diff options
Diffstat (limited to 'servers/physics_3d/body_3d_sw.h')
| -rw-r--r-- | servers/physics_3d/body_3d_sw.h | 172 |
1 files changed, 48 insertions, 124 deletions
diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/body_3d_sw.h index 130be2d42f..fc47040389 100644 --- a/servers/physics_3d/body_3d_sw.h +++ b/servers/physics_3d/body_3d_sw.h @@ -28,34 +28,39 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_SW_H -#define BODY_SW_H +#ifndef BODY_3D_SW_H +#define BODY_3D_SW_H #include "area_3d_sw.h" #include "collision_object_3d_sw.h" #include "core/templates/vset.h" class Constraint3DSW; +class PhysicsDirectBodyState3DSW; class Body3DSW : public CollisionObject3DSW { - PhysicsServer3D::BodyMode mode; + PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_DYNAMIC; Vector3 linear_velocity; Vector3 angular_velocity; + Vector3 constant_linear_velocity; + Vector3 constant_angular_velocity; + Vector3 biased_linear_velocity; Vector3 biased_angular_velocity; - real_t mass; - real_t bounce; - real_t friction; + real_t mass = 1.0; + real_t bounce = 0.0; + real_t friction = 1.0; + Vector3 inertia; - real_t linear_damp; - real_t angular_damp; - real_t gravity_scale; + real_t linear_damp = -1.0; + real_t angular_damp = -1.0; + real_t gravity_scale = 1.0; uint16_t locked_axis = 0; - real_t _inv_mass; + real_t _inv_mass = 1.0; Vector3 _inv_inertia; // Relative to the principal axes of inertia // Relative to the local frame of reference @@ -67,30 +72,32 @@ class Body3DSW : public CollisionObject3DSW { Basis principal_inertia_axes; Vector3 center_of_mass; + bool calculate_inertia = true; + bool calculate_center_of_mass = true; + Vector3 gravity; - real_t still_time; + real_t still_time = 0.0; Vector3 applied_force; Vector3 applied_torque; - real_t area_angular_damp; - real_t area_linear_damp; + real_t area_angular_damp = 0.0; + real_t area_linear_damp = 0.0; SelfList<Body3DSW> active_list; - SelfList<Body3DSW> inertia_update_list; + SelfList<Body3DSW> mass_properties_update_list; SelfList<Body3DSW> direct_state_query_list; VSet<RID> exceptions; - bool omit_force_integration; - bool active; + bool omit_force_integration = false; + bool active = true; - bool first_integration; + bool continuous_cd = false; + bool can_sleep = true; + bool first_time_kinematic = false; - bool continuous_cd; - bool can_sleep; - bool first_time_kinematic; - void _update_inertia(); + void _mass_properties_changed(); virtual void _shapes_changed(); Transform3D new_transform; @@ -101,26 +108,31 @@ class Body3DSW : public CollisionObject3DSW { struct Contact { Vector3 local_pos; Vector3 local_normal; - real_t depth; - int local_shape; + real_t depth = 0.0; + int local_shape = 0; Vector3 collider_pos; - int collider_shape; + int collider_shape = 0; ObjectID collider_instance_id; RID collider; Vector3 collider_velocity_at_pos; }; Vector<Contact> contacts; //no contacts by default - int contact_count; + int contact_count = 0; + + void *body_state_callback_instance = nullptr; + PhysicsServer3D::BodyStateCallback body_state_callback = nullptr; - struct ForceIntegrationCallback { + struct ForceIntegrationCallbackData { Callable callable; Variant udata; }; - ForceIntegrationCallback *fi_callback; + ForceIntegrationCallbackData *fi_callback_data = nullptr; - uint64_t island_step; + PhysicsDirectBodyState3DSW *direct_state = nullptr; + + uint64_t island_step = 0; _FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area3DSW *p_area); @@ -129,8 +141,11 @@ class Body3DSW : public CollisionObject3DSW { friend class PhysicsDirectBodyState3DSW; // i give up, too many functions to expose public: + void set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback); void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant()); + PhysicsDirectBodyState3DSW *get_direct_state(); + _FORCE_INLINE_ void add_area(Area3DSW *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { @@ -242,8 +257,8 @@ public: set_active(true); } - void set_param(PhysicsServer3D::BodyParameter p_param, real_t); - real_t get_param(PhysicsServer3D::BodyParameter p_param) const; + void set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value); + Variant get_param(PhysicsServer3D::BodyParameter p_param) const; void set_mode(PhysicsServer3D::BodyMode p_mode); PhysicsServer3D::BodyMode get_mode() const; @@ -262,7 +277,8 @@ public: void set_space(Space3DSW *p_space); - void update_inertias(); + void update_mass_properties(); + void reset_mass_properties(); _FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; } _FORCE_INLINE_ const Vector3 &get_inv_inertia() const { return _inv_inertia; } @@ -349,96 +365,4 @@ void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_no c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; } -class PhysicsDirectBodyState3DSW : public PhysicsDirectBodyState3D { - GDCLASS(PhysicsDirectBodyState3DSW, PhysicsDirectBodyState3D); - -public: - static PhysicsDirectBodyState3DSW *singleton; - Body3DSW *body; - real_t step; - - virtual Vector3 get_total_gravity() const override { return body->gravity; } // get gravity vector working on this body space/area - virtual real_t get_total_angular_damp() const override { return body->area_angular_damp; } // get density of this body space/area - virtual real_t get_total_linear_damp() const override { return body->area_linear_damp; } // get density of this body space/area - - virtual Vector3 get_center_of_mass() const override { return body->get_center_of_mass(); } - virtual Basis get_principal_inertia_axes() const override { return body->get_principal_inertia_axes(); } - - virtual real_t get_inverse_mass() const override { return body->get_inv_mass(); } // get the mass - virtual Vector3 get_inverse_inertia() const override { return body->get_inv_inertia(); } // get density of this body space - virtual Basis get_inverse_inertia_tensor() const override { return body->get_inv_inertia_tensor(); } // get density of this body space - - virtual void set_linear_velocity(const Vector3 &p_velocity) override { body->set_linear_velocity(p_velocity); } - virtual Vector3 get_linear_velocity() const override { return body->get_linear_velocity(); } - - virtual void set_angular_velocity(const Vector3 &p_velocity) override { body->set_angular_velocity(p_velocity); } - virtual Vector3 get_angular_velocity() const override { return body->get_angular_velocity(); } - - virtual void set_transform(const Transform3D &p_transform) override { body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform); } - virtual Transform3D get_transform() const override { return body->get_transform(); } - - virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const override { return body->get_velocity_in_local_point(p_position); } - - virtual void add_central_force(const Vector3 &p_force) override { body->add_central_force(p_force); } - virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) override { - body->add_force(p_force, p_position); - } - virtual void add_torque(const Vector3 &p_torque) override { body->add_torque(p_torque); } - virtual void apply_central_impulse(const Vector3 &p_impulse) override { body->apply_central_impulse(p_impulse); } - virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override { - body->apply_impulse(p_impulse, p_position); - } - virtual void apply_torque_impulse(const Vector3 &p_impulse) override { body->apply_torque_impulse(p_impulse); } - - virtual void set_sleep_state(bool p_sleep) override { body->set_active(!p_sleep); } - virtual bool is_sleeping() const override { return !body->is_active(); } - - virtual int get_contact_count() const override { return body->contact_count; } - - virtual Vector3 get_contact_local_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); - return body->contacts[p_contact_idx].local_pos; - } - virtual Vector3 get_contact_local_normal(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); - return body->contacts[p_contact_idx].local_normal; - } - virtual real_t get_contact_impulse(int p_contact_idx) const override { - return 0.0f; // Only implemented for bullet - } - virtual int get_contact_local_shape(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); - return body->contacts[p_contact_idx].local_shape; - } - - virtual RID get_contact_collider(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID()); - return body->contacts[p_contact_idx].collider; - } - virtual Vector3 get_contact_collider_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); - return body->contacts[p_contact_idx].collider_pos; - } - virtual ObjectID get_contact_collider_id(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); - return body->contacts[p_contact_idx].collider_instance_id; - } - virtual int get_contact_collider_shape(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0); - return body->contacts[p_contact_idx].collider_shape; - } - virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); - return body->contacts[p_contact_idx].collider_velocity_at_pos; - } - - virtual PhysicsDirectSpaceState3D *get_space_state() override; - - virtual real_t get_step() const override { return step; } - PhysicsDirectBodyState3DSW() { - singleton = this; - body = nullptr; - } -}; - -#endif // BODY__SW_H +#endif // BODY_3D_SW_H |