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Diffstat (limited to 'scene/3d/physics_body_3d.cpp')
| -rw-r--r-- | scene/3d/physics_body_3d.cpp | 2596 |
1 files changed, 2596 insertions, 0 deletions
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp new file mode 100644 index 0000000000..aae9e38988 --- /dev/null +++ b/scene/3d/physics_body_3d.cpp @@ -0,0 +1,2596 @@ +/*************************************************************************/ +/* physics_body_3d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "physics_body_3d.h" + +#include "core/core_string_names.h" +#include "core/engine.h" +#include "core/list.h" +#include "core/method_bind_ext.gen.inc" +#include "core/object.h" +#include "core/rid.h" +#include "scene/3d/collision_shape_3d.h" +#include "scene/scene_string_names.h" +#include "servers/navigation_server.h" + +#ifdef TOOLS_ENABLED +#include "editor/plugins/spatial_editor_plugin.h" +#endif + +Vector3 PhysicsBody3D::get_linear_velocity() const { + + return Vector3(); +} +Vector3 PhysicsBody3D::get_angular_velocity() const { + + return Vector3(); +} + +float PhysicsBody3D::get_inverse_mass() const { + + return 0; +} + +void PhysicsBody3D::set_collision_layer(uint32_t p_layer) { + + collision_layer = p_layer; + PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), p_layer); +} + +uint32_t PhysicsBody3D::get_collision_layer() const { + + return collision_layer; +} + +void PhysicsBody3D::set_collision_mask(uint32_t p_mask) { + + collision_mask = p_mask; + PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), p_mask); +} + +uint32_t PhysicsBody3D::get_collision_mask() const { + + return collision_mask; +} + +void PhysicsBody3D::set_collision_mask_bit(int p_bit, bool p_value) { + + uint32_t mask = get_collision_mask(); + if (p_value) + mask |= 1 << p_bit; + else + mask &= ~(1 << p_bit); + set_collision_mask(mask); +} + +bool PhysicsBody3D::get_collision_mask_bit(int p_bit) const { + + return get_collision_mask() & (1 << p_bit); +} + +void PhysicsBody3D::set_collision_layer_bit(int p_bit, bool p_value) { + + uint32_t mask = get_collision_layer(); + if (p_value) + mask |= 1 << p_bit; + else + mask &= ~(1 << p_bit); + set_collision_layer(mask); +} + +bool PhysicsBody3D::get_collision_layer_bit(int p_bit) const { + + return get_collision_layer() & (1 << p_bit); +} + +Array PhysicsBody3D::get_collision_exceptions() { + List<RID> exceptions; + PhysicsServer::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions); + Array ret; + for (List<RID>::Element *E = exceptions.front(); E; E = E->next()) { + RID body = E->get(); + ObjectID instance_id = PhysicsServer::get_singleton()->body_get_object_instance_id(body); + Object *obj = ObjectDB::get_instance(instance_id); + PhysicsBody3D *physics_body = Object::cast_to<PhysicsBody3D>(obj); + ret.append(physics_body); + } + return ret; +} + +void PhysicsBody3D::add_collision_exception_with(Node *p_node) { + + ERR_FAIL_NULL(p_node); + CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node); + ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject."); + PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid()); +} + +void PhysicsBody3D::remove_collision_exception_with(Node *p_node) { + + ERR_FAIL_NULL(p_node); + CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node); + ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject."); + PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid()); +} + +void PhysicsBody3D::_set_layers(uint32_t p_mask) { + set_collision_layer(p_mask); + set_collision_mask(p_mask); +} + +uint32_t PhysicsBody3D::_get_layers() const { + + return get_collision_layer(); +} + +void PhysicsBody3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody3D::set_collision_layer); + ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody3D::get_collision_layer); + + ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsBody3D::set_collision_mask); + ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsBody3D::get_collision_mask); + + ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &PhysicsBody3D::set_collision_mask_bit); + ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &PhysicsBody3D::get_collision_mask_bit); + + ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody3D::set_collision_layer_bit); + ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody3D::get_collision_layer_bit); + + ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody3D::_set_layers); + ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody3D::_get_layers); + + ADD_GROUP("Collision", "collision_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask"); +} + +PhysicsBody3D::PhysicsBody3D(PhysicsServer::BodyMode p_mode) : + CollisionObject3D(PhysicsServer::get_singleton()->body_create(p_mode), false) { + + collision_layer = 1; + collision_mask = 1; +} + +void StaticBody3D::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, &StaticBody3D::_reload_physics_characteristics))) { + physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_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, &StaticBody3D::_reload_physics_characteristics)); + } + _reload_physics_characteristics(); +} + +Ref<PhysicsMaterial> StaticBody3D::get_physics_material_override() const { + return physics_material_override; +} + +void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) { + + constant_linear_velocity = p_vel; + PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); +} + +void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) { + + constant_angular_velocity = p_vel; + PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); +} + +Vector3 StaticBody3D::get_constant_linear_velocity() const { + + return constant_linear_velocity; +} +Vector3 StaticBody3D::get_constant_angular_velocity() const { + + return constant_angular_velocity; +} + +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_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); + + ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions); + ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with); + ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with); + + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity"); +} + +StaticBody3D::StaticBody3D() : + PhysicsBody3D(PhysicsServer::BODY_MODE_STATIC) { +} + +StaticBody3D::~StaticBody3D() {} + +void StaticBody3D::_reload_physics_characteristics() { + if (physics_material_override.is_null()) { + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, 0); + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, 1); + } else { + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); + } +} + +void RigidBody3D::_body_enter_tree(ObjectID p_id) { + + Object *obj = ObjectDB::get_instance(p_id); + Node *node = Object::cast_to<Node>(obj); + ERR_FAIL_COND(!node); + + ERR_FAIL_COND(!contact_monitor); + Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id); + ERR_FAIL_COND(!E); + ERR_FAIL_COND(E->get().in_tree); + + E->get().in_tree = true; + + contact_monitor->locked = true; + + emit_signal(SceneStringNames::get_singleton()->body_entered, node); + + for (int i = 0; i < E->get().shapes.size(); i++) { + + emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape); + } + + contact_monitor->locked = false; +} + +void RigidBody3D::_body_exit_tree(ObjectID p_id) { + + Object *obj = ObjectDB::get_instance(p_id); + Node *node = Object::cast_to<Node>(obj); + ERR_FAIL_COND(!node); + ERR_FAIL_COND(!contact_monitor); + Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id); + ERR_FAIL_COND(!E); + ERR_FAIL_COND(!E->get().in_tree); + E->get().in_tree = false; + + contact_monitor->locked = true; + + emit_signal(SceneStringNames::get_singleton()->body_exited, node); + + for (int i = 0; i < E->get().shapes.size(); i++) { + + emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape); + } + + contact_monitor->locked = false; +} + +void RigidBody3D::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape) { + + bool body_in = p_status == 1; + ObjectID objid = p_instance; + + Object *obj = ObjectDB::get_instance(objid); + Node *node = Object::cast_to<Node>(obj); + + ERR_FAIL_COND(!contact_monitor); + Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(objid); + + ERR_FAIL_COND(!body_in && !E); + + if (body_in) { + if (!E) { + + E = contact_monitor->body_map.insert(objid, BodyState()); + //E->get().rc=0; + E->get().in_tree = node && node->is_inside_tree(); + if (node) { + node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree), make_binds(objid)); + node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree), make_binds(objid)); + if (E->get().in_tree) { + emit_signal(SceneStringNames::get_singleton()->body_entered, node); + } + } + } + //E->get().rc++; + if (node) + E->get().shapes.insert(ShapePair(p_body_shape, p_local_shape)); + + if (E->get().in_tree) { + emit_signal(SceneStringNames::get_singleton()->body_shape_entered, objid, node, p_body_shape, p_local_shape); + } + + } else { + + //E->get().rc--; + + if (node) + E->get().shapes.erase(ShapePair(p_body_shape, p_local_shape)); + + bool in_tree = E->get().in_tree; + + if (E->get().shapes.empty()) { + + if (node) { + node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); + if (in_tree) + emit_signal(SceneStringNames::get_singleton()->body_exited, node); + } + + contact_monitor->body_map.erase(E); + } + if (node && in_tree) { + emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape); + } + } +} + +struct _RigidBodyInOut { + + ObjectID id; + int shape; + int local_shape; +}; + +void RigidBody3D::_direct_state_changed(Object *p_state) { + +#ifdef DEBUG_ENABLED + state = Object::cast_to<PhysicsDirectBodyState>(p_state); +#else + state = (PhysicsDirectBodyState *)p_state; //trust it +#endif + + set_ignore_transform_notification(true); + set_global_transform(state->get_transform()); + linear_velocity = state->get_linear_velocity(); + angular_velocity = state->get_angular_velocity(); + if (sleeping != state->is_sleeping()) { + sleeping = state->is_sleeping(); + emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); + } + if (get_script_instance()) + get_script_instance()->call("_integrate_forces", state); + set_ignore_transform_notification(false); + + if (contact_monitor) { + + contact_monitor->locked = true; + + //untag all + int rc = 0; + for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { + + for (int i = 0; i < E->get().shapes.size(); i++) { + + E->get().shapes[i].tagged = false; + rc++; + } + } + + _RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut)); + int toadd_count = 0; //state->get_contact_count(); + RigidBody_RemoveAction *toremove = (RigidBody_RemoveAction *)alloca(rc * sizeof(RigidBody_RemoveAction)); + int toremove_count = 0; + + //put the ones to add + + for (int i = 0; i < state->get_contact_count(); i++) { + + ObjectID obj = state->get_contact_collider_id(i); + int local_shape = state->get_contact_local_shape(i); + int shape = state->get_contact_collider_shape(i); + + //bool found=false; + + Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(obj); + if (!E) { + toadd[toadd_count].local_shape = local_shape; + toadd[toadd_count].id = obj; + toadd[toadd_count].shape = shape; + toadd_count++; + continue; + } + + ShapePair sp(shape, local_shape); + int idx = E->get().shapes.find(sp); + if (idx == -1) { + + toadd[toadd_count].local_shape = local_shape; + toadd[toadd_count].id = obj; + toadd[toadd_count].shape = shape; + toadd_count++; + continue; + } + + E->get().shapes[idx].tagged = true; + } + + //put the ones to remove + + for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { + + for (int i = 0; i < E->get().shapes.size(); i++) { + + if (!E->get().shapes[i].tagged) { + + toremove[toremove_count].body_id = E->key(); + toremove[toremove_count].pair = E->get().shapes[i]; + toremove_count++; + } + } + } + + //process remotions + + for (int i = 0; i < toremove_count; i++) { + + _body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape); + } + + //process aditions + + for (int i = 0; i < toadd_count; i++) { + + _body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape); + } + + contact_monitor->locked = false; + } + + state = NULL; +} + +void RigidBody3D::_notification(int p_what) { + +#ifdef TOOLS_ENABLED + if (p_what == NOTIFICATION_ENTER_TREE) { + if (Engine::get_singleton()->is_editor_hint()) { + set_notify_local_transform(true); //used for warnings and only in editor + } + } + + if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) { + if (Engine::get_singleton()->is_editor_hint()) { + update_configuration_warning(); + } + } + +#endif +} + +void RigidBody3D::set_mode(Mode p_mode) { + + mode = p_mode; + switch (p_mode) { + + case MODE_RIGID: { + + PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_RIGID); + } break; + case MODE_STATIC: { + + PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC); + + } break; + case MODE_CHARACTER: { + PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_CHARACTER); + + } break; + case MODE_KINEMATIC: { + + PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_KINEMATIC); + } break; + } + update_configuration_warning(); +} + +RigidBody3D::Mode RigidBody3D::get_mode() const { + + return mode; +} + +void RigidBody3D::set_mass(real_t p_mass) { + + ERR_FAIL_COND(p_mass <= 0); + mass = p_mass; + _change_notify("mass"); + _change_notify("weight"); + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_MASS, mass); +} +real_t RigidBody3D::get_mass() const { + + return mass; +} + +void RigidBody3D::set_weight(real_t p_weight) { + + set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8))); +} +real_t RigidBody3D::get_weight() const { + + return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)); +} + +void RigidBody3D::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)); + } + } + + 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)); + } + _reload_physics_characteristics(); +} + +Ref<PhysicsMaterial> RigidBody3D::get_physics_material_override() const { + return physics_material_override; +} + +void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) { + + gravity_scale = p_gravity_scale; + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_GRAVITY_SCALE, gravity_scale); +} +real_t RigidBody3D::get_gravity_scale() const { + + return gravity_scale; +} + +void RigidBody3D::set_linear_damp(real_t p_linear_damp) { + + ERR_FAIL_COND(p_linear_damp < -1); + linear_damp = p_linear_damp; + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_LINEAR_DAMP, linear_damp); +} +real_t RigidBody3D::get_linear_damp() const { + + return linear_damp; +} + +void RigidBody3D::set_angular_damp(real_t p_angular_damp) { + + ERR_FAIL_COND(p_angular_damp < -1); + angular_damp = p_angular_damp; + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_ANGULAR_DAMP, angular_damp); +} +real_t RigidBody3D::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; + Vector3 axis = p_axis.normalized(); + v -= axis * axis.dot(v); + v += p_axis; + if (state) { + set_linear_velocity(v); + } else { + PhysicsServer::get_singleton()->body_set_axis_velocity(get_rid(), p_axis); + linear_velocity = v; + } +} + +void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) { + + linear_velocity = p_velocity; + if (state) + state->set_linear_velocity(linear_velocity); + else + PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, linear_velocity); +} + +Vector3 RigidBody3D::get_linear_velocity() const { + + return linear_velocity; +} + +void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) { + + angular_velocity = p_velocity; + if (state) + state->set_angular_velocity(angular_velocity); + else + PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); +} +Vector3 RigidBody3D::get_angular_velocity() const { + + return angular_velocity; +} + +void RigidBody3D::set_use_custom_integrator(bool p_enable) { + + if (custom_integrator == p_enable) + return; + + custom_integrator = p_enable; + PhysicsServer::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); +} +bool RigidBody3D::is_using_custom_integrator() { + + return custom_integrator; +} + +void RigidBody3D::set_sleeping(bool p_sleeping) { + + sleeping = p_sleeping; + PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_SLEEPING, sleeping); +} + +void RigidBody3D::set_can_sleep(bool p_active) { + + can_sleep = p_active; + PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_CAN_SLEEP, p_active); +} + +bool RigidBody3D::is_able_to_sleep() const { + + return can_sleep; +} + +bool RigidBody3D::is_sleeping() const { + + return sleeping; +} + +void RigidBody3D::set_max_contacts_reported(int p_amount) { + + max_contacts_reported = p_amount; + PhysicsServer::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount); +} + +int RigidBody3D::get_max_contacts_reported() const { + + return max_contacts_reported; +} + +void RigidBody3D::add_central_force(const Vector3 &p_force) { + PhysicsServer::get_singleton()->body_add_central_force(get_rid(), p_force); +} + +void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) { + PhysicsServer::get_singleton()->body_add_force(get_rid(), p_force, p_pos); +} + +void RigidBody3D::add_torque(const Vector3 &p_torque) { + PhysicsServer::get_singleton()->body_add_torque(get_rid(), p_torque); +} + +void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) { + PhysicsServer::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); +} + +void RigidBody3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { + + PhysicsServer::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse); +} + +void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) { + PhysicsServer::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse); +} + +void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) { + + ccd = p_enable; + PhysicsServer::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable); +} + +bool RigidBody3D::is_using_continuous_collision_detection() const { + + return ccd; +} + +void RigidBody3D::set_contact_monitor(bool p_enabled) { + + if (p_enabled == is_contact_monitor_enabled()) + return; + + if (!p_enabled) { + + ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead."); + + for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { + + //clean up mess + Object *obj = ObjectDB::get_instance(E->key()); + Node *node = Object::cast_to<Node>(obj); + + if (node) { + node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); + } + } + + memdelete(contact_monitor); + contact_monitor = NULL; + } else { + + contact_monitor = memnew(ContactMonitor); + contact_monitor->locked = false; + } +} + +bool RigidBody3D::is_contact_monitor_enabled() const { + + return contact_monitor != NULL; +} + +void RigidBody3D::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock) { + PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); +} + +bool RigidBody3D::get_axis_lock(PhysicsServer::BodyAxis p_axis) const { + return PhysicsServer::get_singleton()->body_is_axis_locked(get_rid(), p_axis); +} + +Array RigidBody3D::get_colliding_bodies() const { + + ERR_FAIL_COND_V(!contact_monitor, Array()); + + Array ret; + ret.resize(contact_monitor->body_map.size()); + int idx = 0; + for (const Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { + Object *obj = ObjectDB::get_instance(E->key()); + if (!obj) { + ret.resize(ret.size() - 1); //ops + } else { + ret[idx++] = obj; + } + } + + return ret; +} + +String RigidBody3D::get_configuration_warning() const { + + Transform t = get_transform(); + + String warning = CollisionObject3D::get_configuration_warning(); + + if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) { + if (warning != String()) { + warning += "\n\n"; + } + warning += TTR("Size changes to RigidBody (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead."); + } + + return warning; +} + +void RigidBody3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody3D::set_mode); + ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody3D::get_mode); + + 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_weight", "weight"), &RigidBody3D::set_weight); + ClassDB::bind_method(D_METHOD("get_weight"), &RigidBody3D::get_weight); + + 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"), &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"), &RigidBody3D::set_angular_velocity); + ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity); + + 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"), &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"), &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"), &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"), &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"), &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"), &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"), &RigidBody3D::set_axis_velocity); + + 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); + ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque); + + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse); + ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &RigidBody3D::apply_impulse); + ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse); + + 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"), &RigidBody3D::set_can_sleep); + ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep); + + ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody3D::_direct_state_changed); + + ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody3D::set_axis_lock); + ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody3D::get_axis_lock); + + ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies); + + BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectBodyState"))); + + ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); + ADD_GROUP("Axis Lock", "axis_lock_"); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_X); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Y); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Z); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_X); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_Y); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_ANGULAR_Z); + ADD_GROUP("Linear", "linear_"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); + ADD_GROUP("Angular", "angular_"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); + + ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); + ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); + ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("sleeping_state_changed")); + + BIND_ENUM_CONSTANT(MODE_RIGID); + BIND_ENUM_CONSTANT(MODE_STATIC); + BIND_ENUM_CONSTANT(MODE_CHARACTER); + BIND_ENUM_CONSTANT(MODE_KINEMATIC); +} + +RigidBody3D::RigidBody3D() : + PhysicsBody3D(PhysicsServer::BODY_MODE_RIGID) { + + mode = MODE_RIGID; + + mass = 1; + max_contacts_reported = 0; + state = NULL; + + gravity_scale = 1; + linear_damp = -1; + angular_damp = -1; + + //angular_velocity=0; + sleeping = false; + ccd = false; + + custom_integrator = false; + contact_monitor = NULL; + can_sleep = true; + + PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed"); +} + +RigidBody3D::~RigidBody3D() { + + if (contact_monitor) + memdelete(contact_monitor); +} + +void RigidBody3D::_reload_physics_characteristics() { + if (physics_material_override.is_null()) { + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, 0); + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, 1); + } else { + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); + } +} + +////////////////////////////////////////////////////// +////////////////////////// + +Ref<KinematicCollision3D> KinematicBody3D::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only) { + + Collision col; + if (move_and_collide(p_motion, p_infinite_inertia, col, p_exclude_raycast_shapes, p_test_only)) { + if (motion_cache.is_null()) { + motion_cache.instance(); + motion_cache->owner = this; + } + + motion_cache->collision = col; + + return motion_cache; + } + + return Ref<KinematicCollision3D>(); +} + +Vector3 KinematicBody3D::get_linear_velocity() const { + return linear_velocity; +} + +Vector3 KinematicBody3D::get_angular_velocity() const { + return angular_velocity; +} + +bool KinematicBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) { + + Transform gt = get_global_transform(); + PhysicsServer::MotionResult result; + bool colliding = PhysicsServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes); + + if (colliding) { + r_collision.collider_metadata = result.collider_metadata; + r_collision.collider_shape = result.collider_shape; + r_collision.collider_vel = result.collider_velocity; + r_collision.collision = result.collision_point; + r_collision.normal = result.collision_normal; + r_collision.collider = result.collider_id; + r_collision.collider_rid = result.collider; + r_collision.travel = result.motion; + r_collision.remainder = result.remainder; + r_collision.local_shape = result.collision_local_shape; + } + + for (int i = 0; i < 3; i++) { + if (locked_axis & (1 << i)) { + result.motion[i] = 0; + } + } + + if (!p_test_only) { + gt.origin += result.motion; + set_global_transform(gt); + } + + return colliding; +} + +//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45. +#define FLOOR_ANGLE_THRESHOLD 0.01 + +Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) { + + Vector3 body_velocity = p_linear_velocity; + Vector3 body_velocity_normal = body_velocity.normalized(); + + for (int i = 0; i < 3; i++) { + if (locked_axis & (1 << i)) { + body_velocity[i] = 0; + } + } + + // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky + Vector3 motion = (floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time()); + + on_floor = false; + on_floor_body = RID(); + on_ceiling = false; + on_wall = false; + colliders.clear(); + floor_normal = Vector3(); + floor_velocity = Vector3(); + + while (p_max_slides) { + + Collision collision; + bool found_collision = false; + + for (int i = 0; i < 2; ++i) { + bool collided; + if (i == 0) { //collide + collided = move_and_collide(motion, p_infinite_inertia, collision); + if (!collided) { + motion = Vector3(); //clear because no collision happened and motion completed + } + } else { //separate raycasts (if any) + collided = separate_raycast_shapes(p_infinite_inertia, collision); + if (collided) { + collision.remainder = motion; //keep + collision.travel = Vector3(); + } + } + + if (collided) { + found_collision = true; + + colliders.push_back(collision); + motion = collision.remainder; + + if (p_up_direction == Vector3()) { + //all is a wall + on_wall = true; + } else { + if (Math::acos(collision.normal.dot(p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor + + on_floor = true; + floor_normal = collision.normal; + on_floor_body = collision.collider_rid; + floor_velocity = collision.collider_vel; + + if (p_stop_on_slope) { + if ((body_velocity_normal + p_up_direction).length() < 0.01 && collision.travel.length() < 1) { + Transform gt = get_global_transform(); + gt.origin -= collision.travel.slide(p_up_direction); + set_global_transform(gt); + return Vector3(); + } + } + } else if (Math::acos(collision.normal.dot(-p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling + on_ceiling = true; + } else { + on_wall = true; + } + } + + motion = motion.slide(collision.normal); + body_velocity = body_velocity.slide(collision.normal); + + for (int j = 0; j < 3; j++) { + if (locked_axis & (1 << j)) { + body_velocity[j] = 0; + } + } + } + } + + if (!found_collision || motion == Vector3()) + break; + + --p_max_slides; + } + + return body_velocity; +} + +Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) { + + bool was_on_floor = on_floor; + + Vector3 ret = move_and_slide(p_linear_velocity, p_up_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia); + if (!was_on_floor || p_snap == Vector3()) { + return ret; + } + + Collision col; + Transform gt = get_global_transform(); + + if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) { + + bool apply = true; + if (p_up_direction != Vector3()) { + if (Math::acos(p_up_direction.normalized().dot(col.normal)) < p_floor_max_angle) { + on_floor = true; + floor_normal = col.normal; + on_floor_body = col.collider_rid; + floor_velocity = col.collider_vel; + if (p_stop_on_slope) { + // move and collide may stray the object a bit because of pre un-stucking, + // so only ensure that motion happens on floor direction in this case. + col.travel = col.travel.project(p_up_direction); + } + } else { + apply = false; //snapped with floor direction, but did not snap to a floor, do not snap. + } + } + if (apply) { + gt.origin += col.travel; + set_global_transform(gt); + } + } + + return ret; +} + +bool KinematicBody3D::is_on_floor() const { + + return on_floor; +} + +bool KinematicBody3D::is_on_wall() const { + + return on_wall; +} +bool KinematicBody3D::is_on_ceiling() const { + + return on_ceiling; +} + +Vector3 KinematicBody3D::get_floor_normal() const { + + return floor_normal; +} + +Vector3 KinematicBody3D::get_floor_velocity() const { + + return floor_velocity; +} + +bool KinematicBody3D::test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia) { + + ERR_FAIL_COND_V(!is_inside_tree(), false); + + return PhysicsServer::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia); +} + +bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) { + + PhysicsServer::SeparationResult sep_res[8]; //max 8 rays + + Transform gt = get_global_transform(); + + Vector3 recover; + int hits = PhysicsServer::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin); + int deepest = -1; + float deepest_depth; + for (int i = 0; i < hits; i++) { + if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) { + deepest = i; + deepest_depth = sep_res[i].collision_depth; + } + } + + gt.origin += recover; + set_global_transform(gt); + + if (deepest != -1) { + r_collision.collider = sep_res[deepest].collider_id; + r_collision.collider_metadata = sep_res[deepest].collider_metadata; + r_collision.collider_shape = sep_res[deepest].collider_shape; + r_collision.collider_vel = sep_res[deepest].collider_velocity; + r_collision.collision = sep_res[deepest].collision_point; + r_collision.normal = sep_res[deepest].collision_normal; + r_collision.local_shape = sep_res[deepest].collision_local_shape; + r_collision.travel = recover; + r_collision.remainder = Vector3(); + + return true; + } else { + return false; + } +} + +void KinematicBody3D::set_axis_lock(PhysicsServer::BodyAxis p_axis, bool p_lock) { + PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); +} + +bool KinematicBody3D::get_axis_lock(PhysicsServer::BodyAxis p_axis) const { + return PhysicsServer::get_singleton()->body_is_axis_locked(get_rid(), p_axis); +} + +void KinematicBody3D::set_safe_margin(float p_margin) { + + margin = p_margin; + PhysicsServer::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin); +} + +float KinematicBody3D::get_safe_margin() const { + + return margin; +} +int KinematicBody3D::get_slide_count() const { + + return colliders.size(); +} + +KinematicBody3D::Collision KinematicBody3D::get_slide_collision(int p_bounce) const { + ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Collision()); + return colliders[p_bounce]; +} + +Ref<KinematicCollision3D> KinematicBody3D::_get_slide_collision(int p_bounce) { + + ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Ref<KinematicCollision3D>()); + if (p_bounce >= slide_colliders.size()) { + slide_colliders.resize(p_bounce + 1); + } + + if (slide_colliders[p_bounce].is_null()) { + slide_colliders.write[p_bounce].instance(); + slide_colliders.write[p_bounce]->owner = this; + } + + slide_colliders.write[p_bounce]->collision = colliders[p_bounce]; + return slide_colliders[p_bounce]; +} + +void KinematicBody3D::_notification(int p_what) { + if (p_what == NOTIFICATION_ENTER_TREE) { + // Reset move_and_slide() data. + on_floor = false; + on_floor_body = RID(); + on_ceiling = false; + on_wall = false; + colliders.clear(); + floor_velocity = Vector3(); + } +} + +void KinematicBody3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("_direct_state_changed"), &KinematicBody3D::_direct_state_changed); + + ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false)); + ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true)); + ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true)); + + ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody3D::test_move, DEFVAL(true)); + + ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody3D::is_on_floor); + ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody3D::is_on_ceiling); + ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody3D::is_on_wall); + ClassDB::bind_method(D_METHOD("get_floor_normal"), &KinematicBody3D::get_floor_normal); + ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody3D::get_floor_velocity); + + ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &KinematicBody3D::set_axis_lock); + ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &KinematicBody3D::get_axis_lock); + + ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody3D::set_safe_margin); + ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody3D::get_safe_margin); + + ClassDB::bind_method(D_METHOD("get_slide_count"), &KinematicBody3D::get_slide_count); + ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody3D::_get_slide_collision); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_x", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_X); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_y", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Y); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_z", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer::BODY_AXIS_LINEAR_Z); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin"); +} + +void KinematicBody3D::_direct_state_changed(Object *p_state) { +#ifdef DEBUG_ENABLED + PhysicsDirectBodyState *state = Object::cast_to<PhysicsDirectBodyState>(p_state); +#else + PhysicsDirectBodyState *state = (PhysicsDirectBodyState *)p_state; //trust it +#endif + + linear_velocity = state->get_linear_velocity(); + angular_velocity = state->get_angular_velocity(); +} + +KinematicBody3D::KinematicBody3D() : + PhysicsBody3D(PhysicsServer::BODY_MODE_KINEMATIC) { + + margin = 0.001; + locked_axis = 0; + on_floor = false; + on_ceiling = false; + on_wall = false; + + PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed"); +} +KinematicBody3D::~KinematicBody3D() { + + if (motion_cache.is_valid()) { + motion_cache->owner = NULL; + } + + for (int i = 0; i < slide_colliders.size(); i++) { + if (slide_colliders[i].is_valid()) { + slide_colliders.write[i]->owner = NULL; + } + } +} +/////////////////////////////////////// + +Vector3 KinematicCollision3D::get_position() const { + + return collision.collision; +} +Vector3 KinematicCollision3D::get_normal() const { + return collision.normal; +} +Vector3 KinematicCollision3D::get_travel() const { + return collision.travel; +} +Vector3 KinematicCollision3D::get_remainder() const { + return collision.remainder; +} +Object *KinematicCollision3D::get_local_shape() const { + if (!owner) return NULL; + uint32_t ownerid = owner->shape_find_owner(collision.local_shape); + return owner->shape_owner_get_owner(ownerid); +} + +Object *KinematicCollision3D::get_collider() const { + + if (collision.collider.is_valid()) { + return ObjectDB::get_instance(collision.collider); + } + + return NULL; +} +ObjectID KinematicCollision3D::get_collider_id() const { + + return collision.collider; +} +Object *KinematicCollision3D::get_collider_shape() const { + + Object *collider = get_collider(); + if (collider) { + CollisionObject3D *obj2d = Object::cast_to<CollisionObject3D>(collider); + if (obj2d) { + uint32_t ownerid = obj2d->shape_find_owner(collision.collider_shape); + return obj2d->shape_owner_get_owner(ownerid); + } + } + + return NULL; +} +int KinematicCollision3D::get_collider_shape_index() const { + + return collision.collider_shape; +} +Vector3 KinematicCollision3D::get_collider_velocity() const { + + return collision.collider_vel; +} +Variant KinematicCollision3D::get_collider_metadata() const { + + return Variant(); +} + +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"); +} + +KinematicCollision3D::KinematicCollision3D() { + + collision.collider_shape = 0; + collision.local_shape = 0; + owner = NULL; +} + +/////////////////////////////////////// + +bool PhysicalBone3D::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + return false; +} + +bool PhysicalBone3D::JointData::_get(const StringName &p_name, Variant &r_ret) const { + return false; +} + +void PhysicalBone3D::JointData::_get_property_list(List<PropertyInfo> *p_list) const { +} + +void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) { + PhysicsServer::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); +} + +void PhysicalBone3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) { + PhysicsServer::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse); +} + +void PhysicalBone3D::reset_physics_simulation_state() { + if (simulate_physics) { + _start_physics_simulation(); + } else { + _stop_physics_simulation(); + } +} + +void PhysicalBone3D::reset_to_rest_position() { + if (parent_skeleton) { + if (-1 == bone_id) { + set_global_transform(parent_skeleton->get_global_transform() * body_offset); + } else { + set_global_transform(parent_skeleton->get_global_transform() * parent_skeleton->get_bone_global_pose(bone_id) * body_offset); + } + } +} + +bool PhysicalBone3D::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + if ("joint_constraints/bias" == p_name) { + bias = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PIN_JOINT_BIAS, bias); + + } else if ("joint_constraints/damping" == p_name) { + damping = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PIN_JOINT_DAMPING, damping); + + } else if ("joint_constraints/impulse_clamp" == p_name) { + impulse_clamp = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->pin_joint_set_param(j, PhysicsServer::PIN_JOINT_IMPULSE_CLAMP, impulse_clamp); + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::PinJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/bias" == p_name) { + r_ret = bias; + } else if ("joint_constraints/damping" == p_name) { + r_ret = damping; + } else if ("joint_constraints/impulse_clamp" == p_name) { + r_ret = impulse_clamp; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::PinJointData::_get_property_list(List<PropertyInfo> *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01")); +} + +bool PhysicalBone3D::ConeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + if ("joint_constraints/swing_span" == p_name) { + swing_span = Math::deg2rad(real_t(p_value)); + if (j.is_valid()) + PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN, swing_span); + + } else if ("joint_constraints/twist_span" == p_name) { + twist_span = Math::deg2rad(real_t(p_value)); + if (j.is_valid()) + PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN, twist_span); + + } else if ("joint_constraints/bias" == p_name) { + bias = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_BIAS, bias); + + } else if ("joint_constraints/softness" == p_name) { + softness = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_SOFTNESS, softness); + + } else if ("joint_constraints/relaxation" == p_name) { + relaxation = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer::CONE_TWIST_JOINT_RELAXATION, relaxation); + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::ConeJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/swing_span" == p_name) { + r_ret = Math::rad2deg(swing_span); + } else if ("joint_constraints/twist_span" == p_name) { + r_ret = Math::rad2deg(twist_span); + } else if ("joint_constraints/bias" == p_name) { + r_ret = bias; + } else if ("joint_constraints/softness" == p_name) { + r_ret = softness; + } else if ("joint_constraints/relaxation" == p_name) { + r_ret = relaxation; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::ConeJointData::_get_property_list(List<PropertyInfo> *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/swing_span", PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1,or_lesser,or_greater")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); +} + +bool PhysicalBone3D::HingeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + if ("joint_constraints/angular_limit_enabled" == p_name) { + angular_limit_enabled = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->hinge_joint_set_flag(j, PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT, angular_limit_enabled); + + } else if ("joint_constraints/angular_limit_upper" == p_name) { + angular_limit_upper = Math::deg2rad(real_t(p_value)); + if (j.is_valid()) + PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_UPPER, angular_limit_upper); + + } else if ("joint_constraints/angular_limit_lower" == p_name) { + angular_limit_lower = Math::deg2rad(real_t(p_value)); + if (j.is_valid()) + PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_LOWER, angular_limit_lower); + + } else if ("joint_constraints/angular_limit_bias" == p_name) { + angular_limit_bias = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_BIAS, angular_limit_bias); + + } else if ("joint_constraints/angular_limit_softness" == p_name) { + angular_limit_softness = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS, angular_limit_softness); + + } else if ("joint_constraints/angular_limit_relaxation" == p_name) { + angular_limit_relaxation = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->hinge_joint_set_param(j, PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION, angular_limit_relaxation); + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::HingeJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/angular_limit_enabled" == p_name) { + r_ret = angular_limit_enabled; + } else if ("joint_constraints/angular_limit_upper" == p_name) { + r_ret = Math::rad2deg(angular_limit_upper); + } else if ("joint_constraints/angular_limit_lower" == p_name) { + r_ret = Math::rad2deg(angular_limit_lower); + } else if ("joint_constraints/angular_limit_bias" == p_name) { + r_ret = angular_limit_bias; + } else if ("joint_constraints/angular_limit_softness" == p_name) { + r_ret = angular_limit_softness; + } else if ("joint_constraints/angular_limit_relaxation" == p_name) { + r_ret = angular_limit_relaxation; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::HingeJointData::_get_property_list(List<PropertyInfo> *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/angular_limit_enabled")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01")); +} + +bool PhysicalBone3D::SliderJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + if ("joint_constraints/linear_limit_upper" == p_name) { + linear_limit_upper = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER, linear_limit_upper); + + } else if ("joint_constraints/linear_limit_lower" == p_name) { + linear_limit_lower = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER, linear_limit_lower); + + } else if ("joint_constraints/linear_limit_softness" == p_name) { + linear_limit_softness = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, linear_limit_softness); + + } else if ("joint_constraints/linear_limit_restitution" == p_name) { + linear_limit_restitution = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, linear_limit_restitution); + + } else if ("joint_constraints/linear_limit_damping" == p_name) { + linear_limit_damping = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, linear_limit_restitution); + + } else if ("joint_constraints/angular_limit_upper" == p_name) { + angular_limit_upper = Math::deg2rad(real_t(p_value)); + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, angular_limit_upper); + + } else if ("joint_constraints/angular_limit_lower" == p_name) { + angular_limit_lower = Math::deg2rad(real_t(p_value)); + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, angular_limit_lower); + + } else if ("joint_constraints/angular_limit_softness" == p_name) { + angular_limit_softness = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); + + } else