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-rw-r--r--scene/3d/physics_body_3d.h359
1 files changed, 177 insertions, 182 deletions
diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h
index 4c58c73942..26b9a39047 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) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 */
@@ -31,47 +31,43 @@
#ifndef PHYSICS_BODY_3D_H
#define PHYSICS_BODY_3D_H
-#include "core/vset.h"
+#include "core/templates/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 KinematicCollision3D;
+
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;
+ Ref<KinematicCollision3D> motion_cache;
+
+ uint16_t locked_axis = 0;
- void set_collision_layer(uint32_t p_layer);
- uint32_t get_collision_layer() const;
+ Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001);
- void set_collision_mask(uint32_t p_mask);
- uint32_t get_collision_mask() const;
+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, 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);
- void set_collision_layer_bit(int p_bit, bool p_value);
- bool get_collision_layer_bit(int p_bit) const;
+ void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
+ bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
- void set_collision_mask_bit(int p_bit, bool p_value);
- bool get_collision_mask_bit(int p_bit) const;
+ virtual Vector3 get_linear_velocity() const;
+ virtual Vector3 get_angular_velocity() const;
+ virtual real_t get_inverse_mass() 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();
+ virtual ~PhysicsBody3D();
};
class StaticBody3D : public PhysicsBody3D {
@@ -80,9 +76,20 @@ class StaticBody3D : public PhysicsBody3D {
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;
+
+ void _direct_state_changed(Object *p_state);
+
protected:
+ void _notification(int p_what);
static void _bind_methods();
public:
@@ -95,11 +102,23 @@ 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;
+
+ virtual TypedArray<String> get_configuration_warnings() const override;
+
StaticBody3D();
- ~StaticBody3D();
private:
void _reload_physics_characteristics();
+
+ void _update_kinematic_motion();
+
+ void set_kinematic_motion_enabled(bool p_enabled);
+ bool is_kinematic_motion_enabled() const;
+
+ void set_sync_to_physics(bool p_enable);
+ bool is_sync_to_physics_enabled() const;
};
class RigidBody3D : public PhysicsBody3D {
@@ -107,37 +126,40 @@ class RigidBody3D : public PhysicsBody3D {
public:
enum Mode {
- MODE_RIGID,
+ MODE_DYNAMIC,
MODE_STATIC,
- MODE_CHARACTER,
+ MODE_DYNAMIC_LOCKED,
MODE_KINEMATIC,
};
+ GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
+
protected:
- bool can_sleep;
- PhysicsDirectBodyState3D *state;
- Mode mode;
+ bool can_sleep = true;
+ PhysicsDirectBodyState3D *state = nullptr;
+ Mode mode = MODE_DYNAMIC;
- real_t mass;
+ real_t mass = 1.0;
Ref<PhysicsMaterial> physics_material_override;
Vector3 linear_velocity;
Vector3 angular_velocity;
- real_t gravity_scale;
- real_t linear_damp;
- real_t angular_damp;
+ Basis inverse_inertia_tensor;
+ real_t gravity_scale = 1.0;
+ real_t linear_damp = -1.0;
+ real_t angular_damp = -1.0;
- bool sleeping;
- bool ccd;
+ bool sleeping = false;
+ bool ccd = false;
- int max_contacts_reported;
+ int max_contacts_reported = 0;
- bool custom_integrator;
+ bool custom_integrator = false;
struct ShapePair {
- int body_shape;
- int local_shape;
- bool tagged;
+ int body_shape = 0;
+ int local_shape = 0;
+ bool tagged = false;
bool operator<(const ShapePair &p_sp) const {
if (body_shape == p_sp.body_shape) {
return local_shape < p_sp.local_shape;
@@ -154,25 +176,27 @@ protected:
}
};
struct RigidBody3D_RemoveAction {
+ RID rid;
ObjectID body_id;
ShapePair pair;
};
struct BodyState {
+ RID rid;
//int rc;
- bool in_tree;
+ bool in_tree = false;
VSet<ShapePair> shapes;
};
struct ContactMonitor {
- bool locked;
+ bool locked = false;
Map<ObjectID, BodyState> body_map;
};
- ContactMonitor *contact_monitor;
+ ContactMonitor *contact_monitor = nullptr;
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);
+ 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);
void _notification(int p_what);
@@ -185,21 +209,20 @@ public:
void set_mass(real_t p_mass);
real_t get_mass() const;
- virtual float get_inverse_mass() const { return 1.0 / mass; }
-
- void set_weight(real_t p_weight);
- real_t get_weight() const;
+ virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
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;
+ 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;
+ Vector3 get_angular_velocity() const override;
+
+ Basis get_inverse_inertia_tensor() const;
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;
@@ -228,20 +251,17 @@ 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_pos);
+ 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_pos, 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;
+ virtual TypedArray<String> get_configuration_warnings() const override;
RigidBody3D();
~RigidBody3D();
@@ -254,88 +274,86 @@ 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;
- };
+class CharacterBody3D : public PhysicsBody3D {
+ GDCLASS(CharacterBody3D, PhysicsBody3D);
private:
- Vector3 linear_velocity;
- Vector3 angular_velocity;
+ real_t margin = 0.001;
- uint16_t locked_axis;
+ bool floor_stop_on_slope = false;
+ int max_slides = 4;
+ real_t floor_max_angle = Math::deg2rad((real_t)45.0);
+ Vector3 snap;
+ Vector3 up_direction = Vector3(0.0, 1.0, 0.0);
- float margin;
+ Vector3 linear_velocity;
Vector3 floor_normal;
Vector3 floor_velocity;
RID on_floor_body;
- bool on_floor;
- bool on_ceiling;
- bool on_wall;
- Vector<Collision> colliders;
+ bool on_floor = false;
