(Variant::BOOL, "lock_rotation"), "set_lock_rotation_enabled", "is_lock_rotation_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "freeze"), "set_freeze_enabled", "is_freeze_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "freeze_mode", PROPERTY_HINT_ENUM, "Static,Kinematic"), "set_freeze_mode", "get_freeze_mode"); 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"); @@ -924,24 +1046,33 @@ void RigidBody3D::_bind_methods() { ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("sleeping_state_changed")); - BIND_ENUM_CONSTANT(MODE_DYNAMIC); - BIND_ENUM_CONSTANT(MODE_STATIC); - BIND_ENUM_CONSTANT(MODE_DYNAMIC_LOCKED); - BIND_ENUM_CONSTANT(MODE_KINEMATIC); + BIND_ENUM_CONSTANT(FREEZE_MODE_STATIC); + BIND_ENUM_CONSTANT(FREEZE_MODE_KINEMATIC); + + BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_AUTO); + BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_CUSTOM); +} + +void RigidDynamicBody3D::_validate_property(PropertyInfo &property) const { + if (center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM) { + if (property.name == "center_of_mass") { + property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL; + } + } } -RigidBody3D::RigidBody3D() : +RigidDynamicBody3D::RigidDynamicBody3D() : PhysicsBody3D(PhysicsServer3D::BODY_MODE_DYNAMIC) { - PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &RigidBody3D::_direct_state_changed)); + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), this, _body_state_changed_callback); } -RigidBody3D::~RigidBody3D() { +RigidDynamicBody3D::~RigidDynamicBody3D() { if (contact_monitor) { memdelete(contact_monitor); } } -void RigidBody3D::_reload_physics_characteristics() { +void RigidDynamicBody3D::_reload_physics_characteristics() { if (physics_material_override.is_null()) { PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0); PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1); @@ -956,164 +1087,538 @@ void RigidBody3D::_reload_physics_characteristics() { //so, if you pass 45 as limit, avoid numerical precision errors when angle is 45. #define FLOOR_ANGLE_THRESHOLD 0.01 -void CharacterBody3D::move_and_slide() { - Vector3 body_velocity_normal = linear_velocity.normalized(); - - bool was_on_floor = on_floor; +bool CharacterBody3D::move_and_slide() { + // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky + double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time(); for (int i = 0; i < 3; i++) { if (locked_axis & (1 << i)) { - linear_velocity[i] = 0.0; + motion_velocity[i] = 0.0; } } - // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky - Vector3 motion = (floor_velocity + linear_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time()); + Transform3D gt = get_global_transform(); + previous_position = gt.origin; + + Vector3 current_platform_velocity = platform_velocity; + + if ((collision_state.floor || collision_state.wall) && platform_rid.is_valid()) { + bool excluded = false; + if (collision_state.floor) { + excluded = (moving_platform_floor_layers & platform_layer) == 0; + } else if (collision_state.wall) { + excluded = (moving_platform_wall_layers & platform_layer) == 0; + } + if (!excluded) { + //this approach makes sure there is less delay between the actual body velocity and the one we saved + PhysicsDirectBodyState3D *bs = PhysicsServer3D::get_singleton()->body_get_direct_state(platform_rid); + if (bs) { + Vector3 local_position = gt.origin - bs->get_transform().origin; + current_platform_velocity = bs->get_velocity_at_local_position(local_position); + } + } else { + current_platform_velocity = Vector3(); + } + } - on_floor = false; - on_floor_body = RID(); - on_ceiling = false; - on_wall = false; motion_results.clear(); + + bool was_on_floor = collision_state.floor; + collision_state.state = 0; + + last_motion = Vector3(); + + if (!current_platform_velocity.is_equal_approx(Vector3())) { + PhysicsServer3D::MotionParameters parameters(get_global_transform(), current_platform_velocity * delta, margin); + parameters.exclude_bodies.insert(platform_rid); + if (platform_object_id.is_valid()) { + parameters.exclude_objects.insert(platform_object_id); + } + + PhysicsServer3D::MotionResult floor_result; + if (move_and_collide(parameters, floor_result, false, false)) { + motion_results.push_back(floor_result); + + CollisionState result_state; + _set_collision_direction(floor_result, result_state); + } + } + + if (motion_mode == MOTION_MODE_GROUNDED) { + _move_and_slide_grounded(delta, was_on_floor); + } else { + _move_and_slide_free(delta); + } + + // Compute real velocity. + real_velocity = get_position_delta() / delta; + + if (moving_platform_apply_velocity_on_leave != PLATFORM_VEL_ON_LEAVE_NEVER) { + // Add last platform velocity when just left a moving platform. + if (!collision_state.floor && !collision_state.wall) { + if (moving_platform_apply_velocity_on_leave == PLATFORM_VEL_ON_LEAVE_UPWARD_ONLY && current_platform_velocity.dot(up_direction) < 0) { + current_platform_velocity = current_platform_velocity.slide(up_direction); + } + motion_velocity += current_platform_velocity; + } + } + + return motion_results.size() > 0; +} + +void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_floor) { + Vector3 motion = motion_velocity * p_delta; + Vector3 motion_slide_up = motion.slide(up_direction); + Vector3 prev_floor_normal = floor_normal; + + platform_rid = RID(); + platform_object_id = ObjectID(); + platform_velocity = Vector3(); + platform_ceiling_velocity = Vector3(); floor_normal = Vector3(); - floor_velocity = Vector3(); + wall_normal = Vector3(); + ceiling_normal = Vector3(); + + // No sliding on first attempt to keep floor motion stable when possible, + // When stop on slope is enabled or when there is no up direction. + bool sliding_enabled = !floor_stop_on_slope; + // Constant speed can be applied only the first time sliding is enabled. + bool can_apply_constant_speed = sliding_enabled; + // If the platform's ceiling push down the body. + bool apply_ceiling_velocity = false; + bool first_slide = true; + bool vel_dir_facing_up = motion_velocity.dot(up_direction) > 0; + Vector3 total_travel; + + for (int iteration = 0; iteration < max_slides; ++iteration) { + PhysicsServer3D::MotionParameters parameters(get_global_transform(), motion, margin); + parameters.max_collisions = 4; - int slide_count = max_slides; - while (slide_count) { PhysicsServer3D::MotionResult result; - bool found_collision = false; - - for (int i = 0; i < 2; ++i) { - bool collided; - if (i == 0) { //collide - collided = move_and_collide(motion, infinite_inertia, result, margin); - if (!collided) { - motion = Vector3(); //clear because no collision happened and motion completed + bool collided = move_and_collide(parameters, result, false, !sliding_enabled); + + last_motion = result.travel; + + if (collided) { + motion_results.push_back(result); + + CollisionState previous_state = collision_state; + + CollisionState result_state; + _set_collision_direction(result, result_state); + + // If we hit a ceiling platform, we set the vertical motion_velocity to at least the platform one. + if (collision_state.ceiling && platform_ceiling_velocity != Vector3() && platform_ceiling_velocity.dot(up_direction) < 0) { + // If ceiling sliding is on, only apply when the ceiling is flat or when the motion is upward. + if (!slide_on_ceiling || motion.dot(up_direction) < 0 || (ceiling_normal + up_direction).length() < 0.01) { + apply_ceiling_velocity = true; + Vector3 ceiling_vertical_velocity = up_direction * up_direction.dot(platform_ceiling_velocity); + Vector3 motion_vertical_velocity = up_direction * up_direction.dot(motion_velocity); + if (motion_vertical_velocity.dot(up_direction) > 0 || ceiling_vertical_velocity.length_squared() > motion_vertical_velocity.length_squared()) { + motion_velocity = ceiling_vertical_velocity + motion_velocity.slide(up_direction); + } } - } else { //separate raycasts (if any) - collided = separate_raycast_shapes(result); - if (collided) { - result.remainder = motion; //keep - result.motion = Vector3(); + } + + if (collision_state.floor && floor_stop_on_slope && (motion_velocity.normalized() + up_direction).length() < 0.01) { + Transform3D gt = get_global_transform(); + if (result.travel.length() <= margin + CMP_EPSILON) { + gt.origin -= result.travel; } + set_global_transform(gt); + motion_velocity = Vector3(); + motion = Vector3(); + last_motion = Vector3(); + break; } - if (collided) { - found_collision = true; + if (result.remainder.is_equal_approx(Vector3())) { + motion = Vector3(); + break; + } - motion_results.push_back(result); - motion = result.remainder; + // Apply regular sliding by default. + bool apply_default_sliding = true; + + // Wall collision checks. + if (result_state.wall && (motion_slide_up.dot(wall_normal) <= 0)) { + // Move on floor only checks. + if (floor_block_on_wall) { + // Needs horizontal motion from current motion instead of motion_slide_up + // to properly test the angle and avoid standing on slopes + Vector3 horizontal_motion = motion.slide(up_direction); + Vector3 horizontal_normal = wall_normal.slide(up_direction).normalized(); + real_t motion_angle = Math::abs(Math::acos(-horizontal_normal.dot(horizontal_motion.normalized()))); + + // Avoid to move forward on a wall if floor_block_on_wall is true. + // Applies only when the motion angle is under 90 degrees, + // in order to avoid blocking lateral motion along a wall. + if (motion_angle < .5 * Math_PI) { + apply_default_sliding = false; + + if (p_was_on_floor && !vel_dir_facing_up) { + // Cancel the motion. + Transform3D gt = get_global_transform(); + real_t travel_total = result.travel.length(); + real_t cancel_dist_max = MIN(0.1, margin * 20); + if (travel_total <= margin + CMP_EPSILON) { + gt.origin -= result.travel; + } else if (travel_total < cancel_dist_max) { // If the movement is large the body can be prevented from reaching the walls. + gt.origin -= result.travel.slide(up_direction); + // Keep remaining motion in sync with amount canceled. + motion = motion.slide(up_direction); + } + set_global_transform(gt); + result.travel = Vector3(); // Cancel for constant speed computation. + + // Determines if you are on the ground, and limits the possibility of climbing on the walls because of the approximations. + _snap_on_floor(true, false); + } else { + // If the movement is not cancelled we only keep the remaining. + motion = result.remainder; + } - if (up_direction == Vector3()) { - //all is a wall - on_wall = true; - } else { - if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor - - on_floor = true; - floor_normal = result.collision_normal; - on_floor_body = result.collider; - floor_velocity = result.collider_velocity; - - if (stop_on_slope) { - if ((body_velocity_normal + up_direction).length() < 0.01 && result.motion.length() < 1) { - Transform3D gt = get_global_transform(); - gt.origin -= result.motion.slide(up_direction); - set_global_transform(gt); - linear_velocity = Vector3(); - return; + // Apply slide on forward in order to allow only lateral motion on next step. + Vector3 forward = wall_normal.slide(up_direction).normalized(); + motion = motion.slide(forward); + // Avoid accelerating when you jump on the wall and smooth falling. + motion_velocity = motion_velocity.slide(forward); + + // Allow only lateral motion along previous floor when already on floor. + // Fixes slowing down when moving in diagonal against an inclined wall. + if (p_was_on_floor && !vel_dir_facing_up && (motion.dot(up_direction) > 0.0)) { + // Slide along the corner between the wall and previous floor. + Vector3 floor_side = prev_floor_normal.cross(wall_normal); + if (floor_side != Vector3()) { + motion = floor_side * motion.dot(floor_side); } } - } else if (Math::acos(result.collision_normal.dot(-up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling - on_ceiling = true; - } else { - on_wall = true; + + // Stop all motion when a second wall is hit (unless sliding down or jumping), + // in order to avoid jittering in corner cases. + bool stop_all_motion = previous_state.wall && !vel_dir_facing_up; + + // Allow sliding when the body falls. + if (!collision_state.floor && motion.dot(up_direction) < 0) { + Vector3 slide_motion = motion.slide(wall_normal); + // Test again to allow sliding only if the result goes downwards. + // Fixes jittering issues at the bottom of inclined walls. + if (slide_motion.dot(up_direction) < 0) { + stop_all_motion = false; + motion = slide_motion; + } + } + + if (stop_all_motion) { + motion = Vector3(); + motion_velocity = Vector3(); + } } } - motion = motion.slide(result.collision_normal); - linear_velocity = linear_velocity.slide(result.collision_normal); + // Stop horizontal motion when under wall slide threshold. + if (p_was_on_floor && (wall_min_slide_angle > 0.0) && result_state.wall) { + Vector3 horizontal_normal = wall_normal.slide(up_direction).normalized(); + real_t motion_angle = Math::abs(Math::acos(-horizontal_normal.dot(motion_slide_up.normalized()))); + if (motion_angle < wall_min_slide_angle) { + motion = up_direction * motion.dot(up_direction); + motion_velocity = up_direction * motion_velocity.dot(up_direction); - for (int j = 0; j < 3; j++) { - if (locked_axis & (1 << j)) { - linear_velocity[j] = 0.0; + apply_default_sliding = false; } } } + + if (apply_default_sliding) { + // Regular sliding, the last part of the test handle the case when you don't want to slide on the ceiling. + if ((sliding_enabled || !collision_state.floor) && (!collision_state.ceiling || slide_on_ceiling || !vel_dir_facing_up) && !apply_ceiling_velocity) { + const