if ("joint_constraints/angular_limit_restitution" == p_name) { + angular_limit_restitution = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); + + } else if ("joint_constraints/angular_limit_damping" == p_name) { + angular_limit_damping = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->slider_joint_set_param(j, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, angular_limit_damping); + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::SliderJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/linear_limit_upper" == p_name) { + r_ret = linear_limit_upper; + } else if ("joint_constraints/linear_limit_lower" == p_name) { + r_ret = linear_limit_lower; + } else if ("joint_constraints/linear_limit_softness" == p_name) { + r_ret = linear_limit_softness; + } else if ("joint_constraints/linear_limit_restitution" == p_name) { + r_ret = linear_limit_restitution; + } else if ("joint_constraints/linear_limit_damping" == p_name) { + r_ret = linear_limit_damping; + } else if ("joint_constraints/angular_limit_upper" == p_name) { + r_ret = Math::rad2deg(angular_limit_upper); + } else if ("joint_constraints/angular_limit_lower" == p_name) { + r_ret = Math::rad2deg(angular_limit_lower); + } else if ("joint_constraints/angular_limit_softness" == p_name) { + r_ret = angular_limit_softness; + } else if ("joint_constraints/angular_limit_restitution" == p_name) { + r_ret = angular_limit_restitution; + } else if ("joint_constraints/angular_limit_damping" == p_name) { + r_ret = angular_limit_damping; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::SliderJointData::_get_property_list(List<PropertyInfo> *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_upper")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_lower")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01")); + + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01")); +} + +bool PhysicalBone3D::SixDOFJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + String path = p_name; + + Vector3::Axis axis; + { + const String axis_s = path.get_slicec('/', 1); + if ("x" == axis_s) { + axis = Vector3::AXIS_X; + } else if ("y" == axis_s) { + axis = Vector3::AXIS_Y; + } else if ("z" == axis_s) { + axis = Vector3::AXIS_Z; + } else { + return false; + } + } + + String var_name = path.get_slicec('/', 2); + + if ("linear_limit_enabled" == var_name) { + axis_data[axis].linear_limit_enabled = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, axis_data[axis].linear_limit_enabled); + + } else if ("linear_limit_upper" == var_name) { + axis_data[axis].linear_limit_upper = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT, axis_data[axis].linear_limit_upper); + + } else if ("linear_limit_lower" == var_name) { + axis_data[axis].linear_limit_lower = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT, axis_data[axis].linear_limit_lower); + + } else if ("linear_limit_softness" == var_name) { + axis_data[axis].linear_limit_softness = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness); + + } else if ("linear_spring_enabled" == var_name) { + axis_data[axis].linear_spring_enabled = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled); + + } else if ("linear_spring_stiffness" == var_name) { + axis_data[axis].linear_spring_stiffness = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness); + + } else if ("linear_spring_damping" == var_name) { + axis_data[axis].linear_spring_damping = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping); + + } else if ("linear_equilibrium_point" == var_name) { + axis_data[axis].linear_equilibrium_point = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point); + + } else if ("linear_restitution" == var_name) { + axis_data[axis].linear_restitution = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, axis_data[axis].linear_restitution); + + } else if ("linear_damping" == var_name) { + axis_data[axis].linear_damping = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, axis_data[axis].linear_damping); + + } else if ("angular_limit_enabled" == var_name) { + axis_data[axis].angular_limit_enabled = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, axis_data[axis].angular_limit_enabled); + + } else if ("angular_limit_upper" == var_name) { + axis_data[axis].angular_limit_upper = Math::deg2rad(real_t(p_value)); + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, axis_data[axis].angular_limit_upper); + + } else if ("angular_limit_lower" == var_name) { + axis_data[axis].angular_limit_lower = Math::deg2rad(real_t(p_value)); + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, axis_data[axis].angular_limit_lower); + + } else if ("angular_limit_softness" == var_name) { + axis_data[axis].angular_limit_softness = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, axis_data[axis].angular_limit_softness); + + } else if ("angular_restitution" == var_name) { + axis_data[axis].angular_restitution = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION, axis_data[axis].angular_restitution); + + } else if ("angular_damping" == var_name) { + axis_data[axis].angular_damping = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING, axis_data[axis].angular_damping); + + } else if ("erp" == var_name) { + axis_data[axis].erp = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp); + + } else if ("angular_spring_enabled" == var_name) { + axis_data[axis].angular_spring_enabled = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled); + + } else if ("angular_spring_stiffness" == var_name) { + axis_data[axis].angular_spring_stiffness = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness); + + } else if ("angular_spring_damping" == var_name) { + axis_data[axis].angular_spring_damping = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping); + + } else if ("angular_equilibrium_point" == var_name) { + axis_data[axis].angular_equilibrium_point = p_value; + if (j.is_valid()) + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point); + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::SixDOFJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + String path = p_name; + + int axis; + { + const String axis_s = path.get_slicec('/', 1); + if ("x" == axis_s) { + axis = 0; + } else if ("y" == axis_s) { + axis = 1; + } else if ("z" == axis_s) { + axis = 2; + } else { + return false; + } + } + + String var_name = path.get_slicec('/', 2); + + if ("linear_limit_enabled" == var_name) { + r_ret = axis_data[axis].linear_limit_enabled; + } else if ("linear_limit_upper" == var_name) { + r_ret = axis_data[axis].linear_limit_upper; + } else if ("linear_limit_lower" == var_name) { + r_ret = axis_data[axis].linear_limit_lower; + } else if ("linear_limit_softness" == var_name) { + r_ret = axis_data[axis].linear_limit_softness; + } else if ("linear_spring_enabled" == var_name) { + r_ret = axis_data[axis].linear_spring_enabled; + } else if ("linear_spring_stiffness" == var_name) { + r_ret = axis_data[axis].linear_spring_stiffness; + } else if ("linear_spring_damping" == var_name) { + r_ret = axis_data[axis].linear_spring_damping; + } else if ("linear_equilibrium_point" == var_name) { + r_ret = axis_data[axis].linear_equilibrium_point; + } else if ("linear_restitution" == var_name) { + r_ret = axis_data[axis].linear_restitution; + } else if ("linear_damping" == var_name) { + r_ret = axis_data[axis].linear_damping; + } else if ("angular_limit_enabled" == var_name) { + r_ret = axis_data[axis].angular_limit_enabled; + } else if ("angular_limit_upper" == var_name) { + r_ret = Math::rad2deg(axis_data[axis].angular_limit_upper); + } else if ("angular_limit_lower" == var_name) { + r_ret = Math::rad2deg(axis_data[axis].angular_limit_lower); + } else if ("angular_limit_softness" == var_name) { + r_ret = axis_data[axis].angular_limit_softness; + } else if ("angular_restitution" == var_name) { + r_ret = axis_data[axis].angular_restitution; + } else if ("angular_damping" == var_name) { + r_ret = axis_data[axis].angular_damping; + } else if ("erp" == var_name) { + r_ret = axis_data[axis].erp; + } else if ("angular_spring_enabled" == var_name) { + r_ret = axis_data[axis].angular_spring_enabled; + } else if ("angular_spring_stiffness" == var_name) { + r_ret = axis_data[axis].angular_spring_stiffness; + } else if ("angular_spring_damping" == var_name) { + r_ret = axis_data[axis].angular_spring_damping; + } else if ("angular_equilibrium_point" == var_name) { + r_ret = axis_data[axis].angular_equilibrium_point; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_list) const { + const StringName axis_names[] = { "x", "y", "z" }; + for (int i = 0; i < 