diff options
Diffstat (limited to 'scene/3d/physics_body_3d.h')
| -rw-r--r-- | scene/3d/physics_body_3d.h | 440 |
1 files changed, 320 insertions, 120 deletions
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h index 818ff97730..e64987b73e 100644 --- a/scene/3d/physics_body_3d.h +++ b/scene/3d/physics_body_3d.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -37,6 +37,8 @@ #include "servers/physics_server_3d.h" #include "skeleton_3d.h" +class KinematicCollision3D; + class PhysicsBody3D : public CollisionObject3D { GDCLASS(PhysicsBody3D, CollisionObject3D); @@ -44,7 +46,19 @@ protected: static void _bind_methods(); PhysicsBody3D(PhysicsServer3D::BodyMode p_mode); + Ref<KinematicCollision3D> motion_cache; + + uint16_t locked_axis = 0; + + Ref<KinematicCollision3D> _move(const Vector3 &p_distance, bool p_test_only = false, real_t p_margin = 0.001, int p_max_collisions = 1); + public: + bool move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only = false, bool p_cancel_sliding = true); + bool test_move(const Transform3D &p_from, const Vector3 &p_distance, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001, int p_max_collisions = 1); + + void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock); + bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const; + virtual Vector3 get_linear_velocity() const; virtual Vector3 get_angular_velocity() const; virtual real_t get_inverse_mass() const; @@ -53,12 +67,13 @@ public: void add_collision_exception_with(Node *p_node); //must be physicsbody void remove_collision_exception_with(Node *p_node); - PhysicsBody3D(); + virtual ~PhysicsBody3D(); }; class StaticBody3D : public PhysicsBody3D { GDCLASS(StaticBody3D, PhysicsBody3D); +private: Vector3 constant_linear_velocity; Vector3 constant_angular_velocity; @@ -77,38 +92,85 @@ public: Vector3 get_constant_linear_velocity() const; Vector3 get_constant_angular_velocity() const; - StaticBody3D(); - ~StaticBody3D(); + StaticBody3D(PhysicsServer3D::BodyMode p_mode = PhysicsServer3D::BODY_MODE_STATIC); private: void _reload_physics_characteristics(); }; -class RigidBody3D : public PhysicsBody3D { - GDCLASS(RigidBody3D, PhysicsBody3D); +class AnimatableBody3D : public StaticBody3D { + GDCLASS(AnimatableBody3D, StaticBody3D); + +private: + Vector3 linear_velocity; + Vector3 angular_velocity; + + bool sync_to_physics = true; + + Transform3D last_valid_transform; + + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); + void _body_state_changed(PhysicsDirectBodyState3D *p_state); + +protected: + void _notification(int p_what); + static void _bind_methods(); + +public: + virtual Vector3 get_linear_velocity() const override; + virtual Vector3 get_angular_velocity() const override; + + AnimatableBody3D(); + +private: + void _update_kinematic_motion(); + + void set_sync_to_physics(bool p_enable); + bool is_sync_to_physics_enabled() const; +}; + +class RigidDynamicBody3D : public PhysicsBody3D { + GDCLASS(RigidDynamicBody3D, PhysicsBody3D); public: - enum Mode { - MODE_RIGID, - MODE_STATIC, - MODE_CHARACTER, - MODE_KINEMATIC, + enum FreezeMode { + FREEZE_MODE_STATIC, + FREEZE_MODE_KINEMATIC, }; -protected: + enum CenterOfMassMode { + CENTER_OF_MASS_MODE_AUTO, + CENTER_OF_MASS_MODE_CUSTOM, + }; + + enum DampMode { + DAMP_MODE_COMBINE, + DAMP_MODE_REPLACE, + }; + +private: bool can_sleep = true; - PhysicsDirectBodyState3D *state = nullptr; - Mode mode = MODE_RIGID; + bool lock_rotation = false; + bool freeze = false; + FreezeMode freeze_mode = FREEZE_MODE_STATIC; real_t mass = 1.0; + Vector3 inertia; + CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO; + Vector3 center_of_mass; + Ref<PhysicsMaterial> physics_material_override; Vector3 linear_velocity; Vector3 angular_velocity; Basis inverse_inertia_tensor; real_t gravity_scale = 1.0; - real_t linear_damp = -1.0; - real_t angular_damp = -1.0; + + DampMode linear_damp_mode = DAMP_MODE_COMBINE; + DampMode angular_damp_mode = DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; bool sleeping = false; bool ccd = false; @@ -136,7 +198,7 @@ protected: tagged = false; } }; - struct RigidBody3D_RemoveAction { + struct RigidDynamicBody3D_RemoveAction { RID rid; ObjectID body_id; ShapePair pair; @@ -158,20 +220,44 @@ protected: void _body_exit_tree(ObjectID p_id); void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape); - virtual void _direct_state_changed(Object *p_state); + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); +protected: void _notification(int p_what); static void _bind_methods(); + virtual void _validate_property(PropertyInfo &property) const override; + + GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *) + + virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state); + + void _apply_body_mode(); + public: - void set_mode(Mode p_mode); - Mode get_mode() const; + void set_lock_rotation_enabled(bool p_lock_rotation); + bool is_lock_rotation_enabled() const; + + void set_freeze_enabled(bool p_freeze); + bool is_freeze_enabled() const; + + void set_freeze_mode(FreezeMode p_freeze_mode); + FreezeMode get_freeze_mode() const; void set_mass(real_t p_mass); real_t get_mass() const; virtual real_t get_inverse_mass() const override { return 1.0 / mass; } + void set_inertia(const Vector3 &p_inertia); + const Vector3 &get_inertia() const; + + void set_center_of_mass_mode(CenterOfMassMode p_mode); + CenterOfMassMode get_center_of_mass_mode() const; + + void set_center_of_mass(const Vector3 &p_center_of_mass); + const Vector3 &get_center_of_mass() const; + void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override); Ref<PhysicsMaterial> get_physics_material_override() const; @@ -188,6 +274,12 @@ public: void set_gravity_scale(real_t p_gravity_scale); real_t get_gravity_scale() const; + void set_linear_damp_mode(DampMode p_mode); + DampMode get_linear_damp_mode() const; + + void set_angular_damp_mode(DampMode p_mode); + DampMode get_angular_damp_mode() const; + void set_linear_damp(real_t p_linear_damp); real_t get_linear_damp() const; @@ -212,138 +304,227 @@ public: void set_use_continuous_collision_detection(bool p_enable); bool is_using_continuous_collision_detection() const; - void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock); - bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const; - Array get_colliding_bodies() const; - void add_central_force(const Vector3 &p_force); - void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); - void add_torque(const Vector3 &p_torque); - void apply_central_impulse(const Vector3 &p_impulse); void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); void apply_torque_impulse(const Vector3 &p_impulse); - TypedArray<String> get_configuration_warnings() const override; + void apply_central_force(const Vector3 &p_force); + void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); + void apply_torque(const Vector3 &p_torque); - RigidBody3D(); - ~RigidBody3D(); + void add_constant_central_force(const Vector3 &p_force); + void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); + void add_constant_torque(const Vector3 &p_torque); + + void set_constant_force(const Vector3 &p_force); + Vector3 get_constant_force() const; + + void set_constant_torque(const Vector3 &p_torque); + Vector3 get_constant_torque() const; + + virtual TypedArray<String> get_configuration_warnings() const override; + + RigidDynamicBody3D(); + ~RigidDynamicBody3D(); private: void _reload_physics_characteristics(); }; -VARIANT_ENUM_CAST(RigidBody3D::Mode); +VARIANT_ENUM_CAST(RigidDynamicBody3D::FreezeMode); +VARIANT_ENUM_CAST(RigidDynamicBody3D::CenterOfMassMode); +VARIANT_ENUM_CAST(RigidDynamicBody3D::DampMode); class KinematicCollision3D; -class KinematicBody3D : public PhysicsBody3D { - GDCLASS(KinematicBody3D, PhysicsBody3D); +class CharacterBody3D : public PhysicsBody3D { + GDCLASS(CharacterBody3D, PhysicsBody3D); public: - struct Collision { - Vector3 collision; - Vector3 normal; - Vector3 collider_vel; - ObjectID collider; - RID collider_rid; - int collider_shape = 