PhysicsServer3D::MotionCollision &collision = result.collisions[0]; + + Vector3 slide_motion = result.remainder.slide(collision.normal); + if (collision_state.floor && !collision_state.wall) { + // Slide using the intersection between the motion plane and the floor plane, + // in order to keep the direction intact. + real_t motion_length = slide_motion.length(); + slide_motion = up_direction.cross(result.remainder).cross(floor_normal); + + // Keep the length from default slide to change speed in slopes by default, + // when constant speed is not enabled. + slide_motion.normalize(); + slide_motion *= motion_length; + } + + if (slide_motion.dot(motion_velocity) > 0.0) { + motion = slide_motion; + } else { + motion = Vector3(); + } + + if (slide_on_ceiling && result_state.ceiling) { + // Apply slide only in the direction of the input motion, otherwise just stop to avoid jittering when moving against a wall. + if (vel_dir_facing_up) { + motion_velocity = motion_velocity.slide(collision.normal); + } else { + // Avoid acceleration in slope when falling. + motion_velocity = up_direction * up_direction.dot(motion_velocity); + } + } + } + // No sliding on first attempt to keep floor motion stable when possible. + else { + motion = result.remainder; + if (result_state.ceiling && !slide_on_ceiling && vel_dir_facing_up) { + motion_velocity = motion_velocity.slide(up_direction); + motion = motion.slide(up_direction); + } + } + } + + total_travel += result.travel; + + // Apply Constant Speed. + if (p_was_on_floor && floor_constant_speed && can_apply_constant_speed && collision_state.floor && !motion.is_equal_approx(Vector3())) { + Vector3 travel_slide_up = total_travel.slide(up_direction); + motion = motion.normalized() * MAX(0, (motion_slide_up.length() - travel_slide_up.length())); + } + } + // When you move forward in a downward slope you don’t collide because you will be in the air. + // This test ensures that constant speed is applied, only if the player is still on the ground after the snap is applied. + else if (floor_constant_speed && first_slide && _on_floor_if_snapped(p_was_on_floor, vel_dir_facing_up)) { + can_apply_constant_speed = false; + sliding_enabled = true; + Transform3D gt = get_global_transform(); + gt.origin = gt.origin - result.travel; + set_global_transform(gt); + + // Slide using the intersection between the motion plane and the floor plane, + // in order to keep the direction intact. + Vector3 motion_slide_norm = up_direction.cross(motion).cross(prev_floor_normal); + motion_slide_norm.normalize(); + + motion = motion_slide_norm * (motion_slide_up.length()); + collided = true; } - if (!found_collision || motion == Vector3()) { + if (!collided || motion.is_equal_approx(Vector3())) { break; } - --slide_count; + can_apply_constant_speed = !can_apply_constant_speed && !sliding_enabled; + sliding_enabled = true; + first_slide = false; } - if (!was_on_floor || snap == Vector3()) { - return; + _snap_on_floor(p_was_on_floor, vel_dir_facing_up); + + // Reset the gravity accumulation when touching the ground. + if (collision_state.floor && !vel_dir_facing_up) { + motion_velocity = motion_velocity.slide(up_direction); } +} - // Apply snap. - Transform3D gt = get_global_transform(); - PhysicsServer3D::MotionResult result; - if (move_and_collide(snap, infinite_inertia, result, margin, false, true)) { - bool apply = true; - if (up_direction != Vector3()) { - if (Math::acos(result.collision_normal.dot(up_direction)) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { - on_floor = true; - floor_normal = result.collision_normal; - on_floor_body = result.collider; - floor_velocity = result.collider_velocity; - if (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. - result.motion = result.motion.project(up_direction); +void CharacterBody3D::_move_and_slide_free(double p_delta) { + Vector3 motion = motion_velocity * p_delta; + + platform_rid = RID(); + platform_object_id = ObjectID(); + floor_normal = Vector3(); + platform_velocity = Vector3(); + + bool first_slide = true; + for (int iteration = 0; iteration < max_slides; ++iteration) { + PhysicsServer3D::MotionParameters parameters(get_global_transform(), motion, margin); + + PhysicsServer3D::MotionResult result; + bool collided = move_and_collide(parameters, result, false, false); + + last_motion = result.travel; + + if (collided) { + motion_results.push_back(result); + + CollisionState result_state; + _set_collision_direction(result, result_state); + + if (result.remainder.is_equal_approx(Vector3())) { + motion = Vector3(); + break; + } + + if (wall_min_slide_angle != 0 && Math::acos(wall_normal.dot(-motion_velocity.normalized())) < wall_min_slide_angle + FLOOR_ANGLE_THRESHOLD) { + motion = Vector3(); + if (result.travel.length() < margin + CMP_EPSILON) { + Transform3D gt = get_global_transform(); + gt.origin -= result.travel; + set_global_transform(gt); } + } else if (first_slide) { + Vector3 motion_slide_norm = result.remainder.slide(wall_normal).normalized(); + motion = motion_slide_norm * (motion.length() - result.travel.length()); } else { - apply = false; //snapped with floor direction, but did not snap to a floor, do not snap. + motion = result.remainder.slide(wall_normal); + } + + if (motion.dot(motion_velocity) <= 0.0) { + motion = Vector3(); } } - if (apply) { - gt.origin += result.motion; - set_global_transform(gt); + + if (!collided || motion.is_equal_approx(Vector3())) { + break; } + + first_slide = false; } } -bool CharacterBody3D::separate_raycast_shapes(PhysicsServer3D::MotionResult &r_result) { - PhysicsServer3D::SeparationResult sep_res[8]; //max 8 rays +void CharacterBody3D::_snap_on_floor(bool was_on_floor, bool vel_dir_facing_up) { + if (collision_state.floor || !was_on_floor || vel_dir_facing_up) { + return; + } + + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); - Transform3D gt = get_global_transform(); + PhysicsServer3D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); + parameters.max_collisions = 4; + parameters.collide_separation_ray = true; - Vector3 recover; - int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, infinite_inertia, recover, sep_res, 8, margin); - int deepest = -1; - real_t 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; + PhysicsServer3D::MotionResult result; + if (move_and_collide(parameters, result, true, false)) { + CollisionState result_state; + // Apply direction for floor only. + _set_collision_direction(result, result_state, CollisionState(true, false, false)); + + if (result_state.floor) { + if (floor_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. + if (result.travel.length() > margin) { + result.travel = up_direction * up_direction.dot(result.travel); + } else { + result.travel = Vector3(); + } + } + + parameters.from.origin += result.travel; + set_global_transform(parameters.from); } } +} - gt.origin += recover; - set_global_transform(gt); +bool CharacterBody3D::_on_floor_if_snapped(bool was_on_floor, bool vel_dir_facing_up) { + if (up_direction == Vector3() || collision_state.floor || !was_on_floor || vel_dir_facing_up) { + return false; + } - if (deepest != -1) { - r_result.collider_id = sep_res[deepest].collider_id; - r_result.collider_metadata = sep_res[deepest].collider_metadata; - r_result.collider_shape = sep_res[deepest].collider_shape; - r_result.collider_velocity = sep_res[deepest].collider_velocity; - r_result.collision_point = sep_res[deepest].collision_point; - r_result.collision_normal = sep_res[deepest].collision_normal; - r_result.collision_local_shape = sep_res[deepest].collision_local_shape; - r_result.motion = recover; - r_result.remainder = Vector3(); + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); - return true; - } else { - return false; + PhysicsServer3D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); + parameters.max_collisions = 4; + parameters.collide_separation_ray = true; + + PhysicsServer3D::MotionResult result; + if (move_and_collide(parameters, result, true, false)) { + CollisionState result_state; + // Don't apply direction for any type. + _set_collision_direction(result, result_state, CollisionState()); + + return result_state.floor; } + + return false; +} + +void CharacterBody3D::_set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state) { + r_state.state = 0; + + real_t wall_depth = -1.0; + real_t floor_depth = -1.0; + + bool was_on_wall = collision_state.wall; + Vector3 prev_wall_normal = wall_normal; + int wall_collision_count = 0; + Vector3 combined_wall_normal; + + for (int i = p_result.collision_count - 1; i >= 0; i--) { + const PhysicsServer3D::MotionCollision &collision = p_result.collisions[i]; + + if (motion_mode == MOTION_MODE_GROUNDED) { + // Check if any collision is floor. + real_t floor_angle = collision.get_angle(up_direction); + if (floor_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { + r_state.floor = true; + if (p_apply_state.floor && collision.depth > floor_depth) { + collision_state.floor = true; + floor_normal = collision.normal; + floor_depth = collision.depth; + _set_platform_data(collision); + } + continue; + } + + // Check if any collision is ceiling. + real_t ceiling_angle = collision.get_angle(-up_direction); + if (ceiling_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { + r_state.ceiling = true; + if (p_apply_state.ceiling) { + platform_ceiling_velocity = collision.collider_velocity; + ceiling_normal = collision.normal; + collision_state.ceiling = true; + } + continue; + } + } + + // Collision is wall by default. + r_state.wall = true; + + if (p_apply_state.wall && collision.depth > wall_depth) { + collision_state.wall = true; + wall_depth = collision.depth; + wall_normal = collision.normal; + + // Don't apply wall velocity when the collider is a CharacterBody3D. + if (Object::cast_to<CharacterBody3D>(ObjectDB::get_instance(collision.collider_id)) == nullptr) { + _set_platform_data(collision); + } + } + + // Collect normal for calculating average. + combined_wall_normal += collision.normal; + wall_collision_count++; + } + + if (r_state.wall) { + if (wall_collision_count > 1 && !r_state.floor) { + // Check if wall normals cancel out to floor support. + if (!r_state.floor && motion_mode == MOTION_MODE_GROUNDED) { + combined_wall_normal.normalize(); + real_t floor_angle = Math::acos(combined_wall_normal.dot(up_direction)); + if (floor_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { + r_state.floor = true; + r_state.wall = false; + if (p_apply_state.floor) { + collision_state.floor = true; + floor_normal = combined_wall_normal; + } + if (p_apply_state.wall) { + collision_state.wall = was_on_wall; + wall_normal = prev_wall_normal; + } + return; + } + } + } + } +} + +void CharacterBody3D::_set_platform_data(const PhysicsServer3D::MotionCollision &p_collision) { + platform_rid = p_collision.collider; + platform_object_id = p_collision.collider_id; + platform_velocity = p_collision.collider_velocity; + platform_layer = PhysicsServer3D::get_singleton()->body_get_collision_layer(platform_rid); } void CharacterBody3D::set_safe_margin(real_t p_margin) { @@ -1124,35 +1629,72 @@ real_t CharacterBody3D::get_safe_margin() const { return margin; } -Vector3 CharacterBody3D::get_linear_velocity() const { - return linear_velocity; +const Vector3 &CharacterBody3D::get_motion_velocity() const { + return motion_velocity; } -void CharacterBody3D::set_linear_velocity(const Vector3 &p_velocity) { - linear_velocity = p_velocity; +void CharacterBody3D::set_motion_velocity(const Vector3 &p_velocity) { + motion_velocity = p_velocity; } bool CharacterBody3D::is_on_floor() const { - return on_floor; + return collision_state.floor; +} + +bool CharacterBody3D::is_on_floor_only() const { + return collision_state.floor && !collision_state.wall && !collision_state.ceiling; } bool CharacterBody3D::is_on_wall() const { - return on_wall; + return collision_state.wall; +} + +bool CharacterBody3D::is_on_wall_only() const { + return collision_state.wall && !collision_state.floor && !collision_state.ceiling; } bool CharacterBody3D::is_on_ceiling() const { - return on_ceiling; + return collision_state.ceiling; +} + +bool CharacterBody3D::is_on_ceiling_only() const { + return collision_state.ceiling && !collision_state.floor && !collision_state.wall; } -Vector3 CharacterBody3D::get_floor_normal() const { +const Vector3 &CharacterBody3D::get_floor_normal() const { return floor_normal; } -Vector3 CharacterBody3D::get_floor_velocity() const { - return floor_velocity; +const Vector3 &CharacterBody3D::get_wall_normal() const { + return wall_normal; +} + +const Vector3 &CharacterBody3D::get_last_motion() const { + return last_motion; +} + +Vector3 CharacterBody3D::get_position_delta() const { + return get_transform().origin - previous_position; +} + +const Vector3 &CharacterBody3D::get_real_velocity() const { + return real_velocity; +} + +real_t CharacterBody3D::get_floor_angle(const Vector3 &p_up_direction) const { + ERR_FAIL_COND_V(p_up_direction == Vector3(), 0); + return Math::acos(floor_normal.dot(p_up_direction)); +} + +const Vector3 &CharacterBody3D::get_platform_velocity() const { + return platform_velocity; } -int CharacterBody3D::get_slide_count() const { +Vector3 CharacterBody3D::get_linear_velocity() const { + return get_real_velocity(); +} + +int CharacterBody3D::get_slide_collision_count() const { return motion_results.size(); } @@ -1167,8 +1709,9 @@ Ref<KinematicCollision3D> CharacterBody3D::_get_slide_collision(int p_bounce) { slide_colliders.resize(p_bounce + 1); } - if (slide_colliders[p_bounce].is_null()) { - slide_colliders.write[p_bounce].instance(); + // Create