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Diffstat (limited to 'scene/3d/physics_body_3d.h')
| -rw-r--r-- | scene/3d/physics_body_3d.h | 621 |
1 files changed, 621 insertions, 0 deletions
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h new file mode 100644 index 0000000000..9830a55183 --- /dev/null +++ b/scene/3d/physics_body_3d.h @@ -0,0 +1,621 @@ +/*************************************************************************/ +/* physics_body_3d.h */ +/*************************************************************************/ +/* 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. */ +/*************************************************************************/ + +#ifndef PHYSICS_BODY_3D_H +#define PHYSICS_BODY_3D_H + +#include "core/vset.h" +#include "scene/3d/collision_object_3d.h" +#include "scene/resources/physics_material.h" +#include "servers/physics_server_3d.h" +#include "skeleton_3d.h" + +class PhysicsBody3D : public CollisionObject3D { + GDCLASS(PhysicsBody3D, CollisionObject3D); + + uint32_t collision_layer; + uint32_t collision_mask; + + void _set_layers(uint32_t p_mask); + uint32_t _get_layers() const; + +protected: + static void _bind_methods(); + PhysicsBody3D(PhysicsServer3D::BodyMode p_mode); + +public: + virtual Vector3 get_linear_velocity() const; + virtual Vector3 get_angular_velocity() const; + virtual float get_inverse_mass() const; + + void set_collision_layer(uint32_t p_layer); + uint32_t get_collision_layer() const; + + void set_collision_mask(uint32_t p_mask); + uint32_t get_collision_mask() const; + + void set_collision_layer_bit(int p_bit, bool p_value); + bool get_collision_layer_bit(int p_bit) const; + + void set_collision_mask_bit(int p_bit, bool p_value); + bool get_collision_mask_bit(int p_bit) const; + + TypedArray<PhysicsBody3D> get_collision_exceptions(); + void add_collision_exception_with(Node *p_node); //must be physicsbody + void remove_collision_exception_with(Node *p_node); + + PhysicsBody3D(); +}; + +class StaticBody3D : public PhysicsBody3D { + GDCLASS(StaticBody3D, PhysicsBody3D); + + Vector3 constant_linear_velocity; + Vector3 constant_angular_velocity; + + Ref<PhysicsMaterial> physics_material_override; + +protected: + static void _bind_methods(); + +public: + void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override); + Ref<PhysicsMaterial> get_physics_material_override() const; + + void set_constant_linear_velocity(const Vector3 &p_vel); + void set_constant_angular_velocity(const Vector3 &p_vel); + + Vector3 get_constant_linear_velocity() const; + Vector3 get_constant_angular_velocity() const; + + StaticBody3D(); + ~StaticBody3D(); + +private: + void _reload_physics_characteristics(); +}; + +class RigidBody3D : public PhysicsBody3D { + GDCLASS(RigidBody3D, PhysicsBody3D); + +public: + enum Mode { + MODE_RIGID, + MODE_STATIC, + MODE_CHARACTER, + MODE_KINEMATIC, + }; + +protected: + bool can_sleep; + PhysicsDirectBodyState3D *state; + Mode mode; + + real_t mass; + Ref<PhysicsMaterial> physics_material_override; + + Vector3 linear_velocity; + Vector3 angular_velocity; + Basis inverse_inertia_tensor; + real_t gravity_scale; + real_t linear_damp; + real_t angular_damp; + + bool sleeping; + bool ccd; + + int max_contacts_reported; + + bool custom_integrator; + + struct ShapePair { + int body_shape; + int local_shape; + bool tagged; + bool operator<(const ShapePair &p_sp) const { + if (body_shape == p_sp.body_shape) { + return local_shape < p_sp.local_shape; + } else { + return body_shape < p_sp.body_shape; + } + } + + ShapePair() {} + ShapePair(int p_bs, int p_ls) { + body_shape = p_bs; + local_shape = p_ls; + tagged = false; + } + }; + struct RigidBody3D_RemoveAction { + ObjectID body_id; + ShapePair pair; + }; + struct BodyState { + //int rc; + bool in_tree; + VSet<ShapePair> shapes; + }; + + struct ContactMonitor { + bool locked; + Map<ObjectID, BodyState> body_map; + }; + + ContactMonitor *contact_monitor; + void _body_enter_tree(ObjectID p_id); + void _body_exit_tree(ObjectID p_id); + + void _body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape); + virtual void _direct_state_changed(Object *p_state); + + void _notification(int p_what); + static void _bind_methods(); + +public: + void set_mode(Mode p_mode); + Mode get_mode() const; + + void set_mass(real_t p_mass); + real_t get_mass() const; + + virtual float get_inverse_mass() const override { return 1.0 / mass; } + + void set_weight(real_t p_weight); + real_t get_weight() const; + + void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override); + Ref<PhysicsMaterial> get_physics_material_override() const; + + void