0; - Variant collider_metadata; - Vector3 remainder; - Vector3 travel; - int local_shape = 0; + enum MotionMode { + MOTION_MODE_GROUNDED, + MOTION_MODE_FLOATING, + }; + enum MovingPlatformApplyVelocityOnLeave { + PLATFORM_VEL_ON_LEAVE_ALWAYS, + PLATFORM_VEL_ON_LEAVE_UPWARD_ONLY, + PLATFORM_VEL_ON_LEAVE_NEVER, }; + bool move_and_slide(); + + const Vector3 &get_velocity() const; + void set_velocity(const Vector3 &p_velocity); + + bool is_on_floor() const; + bool is_on_floor_only() const; + bool is_on_wall() const; + bool is_on_wall_only() const; + bool is_on_ceiling() const; + bool is_on_ceiling_only() const; + const Vector3 &get_last_motion() const; + Vector3 get_position_delta() const; + const Vector3 &get_floor_normal() const; + const Vector3 &get_wall_normal() const; + const Vector3 &get_real_velocity() const; + real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; + const Vector3 &get_platform_velocity() const; + + virtual Vector3 get_linear_velocity() const override; + + int get_slide_collision_count() const; + PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const; + + CharacterBody3D(); + ~CharacterBody3D(); private: - Vector3 linear_velocity; - Vector3 angular_velocity; + real_t margin = 0.001; + MotionMode motion_mode = MOTION_MODE_GROUNDED; + MovingPlatformApplyVelocityOnLeave moving_platform_apply_velocity_on_leave = PLATFORM_VEL_ON_LEAVE_ALWAYS; + union CollisionState { + uint32_t state = 0; + struct { + bool floor; + bool wall; + bool ceiling; + }; - uint16_t locked_axis = 0; + CollisionState() { + } - real_t margin; + CollisionState(bool p_floor, bool p_wall, bool p_ceiling) { + floor = p_floor; + wall = p_wall; + ceiling = p_ceiling; + } + }; + CollisionState collision_state; + bool floor_constant_speed = false; + bool floor_stop_on_slope = true; + bool floor_block_on_wall = true; + bool slide_on_ceiling = true; + int max_slides = 6; + int platform_layer = 0; + RID platform_rid; + ObjectID platform_object_id; + uint32_t moving_platform_floor_layers = UINT32_MAX; + uint32_t moving_platform_wall_layers = 0; + real_t floor_snap_length = 0.1; + real_t floor_max_angle = Math::deg2rad((real_t)45.0); + real_t wall_min_slide_angle = Math::deg2rad((real_t)15.0); + Vector3 up_direction = Vector3(0.0, 1.0, 0.0); + Vector3 velocity; Vector3 floor_normal; - Vector3 floor_velocity; - RID on_floor_body; - bool on_floor = false; - bool on_ceiling = false; - bool on_wall = false; - Vector<Collision> colliders; + Vector3 wall_normal; + Vector3 ceiling_normal; + Vector3 last_motion; + Vector3 platform_velocity; + Vector3 platform_ceiling_velocity; + Vector3 previous_position; + Vector3 real_velocity; + + Vector<PhysicsServer3D::MotionResult> motion_results; Vector<Ref<KinematicCollision3D>> slide_colliders; - Ref<KinematicCollision3D> motion_cache; - _FORCE_INLINE_ bool _ignores_mode(PhysicsServer3D::BodyMode) const; + void set_safe_margin(real_t p_margin); + real_t get_safe_margin() const; - Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false); - Ref<KinematicCollision3D> _get_slide_collision(int p_bounce); + bool is_floor_stop_on_slope_enabled() const; + void set_floor_stop_on_slope_enabled(bool p_enabled); -protected: - void _notification(int p_what); - static void _bind_methods(); + bool is_floor_constant_speed_enabled() const; + void set_floor_constant_speed_enabled(bool p_enabled); - virtual void _direct_state_changed(Object *p_state); + bool is_floor_block_on_wall_enabled() const; + void set_floor_block_on_wall_enabled(bool p_enabled); -public: - virtual Vector3 get_linear_velocity() const override; - virtual Vector3 get_angular_velocity() const override; + bool is_slide_on_ceiling_enabled() const; + void set_slide_on_ceiling_enabled(bool p_enabled); - bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false); - bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia); + int get_max_slides() const; + void set_max_slides(int p_max_slides); - bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision); + real_t