diff options
Diffstat (limited to 'servers/physics_server.cpp')
| -rw-r--r-- | servers/physics_server.cpp | 252 |
1 files changed, 226 insertions, 26 deletions
diff --git a/servers/physics_server.cpp b/servers/physics_server.cpp index e2dd3e14eb..dc8e4cc298 100644 --- a/servers/physics_server.cpp +++ b/servers/physics_server.cpp @@ -129,11 +129,11 @@ RID PhysicsShapeQueryParameters::get_shape_rid() const { return shape; } -void PhysicsShapeQueryParameters::set_transform(const Matrix32& p_transform){ +void PhysicsShapeQueryParameters::set_transform(const Transform& p_transform){ transform=p_transform; } -Matrix32 PhysicsShapeQueryParameters::get_transform() const{ +Transform PhysicsShapeQueryParameters::get_transform() const{ return transform; } @@ -219,19 +219,51 @@ PhysicsShapeQueryParameters::PhysicsShapeQueryParameters() { ///////////////////////////////////// -Variant PhysicsDirectSpaceState::_intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector<RID>& p_exclude,uint32_t p_user_mask) { + +/* +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,0,res,p_result_max,exclude); + + 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; + +} +*/ + + +Dictionary PhysicsDirectSpaceState::_intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector<RID>& p_exclude,uint32_t p_layers,uint32_t p_object_type_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); + bool res = intersect_ray(p_from,p_to,inters,exclude,p_layers,p_object_type_mask); if (!res) - return Variant(); + return Dictionary(true); - Dictionary d; + Dictionary d(true); d["position"]=inters.position; d["normal"]=inters.normal; d["collider_id"]=inters.collider_id; @@ -242,35 +274,72 @@ Variant PhysicsDirectSpaceState::_intersect_ray(const Vector3& p_from, const Vec 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) { +Array PhysicsDirectSpaceState::_intersect_shape(const Ref<PhysicsShapeQueryParameters> &psq, int p_max_results) { + Vector<ShapeResult> sr; + sr.resize(p_max_results); + int rc = intersect_shape(psq->shape,psq->transform,psq->margin,sr.ptr(),sr.size(),psq->exclude,psq->layer_mask,psq->object_type_mask); + Array ret; + ret.resize(rc); + for(int i=0;i<rc;i++) { + Dictionary d; + d["rid"]=sr[i].rid; + d["collider_id"]=sr[i].collider_id; + d["collider"]=sr[i].collider; + d["shape"]=sr[i].shape; + ret[i]=d; + } - ERR_FAIL_INDEX_V(p_result_max,4096,Variant()); - if (p_result_max<=0) - return Variant(); + return ret; +} - Set<RID> exclude; - for(int i=0;i<p_exclude.size();i++) - exclude.insert(p_exclude[i]); +Array PhysicsDirectSpaceState::_cast_motion(const Ref<PhysicsShapeQueryParameters> &psq,const Vector3& p_motion){ - ShapeResult *res=(ShapeResult*)alloca(p_result_max*sizeof(ShapeResult)); + float closest_safe,closest_unsafe; + bool res = cast_motion(psq->shape,psq->transform,p_motion,psq->margin,closest_safe,closest_unsafe,psq->exclude,psq->layer_mask,psq->object_type_mask); + if (!res) + return Array(); + Array ret(true); + ret.resize(2); + ret[0]=closest_safe; + ret[0]=closest_unsafe; + return ret; - int rc = intersect_shape(p_shape,p_xform,0,res,p_result_max,exclude); +} +Array PhysicsDirectSpaceState::_collide_shape(const Ref<PhysicsShapeQueryParameters> &psq, int p_max_results){ - if (rc==0) - return Variant(); + Vector<Vector3> ret; + ret.resize(p_max_results*2); + int rc=0; + bool res = collide_shape(psq->shape,psq->transform,psq->margin,ret.ptr(),p_max_results,rc,psq->exclude,psq->layer_mask,psq->object_type_mask); + if (!res) + return Array(); + Array r; + r.resize(rc*2); + for(int i=0;i<rc*2;i++) + r[i]=ret[i]; + return r; - Ref<PhysicsShapeQueryResult> result = memnew( PhysicsShapeQueryResult ); - result->result.resize(rc); - for(int i=0;i<rc;i++) - result->result[i]=res[i]; +} +Dictionary PhysicsDirectSpaceState::_get_rest_info(const Ref<PhysicsShapeQueryParameters> &psq){ - return result; + ShapeRestInfo sri; -} + bool res = rest_info(psq->shape,psq->transform,psq->margin,&sri,psq->exclude,psq->layer_mask,psq->object_type_mask); + Dictionary r(true); + if (!res) + return