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Diffstat (limited to 'servers/physics_server.cpp')
| -rw-r--r-- | servers/physics_server.cpp | 420 |
1 files changed, 420 insertions, 0 deletions
diff --git a/servers/physics_server.cpp b/servers/physics_server.cpp new file mode 100644 index 0000000000..69a2adae77 --- /dev/null +++ b/servers/physics_server.cpp @@ -0,0 +1,420 @@ +/*************************************************************************/ +/* physics_server.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* 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. */ +/*************************************************************************/ +#include "physics_server.h" +#include "print_string.h" +PhysicsServer * PhysicsServer::singleton=NULL; + + +void PhysicsDirectBodyState::integrate_forces() { + + real_t step = get_step(); + Vector3 lv = get_linear_velocity(); + lv+=get_total_gravity() * step; + + Vector3 av = get_angular_velocity(); + + float damp = 1.0 - step * get_total_density(); + + if (damp<0) // reached zero in the given time + damp=0; + + lv*=damp; + av*=damp; + + set_linear_velocity(lv); + set_angular_velocity(av); + + + + +} + +Object* PhysicsDirectBodyState::get_contact_collider_object(int p_contact_idx) const { + + ObjectID objid = get_contact_collider_id(p_contact_idx); + Object *obj = ObjectDB::get_instance( objid ); + return obj; +} + +PhysicsServer * PhysicsServer::get_singleton() { + + return singleton; +} + +void PhysicsDirectBodyState::_bind_methods() { + + ObjectTypeDB::bind_method(_MD("get_total_gravity"),&PhysicsDirectBodyState::get_total_gravity); + ObjectTypeDB::bind_method(_MD("get_total_density"),&PhysicsDirectBodyState::get_total_density); + + ObjectTypeDB::bind_method(_MD("get_inverse_mass"),&PhysicsDirectBodyState::get_inverse_mass); + ObjectTypeDB::bind_method(_MD("get_inverse_inertia"),&PhysicsDirectBodyState::get_inverse_inertia); + + ObjectTypeDB::bind_method(_MD("set_linear_velocity","velocity"),&PhysicsDirectBodyState::set_linear_velocity); + ObjectTypeDB::bind_method(_MD("get_linear_velocity"),&PhysicsDirectBodyState::get_linear_velocity); + + ObjectTypeDB::bind_method(_MD("set_angular_velocity","velocity"),&PhysicsDirectBodyState::set_angular_velocity); + ObjectTypeDB::bind_method(_MD("get_angular_velocity"),&PhysicsDirectBodyState::get_angular_velocity); + + ObjectTypeDB::bind_method(_MD("set_transform","transform"),&PhysicsDirectBodyState::set_transform); + ObjectTypeDB::bind_method(_MD("get_transform"),&PhysicsDirectBodyState::get_transform); + + ObjectTypeDB::bind_method(_MD("add_force","force","pos"),&PhysicsDirectBodyState::add_force); + + ObjectTypeDB::bind_method(_MD("set_sleep_state","enabled"),&PhysicsDirectBodyState::set_sleep_state); + ObjectTypeDB::bind_method(_MD("is_sleeping"),&PhysicsDirectBodyState::is_sleeping); + + ObjectTypeDB::bind_method(_MD("get_contact_count"),&PhysicsDirectBodyState::get_contact_count); + + ObjectTypeDB::bind_method(_MD("get_contact_local_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_local_pos); + ObjectTypeDB::bind_method(_MD("get_contact_local_normal","contact_idx"),&PhysicsDirectBodyState::get_contact_local_normal); + ObjectTypeDB::bind_method(_MD("get_contact_local_shape","contact_idx"),&PhysicsDirectBodyState::get_contact_local_shape); + ObjectTypeDB::bind_method(_MD("get_contact_collider","contact_idx"),&PhysicsDirectBodyState::get_contact_collider); + ObjectTypeDB::bind_method(_MD("get_contact_collider_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_pos); + ObjectTypeDB::bind_method(_MD("get_contact_collider_id","