3; ++i) { + p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_limit_enabled")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_upper")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_lower")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_spring_enabled")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_stiffness")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_damping")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_equilibrium_point")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_limit_enabled")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/erp")); + p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_spring_enabled")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_stiffness")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_damping")); + p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_equilibrium_point")); + } +} + +bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) { + if (p_name == "bone_name") { + set_bone_name(p_value); + return true; + } + + if (joint_data) { + if (joint_data->_set(p_name, p_value)) { +#ifdef TOOLS_ENABLED + if (get_gizmo().is_valid()) + get_gizmo()->redraw(); +#endif + return true; + } + } + + return false; +} + +bool PhysicalBone3D::_get(const StringName &p_name, Variant &r_ret) const { + if (p_name == "bone_name") { + r_ret = get_bone_name(); + return true; + } + + if (joint_data) { + return joint_data->_get(p_name, r_ret); + } + + return false; +} + +void PhysicalBone3D::_get_property_list(List<PropertyInfo> *p_list) const { + + Skeleton3D *parent = find_skeleton_parent(get_parent()); + + if (parent) { + + String names; + for (int i = 0; i < parent->get_bone_count(); i++) { + if (i > 0) + names += ","; + names += parent->get_bone_name(i); + } + + p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name", PROPERTY_HINT_ENUM, names)); + } else { + + p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name")); + } + + if (joint_data) { + joint_data->_get_property_list(p_list); + } +} + +void PhysicalBone3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: + parent_skeleton = find_skeleton_parent(get_parent()); + update_bone_id(); + reset_to_rest_position(); + reset_physics_simulation_state(); + if (!joint.is_valid() && joint_data) { + _reload_joint(); + } + break; + case NOTIFICATION_EXIT_TREE: + if (parent_skeleton) { + if (-1 != bone_id) { + parent_skeleton->unbind_physical_bone_from_bone(bone_id); + } + } + parent_skeleton = NULL; + if (joint.is_valid()) { + PhysicsServer::get_singleton()->free(joint); + joint = RID(); + } + break; + case NOTIFICATION_TRANSFORM_CHANGED: + if (Engine::get_singleton()->is_editor_hint()) { + + update_offset(); + } + break; + } +} + +void PhysicalBone3D::_direct_state_changed(Object *p_state) { + + if (!simulate_physics || !_internal_simulate_physics) { + return; + } + + /// Update bone transform + + PhysicsDirectBodyState *state; + +#ifdef DEBUG_ENABLED + state = Object::cast_to<PhysicsDirectBodyState>(p_state); +#else + state = (PhysicsDirectBodyState *)p_state; //trust it +#endif + + Transform global_transform(state->get_transform()); + + set_ignore_transform_notification(true); + set_global_transform(global_transform); + set_ignore_transform_notification(false); + + // Update skeleton + if (parent_skeleton) { + if (-1 != bone_id) { + parent_skeleton->set_bone_global_pose_override(bone_id, parent_skeleton->get_global_transform().affine_inverse() * (global_transform * body_offset_inverse), 1.0, true); + } + } +} + +void PhysicalBone3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse); + ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &PhysicalBone3D::apply_impulse); + + ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone3D::_direct_state_changed); + + ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone3D::set_joint_type); + ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone3D::get_joint_type); + + ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset); + ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset); + + 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); + + ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone3D::get_simulate_physics); + + ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone3D::is_simulating_physics); + + ClassDB::bind_method(D_METHOD("get_bone_id"), &PhysicalBone3D::get_bone_id); + + ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone3D::set_mass); + ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone3D::get_mass); + + ClassDB::bind_method(D_METHOD("set_weight", "weight"), &PhysicalBone3D::set_weight); + ClassDB::bind_method(D_METHOD("get_weight"), &PhysicalBone3D::get_weight); + + ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone3D::set_friction); + ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone3D::get_friction); + + ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &PhysicalBone3D::set_bounce); + ClassDB::bind_method(D_METHOD("get_bounce"), &PhysicalBone3D::get_bounce); + + ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale); + ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale); + + ADD_GROUP("Joint", "joint_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type"); + ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "joint_offset"), "set_joint_offset", "get_joint_offset"); + + ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "body_offset"), "set_body_offset", "get_body_offset"); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_weight", "get_weight"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale"); + + BIND_ENUM_CONSTANT(JOINT_TYPE_NONE); + BIND_ENUM_CONSTANT(JOINT_TYPE_PIN); + BIND_ENUM_CONSTANT(JOINT_TYPE_CONE); + BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE); + BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER); + BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF); +} + +Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) { + if (!p_parent) { + return NULL; + } + Skeleton3D *s = Object::cast_to<Skeleton3D>(p_parent); + return s ? s : find_skeleton_parent(p_parent->get_parent()); +} + +void PhysicalBone3D::_fix_joint_offset() { + // Clamp joint origin to bone origin + if (parent_skeleton) { + joint_offset.origin = body_offset.affine_inverse().origin; + } +} + +void PhysicalBone3D::_reload_joint() { + + if (joint.is_valid()) { + PhysicsServer::get_singleton()->free(joint); + joint = RID(); + } + + if (!parent_skeleton) { + return; + } + + PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id); + if (!body_a) { + return; + } + + Transform joint_transf = get_global_transform() * joint_offset; + Transform local_a = body_a->get_global_transform().affine_inverse() * joint_transf; + local_a.orthonormalize(); + + switch (get_joint_type()) { + case JOINT_TYPE_PIN: { + + joint = PhysicsServer::get_singleton()->joint_create_pin(body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin); + const PinJointData *pjd(static_cast<const PinJointData *>(joint_data)); + PhysicsServer::get_singleton()->pin_joint_set_param(joint, PhysicsServer::PIN_JOINT_BIAS, pjd->bias); + PhysicsServer::get_singleton()->pin_joint_set_param(joint, PhysicsServer::PIN_JOINT_DAMPING, pjd->damping); + PhysicsServer::get_singleton()->pin_joint_set_param(joint, PhysicsServer::PIN_JOINT_IMPULSE_CLAMP, pjd->impulse_clamp); + + } break; + case JOINT_TYPE_CONE: { + + joint = PhysicsServer::get_singleton()->joint_create_cone_twist(body_a->get_rid(), local_a, get_rid(), joint_offset); + const ConeJointData *cjd(static_cast<const ConeJointData *>(joint_data)); + PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span); + PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span); + PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_BIAS, cjd->bias); + PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_SOFTNESS, cjd->softness); + PhysicsServer::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer::CONE_TWIST_JOINT_RELAXATION, cjd->relaxation); + + } break; + case JOINT_TYPE_HINGE: { + + joint = PhysicsServer::get_singleton()->joint_create_hinge(body_a->get_rid(), local_a, get_rid(), joint_offset); + const HingeJointData *hjd(static_cast<const HingeJointData *>(joint_data)); + PhysicsServer::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled); + PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper); + PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_LOWER, hjd->angular_limit_lower); + PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_BIAS, hjd->angular_limit_bias); + PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_SOFTNESS, hjd->angular_limit_softness); + PhysicsServer::get_singleton()->hinge_joint_set_param(joint, PhysicsServer::HINGE_JOINT_LIMIT_RELAXATION, hjd->angular_limit_relaxation); + + } break; + case JOINT_TYPE_SLIDER: { + + joint = PhysicsServer::get_singleton()->joint_create_slider(body_a->get_rid(), local_a, get_rid(), joint_offset); + const SliderJointData *sjd(static_cast<const SliderJointData *>(joint_data)); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, sjd->linear_limit_softness); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, sjd->linear_limit_restitution); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, sjd->linear_limit_restitution); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, sjd->angular_limit_upper); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, sjd->angular_limit_lower); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); + PhysicsServer::get_singleton()->slider_joint_set_param(joint, PhysicsServer::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, sjd->angular_limit_damping); + + } break; + case JOINT_TYPE_6DOF: { + + joint = PhysicsServer::get_singleton()->joint_create_generic_6dof(body_a->get_rid(), local_a, get_rid(), joint_offset); + const SixDOFJointData *g6dofjd(static_cast<const SixDOFJointData *>(joint_data)); + for (int axis = 0; axis < 3; ++axis) { + PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness); + PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping); + PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, g6dofjd->axis_data[axis].angular_limit_upper); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, g6dofjd->axis_data[axis].angular_limit_lower); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].angular_limit_softness); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp); + PhysicsServer::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping); + PhysicsServer::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point); + } + + } break; + case JOINT_TYPE_NONE: { + } break; + } +} + +void PhysicalBone3D::_on_bone_parent_changed() { + _reload_joint(); +} + +void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) { +#ifdef TOOLS_ENABLED + gizmo_move_joint = p_move_joint; + Node3DEditor::get_singleton()->update_transform_gizmo(); +#endif +} + +#ifdef TOOLS_ENABLED +Transform PhysicalBone3D::get_global_gizmo_transform() const { + return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform(); +} + +Transform PhysicalBone3D::get_local_gizmo_transform() const { + return gizmo_move_joint ? get_transform() * joint_offset : get_transform(); +} +#endif + +const PhysicalBone3D::JointData *PhysicalBone3D::get_joint_data() const { + return joint_data; +} + +Skeleton3D *PhysicalBone3D::find_skeleton_parent() { + return find_skeleton_parent(this); +} + +void PhysicalBone3D::set_joint_type(JointType p_joint_type) { + + if (p_joint_type == get_joint_type()) + return; + + if (joint_data) + memdelete(joint_data); + joint_data = NULL; + switch (p_joint_type) { + case JOINT_TYPE_PIN: + joint_data = memnew(PinJointData); + break; + case JOINT_TYPE_CONE: + joint_data = memnew(ConeJointData); + break; + case JOINT_TYPE_HINGE: + joint_data = memnew(HingeJointData); + break; + case JOINT_TYPE_SLIDER: + joint_data = memnew(SliderJointData); + break; + case JOINT_TYPE_6DOF: + joint_data = memnew(SixDOFJointData); + break; + case JOINT_TYPE_NONE: + break; + } + + _reload_joint(); + +#ifdef TOOLS_ENABLED + _change_notify(); + if (get_gizmo().is_valid()) + get_gizmo()->redraw(); +#endif +} + +PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const { + return joint_data ? joint_data->get_joint_type() : JOINT_TYPE_NONE; +} + +void PhysicalBone3D::set_joint_offset(const Transform &p_offset) { + joint_offset = p_offset; + + _fix_joint_offset(); + + set_ignore_transform_notification(true); + reset_to_rest_position(); + set_ignore_transform_notification(false); + +#ifdef TOOLS_ENABLED + if (get_gizmo().is_valid()) + get_gizmo()->redraw(); +#endif +} + +const Transform &PhysicalBone3D::get_body_offset() const { + return body_offset; +} + +void PhysicalBone3D::set_body_offset(const Transform &p_offset) { + body_offset = p_offset; + body_offset_inverse = body_offset.affine_inverse(); + + _fix_joint_offset(); + + set_ignore_transform_notification(true); + reset_to_rest_position(); + set_ignore_transform_notification(false); + +#ifdef TOOLS_ENABLED + if (get_gizmo().is_valid()) + get_gizmo()->redraw(); +#endif +} + +const Transform &PhysicalBone3D::get_joint_offset() const { + return joint_offset; +} + +void PhysicalBone3D::set_simulate_physics(bool p_simulate) { + if (simulate_physics == p_simulate) { + return; + } + + simulate_physics = p_simulate; + reset_physics_simulation_state(); +} + +bool PhysicalBone3D::get_simulate_physics() { + return simulate_physics; +} + +bool PhysicalBone3D::is_simulating_physics() { + return _internal_simulate_physics; +} + +void PhysicalBone3D::set_bone_name(const String &p_name) { + + bone_name = p_name; + bone_id = -1; + + update_bone_id(); + reset_to_rest_position(); +} + +const String &PhysicalBone3D::get_bone_name() const { + + return bone_name; +} + +void PhysicalBone3D::set_mass(real_t p_mass) { + + ERR_FAIL_COND(p_mass <= 0); + mass = p_mass; + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_MASS, mass); +} + +real_t PhysicalBone3D::get_mass() const { + + return mass; +} + +void PhysicalBone3D::set_weight(real_t p_weight) { + + set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8))); +} + +real_t PhysicalBone3D::get_weight() const { + + return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)); +} + +void PhysicalBone3D::set_friction(real_t p_friction) { + + ERR_FAIL_COND(p_friction < 0 || p_friction > 1); + + friction = p_friction; + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction); +} + +real_t PhysicalBone3D::get_friction() const { + + return friction; +} + +void PhysicalBone3D::set_bounce(real_t p_bounce) { + + ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); + + bounce = p_bounce; + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, bounce); +} + +real_t PhysicalBone3D::get_bounce() const { + + return bounce; +} + +void PhysicalBone3D::set_gravity_scale(real_t p_gravity_scale) { + + gravity_scale = p_gravity_scale; + PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_GRAVITY_SCALE, gravity_scale); +} + +real_t PhysicalBone3D::get_gravity_scale() const { + + return gravity_scale; +} + +PhysicalBone3D::PhysicalBone3D() : + PhysicsBody3D(PhysicsServer::BODY_MODE_STATIC), +#ifdef TOOLS_ENABLED + gizmo_move_joint(false), +#endif + joint_data(NULL), + parent_skeleton(NULL), + simulate_physics(false), + _internal_simulate_physics(false), + bone_id(-1), + bone_name(""), + bounce(0), + mass(1), + friction(1), + gravity_scale(1) { + + reset_physics_simulation_state(); +} + +PhysicalBone3D::~PhysicalBone3D() { + if (joint_data) + memdelete(joint_data); +} + +void PhysicalBone3D::update_bone_id() { + if (!parent_skeleton) { + return; + } + + const int new_bone_id = parent_skeleton->find_bone(bone_name); + + if (new_bone_id != bone_id) { + if (-1 != bone_id) { + // Assert the unbind from old node + parent_skeleton->unbind_physical_bone_from_bone(bone_id); + parent_skeleton->unbind_child_node_from_bone(bone_id, this); + } + + bone_id = new_bone_id; + + parent_skeleton->bind_physical_bone_to_bone(bone_id, this); + + _fix_joint_offset(); + reset_physics_simulation_state(); + } +} + +void PhysicalBone3D::update_offset() { +#ifdef TOOLS_ENABLED + if (parent_skeleton) { + + Transform bone_transform(parent_skeleton->get_global_transform()); + if (-1 != bone_id) + bone_transform *= parent_skeleton->get_bone_global_pose(bone_id); + + if (gizmo_move_joint) { + bone_transform *= body_offset; + set_joint_offset(bone_transform.affine_inverse() * get_global_transform()); + } else { + set_body_offset(bone_transform.affine_inverse() * get_global_transform()); + } + } +#endif +} + +void PhysicalBone3D::_start_physics_simulation() { + if (_internal_simulate_physics || !parent_skeleton) { + return; + } + reset_to_rest_position(); + PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_RIGID); + PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); + PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); + PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed"); + set_as_toplevel(true); + _internal_simulate_physics = true; +} + +void PhysicalBone3D::_stop_physics_simulation() { + if (!parent_skeleton) { + return; + } + if (parent_skeleton->get_animate_physical_bones()) { + PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_KINEMATIC); + PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); + PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); + } else { + PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC); + PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), 0); + PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), 0); + } + if (_internal_simulate_physics) { + PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), NULL, ""); + parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false); + set_as_toplevel(false); + _internal_simulate_physics = false; + } +} |