r; + r["point"]=sri.point; + r["normal"]=sri.normal; + r["rid"]=sri.rid; + r["collider_id"]=sri.collider_id; + r["shape"]=sri.shape; + r["linear_velocity"]=sri.linear_velocity; + return r; +} @@ -284,8 +353,22 @@ 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)); +// 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)); + + ObjectTypeDB::bind_method(_MD("intersect_ray:Dictionary","from","to","exclude","layer_mask","type_mask"),&PhysicsDirectSpaceState::_intersect_ray,DEFVAL(Array()),DEFVAL(0x7FFFFFFF),DEFVAL(TYPE_MASK_COLLISION)); + ObjectTypeDB::bind_method(_MD("intersect_shape","shape:PhysicsShapeQueryParameters","max_results"),&PhysicsDirectSpaceState::_intersect_shape,DEFVAL(32)); + ObjectTypeDB::bind_method(_MD("cast_motion","shape:PhysicsShapeQueryParameters","motion"),&PhysicsDirectSpaceState::_cast_motion); + ObjectTypeDB::bind_method(_MD("collide_shape","shape:PhysicsShapeQueryParameters","max_results"),&PhysicsDirectSpaceState::_collide_shape,DEFVAL(32)); + ObjectTypeDB::bind_method(_MD("get_rest_info","shape:PhysicsShapeQueryParameters"),&PhysicsDirectSpaceState::_get_rest_info); + + + BIND_CONSTANT( TYPE_MASK_STATIC_BODY ); + BIND_CONSTANT( TYPE_MASK_KINEMATIC_BODY ); + BIND_CONSTANT( TYPE_MASK_RIGID_BODY ); + BIND_CONSTANT( TYPE_MASK_CHARACTER_BODY ); + BIND_CONSTANT( TYPE_MASK_AREA ); + BIND_CONSTANT( TYPE_MASK_COLLISION ); } @@ -331,7 +414,6 @@ void PhysicsShapeQueryResult::_bind_methods() { - /////////////////////////////////////// void PhysicsServer::_bind_methods() { @@ -381,6 +463,9 @@ void PhysicsServer::_bind_methods() { ObjectTypeDB::bind_method(_MD("area_set_monitor_callback","receiver","method"),&PhysicsServer::area_set_monitor_callback); + ObjectTypeDB::bind_method(_MD("area_set_ray_pickable","area","enable"),&PhysicsServer::area_set_ray_pickable); + ObjectTypeDB::bind_method(_MD("area_is_ray_pickable","area"),&PhysicsServer::area_is_ray_pickable); + 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); @@ -436,6 +521,121 @@ void PhysicsServer::_bind_methods() { ObjectTypeDB::bind_method(_MD("body_set_force_integration_callback","body","receiver","method","userdata"),&PhysicsServer::body_set_force_integration_callback,DEFVAL(Variant())); /* JOINT API */ + + BIND_CONSTANT( JOINT_PIN ); + BIND_CONSTANT( JOINT_HINGE ); + BIND_CONSTANT( JOINT_SLIDER ); + BIND_CONSTANT( JOINT_CONE_TWIST ); + BIND_CONSTANT( JOINT_6DOF ); + + ObjectTypeDB::bind_method(_MD("joint_create_pin","body_A","local_A","body_B","local_B"),&PhysicsServer::joint_create_pin); + ObjectTypeDB::bind_method(_MD("pin_joint_set_param","joint","param","value"),&PhysicsServer::pin_joint_set_param); + ObjectTypeDB::bind_method(_MD("pin_joint_get_param","joint","param"),&PhysicsServer::pin_joint_get_param); + + ObjectTypeDB::bind_method(_MD("pin_joint_set_local_A","joint","local_A"),&PhysicsServer::pin_joint_set_local_A); + ObjectTypeDB::bind_method(_MD("pin_joint_get_local_A","joint"),&PhysicsServer::pin_joint_get_local_A); + + ObjectTypeDB::bind_method(_MD("pin_joint_set_local_B","joint","local_B"),&PhysicsServer::pin_joint_set_local_B); + ObjectTypeDB::bind_method(_MD("pin_joint_get_local_B","joint"),&PhysicsServer::pin_joint_get_local_B); + + BIND_CONSTANT(PIN_JOINT_BIAS ); + BIND_CONSTANT(PIN_JOINT_DAMPING ); + BIND_CONSTANT(PIN_JOINT_IMPULSE_CLAMP ); + + + BIND_CONSTANT(HINGE_JOINT_BIAS); + BIND_CONSTANT(HINGE_JOINT_LIMIT_UPPER); + BIND_CONSTANT(HINGE_JOINT_LIMIT_LOWER); + BIND_CONSTANT(HINGE_JOINT_LIMIT_BIAS); + BIND_CONSTANT(HINGE_JOINT_LIMIT_SOFTNESS); + BIND_CONSTANT(HINGE_JOINT_LIMIT_RELAXATION); + BIND_CONSTANT(HINGE_JOINT_MOTOR_TARGET_VELOCITY); + BIND_CONSTANT(HINGE_JOINT_MOTOR_MAX_IMPULSE); + BIND_CONSTANT(HINGE_JOINT_FLAG_USE_LIMIT); + BIND_CONSTANT(HINGE_JOINT_FLAG_ENABLE_MOTOR); + + ObjectTypeDB::bind_method(_MD("joint_create_hinge","body_A","hinge_A","body_B","hinge_B"),&PhysicsServer::joint_create_hinge); + + ObjectTypeDB::bind_method(_MD("hinge_joint_set_param","joint","param","value"),&PhysicsServer::hinge_joint_set_param); + ObjectTypeDB::bind_method(_MD("hinge_joint_get_param","joint","param"),&PhysicsServer::hinge_joint_get_param); + + ObjectTypeDB::bind_method(_MD("hinge_joint_set_flag","joint","flag","enabled"),&PhysicsServer::hinge_joint_set_flag); + ObjectTypeDB::bind_method(_MD("hinge_joint_get_flag","joint","flag"),&PhysicsServer::hinge_joint_get_flag); + + ObjectTypeDB::bind_method(_MD("joint_create_slider","body_A","local_ref_A","body_B","local_ref_B"),&PhysicsServer::joint_create_slider); + + ObjectTypeDB::bind_method(_MD("slider_joint_set_param","joint","param","value"),&PhysicsServer::slider_joint_set_param); + ObjectTypeDB::bind_method(_MD("slider_joint_get_param","joint","param"),&PhysicsServer::slider_joint_get_param); + + BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_UPPER ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_LOWER ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_DAMPING ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_MOTION_SOFTNESS ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_MOTION_RESTITUTION ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_MOTION_DAMPING ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION ); + BIND_CONSTANT( SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING ); + + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_UPPER ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_LOWER ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_DAMPING ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_MOTION_DAMPING ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION ); + BIND_CONSTANT( SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING ); + BIND_CONSTANT( SLIDER_JOINT_MAX ); + + + ObjectTypeDB::bind_method(_MD("joint_create_cone_twist","body_A","local_ref_A","body_B","local_ref_B"),&PhysicsServer::joint_create_cone_twist); + + ObjectTypeDB::bind_method(_MD("cone_twist_joint_set_param","joint","param","value"),&PhysicsServer::cone_twist_joint_set_param); + ObjectTypeDB::bind_method(_MD("cone_twist_joint_get_param","joint","param"),&PhysicsServer::cone_twist_joint_get_param); + + BIND_CONSTANT( CONE_TWIST_JOINT_SWING_SPAN ); + BIND_CONSTANT( CONE_TWIST_JOINT_TWIST_SPAN ); + BIND_CONSTANT( CONE_TWIST_JOINT_BIAS ); + BIND_CONSTANT( CONE_TWIST_JOINT_SOFTNESS ); + BIND_CONSTANT( CONE_TWIST_JOINT_RELAXATION ); + + + BIND_CONSTANT( G6DOF_JOINT_LINEAR_LOWER_LIMIT ); + BIND_CONSTANT( G6DOF_JOINT_LINEAR_UPPER_LIMIT ); + BIND_CONSTANT( G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS ); + BIND_CONSTANT( G6DOF_JOINT_LINEAR_RESTITUTION ); + BIND_CONSTANT( G6DOF_JOINT_LINEAR_DAMPING ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_LOWER_LIMIT ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_UPPER_LIMIT ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_DAMPING ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_RESTITUTION ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_FORCE_LIMIT ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_ERP ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY ); + BIND_CONSTANT( G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT ); + + + BIND_CONSTANT( G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT ); + BIND_CONSTANT( G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT ); + BIND_CONSTANT( G6DOF_JOINT_FLAG_ENABLE_MOTOR ); + + ObjectTypeDB::bind_method(_MD("joint_get_type","joint"),&PhysicsServer::joint_get_type); + + ObjectTypeDB::bind_method(_MD("joint_create_generic_6dof","body_A","local_ref_A","body_B","local_ref_B"),&PhysicsServer::joint_create_generic_6dof); + + ObjectTypeDB::bind_method(_MD("generic_6dof_joint_set_param","joint","axis","param","value"),&PhysicsServer::generic_6dof_joint_set_param); + ObjectTypeDB::bind_method(_MD("generic_6dof_joint_get_param","joint","axis","param"),&PhysicsServer::generic_6dof_joint_get_param); + + ObjectTypeDB::bind_method(_MD("generic_6dof_joint_set_flag","joint","axis","flag","enable"),&PhysicsServer::generic_6dof_joint_set_flag); + ObjectTypeDB::bind_method(_MD("generic_6dof_joint_get_flag","joint","axis","flag"),&PhysicsServer::generic_6dof_joint_get_flag); + + /* 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); |