a new instance when the cached reference is invalid or still in use in script. + if (slide_colliders[p_bounce].is_null() || slide_colliders[p_bounce]->reference_get_count() > 1) { + slide_colliders.write[p_bounce].instantiate(); slide_colliders.write[p_bounce]->owner = this; } @@ -1176,19 +1719,75 @@ Ref<KinematicCollision3D> CharacterBody3D::_get_slide_collision(int p_bounce) { return slide_colliders[p_bounce]; } -bool CharacterBody3D::is_stop_on_slope_enabled() const { - return stop_on_slope; +Ref<KinematicCollision3D> CharacterBody3D::_get_last_slide_collision() { + if (motion_results.size() == 0) { + return Ref<KinematicCollision3D>(); + } + return _get_slide_collision(motion_results.size() - 1); +} + +bool CharacterBody3D::is_floor_stop_on_slope_enabled() const { + return floor_stop_on_slope; +} + +void CharacterBody3D::set_floor_stop_on_slope_enabled(bool p_enabled) { + floor_stop_on_slope = p_enabled; +} + +bool CharacterBody3D::is_floor_constant_speed_enabled() const { + return floor_constant_speed; +} + +void CharacterBody3D::set_floor_constant_speed_enabled(bool p_enabled) { + floor_constant_speed = p_enabled; +} + +bool CharacterBody3D::is_floor_block_on_wall_enabled() const { + return floor_block_on_wall; +} + +void CharacterBody3D::set_floor_block_on_wall_enabled(bool p_enabled) { + floor_block_on_wall = p_enabled; +} + +bool CharacterBody3D::is_slide_on_ceiling_enabled() const { + return slide_on_ceiling; +} + +void CharacterBody3D::set_slide_on_ceiling_enabled(bool p_enabled) { + slide_on_ceiling = p_enabled; +} + +uint32_t CharacterBody3D::get_moving_platform_floor_layers() const { + return moving_platform_floor_layers; +} + +void CharacterBody3D::set_moving_platform_floor_layers(uint32_t p_exclude_layers) { + moving_platform_floor_layers = p_exclude_layers; +} + +uint32_t CharacterBody3D::get_moving_platform_wall_layers() const { + return moving_platform_wall_layers; } -void CharacterBody3D::set_stop_on_slope_enabled(bool p_enabled) { - stop_on_slope = p_enabled; +void CharacterBody3D::set_moving_platform_wall_layers(uint32_t p_exclude_layers) { + moving_platform_wall_layers = p_exclude_layers; } -bool CharacterBody3D::is_infinite_inertia_enabled() const { - return infinite_inertia; +void CharacterBody3D::set_motion_mode(MotionMode p_mode) { + motion_mode = p_mode; } -void CharacterBody3D::set_infinite_inertia_enabled(bool p_enabled) { - infinite_inertia = p_enabled; + +CharacterBody3D::MotionMode CharacterBody3D::get_motion_mode() const { + return motion_mode; +} + +void CharacterBody3D::set_moving_platform_apply_velocity_on_leave(MovingPlatformApplyVelocityOnLeave p_on_leave_apply_velocity) { + moving_platform_apply_velocity_on_leave = p_on_leave_apply_velocity; +} + +CharacterBody3D::MovingPlatformApplyVelocityOnLeave CharacterBody3D::get_moving_platform_apply_velocity_on_leave() const { + return moving_platform_apply_velocity_on_leave; } int CharacterBody3D::get_max_slides() const { @@ -1196,7 +1795,7 @@ int CharacterBody3D::get_max_slides() const { } void CharacterBody3D::set_max_slides(int p_max_slides) { - ERR_FAIL_COND(p_max_slides > 0); + ERR_FAIL_COND(p_max_slides < 1); max_slides = p_max_slides; } @@ -1208,20 +1807,21 @@ void CharacterBody3D::set_floor_max_angle(real_t p_radians) { floor_max_angle = p_radians; } -real_t CharacterBody3D::get_floor_max_angle_degrees() const { - return Math::rad2deg(floor_max_angle); +real_t CharacterBody3D::get_floor_snap_length() { + return floor_snap_length; } -void CharacterBody3D::set_floor_max_angle_degrees(real_t p_degrees) { - floor_max_angle = Math::deg2rad(p_degrees); +void CharacterBody3D::set_floor_snap_length(real_t p_floor_snap_length) { + ERR_FAIL_COND(p_floor_snap_length < 0); + floor_snap_length = p_floor_snap_length; } -const Vector3 &CharacterBody3D::get_snap() const { - return snap; +real_t CharacterBody3D::get_wall_min_slide_angle() const { + return wall_min_slide_angle; } -void CharacterBody3D::set_snap(const Vector3 &p_snap) { - snap = p_snap; +void CharacterBody3D::set_wall_min_slide_angle(real_t p_radians) { + wall_min_slide_angle = p_radians; } const Vector3 &CharacterBody3D::get_up_direction() const { @@ -1229,62 +1829,110 @@ const Vector3 &CharacterBody3D::get_up_direction() const { } void CharacterBody3D::set_up_direction(const Vector3 &p_up_direction) { + ERR_FAIL_COND_MSG(p_up_direction == Vector3(), "up_direction can't be equal to Vector3.ZERO, consider using Free motion mode instead."); up_direction = p_up_direction.normalized(); } void CharacterBody3D::_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; - motion_results.clear(); - floor_velocity = Vector3(); + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + // Reset move_and_slide() data. + collision_state.state = 0; + platform_rid = RID(); + platform_object_id = ObjectID(); + motion_results.clear(); + platform_velocity = Vector3(); + } break; } } void CharacterBody3D::_bind_methods() { ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody3D::move_and_slide); - ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &CharacterBody3D::set_linear_velocity); - ClassDB::bind_method(D_METHOD("get_linear_velocity"), &CharacterBody3D::get_linear_velocity); + ClassDB::bind_method(D_METHOD("set_motion_velocity", "motion_velocity"), &CharacterBody3D::set_motion_velocity); + ClassDB::bind_method(D_METHOD("get_motion_velocity"), &CharacterBody3D::get_motion_velocity); ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &CharacterBody3D::set_safe_margin); ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody3D::get_safe_margin); - ClassDB::bind_method(D_METHOD("is_stop_on_slope_enabled"), &CharacterBody3D::is_stop_on_slope_enabled); - ClassDB::bind_method(D_METHOD("set_stop_on_slope_enabled", "enabled"), &CharacterBody3D::set_stop_on_slope_enabled); - ClassDB::bind_method(D_METHOD("is_infinite_inertia_enabled"), &CharacterBody3D::is_infinite_inertia_enabled); - ClassDB::bind_method(D_METHOD("set_infinite_inertia_enabled", "enabled"), &CharacterBody3D::set_infinite_inertia_enabled); + ClassDB::bind_method(D_METHOD("is_floor_stop_on_slope_enabled"), &CharacterBody3D::is_floor_stop_on_slope_enabled); + ClassDB::bind_method(D_METHOD("set_floor_stop_on_slope_enabled", "enabled"), &CharacterBody3D::set_floor_stop_on_slope_enabled); + ClassDB::bind_method(D_METHOD("set_floor_constant_speed_enabled", "enabled"), &CharacterBody3D::set_floor_constant_speed_enabled); + ClassDB::bind_method(D_METHOD("is_floor_constant_speed_enabled"), &CharacterBody3D::is_floor_constant_speed_enabled); + ClassDB::bind_method(D_METHOD("set_floor_block_on_wall_enabled", "enabled"), &CharacterBody3D::set_floor_block_on_wall_enabled); + ClassDB::bind_method(D_METHOD("is_floor_block_on_wall_enabled"), &CharacterBody3D::is_floor_block_on_wall_enabled); + ClassDB::bind_method(D_METHOD("set_slide_on_ceiling_enabled", "enabled"), &CharacterBody3D::set_slide_on_ceiling_enabled); + ClassDB::bind_method(D_METHOD("is_slide_on_ceiling_enabled"), &CharacterBody3D::is_slide_on_ceiling_enabled); + + ClassDB::bind_method(D_METHOD("set_moving_platform_floor_layers", "exclude_layer"), &CharacterBody3D::set_moving_platform_floor_layers); + ClassDB::bind_method(D_METHOD("get_moving_platform_floor_layers"), &CharacterBody3D::get_moving_platform_floor_layers); + ClassDB::bind_method(D_METHOD("set_moving_platform_wall_layers", "exclude_layer"), &CharacterBody3D::set_moving_platform_wall_layers); + ClassDB::bind_method(D_METHOD("get_moving_platform_wall_layers"), &CharacterBody3D::get_moving_platform_wall_layers); + ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody3D::get_max_slides); ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody3D::set_max_slides); ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody3D::get_floor_max_angle); ClassDB::bind_method(D_METHOD("set_floor_max_angle", "radians"), &CharacterBody3D::set_floor_max_angle); - ClassDB::bind_method(D_METHOD("get_floor_max_angle_degrees"), &CharacterBody3D::get_floor_max_angle_degrees); - ClassDB::bind_method(D_METHOD("set_floor_max_angle_degrees", "degrees"), &CharacterBody3D::set_floor_max_angle_degrees); - ClassDB::bind_method(D_METHOD("get_snap"), &CharacterBody3D::get_snap); - ClassDB::bind_method(D_METHOD("set_snap", "snap"), &CharacterBody3D::set_snap); + ClassDB::bind_method(D_METHOD("get_floor_snap_length"), &CharacterBody3D::get_floor_snap_length); + ClassDB::bind_method(D_METHOD("set_floor_snap_length", "floor_snap_length"), &CharacterBody3D::set_floor_snap_length); + ClassDB::bind_method(D_METHOD("get_wall_min_slide_angle"), &CharacterBody3D::get_wall_min_slide_angle); + ClassDB::bind_method(D_METHOD("set_wall_min_slide_angle", "radians"), &CharacterBody3D::set_wall_min_slide_angle); ClassDB::bind_method(D_METHOD("get_up_direction"), &CharacterBody3D::get_up_direction); ClassDB::bind_method(D_METHOD("set_up_direction", "up_direction"), &CharacterBody3D::set_up_direction); + ClassDB::bind_method(D_METHOD("set_motion_mode", "mode"), &CharacterBody3D::set_motion_mode); + ClassDB::bind_method(D_METHOD("get_motion_mode"), &CharacterBody3D::get_motion_mode); + ClassDB::bind_method(D_METHOD("set_moving_platform_apply_velocity_on_leave", "on_leave_apply_velocity"), &CharacterBody3D::set_moving_platform_apply_velocity_on_leave); + ClassDB::bind_method(D_METHOD("get_moving_platform_apply_velocity_on_leave"), &CharacterBody3D::get_moving_platform_apply_velocity_on_leave); ClassDB::bind_method(D_METHOD("is_on_floor"), &CharacterBody3D::is_on_floor); + ClassDB::bind_method(D_METHOD("is_on_floor_only"), &CharacterBody3D::is_on_floor_only); ClassDB::bind_method(D_METHOD("is_on_ceiling"), &CharacterBody3D::is_on_ceiling); + ClassDB::bind_method(D_METHOD("is_on_ceiling_only"), &CharacterBody3D::is_on_ceiling_only); ClassDB::bind_method(D_METHOD("is_on_wall"), &CharacterBody3D::is_on_wall); + ClassDB::bind_method(D_METHOD("is_on_wall_only"), &CharacterBody3D::is_on_wall_only); ClassDB::bind_method(D_METHOD("get_floor_normal"), &CharacterBody3D::get_floor_normal); - ClassDB::bind_method(D_METHOD("get_floor_velocity"), &CharacterBody3D::get_floor_velocity); - - ClassDB::bind_method(D_METHOD("get_slide_count"), &CharacterBody3D::get_slide_count); + ClassDB::bind_method(D_METHOD("get_wall_normal"), &CharacterBody3D::get_wall_normal); + ClassDB::bind_method(D_METHOD("get_last_motion"), &CharacterBody3D::get_last_motion); + ClassDB::bind_method(D_METHOD("get_position_delta"), &CharacterBody3D::get_position_delta); + ClassDB::bind_method(D_METHOD("get_real_velocity"), &CharacterBody3D::get_real_velocity); + ClassDB::bind_method(D_METHOD("get_floor_angle", "up_direction"), &CharacterBody3D::get_floor_angle, DEFVAL(Vector3(0.0, 1.0, 0.0))); + ClassDB::bind_method(D_METHOD("get_platform_velocity"), &CharacterBody3D::get_platform_velocity); + ClassDB::bind_method(D_METHOD("get_slide_collision_count"), &CharacterBody3D::get_slide_collision_count); ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &CharacterBody3D::_get_slide_collision); + ClassDB::bind_method(D_METHOD("get_last_slide_collision"), &CharacterBody3D::_get_last_slide_collision); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "stop_on_slope"), "set_stop_on_slope_enabled", "is_stop_on_slope_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "infinite_inertia"), "set_infinite_inertia_enabled", "is_infinite_inertia_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides"), "set_max_slides", "get_max_slides"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_floor_max_angle", "get_floor_max_angle"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle_degrees", PROPERTY_HINT_RANGE, "0,180,0.1", PROPERTY_USAGE_EDITOR), "set_floor_max_angle_degrees", "get_floor_max_angle_degrees"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "snap"), "set_snap", "get_snap"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_mode", PROPERTY_HINT_ENUM, "Grounded,Free", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_motion_mode", "get_motion_mode"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_direction"), "set_up_direction", "get_up_direction"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slide_on_ceiling"), "set_slide_on_ceiling_enabled", "is_slide_on_ceiling_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion_velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_motion_velocity", "get_motion_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_max_slides", "get_max_slides"); + ADD_GROUP("Free Mode", "free_mode_"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wall_min_slide_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians", PROPERTY_USAGE_DEFAULT), "set_wall_min_slide_angle", "get_wall_min_slide_angle"); + ADD_GROUP("Floor", "floor_"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_stop_on_slope"), "set_floor_stop_on_slope_enabled", "is_floor_stop_on_slope_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_constant_speed"), "set_floor_constant_speed_enabled", "is_floor_constant_speed_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_block_on_wall"), "set_floor_block_on_wall_enabled", "is_floor_block_on_wall_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians"), "set_floor_max_angle", "get_floor_max_angle"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_snap_length", PROPERTY_HINT_RANGE, "0,1,0.01,or_greater"), "set_floor_snap_length", "get_floor_snap_length"); + ADD_GROUP("Moving platform", "moving_platform"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "moving_platform_apply_velocity_on_leave", PROPERTY_HINT_ENUM, "Always,Upward