get_floor_max_angle() const; + void set_floor_max_angle(real_t p_radians); - void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock); - bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const; + real_t get_floor_snap_length(); + void set_floor_snap_length(real_t p_floor_snap_length); - void set_safe_margin(real_t p_margin); - real_t get_safe_margin() const; + real_t get_wall_min_slide_angle() const; + void set_wall_min_slide_angle(real_t p_radians); - Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, real_t p_floor_max_angle = Math::deg2rad((real_t)45.0), bool p_infinite_inertia = true); - Vector3 move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, real_t p_floor_max_angle = Math::deg2rad((real_t)45.0), bool p_infinite_inertia = true); - bool is_on_floor() const; - bool is_on_wall() const; - bool is_on_ceiling() const; - Vector3 get_floor_normal() const; - Vector3 get_floor_velocity() const; + uint32_t get_moving_platform_floor_layers() const; + void set_moving_platform_floor_layers(const uint32_t p_exclude_layer); + + uint32_t get_moving_platform_wall_layers() const; + void set_moving_platform_wall_layers(const uint32_t p_exclude_layer); + + void set_motion_mode(MotionMode p_mode); + MotionMode get_motion_mode() const; - int get_slide_count() const; - Collision get_slide_collision(int p_bounce) const; + void set_moving_platform_apply_velocity_on_leave(MovingPlatformApplyVelocityOnLeave p_on_leave_velocity); + MovingPlatformApplyVelocityOnLeave get_moving_platform_apply_velocity_on_leave() const; - KinematicBody3D(); - ~KinematicBody3D(); + void _move_and_slide_floating(double p_delta); + void _move_and_slide_grounded(double p_delta, bool p_was_on_floor); + + Ref<KinematicCollision3D> _get_slide_collision(int p_bounce); + Ref<KinematicCollision3D> _get_last_slide_collision(); + const Vector3 &get_up_direction() const; + bool _on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up); + void set_up_direction(const Vector3 &p_up_direction); + void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state = CollisionState(true, true, true)); + void _set_platform_data(const PhysicsServer3D::MotionCollision &p_collision); + void _snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up); + +protected: + void _notification(int p_what); + static void _bind_methods(); + virtual void _validate_property(PropertyInfo &property) const override; }; -class KinematicCollision3D : public Reference { - GDCLASS(KinematicCollision3D, Reference); +VARIANT_ENUM_CAST(CharacterBody3D::MotionMode); +VARIANT_ENUM_CAST(CharacterBody3D::MovingPlatformApplyVelocityOnLeave); + +class KinematicCollision3D : public RefCounted { + GDCLASS(KinematicCollision3D, RefCounted); - KinematicBody3D *owner; - friend class KinematicBody3D; - KinematicBody3D::Collision collision; + PhysicsBody3D *owner = nullptr; + friend class PhysicsBody3D; + friend class CharacterBody3D; + PhysicsServer3D::MotionResult result; protected: static void _bind_methods(); public: - Vector3 get_position() const; - Vector3 get_normal() const; Vector3 get_travel() const; Vector3 get_remainder() const; - Object *get_local_shape() const; - Object *get_collider() const; - ObjectID get_collider_id() const; - Object *get_collider_shape() const; - int get_collider_shape_index() const; - Vector3 get_collider_velocity() const; - Variant get_collider_metadata() const; - - KinematicCollision3D(); + int get_collision_count() const; + Vector3 get_position(int p_collision_index = 0) const; + Vector3 get_normal(int p_collision_index = 0) const; + real_t get_angle(int p_collision_index = 0, const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; + Object *get_local_shape(int p_collision_index = 0) const; + Object *get_collider(int p_collision_index = 0) const; + ObjectID get_collider_id(int p_collision_index = 0) const; + RID get_collider_rid(int p_collision_index = 0) const; + Object *get_collider_shape(int p_collision_index = 0) const; + int get_collider_shape_index(int p_collision_index = 0) const; + Vector3 