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_id); + ObjectTypeDB::bind_method(_MD("get_contact_collider_object","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_object); + ObjectTypeDB::bind_method(_MD("get_contact_collider_shape","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_shape); + ObjectTypeDB::bind_method(_MD("get_contact_collider_velocity_at_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_velocity_at_pos); + ObjectTypeDB::bind_method(_MD("get_step"),&PhysicsDirectBodyState::get_step); + ObjectTypeDB::bind_method(_MD("integrate_forces"),&PhysicsDirectBodyState::integrate_forces); + ObjectTypeDB::bind_method(_MD("get_space_state:PhysicsDirectSpaceState"),&PhysicsDirectBodyState::get_space_state); + +} + +PhysicsDirectBodyState::PhysicsDirectBodyState() {} + +/////////////////////////////////////////////////////// + + + +Variant PhysicsDirectSpaceState::_intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector<RID>& p_exclude,uint32_t p_user_mask) { + + RayResult inters; + Set<RID> exclude; + for(int i=0;i<p_exclude.size();i++) + exclude.insert(p_exclude[i]); + + bool res = intersect_ray(p_from,p_to,inters,exclude,p_user_mask); + + if (!res) + return Variant(); + + Dictionary d; + d["position"]=inters.position; + d["normal"]=inters.normal; + d["collider_id"]=inters.collider_id; + d["collider"]=inters.collider; + d["shape"]=inters.shape; + d["rid"]=inters.rid; + + return d; +} + +Variant PhysicsDirectSpaceState::_intersect_shape(const RID& p_shape, const Transform& p_xform,int p_result_max,const Vector<RID>& p_exclude,uint32_t p_user_mask) { + + + + ERR_FAIL_INDEX_V(p_result_max,4096,Variant()); + if (p_result_max<=0) + return Variant(); + + Set<RID> exclude; + for(int i=0;i<p_exclude.size();i++) + exclude.insert(p_exclude[i]); + + ShapeResult *res=(ShapeResult*)alloca(p_result_max*sizeof(ShapeResult)); + + int rc = intersect_shape(p_shape,p_xform,res,p_result_max,exclude,p_user_mask); + + if (rc==0) + return Variant(); + + Ref<PhysicsShapeQueryResult> result = memnew( PhysicsShapeQueryResult ); + result->result.resize(rc); + for(int i=0;i<rc;i++) + result->result[i]=res[i]; + + return result; + +} + + + + + +PhysicsDirectSpaceState::PhysicsDirectSpaceState() { + + + +} + + +void PhysicsDirectSpaceState::_bind_methods() { + + + ObjectTypeDB::bind_method(_MD("intersect_ray","from","to","exclude","umask"),&PhysicsDirectSpaceState::_intersect_ray,DEFVAL(Array()),DEFVAL(0)); + ObjectTypeDB::bind_method(_MD("intersect_shape:PhysicsShapeQueryResult","shape","xform","result_max","exclude","umask"),&PhysicsDirectSpaceState::_intersect_shape,DEFVAL(Array()),DEFVAL(0)); + +} + + +int PhysicsShapeQueryResult::get_result_count() const { + + return result.size(); +} +RID PhysicsShapeQueryResult::get_result_rid(int p_idx) const { + + return result[p_idx].rid; +} +ObjectID PhysicsShapeQueryResult::get_result_object_id(int p_idx) const { + + return result[p_idx].collider_id; +} +Object* PhysicsShapeQueryResult::get_result_object(int p_idx) const { + + return result[p_idx].collider; +} +int PhysicsShapeQueryResult::get_result_object_shape(int p_idx) const { + + return result[p_idx].shape; +} + +PhysicsShapeQueryResult::PhysicsShapeQueryResult() { + + +} + +void PhysicsShapeQueryResult::_bind_methods() { + + ObjectTypeDB::bind_method(_MD("get_result_count"),&PhysicsShapeQueryResult::get_result_count); + ObjectTypeDB::bind_method(_MD("get_result_rid","idx"),&PhysicsShapeQueryResult::get_result_rid); + ObjectTypeDB::bind_method(_MD("get_result_object_id","idx"),&PhysicsShapeQueryResult::get_result_object_id); + ObjectTypeDB::bind_method(_MD("get_result_object","idx"),&PhysicsShapeQueryResult::get_result_object); + ObjectTypeDB::bind_method(_MD("get_result_object_shape","idx"),&PhysicsShapeQueryResult::get_result_object_shape); + + +} + + + + + + +/////////////////////////////////////// + +void