diff options
Diffstat (limited to 'scene/3d/physics_body_3d.h')
| -rw-r--r-- | scene/3d/physics_body_3d.h | 268 |
1 files changed, 190 insertions, 78 deletions
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h index 8c09f77846..96f3d7d747 100644 --- a/scene/3d/physics_body_3d.h +++ b/scene/3d/physics_body_3d.h @@ -50,11 +50,11 @@ protected: uint16_t locked_axis = 0; - Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001); + Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001, int p_max_collisions = 1); public: - bool move_and_collide(const Vector3 &p_motion, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_test_only = false, bool p_cancel_sliding = true, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()); - bool test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001); + bool move_and_collide(const Vector3 &p_motion, PhysicsServer3D::MotionResult &r_result, real_t p_margin, bool p_test_only = false, int p_max_collisions = 1, bool p_cancel_sliding = true, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()); + bool test_move(const Transform3D &p_from, const Vector3 &p_motion, 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; @@ -73,24 +73,13 @@ public: class StaticBody3D : public PhysicsBody3D { GDCLASS(StaticBody3D, PhysicsBody3D); +private: Vector3 constant_linear_velocity; Vector3 constant_angular_velocity; - Vector3 linear_velocity; - Vector3 angular_velocity; - Ref<PhysicsMaterial> physics_material_override; - bool kinematic_motion = false; - bool sync_to_physics = false; - - 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: @@ -103,27 +92,45 @@ public: Vector3 get_constant_linear_velocity() const; Vector3 get_constant_angular_velocity() const; - virtual Vector3 get_linear_velocity() const override; - virtual Vector3 get_angular_velocity() const override; + StaticBody3D(PhysicsServer3D::BodyMode p_mode = PhysicsServer3D::BODY_MODE_STATIC); - virtual TypedArray<String> get_configuration_warnings() const override; +private: + void _reload_physics_characteristics(); +}; - StaticBody3D(); +class AnimatableBody3D : public StaticBody3D { + GDCLASS(AnimatableBody3D, StaticBody3D); private: - void _reload_physics_characteristics(); + Vector3 linear_velocity; + Vector3 angular_velocity; - void _update_kinematic_motion(); + bool sync_to_physics = false; - void set_kinematic_motion_enabled(bool p_enabled); - bool is_kinematic_motion_enabled() const; + 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 RigidBody3D : public PhysicsBody3D { - GDCLASS(RigidBody3D, PhysicsBody3D); +class RigidDynamicBody3D : public PhysicsBody3D { + GDCLASS(RigidDynamicBody3D, PhysicsBody3D); public: enum Mode { @@ -133,6 +140,11 @@ public: MODE_KINEMATIC, }; + enum CenterOfMassMode { + CENTER_OF_MASS_MODE_AUTO, + CENTER_OF_MASS_MODE_CUSTOM, + }; + GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *) protected: @@ -140,6 +152,10 @@ protected: Mode mode = MODE_DYNAMIC; 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; @@ -175,7 +191,7 @@ protected: tagged = false; } }; - struct RigidBody3D_RemoveAction { + struct RigidDynamicBody3D_RemoveAction { RID rid; ObjectID body_id; ShapePair pair; @@ -203,6 +219,8 @@ protected: void _notification(int p_what); static void _bind_methods(); + virtual void _validate_property(PropertyInfo &property) const override; + public: void set_mode(Mode p_mode); Mode get_mode() const; @@ -212,6 +230,15 @@ public: 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; @@ -264,90 +291,163 @@ public: virtual TypedArray<String> get_configuration_warnings() const override; - RigidBody3D(); - ~RigidBody3D(); + RigidDynamicBody3D(); + ~RigidDynamicBody3D(); private: void _reload_physics_characteristics(); }; -VARIANT_ENUM_CAST(RigidBody3D::Mode); +VARIANT_ENUM_CAST(RigidDynamicBody3D::Mode); +VARIANT_ENUM_CAST(RigidDynamicBody3D::CenterOfMassMode); class KinematicCollision3D; class CharacterBody3D : public PhysicsBody3D { GDCLASS(CharacterBody3D, PhysicsBody3D); +public: + enum MotionMode { + MOTION_MODE_GROUNDED, + MOTION_MODE_FREE, + }; + enum MovingPlatformApplyVelocityOnLeave { + PLATFORM_VEL_ON_LEAVE_ALWAYS, + PLATFORM_VEL_ON_LEAVE_UPWARD_ONLY, + PLATFORM_VEL_ON_LEAVE_NEVER, + }; + bool move_and_slide(); + + virtual Vector3 get_linear_velocity() const override; + void set_linear_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; + Vector3 get_last_motion() const; + Vector3 get_position_delta() const; + Vector3 get_floor_normal() const; + Vector3 get_wall_normal() const; + Vector3 get_real_velocity() const; + real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; + Vector3 get_platform_velocity() const; + + int get_slide_collision_count() const; + PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const; + + CharacterBody3D(); + ~CharacterBody3D(); + private: 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; + }; + CollisionState() { + } + + CollisionState(bool p_floor, bool p_wall, bool p_ceiling) { + floor = p_floor; + wall = p_wall; + ceiling = p_ceiling; + } + }; + + CollisionState collision_state; bool floor_stop_on_slope = false; - int max_slides = 4; + bool floor_constant_speed = false; + bool floor_block_on_wall = true; + bool slide_on_ceiling = true; + int max_slides = 6; + int platform_layer; + RID platform_rid; + 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); - Vector3 snap; + real_t wall_min_slide_angle = Math::deg2rad((real_t)15.0); Vector3 up_direction = Vector3(0.0, 1.0, 0.0); - Vector3 linear_velocity; - Vector3 floor_normal; - Vector3 floor_velocity; - RID on_floor_body; - bool on_floor = false; - bool on_ceiling = false; - bool on_wall = false; + Vector3 wall_normal; + Vector3 last_motion; + Vector3 platform_velocity; + Vector3 previous_position; + Vector3 real_velocity; + Vector<PhysicsServer3D::MotionResult> motion_results; Vector<Ref<KinematicCollision3D>> slide_colliders; - Ref<KinematicCollision3D> _get_slide_collision(int p_bounce); - Ref<KinematicCollision3D> _get_last_slide_collision(); - - void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result); - void set_safe_margin(real_t p_margin); real_t get_safe_margin() const; bool is_floor_stop_on_slope_enabled() const; void set_floor_stop_on_slope_enabled(bool p_enabled); + bool is_floor_constant_speed_enabled() const; + void set_floor_constant_speed_enabled(bool p_enabled); + + bool is_floor_block_on_wall_enabled() const; + void set_floor_block_on_wall_enabled(bool p_enabled); + + bool is_slide_on_ceiling_enabled() const; + void set_slide_on_ceiling_enabled(bool p_enabled); + int get_max_slides() const; void set_max_slides(int p_max_slides); real_t get_floor_max_angle() const; void set_floor_max_angle(real_t p_radians); - const Vector3 &get_snap() const; - void set_snap(const Vector3 &p_snap); + real_t get_floor_snap_length(); + void set_floor_snap_length(real_t p_floor_snap_length); - const Vector3 &get_up_direction() const; - void set_up_direction(const Vector3 &p_up_direction); + real_t get_wall_min_slide_angle() const; + void set_wall_min_slide_angle(real_t p_radians); -protected: - void _notification(int p_what); - static void _bind_methods(); + uint32_t get_moving_platform_floor_layers() const; + void set_moving_platform_floor_layers(const uint32_t p_exclude_layer); -public: - bool move_and_slide(); + uint32_t get_moving_platform_wall_layers() const; + void set_moving_platform_wall_layers(const uint32_t p_exclude_layer); - virtual Vector3 get_linear_velocity() const override; - void set_linear_velocity(const Vector3 &p_velocity); + void set_motion_mode(MotionMode p_mode); + MotionMode get_motion_mode() const; - 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; - Vector3 get_floor_normal() const; - real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; - Vector3 get_platform_velocity() const; + void set_moving_platform_apply_velocity_on_leave(MovingPlatformApplyVelocityOnLeave p_on_leave_velocity); + MovingPlatformApplyVelocityOnLeave get_moving_platform_apply_velocity_on_leave() const; - int get_slide_collision_count() const; - PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const; + void _move_and_slide_free(double p_delta); + void _move_and_slide_grounded(double p_delta, bool p_was_on_floor); - CharacterBody3D(); - ~CharacterBody3D(); + 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 was_on_floor, bool 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 was_on_floor, bool vel_dir_facing_up); + +protected: + void _notification(int p_what); + static void _bind_methods(); + virtual void _validate_property(PropertyInfo &property) const override; }; +VARIANT_ENUM_CAST(CharacterBody3D::MotionMode); +VARIANT_ENUM_CAST(CharacterBody3D::MovingPlatformApplyVelocityOnLeave); + class KinematicCollision3D : public RefCounted { GDCLASS(KinematicCollision3D, RefCounted); @@ -360,19 +460,31 @@ protected: static void _bind_methods(); public: - Vector3 get_position() const; - Vector3 get_normal() const; Vector3 get_travel() const; Vector3 get_remainder() const; - real_t get_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; - Object *get_local_shape() const; - Object *get_collider() const; - ObjectID get_collider_id() const; - RID get_collider_rid() const; - Object *get_collider_shape() const; - int get_collider_shape_index() const; - Vector3 get_collider_velocity() const; - Variant get_collider_metadata() const; + 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; + Variant get_collider_metadata(int p_collision_index = 0) const; + + Vector3 get_best_position() const; + Vector3 get_best_normal() const; + Object *get_best_local_shape() const; + Object *get_best_collider() const; + ObjectID get_best_collider_id() const; + RID get_best_collider_rid() const; + Object *get_best_collider_shape() const; + int get_best_collider_shape_index() const; + Vector3 get_best_collider_velocity() const; + Variant get_best_collider_metadata() const; }; class PhysicalBone3D : public PhysicsBody3D { |