get_collider_velocity(int p_collision_index = 0) const; }; class PhysicalBone3D : public PhysicsBody3D { GDCLASS(PhysicalBone3D, PhysicsBody3D); public: + enum DampMode { + DAMP_MODE_COMBINE, + DAMP_MODE_REPLACE, + }; + enum JointType { JOINT_TYPE_NONE, JOINT_TYPE_PIN, @@ -467,12 +648,12 @@ private: #endif JointData *joint_data = nullptr; - Transform joint_offset; + Transform3D joint_offset; RID joint; Skeleton3D *parent_skeleton = nullptr; - Transform body_offset; - Transform body_offset_inverse; + Transform3D body_offset; + Transform3D body_offset_inverse; bool simulate_physics = false; bool _internal_simulate_physics = false; int bone_id = -1; @@ -481,17 +662,27 @@ private: real_t bounce = 0.0; real_t mass = 1.0; real_t friction = 1.0; + Vector3 linear_velocity; + Vector3 angular_velocity; real_t gravity_scale = 1.0; - real_t linear_damp = -1.0; - real_t angular_damp = -1.0; bool can_sleep = true; + bool custom_integrator = false; + + DampMode linear_damp_mode = DAMP_MODE_COMBINE; + DampMode angular_damp_mode = DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; + protected: bool _set(const StringName &p_name, const Variant &p_value); bool _get(const StringName &p_name, Variant &r_ret) const; void _get_property_list(List<PropertyInfo> *p_list) const; void _notification(int p_what); - void _direct_state_changed(Object *p_state); + GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *) + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); + void _body_state_changed(PhysicsDirectBodyState3D *p_state); static void _bind_methods(); @@ -504,12 +695,20 @@ private: public: void _on_bone_parent_changed(); - void _set_gizmo_move_joint(bool p_move_joint); -public: + void set_linear_velocity(const Vector3 &p_velocity); + Vector3 get_linear_velocity() const override; + + void set_angular_velocity(const Vector3 &p_velocity); + Vector3 get_angular_velocity() const override; + + void set_use_custom_integrator(bool p_enable); + bool is_using_custom_integrator(); + #ifdef TOOLS_ENABLED - virtual Transform get_global_gizmo_transform() const override; - virtual Transform get_local_gizmo_transform() const override; + void _set_gizmo_move_joint(bool p_move_joint); + virtual Transform3D get_global_gizmo_transform() const override; + virtual Transform3D get_local_gizmo_transform() const override; #endif const JointData *get_joint_data() const; @@ -520,17 +719,14 @@ public: void set_joint_type(JointType p_joint_type); JointType get_joint_type() const; - void set_joint_offset(const Transform &p_offset); - const Transform &get_joint_offset() const; + void set_joint_offset(const Transform3D &p_offset); + const Transform3D &get_joint_offset() const; void set_joint_rotation(const Vector3 &p_euler_rad); Vector3 get_joint_rotation() const; - void set_joint_rotation_degrees(const Vector3 &p_euler_deg); - Vector3 get_joint_rotation_degrees() const; - - void set_body_offset(const Transform &p_offset); - const Transform &get_body_offset() const; + void set_body_offset(const Transform3D &p_offset); + const Transform3D &get_body_offset() const; void set_simulate_physics(bool p_simulate); bool get_simulate_physics(); @@ -551,6 +747,12 @@ public: void set_gravity_scale(real_t p_gravity_scale); real_t get_gravity_scale() const; + void set_linear_damp_mode(DampMode p_mode); + DampMode get_linear_damp_mode() const; + + void set_angular_damp_mode(DampMode p_mode); + DampMode get_angular_damp_mode() const; + void set_linear_damp(real_t p_linear_damp); real_t get_linear_damp() const; @@ -560,9 +762,6 @@ public: void set_can_sleep(bool p_active); bool is_able_to_sleep() const; - void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock); - bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const; - void apply_central_impulse(const Vector3 &p_impulse); void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); @@ -581,5 +780,6 @@ private: }; VARIANT_ENUM_CAST(PhysicalBone3D::JointType); +VARIANT_ENUM_CAST(PhysicalBone3D::DampMode); #endif // PHYSICS_BODY__H |