Only,Never", PROPERTY_USAGE_DEFAULT), "set_moving_platform_apply_velocity_on_leave", "get_moving_platform_apply_velocity_on_leave"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "moving_platform_floor_layers", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_moving_platform_floor_layers", "get_moving_platform_floor_layers"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "moving_platform_wall_layers", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_moving_platform_wall_layers", "get_moving_platform_wall_layers"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin"); + + BIND_ENUM_CONSTANT(MOTION_MODE_GROUNDED); + BIND_ENUM_CONSTANT(MOTION_MODE_FREE); + + BIND_ENUM_CONSTANT(PLATFORM_VEL_ON_LEAVE_ALWAYS); + BIND_ENUM_CONSTANT(PLATFORM_VEL_ON_LEAVE_UPWARD_ONLY); + BIND_ENUM_CONSTANT(PLATFORM_VEL_ON_LEAVE_NEVER); +} + +void CharacterBody3D::_validate_property(PropertyInfo &property) const { + if (motion_mode == MOTION_MODE_FREE) { + if (property.name.begins_with("floor_") || property.name == "up_direction" || property.name == "slide_on_ceiling") { + property.usage = PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL; + } + } } CharacterBody3D::CharacterBody3D() : @@ -1301,48 +1949,68 @@ CharacterBody3D::~CharacterBody3D() { /////////////////////////////////////// -Vector3 KinematicCollision3D::get_position() const { - return result.collision_point; +Vector3 KinematicCollision3D::get_travel() const { + return result.travel; } -Vector3 KinematicCollision3D::get_normal() const { - return result.collision_normal; +Vector3 KinematicCollision3D::get_remainder() const { + return result.remainder; } -Vector3 KinematicCollision3D::get_travel() const { - return result.motion; +int KinematicCollision3D::get_collision_count() const { + return result.collision_count; } -Vector3 KinematicCollision3D::get_remainder() const { - return result.remainder; +Vector3 KinematicCollision3D::get_position(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].position; +} + +Vector3 KinematicCollision3D::get_normal(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].normal; +} + +real_t KinematicCollision3D::get_angle(int p_collision_index, const Vector3 &p_up_direction) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0.0); + ERR_FAIL_COND_V(p_up_direction == Vector3(), 0); + return result.collisions[p_collision_index].get_angle(p_up_direction); } -Object *KinematicCollision3D::get_local_shape() const { +Object *KinematicCollision3D::get_local_shape(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr); if (!owner) { return nullptr; } - uint32_t ownerid = owner->shape_find_owner(result.collision_local_shape); + uint32_t ownerid = owner->shape_find_owner(result.collisions[p_collision_index].local_shape); return owner->shape_owner_get_owner(ownerid); } -Object *KinematicCollision3D::get_collider() const { - if (result.collider_id.is_valid()) { - return ObjectDB::get_instance(result.collider_id); +Object *KinematicCollision3D::get_collider(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr); + if (result.collisions[p_collision_index].collider_id.is_valid()) { + return ObjectDB::get_instance(result.collisions[p_collision_index].collider_id); } return nullptr; } -ObjectID KinematicCollision3D::get_collider_id() const { - return result.collider_id; +ObjectID KinematicCollision3D::get_collider_id(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, ObjectID()); + return result.collisions[p_collision_index].collider_id; } -Object *KinematicCollision3D::get_collider_shape() const { - Object *collider = get_collider(); +RID KinematicCollision3D::get_collider_rid(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, RID()); + return result.collisions[p_collision_index].collider; +} + +Object *KinematicCollision3D::get_collider_shape(int p_collision_index) const { + Object *collider = get_collider(p_collision_index); if (collider) { CollisionObject3D *obj2d = Object::cast_to<CollisionObject3D>(collider); if (obj2d) { - uint32_t ownerid = obj2d->shape_find_owner(result.collider_shape); + uint32_t ownerid = obj2d->shape_find_owner(result.collisions[p_collision_index].collider_shape); return obj2d->shape_owner_get_owner(ownerid); } } @@ -1350,42 +2018,30 @@ Object *KinematicCollision3D::get_collider_shape() const { return nullptr; } -int KinematicCollision3D::get_collider_shape_index() const { - return result.collider_shape; -} - -Vector3 KinematicCollision3D::get_collider_velocity() const { - return result.collider_velocity; +int KinematicCollision3D::get_collider_shape_index(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0); + return result.collisions[p_collision_index].collider_shape; } -Variant KinematicCollision3D::get_collider_metadata() const { - return Variant(); +Vector3 KinematicCollision3D::get_collider_velocity(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].collider_velocity; } void KinematicCollision3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("get_position"), &KinematicCollision3D::get_position); - ClassDB::bind_method(D_METHOD("get_normal"), &KinematicCollision3D::get_normal); ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision3D::get_travel); ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision3D::get_remainder); - ClassDB::bind_method(D_METHOD("get_local_shape"), &KinematicCollision3D::get_local_shape); - ClassDB::bind_method(D_METHOD("get_collider"), &KinematicCollision3D::get_collider); - ClassDB::bind_method(D_METHOD("get_collider_id"), &KinematicCollision3D::get_collider_id); - ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicCollision3D::get_collider_shape); - ClassDB::bind_method(D_METHOD("get_collider_shape_index"), &KinematicCollision3D::get_collider_shape_index); - ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicCollision3D::get_collider_velocity); - ClassDB::bind_method(D_METHOD("get_collider_metadata"), &KinematicCollision3D::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"); + ClassDB::bind_method(D_METHOD("get_collision_count"), &KinematicCollision3D::get_collision_count); + ClassDB::bind_method(D_METHOD("get_position", "collision_index"), &KinematicCollision3D::get_position, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_normal", "collision_index"), &KinematicCollision3D::get_normal, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_angle", "collision_index", "up_direction"), &KinematicCollision3D::get_angle, DEFVAL(0), DEFVAL(Vector3(0.0, 1.0, 