+ bool on_ceiling = false;
+ bool on_wall = false;
+ Vector<PhysicsServer3D::MotionResult> motion_results;
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);
+ Ref<KinematicCollision3D> _get_last_slide_collision();
-protected:
- void _notification(int p_what);
- static void _bind_methods();
+ void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result);
- virtual void _direct_state_changed(Object *p_state);
+ void set_safe_margin(real_t p_margin);
+ real_t get_safe_margin() const;
-public:
- virtual Vector3 get_linear_velocity() const;
- virtual Vector3 get_angular_velocity() const;
+ bool is_floor_stop_on_slope_enabled() const;
+ void set_floor_stop_on_slope_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;
+ const Vector3 &get_snap() const;
+ void set_snap(const Vector3 &p_snap);
- void set_safe_margin(float p_margin);
- float get_safe_margin() const;
+ const Vector3 &get_up_direction() const;
+ void set_up_direction(const Vector3 &p_up_direction);
+
+protected:
+ void _notification(int p_what);
+ static void _bind_methods();
+
+public:
+ bool move_and_slide();
+
+ virtual Vector3 get_linear_velocity() const override;
+ void set_linear_velocity(const Vector3 &p_velocity);
- 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_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;
- Vector3 get_floor_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_count() const;
- Collision get_slide_collision(int p_bounce) const;
+ int get_slide_collision_count() const;
+ PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const;
- KinematicBody3D();
- ~KinematicBody3D();
+ CharacterBody3D();
+ ~CharacterBody3D();
};
-class KinematicCollision3D : public Reference {
- GDCLASS(KinematicCollision3D, Reference);
+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();
@@ -345,15 +363,15 @@ public:
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;
-
- KinematicCollision3D();
};
class PhysicalBone3D : public PhysicsBody3D {
@@ -373,7 +391,7 @@ public:
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 _set(const StringName &p_name, const Variant &p_value, RID j);
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
@@ -383,105 +401,91 @@ public:
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 _set(const StringName &p_name, const Variant &p_value, RID j);
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() {}
+ real_t damping = 1.0;
+ real_t impulse_clamp = 0.0;
};
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 _set(const StringName &p_name, const Variant &p_value, RID j);
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 swing_span = Math_PI * 0.25;
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 _set(const StringName &p_name, const Variant &p_value, RID j);
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_upper = Math_PI * 0.5;
+ real_t angular_limit_lower = -Math_PI * 0.5;
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 _set(const StringName &p_name, const Variant &p_value, RID j);
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_upper = 1.0;
+ real_t linear_limit_lower = -1.0;
+ real_t linear_limit_softness = 1.0;
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 linear_limit_damping = 1.0;
+ real_t angular_limit_upper = 0.0;
+ real_t angular_limit_lower = 0.0;
+ real_t angular_limit_softness = 1.0;
real_t angular_limit_restitution = 0.7;
- real_t angular_limit_damping = 1.;
-
- SliderJointData() {}
+ real_t angular_limit_damping = 1.0;
};
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_upper = 0.0;
+ real_t linear_limit_lower = 0.0;
real_t linear_limit_softness = 0.7;
real_t linear_restitution = 0.5;
- real_t linear_damping = 1.;
+ real_t linear_damping = 1.0;
bool linear_spring_enabled = false;
- real_t linear_spring_stiffness = 0;
- real_t linear_spring_damping = 0;
- real_t linear_equilibrium_point = 0;
+ real_t linear_spring_stiffness = 0.0;
+ real_t linear_spring_damping = 0.0;
+ real_t linear_equilibrium_point = 0.0;
bool angular_limit_enabled = true;
- real_t angular_limit_upper = 0;
- real_t angular_limit_lower = 0;
+ real_t angular_limit_upper = 0.0;
+ real_t angular_limit_lower = 0.0;
real_t angular_limit_softness = 0.5;
- real_t angular_restitution = 0;
- real_t angular_damping = 1.;
+ real_t angular_restitution = 0.0;
+ real_t angular_damping = 1.0;
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() {}
+ real_t angular_spring_stiffness = 0.0;
+ real_t angular_spring_damping = 0.0;
+ real_t angular_equilibrium_point = 0.0;
};
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 _set(const StringName &p_name, const Variant &p_value, RID j);
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
@@ -497,23 +501,23 @@ 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;
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;
+ real_t bounce = 0.0;
+ real_t mass = 1.0;
+ real_t friction = 1.0;
+ real_t gravity_scale = 1.0;
+ real_t linear_damp = -1.0;
+ real_t angular_damp = -1.0;
bool can_sleep = true;
protected:
@@ -538,8 +542,8 @@ public:
public:
#ifdef TOOLS_ENABLED
- virtual Transform get_global_gizmo_transform() const;
- virtual Transform get_local_gizmo_transform() const;
+ virtual Transform3D get_global_gizmo_transform() const override;
+ virtual Transform3D get_local_gizmo_transform() const override;
#endif
const JointData *get_joint_data() const;
@@ -550,17 +554,14 @@ 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();
@@ -572,9 +573,6 @@ public:
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;
@@ -593,11 +591,8 @@ 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_pos, 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();