set_linear_velocity(const Vector3 &p_velocity); + Vector3 get_linear_velocity() const override; + + void set_axis_velocity(const Vector3 &p_axis); + + void set_angular_velocity(const Vector3 &p_velocity); + Vector3 get_angular_velocity() const override; + + Basis get_inverse_inertia_tensor(); + + void set_gravity_scale(real_t p_gravity_scale); + real_t get_gravity_scale() const; + + void set_linear_damp(real_t p_linear_damp); + real_t get_linear_damp() const; + + void set_angular_damp(real_t p_angular_damp); + real_t get_angular_damp() const; + + void set_use_custom_integrator(bool p_enable); + bool is_using_custom_integrator(); + + void set_sleeping(bool p_sleeping); + bool is_sleeping() const; + + void set_can_sleep(bool p_active); + bool is_able_to_sleep() const; + + void set_contact_monitor(bool p_enabled); + bool is_contact_monitor_enabled() const; + + void set_max_contacts_reported(int p_amount); + int get_max_contacts_reported() const; + + 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); + + virtual String get_configuration_warning() const override; + + RigidBody3D(); + ~RigidBody3D(); + +private: + void _reload_physics_characteristics(); +}; + +VARIANT_ENUM_CAST(RigidBody3D::Mode); + +class KinematicCollision3D; + +class KinematicBody3D : public PhysicsBody3D { + GDCLASS(KinematicBody3D, PhysicsBody3D); + +public: + struct Collision { + Vector3 collision; + Vector3 normal; + Vector3 collider_vel; + ObjectID collider; + RID collider_rid; + int collider_shape; + Variant collider_metadata; + Vector3 remainder; + Vector3 travel; + int local_shape; + }; + +private: + Vector3 linear_velocity; + Vector3 angular_velocity; + + uint16_t locked_axis; + + float margin; + + Vector3 floor_normal; + Vector3 floor_velocity; + RID on_floor_body; + bool on_floor; + bool on_ceiling; + bool on_wall; + Vector<Collision> colliders; + Vector<Ref<KinematicCollision3D>> slide_colliders; + Ref<KinematicCollision3D> motion_cache; + + _FORCE_INLINE_ bool _ignores_mode(PhysicsServer3D::BodyMode) 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); + +protected: + void _notification(int p_what); + static void _bind_methods(); + + virtual void _direct_state_changed(Object *p_state); + +public: + virtual Vector3 get_linear_velocity() const override; + virtual Vector3 get_angular_velocity() const override; + + 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); + + bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision); + + void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock); + bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const; + + void set_safe_margin(float p_margin); + float get_safe_margin() const; + + 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, float p_floor_max_angle = Math::deg2rad((float)45), 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, float p_floor_max_angle = Math::deg2rad((float)45), 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; + + int get_slide_count() const; + Collision get_slide_collision(int p_bounce) const; + + KinematicBody3D(); + ~KinematicBody3D(); +}; + +class KinematicCollision3D : public Reference { + GDCLASS(KinematicCollision3D, Reference); + + KinematicBody3D *owner; + friend class KinematicBody3D; + KinematicBody3D::Collision collision; + +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(); +}; + +class PhysicalBone3D : public PhysicsBody3D { + GDCLASS(PhysicalBone3D, PhysicsBody3D); + +public: + enum JointType { + JOINT_TYPE_NONE, + JOINT_TYPE_PIN, + JOINT_TYPE_CONE, + JOINT_TYPE_HINGE, + JOINT_TYPE_SLIDER, + JOINT_TYPE_6DOF + }; + + struct JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_NONE; } + + /// "j" is used to set the parameter inside the PhysicsServer3D + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + virtual ~JointData() {} + }; + + struct PinJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_PIN; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t bias = 0.3; + real_t damping = 1.; + real_t impulse_clamp = 0; + + PinJointData() {} + }; + + struct ConeJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_CONE; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t swing_span; + real_t twist_span = Math_PI; + real_t bias = 0.3; + real_t softness = 0.8; + real_t relaxation = 1.; + + ConeJointData() : + swing_span(Math_PI * 0.25) {} + }; + + struct HingeJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + bool angular_limit_enabled = false; + real_t angular_limit_upper; + real_t