PhysicsServer::_bind_methods() { + + + ObjectTypeDB::bind_method(_MD("shape_create","type"),&PhysicsServer::shape_create); + ObjectTypeDB::bind_method(_MD("shape_set_data","shape","data"),&PhysicsServer::shape_set_data); + + ObjectTypeDB::bind_method(_MD("shape_get_type","shape"),&PhysicsServer::shape_get_type); + ObjectTypeDB::bind_method(_MD("shape_get_data","shape"),&PhysicsServer::shape_get_data); + + + ObjectTypeDB::bind_method(_MD("space_create"),&PhysicsServer::space_create); + ObjectTypeDB::bind_method(_MD("space_set_active","space","active"),&PhysicsServer::space_set_active); + ObjectTypeDB::bind_method(_MD("space_is_active","space"),&PhysicsServer::space_is_active); + ObjectTypeDB::bind_method(_MD("space_set_param","space","param","value"),&PhysicsServer::space_set_param); + ObjectTypeDB::bind_method(_MD("space_get_param","space","param"),&PhysicsServer::space_get_param); + ObjectTypeDB::bind_method(_MD("space_get_direct_state:PhysicsDirectSpaceState","space"),&PhysicsServer::space_get_direct_state); + + ObjectTypeDB::bind_method(_MD("area_create"),&PhysicsServer::area_create); + ObjectTypeDB::bind_method(_MD("area_set_space","area","space"),&PhysicsServer::area_set_space); + ObjectTypeDB::bind_method(_MD("area_get_space","area"),&PhysicsServer::area_get_space); + + ObjectTypeDB::bind_method(_MD("area_set_space_override_mode","area","mode"),&PhysicsServer::area_set_space_override_mode); + ObjectTypeDB::bind_method(_MD("area_get_space_override_mode","area"),&PhysicsServer::area_get_space_override_mode); + + ObjectTypeDB::bind_method(_MD("area_add_shape","area","shape","transform"),&PhysicsServer::area_set_shape,DEFVAL(Transform())); + ObjectTypeDB::bind_method(_MD("area_set_shape","area","shape_idx","shape"),&PhysicsServer::area_get_shape); + ObjectTypeDB::bind_method(_MD("area_set_shape_transform","area","shape_idx","transform"),&PhysicsServer::area_set_shape_transform); + + ObjectTypeDB::bind_method(_MD("area_get_shape_count","area"),&PhysicsServer::area_get_shape_count); + ObjectTypeDB::bind_method(_MD("area_get_shape","area","shape_idx"),&PhysicsServer::area_get_shape); + ObjectTypeDB::bind_method(_MD("area_get_shape_transform","area","shape_idx"),&PhysicsServer::area_get_shape_transform); + + ObjectTypeDB::bind_method(_MD("area_remove_shape","area","shape_idx"),&PhysicsServer::area_remove_shape); + ObjectTypeDB::bind_method(_MD("area_clear_shapes","area"),&PhysicsServer::area_clear_shapes); + + + ObjectTypeDB::bind_method(_MD("area_set_param","area","param","value"),&PhysicsServer::area_get_param); + ObjectTypeDB::bind_method(_MD("area_set_transform","area","transform"),&PhysicsServer::area_get_transform); + + ObjectTypeDB::bind_method(_MD("area_get_param","area","param"),&PhysicsServer::area_get_param); + ObjectTypeDB::bind_method(_MD("area_get_transform","area"),&PhysicsServer::area_get_transform); + + ObjectTypeDB::bind_method(_MD("area_attach_object_instance_ID","area","id"),&PhysicsServer::area_attach_object_instance_ID); + ObjectTypeDB::bind_method(_MD("area_get_object_instance_ID","area"),&PhysicsServer::area_get_object_instance_ID); + + ObjectTypeDB::bind_method(_MD("area_set_monitor_callback","receiver","method"),&PhysicsServer::area_set_monitor_callback); + + ObjectTypeDB::bind_method(_MD("body_create","mode","init_sleeping"),&PhysicsServer::body_create,DEFVAL(BODY_MODE_RIGID),DEFVAL(false)); + + ObjectTypeDB::bind_method(_MD("body_set_space","body","space"),&PhysicsServer::body_set_space); + ObjectTypeDB::bind_method(_MD("body_get_space","body"),&PhysicsServer::body_get_space); + + ObjectTypeDB::bind_method(_MD("body_set_mode","body","mode"),&PhysicsServer::body_set_mode); + ObjectTypeDB::bind_method(_MD("body_get_mode","body"),&PhysicsServer::body_get_mode); + + ObjectTypeDB::bind_method(_MD("body_add_shape","body","shape","transform"),&PhysicsServer::body_add_shape,DEFVAL(Transform())); + ObjectTypeDB::bind_method(_MD("body_set_shape","body","shape_idx","shape"),&PhysicsServer::body_set_shape); + ObjectTypeDB::bind_method(_MD("body_set_shape_transform","body","shape_idx","transform"),&PhysicsServer::body_set_shape_transform); + + ObjectTypeDB::bind_method(_MD("body_get_shape_count","body"),&PhysicsServer::body_get_shape_count); + ObjectTypeDB::bind_method(_MD("body_get_shape","body","shape_idx"),&PhysicsServer::body_get_shape); + ObjectTypeDB::bind_method(_MD("body_get_shape_transform","body","shape_idx"),&PhysicsServer::body_get_shape_transform); + + ObjectTypeDB::bind_method(_MD("body_remove_shape","body","shape_idx"),&PhysicsServer::body_remove_shape); + ObjectTypeDB::bind_method(_MD("body_clear_shapes","body"),&PhysicsServer::body_clear_shapes); + + ObjectTypeDB::bind_method(_MD("body_attach_object_instance_ID","body","id"),&PhysicsServer::body_attach_object_instance_ID); + ObjectTypeDB::bind_method(_MD("body_get_object_instance_ID","body"),&PhysicsServer::body_get_object_instance_ID); + + + ObjectTypeDB::bind_method(_MD("body_set_enable_continuous_collision_detection","body","enable"),&PhysicsServer::body_set_enable_continuous_collision_detection); + ObjectTypeDB::bind_method(_MD("body_is_continuous_collision_detection_enabled","body"),&PhysicsServer::body_is_continuous_collision_detection_enabled); + + + //ObjectTypeDB::bind_method(_MD("body_set_user_flags","flags""),&PhysicsServer::body_set_shape,DEFVAL(Transform)); + //ObjectTypeDB::bind_method(_MD("body_get_user_flags","body","shape_idx","shape"),&PhysicsServer::body_get_shape); + + ObjectTypeDB::bind_method(_MD("body_set_param","body","param","value"),&PhysicsServer::body_set_param); + ObjectTypeDB::bind_method(_MD("body_get_param","body","param"),&PhysicsServer::body_get_param); + + ObjectTypeDB::bind_method(_MD("body_static_simulate_motion","body","new_xform"),&PhysicsServer::body_static_simulate_motion); + + ObjectTypeDB::bind_method(_MD("body_set_state","body","state","value"),&PhysicsServer::body_set_state); + ObjectTypeDB::bind_method(_MD("body_get_state","body","state"),&PhysicsServer::body_get_state); + + ObjectTypeDB::bind_method(_MD("body_apply_impulse","body","pos","impulse"),&PhysicsServer::body_apply_impulse); + ObjectTypeDB::bind_method(_MD("body_set_axis_velocity","body","axis_velocity"),&PhysicsServer::body_set_axis_velocity); + + ObjectTypeDB::bind_method(_MD("body_add_collision_exception","body","excepted_body"),&PhysicsServer::body_add_collision_exception); + ObjectTypeDB::bind_method(_MD("body_remove_collision_exception","body","excepted_body"),&PhysicsServer::body_remove_collision_exception); +// virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions)=0; + + ObjectTypeDB::bind_method(_MD("body_set_max_contacts_reported","body","amount"),&PhysicsServer::body_set_max_contacts_reported); + ObjectTypeDB::bind_method(_MD("body_get_max_contacts_reported","body"),&PhysicsServer::body_get_max_contacts_reported); + + ObjectTypeDB::bind_method(_MD("body_set_omit_force_integration","body","enable"),&PhysicsServer::body_set_omit_force_integration); + ObjectTypeDB::bind_method(_MD("body_is_omitting_force_integration","body"),&PhysicsServer::body_is_omitting_force_integration); + + ObjectTypeDB::bind_method(_MD("body_set_force_integration_callback","body","receiver","method","userdata"),&PhysicsServer::body_set_force_integration_callback,DEFVAL(Variant())); + + /* JOINT