0.0))); + ClassDB::bind_method(D_METHOD("get_local_shape", "collision_index"), &KinematicCollision3D::get_local_shape, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider", "collision_index"), &KinematicCollision3D::get_collider, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_id", "collision_index"), &KinematicCollision3D::get_collider_id, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_rid", "collision_index"), &KinematicCollision3D::get_collider_rid, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_shape", "collision_index"), &KinematicCollision3D::get_collider_shape, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_shape_index", "collision_index"), &KinematicCollision3D::get_collider_shape_index, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_velocity", "collision_index"), &KinematicCollision3D::get_collider_velocity, DEFVAL(0)); } /////////////////////////////////////// @@ -2032,9 +2688,7 @@ bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) { if (joint_data) { if (joint_data->_set(p_name, p_value, joint)) { #ifdef TOOLS_ENABLED - if (get_gizmo().is_valid()) { - get_gizmo()->redraw(); - } + update_gizmos(); #endif return true; } @@ -2089,42 +2743,39 @@ void PhysicalBone3D::_notification(int p_what) { _reload_joint(); } break; - case NOTIFICATION_EXIT_TREE: + + case NOTIFICATION_EXIT_TREE: { if (parent_skeleton) { if (-1 != bone_id) { parent_skeleton->unbind_physical_bone_from_bone(bone_id); - parent_skeleton->unbind_child_node_from_bone(bone_id, this); bone_id = -1; } } parent_skeleton = nullptr; PhysicsServer3D::get_singleton()->joint_clear(joint); - break; - case NOTIFICATION_TRANSFORM_CHANGED: + } break; + + case NOTIFICATION_TRANSFORM_CHANGED: { if (Engine::get_singleton()->is_editor_hint()) { update_offset(); } - break; + } break; } } -void PhysicalBone3D::_direct_state_changed(Object *p_state) { +void PhysicalBone3D::_body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state) { + PhysicalBone3D *bone = (PhysicalBone3D *)p_instance; + bone->_body_state_changed(p_state); +} + +void PhysicalBone3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { if (!simulate_physics || !_internal_simulate_physics) { return; } - /// Update bone transform + /// Update bone transform. - PhysicsDirectBodyState3D *state; - -#ifdef DEBUG_ENABLED - state = Object::cast_to<PhysicsDirectBodyState3D>(p_state); - ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument"); -#else - state = (PhysicsDirectBodyState3D *)p_state; //trust it -#endif - - Transform3D global_transform(state->get_transform()); + Transform3D global_transform(p_state->get_transform()); set_ignore_transform_notification(true); set_global_transform(global_transform); @@ -2150,8 +2801,6 @@ void PhysicalBone3D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset); ClassDB::bind_method(D_METHOD("set_joint_rotation", "euler"), &PhysicalBone3D::set_joint_rotation); ClassDB::bind_method(D_METHOD("get_joint_rotation"), &PhysicalBone3D::get_joint_rotation); - ClassDB::bind_method(D_METHOD("set_joint_rotation_degrees", "euler_degrees"), &PhysicalBone3D::set_joint_rotation_degrees); - ClassDB::bind_method(D_METHOD("get_joint_rotation_degrees"), &PhysicalBone3D::get_joint_rotation_degrees); ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset); ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset); @@ -2186,12 +2835,11 @@ void PhysicalBone3D::_bind_methods() { 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::TRANSFORM3D, "joint_offset"), "set_joint_offset", "get_joint_offset"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation_degrees", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_joint_rotation_degrees", "get_joint_rotation_degrees"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_NONE, "", 0), "set_joint_rotation", "get_joint_rotation"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_RANGE, "-360,360,0.01,or_lesser,or_greater,radians"), "set_joint_rotation", "get_joint_rotation"); ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "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, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp"), "set_mass", "get_mass"); 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"); @@ -2223,9 +2871,7 @@ void PhysicalBone3D::_update_joint_offset() { set_ignore_transform_notification(false); #ifdef TOOLS_ENABLED - if (get_gizmo().is_valid()) { - get_gizmo()->redraw(); - } + update_gizmos(); #endif } @@ -2334,14 +2980,11 @@ void PhysicalBone3D::_on_bone_parent_changed() { _reload_joint(); } -void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) { #ifdef TOOLS_ENABLED +void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) { gizmo_move_joint = p_move_joint; - Node3DEditor::get_singleton()->update_transform_gizmo(); -#endif } -#ifdef TOOLS_ENABLED Transform3D PhysicalBone3D::get_global_gizmo_transform() const { return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform(); } @@ -2392,9 +3035,7 @@ void PhysicalBone3D::set_joint_type(JointType p_joint_type) { #ifdef TOOLS_ENABLED notify_property_list_changed(); - if (get_gizmo().is_valid()) { - get_gizmo()->redraw(); - } + update_gizmos(); #endif } @@ -2422,14 +3063,6 @@ Vector3 PhysicalBone3D::get_joint_rotation() const { return joint_offset.basis.get_rotation(); } -void PhysicalBone3D::set_joint_rotation_degrees(const Vector3 &p_euler_deg) { - set_joint_rotation(p_euler_deg * (Math_PI / 180.0)); -} - -Vector3 PhysicalBone3D::get_joint_rotation_degrees() const { - return get_joint_rotation() * (180.0 / Math_PI); -} - const Transform3D &PhysicalBone3D::get_body_offset() const { return body_offset; } @@ -2564,7 +3197,6 @@ void PhysicalBone3D::update_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; @@ -2599,10 +3231,10 @@ void PhysicalBone3D::_start_physics_simulation() { return; } reset_to_rest_position(); - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_DYNAMIC); + set_body_mode(PhysicsServer3D::BODY_MODE_DYNAMIC); PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); - PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &PhysicalBone3D::_direct_state_changed)); + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), this, _body_state_changed_callback); set_as_top_level(true); _internal_simulate_physics = true; } @@ -2612,16 +3244,16 @@ void PhysicalBone3D::_stop_physics_simulation() { return; } if (parent_skeleton->get_animate_physical_bones()) { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC); + set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC); PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); } else { - PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC); + set_body_mode(PhysicsServer3D::BODY_MODE_STATIC); PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), 0); PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), 0); } if (_internal_simulate_physics) { - PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), Callable()); + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), nullptr, nullptr); parent_skeleton->set_bone_global_pose_override(bone_id, Transform3D(), 0.0, false); set_as_top_level(false); _internal_simulate_physics = false; |