angular_limit_lower; + real_t angular_limit_bias = 0.3; + real_t angular_limit_softness = 0.9; + real_t angular_limit_relaxation = 1.; + + HingeJointData() : + + angular_limit_upper(Math_PI * 0.5), + angular_limit_lower(-Math_PI * 0.5) {} + }; + + struct SliderJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + real_t linear_limit_upper = 1.; + real_t linear_limit_lower = -1.; + real_t linear_limit_softness = 1.; + real_t linear_limit_restitution = 0.7; + real_t linear_limit_damping = 1.; + real_t angular_limit_upper = 0; + real_t angular_limit_lower = 0; + real_t angular_limit_softness = 1.; + real_t angular_limit_restitution = 0.7; + real_t angular_limit_damping = 1.; + + SliderJointData() {} + }; + + struct SixDOFJointData : public JointData { + struct SixDOFAxisData { + bool linear_limit_enabled = true; + real_t linear_limit_upper = 0; + real_t linear_limit_lower = 0; + real_t linear_limit_softness = 0.7; + real_t linear_restitution = 0.5; + real_t linear_damping = 1.; + bool linear_spring_enabled = false; + real_t linear_spring_stiffness = 0; + real_t linear_spring_damping = 0; + real_t linear_equilibrium_point = 0; + bool angular_limit_enabled = true; + real_t angular_limit_upper = 0; + real_t angular_limit_lower = 0; + real_t angular_limit_softness = 0.5; + real_t angular_restitution = 0; + real_t angular_damping = 1.; + real_t erp = 0.5; + bool angular_spring_enabled = false; + real_t angular_spring_stiffness = 0; + real_t angular_spring_damping = 0.; + real_t angular_equilibrium_point = 0; + + SixDOFAxisData() {} + }; + + virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j = RID()); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List<PropertyInfo> *p_list) const; + + SixDOFAxisData axis_data[3]; + + SixDOFJointData() {} + }; + +private: +#ifdef TOOLS_ENABLED + // if false gizmo move body + bool gizmo_move_joint = false; +#endif + + JointData *joint_data = nullptr; + Transform joint_offset; + RID joint; + + Skeleton3D *parent_skeleton = nullptr; + Transform body_offset; + Transform body_offset_inverse; + bool simulate_physics = false; + bool _internal_simulate_physics = false; + int bone_id = -1; + + String bone_name; + real_t bounce = 0; + real_t mass = 1; + real_t friction = 1; + real_t gravity_scale = 1; + real_t linear_damp = -1; + real_t angular_damp = -1; + bool can_sleep = true; + +protected: + bool _set(const StringName &p_name, const Variant &p_value); + bool _get(const StringName &p_name, Variant &r_ret) const; + void _get_property_list(List<PropertyInfo> *p_list) const; + void _notification(int p_what); + void _direct_state_changed(Object *p_state); + + static void _bind_methods(); + +private: + static Skeleton3D *find_skeleton_parent(Node *p_parent); + + void _update_joint_offset(); + void _fix_joint_offset(); + void _reload_joint(); + +public: + void _on_bone_parent_changed(); + void _set_gizmo_move_joint(bool p_move_joint); + +public: +#ifdef TOOLS_ENABLED + virtual Transform get_global_gizmo_transform() const override; + virtual Transform get_local_gizmo_transform() const override; +#endif + + const JointData *get_joint_data() const; + Skeleton3D *find_skeleton_parent(); + + int get_bone_id() const { return bone_id; } + + void set_joint_type(JointType p_joint_type); + JointType get_joint_type() const; + + void set_joint_offset(const Transform &p_offset); + const Transform &get_joint_offset() const; + + void set_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_simulate_physics(bool p_simulate); + bool get_simulate_physics(); + bool is_simulating_physics(); + + void set_bone_name(const String &p_name); + const String &get_bone_name() const; + + void set_mass(real_t p_mass); + real_t get_mass() const; + + void set_weight(real_t p_weight); + real_t get_weight() const; + + void set_friction(real_t p_friction); + real_t get_friction() const; + + void set_bounce(real_t p_bounce); + real_t get_bounce() const; + + void set_gravity_scale(real_t p_gravity_scale); + real_t get_gravity_scale() const; + + void set_linear_damp(real_t p_linear_damp); + real_t get_linear_damp() const; + + void set_angular_damp(real_t p_angular_damp); + real_t get_angular_damp() const; + + 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()); + + void reset_physics_simulation_state(); + void reset_to_rest_position(); + + PhysicalBone3D(); + ~PhysicalBone3D(); + +private: + void update_bone_id(); + void update_offset(); + + void _start_physics_simulation(); + void _stop_physics_simulation(); +}; + +VARIANT_ENUM_CAST(PhysicalBone3D::JointType); + +#endif // PHYSICS_BODY__H |