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Diffstat (limited to 'servers/physics_3d/godot_body_3d.h')
| -rw-r--r-- | servers/physics_3d/godot_body_3d.h | 372 |
1 files changed, 372 insertions, 0 deletions
diff --git a/servers/physics_3d/godot_body_3d.h b/servers/physics_3d/godot_body_3d.h new file mode 100644 index 0000000000..4993ea6a1b --- /dev/null +++ b/servers/physics_3d/godot_body_3d.h @@ -0,0 +1,372 @@ +/*************************************************************************/ +/* godot_body_3d.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* 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 */ +/* "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 GODOT_BODY_3D_H +#define GODOT_BODY_3D_H + +#include "godot_area_3d.h" +#include "godot_collision_object_3d.h" + +#include "core/templates/vset.h" + +class GodotConstraint3D; +class GodotPhysicsDirectBodyState3D; + +class GodotBody3D : public GodotCollisionObject3D { + 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 = 1.0; + real_t bounce = 0.0; + real_t friction = 1.0; + Vector3 inertia; + + PhysicsServer3D::BodyDampMode linear_damp_mode = PhysicsServer3D::BODY_DAMP_MODE_COMBINE; + PhysicsServer3D::BodyDampMode angular_damp_mode = PhysicsServer3D::BODY_DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; + + real_t total_linear_damp = 0.0; + real_t total_angular_damp = 0.0; + + real_t gravity_scale = 1.0; + + uint16_t locked_axis = 0; + + real_t _inv_mass = 1.0; + Vector3 _inv_inertia; // Relative to the principal axes of inertia + + // Relative to the local frame of reference + Basis principal_inertia_axes_local; + Vector3 center_of_mass_local; + + // In world orientation with local origin + Basis _inv_inertia_tensor; + Basis principal_inertia_axes; + Vector3 center_of_mass; + + bool calculate_inertia = true; + bool calculate_center_of_mass = true; + + Vector3 gravity; + + real_t still_time = 0.0; + + Vector3 applied_force; + Vector3 applied_torque; + + SelfList<GodotBody3D> active_list; + SelfList<GodotBody3D> mass_properties_update_list; + SelfList<GodotBody3D> direct_state_query_list; + + VSet<RID> exceptions; + bool omit_force_integration = false; + bool active = true; + + bool continuous_cd = false; + bool can_sleep = true; + bool first_time_kinematic = false; + + void _mass_properties_changed(); + virtual void _shapes_changed(); + Transform3D new_transform; + + Map<GodotConstraint3D *, int> constraint_map; + + Vector<AreaCMP> areas; + + struct Contact { + Vector3 local_pos; + Vector3 local_normal; + real_t depth = 0.0; + int local_shape = 0; + Vector3 collider_pos; + 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 = 0; + + void *body_state_callback_instance = nullptr; + PhysicsServer3D::BodyStateCallback body_state_callback = nullptr; + + struct ForceIntegrationCallbackData { + Callable callable; + Variant udata; + }; + + ForceIntegrationCallbackData *fi_callback_data = nullptr; + + GodotPhysicsDirectBodyState3D *direct_state = nullptr; + + uint64_t island_step = 0; + + void _compute_area_gravity_and_damping(const GodotArea3D *p_area); + + void _update_transform_dependent(); + + friend class GodotPhysicsDirectBodyState3D; // 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()); + + GodotPhysicsDirectBodyState3D *get_direct_state(); + + _FORCE_INLINE_ void add_area(GodotArea3D *p_area) { + int index = areas.find(AreaCMP(p_area)); + if (index > -1) { + areas.write[index].refCount += 1; + } else { + areas.ordered_insert(AreaCMP(p_area)); + } + } + + _FORCE_INLINE_ void remove_area(GodotArea3D *p_area) { + int index = areas.find(AreaCMP(p_area)); + if (index > -1) { + areas.write[index].refCount -= 1; + if (areas[index].refCount < 1) { + areas.remove(index); + } + } + } + + _FORCE_INLINE_ void set_max_contacts_reported(int p_size) { + contacts.resize(p_size); + contact_count = 0; + if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC && p_size) { + set_active(true); + } + } + _FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); } + + _FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); } + _FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos); + + _FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); } + _FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); } + _FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); } + _FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; } + + _FORCE_INLINE_ uint64_t get_island_step() const { return island_step; } + _FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; } + + _FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; } + _FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraint_map.erase(p_constraint); } + const Map<GodotConstraint3D *, int> &get_constraint_map() const { return constraint_map; } + _FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); } + + _FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; } + _FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; } + + _FORCE_INLINE_ Basis get_principal_inertia_axes() const { return principal_inertia_axes; } + _FORCE_INLINE_ Vector3 get_center_of_mass() const { return center_of_mass; } + _FORCE_INLINE_ Vector3 xform_local_to_principal(const Vector3 &p_pos) const { return principal_inertia_axes_local.xform(p_pos - center_of_mass_local); } + + _FORCE_INLINE_ void set_linear_velocity(const Vector3 &p_velocity) { linear_velocity = p_velocity; } + _FORCE_INLINE_ Vector3 get_linear_velocity() const { return linear_velocity; } + + _FORCE_INLINE_ void set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; } + _FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; } + + _FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; } + _FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; } + + _FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_impulse) { + linear_velocity += p_impulse * _inv_mass; + } + + _FORCE_INLINE_ void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) { + linear_velocity += p_impulse * _inv_mass; + angular_velocity += _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse)); + } + + _FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_impulse) { + angular_velocity += _inv_inertia_tensor.xform(p_impulse); + } + + _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3(), real_t p_max_delta_av = -1.0) { + biased_linear_velocity += p_impulse * _inv_mass; + if (p_max_delta_av != 0.0) { + Vector3 delta_av = _inv_inertia_tensor.xform((p_position - center_of_mass).cross(p_impulse)); + if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) { + delta_av = delta_av.normalized() * p_max_delta_av; + } + biased_angular_velocity += delta_av; + } + } + + _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_impulse) { + biased_angular_velocity += _inv_inertia_tensor.xform(p_impulse); + } + + _FORCE_INLINE_ void add_central_force(const Vector3 &p_force) { + applied_force += p_force; + } + + _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) { + applied_force += p_force; + applied_torque += (p_position - center_of_mass).cross(p_force); + } + + _FORCE_INLINE_ void add_torque(const Vector3 &p_torque) { + applied_torque += p_torque; + } + + void set_active(bool p_active); + _FORCE_INLINE_ bool is_active() const { return active; } + + _FORCE_INLINE_ void wakeup() { + if ((!get_space()) || mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) { + return; + } + set_active(true); + } + + 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; + + void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant); + Variant get_state(PhysicsServer3D::BodyState p_state) const; + + void set_applied_force(const Vector3 &p_force) { applied_force = p_force; } + Vector3 get_applied_force() const { return applied_force; } + + void set_applied_torque(const Vector3 &p_torque) { applied_torque = p_torque; } + Vector3 get_applied_torque() const { return applied_torque; } + + _FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; } + _FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; } + + void set_space(GodotSpace3D *p_space); + + 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; } + _FORCE_INLINE_ const Basis &get_inv_inertia_tensor() const { return _inv_inertia_tensor; } + _FORCE_INLINE_ real_t get_friction() const { return friction; } + _FORCE_INLINE_ real_t get_bounce() const { return bounce; } + + void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock); + bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const; + + void integrate_forces(real_t p_step); + void integrate_velocities(real_t p_step); + + _FORCE_INLINE_ Vector3 get_velocity_in_local_point(const Vector3 &rel_pos) const { + return linear_velocity + angular_velocity.cross(rel_pos - center_of_mass); + } + + _FORCE_INLINE_ real_t compute_impulse_denominator(const Vector3 &p_pos, const Vector3 &p_normal) const { + Vector3 r0 = p_pos - get_transform().origin - center_of_mass; + + Vector3 c0 = (r0).cross(p_normal); + + Vector3 vec = (_inv_inertia_tensor.xform_inv(c0)).cross(r0); + + return _inv_mass + p_normal.dot(vec); + } + + _FORCE_INLINE_ real_t compute_angular_impulse_denominator(const Vector3 &p_axis) const { + return p_axis.dot(_inv_inertia_tensor.xform_inv(p_axis)); + } + + //void simulate_motion(const Transform3D& p_xform,real_t p_step); + void call_queries(); + void wakeup_neighbours(); + + bool sleep_test(real_t p_step); + + GodotBody3D(); + ~GodotBody3D(); +}; + +//add contact inline + +void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) { + int c_max = contacts.size(); + + if (c_max == 0) { + return; + } + + Contact *c = contacts.ptrw(); + + int idx = -1; + + if (contact_count < c_max) { + idx = contact_count++; + } else { + real_t least_depth = 1e20; + int least_deep = -1; + for (int i = 0; i < c_max; i++) { + if (i == 0 || c[i].depth < least_depth) { + least_deep = i; + least_depth = c[i].depth; + } + } + + if (least_deep >= 0 && least_depth < p_depth) { + idx = least_deep; + } + if (idx == -1) { + return; //none least deepe than this + } + } + + c[idx].local_pos = p_local_pos; + c[idx].local_normal = p_local_normal; + c[idx].depth = p_depth; + c[idx].local_shape = p_local_shape; + c[idx].collider_pos = p_collider_pos; + c[idx].collider_shape = p_collider_shape; + c[idx].collider_instance_id = p_collider_instance_id; + c[idx].collider = p_collider; + c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; +} + +#endif // GODOT_BODY_3D_H |