API */ +/* + ObjectTypeDB::bind_method(_MD("joint_set_param","joint","param","value"),&PhysicsServer::joint_set_param); + ObjectTypeDB::bind_method(_MD("joint_get_param","joint","param"),&PhysicsServer::joint_get_param); + + ObjectTypeDB::bind_method(_MD("pin_joint_create","anchor","body_a","body_b"),&PhysicsServer::pin_joint_create,DEFVAL(RID())); + ObjectTypeDB::bind_method(_MD("groove_joint_create","groove1_a","groove2_a","anchor_b","body_a","body_b"),&PhysicsServer::groove_joint_create,DEFVAL(RID()),DEFVAL(RID())); + ObjectTypeDB::bind_method(_MD("damped_spring_joint_create","anchor_a","anchor_b","body_a","body_b"),&PhysicsServer::damped_spring_joint_create,DEFVAL(RID())); + + ObjectTypeDB::bind_method(_MD("damped_string_joint_set_param","joint","param","value"),&PhysicsServer::damped_string_joint_set_param,DEFVAL(RID())); + ObjectTypeDB::bind_method(_MD("damped_string_joint_get_param","joint","param"),&PhysicsServer::damped_string_joint_get_param); + + ObjectTypeDB::bind_method(_MD("joint_get_type","joint"),&PhysicsServer::joint_get_type); +*/ + ObjectTypeDB::bind_method(_MD("free","rid"),&PhysicsServer::free); + + ObjectTypeDB::bind_method(_MD("set_active","active"),&PhysicsServer::set_active); + +// ObjectTypeDB::bind_method(_MD("init"),&PhysicsServer::init); +// ObjectTypeDB::bind_method(_MD("step"),&PhysicsServer::step); +// ObjectTypeDB::bind_method(_MD("sync"),&PhysicsServer::sync); + //ObjectTypeDB::bind_method(_MD("flush_queries"),&PhysicsServer::flush_queries); + + + BIND_CONSTANT( SHAPE_PLANE ); + BIND_CONSTANT( SHAPE_RAY ); + BIND_CONSTANT( SHAPE_SPHERE ); + BIND_CONSTANT( SHAPE_BOX ); + BIND_CONSTANT( SHAPE_CAPSULE ); + BIND_CONSTANT( SHAPE_CONVEX_POLYGON ); + BIND_CONSTANT( SHAPE_CONCAVE_POLYGON ); + BIND_CONSTANT( SHAPE_HEIGHTMAP ); + BIND_CONSTANT( SHAPE_CUSTOM ); + + + BIND_CONSTANT( AREA_PARAM_GRAVITY ); + BIND_CONSTANT( AREA_PARAM_GRAVITY_VECTOR ); + BIND_CONSTANT( AREA_PARAM_GRAVITY_IS_POINT ); + BIND_CONSTANT( AREA_PARAM_GRAVITY_POINT_ATTENUATION ); + BIND_CONSTANT( AREA_PARAM_DENSITY ); + BIND_CONSTANT( AREA_PARAM_PRIORITY ); + + BIND_CONSTANT( AREA_SPACE_OVERRIDE_COMBINE ); + BIND_CONSTANT( AREA_SPACE_OVERRIDE_DISABLED ); + BIND_CONSTANT( AREA_SPACE_OVERRIDE_REPLACE ); + + BIND_CONSTANT( BODY_MODE_STATIC ); + BIND_CONSTANT( BODY_MODE_STATIC_ACTIVE ); + BIND_CONSTANT( BODY_MODE_RIGID ); + BIND_CONSTANT( BODY_MODE_CHARACTER ); + + BIND_CONSTANT( BODY_PARAM_BOUNCE ); + BIND_CONSTANT( BODY_PARAM_FRICTION ); + BIND_CONSTANT( BODY_PARAM_MASS ); + BIND_CONSTANT( BODY_PARAM_MAX ); + + BIND_CONSTANT( BODY_STATE_TRANSFORM ); + BIND_CONSTANT( BODY_STATE_LINEAR_VELOCITY ); + BIND_CONSTANT( BODY_STATE_ANGULAR_VELOCITY ); + BIND_CONSTANT( BODY_STATE_SLEEPING ); + BIND_CONSTANT( BODY_STATE_CAN_SLEEP ); +/* + BIND_CONSTANT( JOINT_PIN ); + BIND_CONSTANT( JOINT_GROOVE ); + BIND_CONSTANT( JOINT_DAMPED_SPRING ); + + BIND_CONSTANT( DAMPED_STRING_REST_LENGTH ); + BIND_CONSTANT( DAMPED_STRING_STIFFNESS ); + BIND_CONSTANT( DAMPED_STRING_DAMPING ); +*/ +// BIND_CONSTANT( TYPE_BODY ); +// BIND_CONSTANT( TYPE_AREA ); + + BIND_CONSTANT( AREA_BODY_ADDED ); + BIND_CONSTANT( AREA_BODY_REMOVED ); + + +} + + +PhysicsServer::PhysicsServer() { + + ERR_FAIL_COND( singleton!=NULL ); + singleton=this; +} + +PhysicsServer::~PhysicsServer() { + + singleton=NULL; +} + |