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Diffstat (limited to 'servers/physics_server.h')
| -rw-r--r-- | servers/physics_server.h | 844 |
1 files changed, 0 insertions, 844 deletions
diff --git a/servers/physics_server.h b/servers/physics_server.h deleted file mode 100644 index f1388c8758..0000000000 --- a/servers/physics_server.h +++ /dev/null @@ -1,844 +0,0 @@ -/*************************************************************************/ -/* physics_server.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 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 PHYSICS_SERVER_H -#define PHYSICS_SERVER_H - -#include "core/object.h" -#include "core/resource.h" - -class PhysicsDirectSpaceState; - -class PhysicsDirectBodyState : public Object { - - GDCLASS(PhysicsDirectBodyState, Object); - -protected: - static void _bind_methods(); - -public: - virtual Vector3 get_total_gravity() const = 0; - virtual float get_total_angular_damp() const = 0; - virtual float get_total_linear_damp() const = 0; - - virtual Vector3 get_center_of_mass() const = 0; - virtual Basis get_principal_inertia_axes() const = 0; - virtual float get_inverse_mass() const = 0; // get the mass - virtual Vector3 get_inverse_inertia() const = 0; // get density of this body space - virtual Basis get_inverse_inertia_tensor() const = 0; // get density of this body space - - virtual void set_linear_velocity(const Vector3 &p_velocity) = 0; - virtual Vector3 get_linear_velocity() const = 0; - - virtual void set_angular_velocity(const Vector3 &p_velocity) = 0; - virtual Vector3 get_angular_velocity() const = 0; - - virtual void set_transform(const Transform &p_transform) = 0; - virtual Transform get_transform() const = 0; - - virtual void add_central_force(const Vector3 &p_force) = 0; - virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0; - virtual void add_torque(const Vector3 &p_torque) = 0; - virtual void apply_central_impulse(const Vector3 &p_j) = 0; - virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) = 0; - virtual void apply_torque_impulse(const Vector3 &p_j) = 0; - - virtual void set_sleep_state(bool p_enable) = 0; - virtual bool is_sleeping() const = 0; - - virtual int get_contact_count() const = 0; - - virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0; - virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0; - virtual float get_contact_impulse(int p_contact_idx) const = 0; - virtual int get_contact_local_shape(int p_contact_idx) const = 0; - - virtual RID get_contact_collider(int p_contact_idx) const = 0; - virtual Vector3 get_contact_collider_position(int p_contact_idx) const = 0; - virtual ObjectID get_contact_collider_id(int p_contact_idx) const = 0; - virtual Object *get_contact_collider_object(int p_contact_idx) const; - virtual int get_contact_collider_shape(int p_contact_idx) const = 0; - virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const = 0; - - virtual real_t get_step() const = 0; - virtual void integrate_forces(); - - virtual PhysicsDirectSpaceState *get_space_state() = 0; - - PhysicsDirectBodyState(); -}; - -class PhysicsShapeQueryResult; - -class PhysicsShapeQueryParameters : public Reference { - - GDCLASS(PhysicsShapeQueryParameters, Reference); - friend class PhysicsDirectSpaceState; - - RID shape; - Transform transform; - float margin; - Set<RID> exclude; - uint32_t collision_mask; - - bool collide_with_bodies; - bool collide_with_areas; - -protected: - static void _bind_methods(); - -public: - void set_shape(const RES &p_shape); - void set_shape_rid(const RID &p_shape); - RID get_shape_rid() const; - - void set_transform(const Transform &p_transform); - Transform get_transform() const; - - void set_margin(float p_margin); - float get_margin() const; - - void set_collision_mask(int p_collision_mask); - int get_collision_mask() const; - - void set_exclude(const Vector<RID> &p_exclude); - Vector<RID> get_exclude() const; - - void set_collide_with_bodies(bool p_enable); - bool is_collide_with_bodies_enabled() const; - - void set_collide_with_areas(bool p_enable); - bool is_collide_with_areas_enabled() const; - - PhysicsShapeQueryParameters(); -}; - -class PhysicsDirectSpaceState : public Object { - - GDCLASS(PhysicsDirectSpaceState, Object); - -private: - Dictionary _intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude = Vector<RID>(), uint32_t p_collision_mask = 0, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); - Array _intersect_shape(const Ref<PhysicsShapeQueryParameters> &p_shape_query, int p_max_results = 32); - Array _cast_motion(const Ref<PhysicsShapeQueryParameters> &p_shape_query, const Vector3 &p_motion); - Array _collide_shape(const Ref<PhysicsShapeQueryParameters> &p_shape_query, int p_max_results = 32); - Dictionary _get_rest_info(const Ref<PhysicsShapeQueryParameters> &p_shape_query); - -protected: - static void _bind_methods(); - -public: - struct ShapeResult { - - RID rid; - ObjectID collider_id; - Object *collider; - int shape; - }; - - virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - - struct RayResult { - - Vector3 position; - Vector3 normal; - RID rid; - ObjectID collider_id; - Object *collider; - int shape; - }; - - virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) = 0; - - virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - - struct ShapeRestInfo { - - Vector3 point; - Vector3 normal; - RID rid; - ObjectID collider_id; - int shape; - Vector3 linear_velocity; //velocity at contact point - }; - - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = NULL) = 0; - - virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; - - virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0; - - PhysicsDirectSpaceState(); -}; - -class PhysicsShapeQueryResult : public Reference { - - GDCLASS(PhysicsShapeQueryResult, Reference); - - Vector<PhysicsDirectSpaceState::ShapeResult> result; - - friend class PhysicsDirectSpaceState; - -protected: - static void _bind_methods(); - -public: - int get_result_count() const; - RID get_result_rid(int p_idx) const; - ObjectID get_result_object_id(int p_idx) const; - Object *get_result_object(int p_idx) const; - int get_result_object_shape(int p_idx) const; - - PhysicsShapeQueryResult(); -}; - -class PhysicsServer : public Object { - - GDCLASS(PhysicsServer, Object); - - static PhysicsServer *singleton; - -protected: - static void _bind_methods(); - -public: - static PhysicsServer *get_singleton(); - - enum ShapeType { - SHAPE_PLANE, ///< plane:"plane" - SHAPE_RAY, ///< float:"length" - SHAPE_SPHERE, ///< float:"radius" - SHAPE_BOX, ///< vec3:"extents" - SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule - SHAPE_CYLINDER, ///< dict( float:"radius", float:"height"):cylinder - SHAPE_CONVEX_POLYGON, ///< array of planes:"planes" - SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array) - SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights" - SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error - }; - - virtual RID shape_create(ShapeType p_shape) = 0; - virtual void shape_set_data(RID p_shape, const Variant &p_data) = 0; - virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) = 0; - - virtual ShapeType shape_get_type(RID p_shape) const = 0; - virtual Variant shape_get_data(RID p_shape) const = 0; - - virtual void shape_set_margin(RID p_shape, real_t p_margin) = 0; - virtual real_t shape_get_margin(RID p_shape) const = 0; - - virtual real_t shape_get_custom_solver_bias(RID p_shape) const = 0; - - /* SPACE API */ - - virtual RID space_create() = 0; - virtual void space_set_active(RID p_space, bool p_active) = 0; - virtual bool space_is_active(RID p_space) const = 0; - - enum SpaceParameter { - - SPACE_PARAM_CONTACT_RECYCLE_RADIUS, - SPACE_PARAM_CONTACT_MAX_SEPARATION, - SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION, - SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD, - SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD, - SPACE_PARAM_BODY_TIME_TO_SLEEP, - SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO, - SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS, - SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH - }; - - virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0; - virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const = 0; - - // this function only works on physics process, errors and returns null otherwise - virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space) = 0; - - virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) = 0; - virtual Vector<Vector3> space_get_contacts(RID p_space) const = 0; - virtual int space_get_contact_count(RID p_space) const = 0; - - //missing space parameters - - /* AREA API */ - - //missing attenuation? missing better override? - - enum AreaParameter { - AREA_PARAM_GRAVITY, - AREA_PARAM_GRAVITY_VECTOR, - AREA_PARAM_GRAVITY_IS_POINT, - AREA_PARAM_GRAVITY_DISTANCE_SCALE, - AREA_PARAM_GRAVITY_POINT_ATTENUATION, - AREA_PARAM_LINEAR_DAMP, - AREA_PARAM_ANGULAR_DAMP, - AREA_PARAM_PRIORITY - }; - - virtual RID area_create() = 0; - - virtual void area_set_space(RID p_area, RID p_space) = 0; - virtual RID area_get_space(RID p_area) const = 0; - - enum AreaSpaceOverrideMode { - AREA_SPACE_OVERRIDE_DISABLED, - AREA_SPACE_OVERRIDE_COMBINE, - AREA_SPACE_OVERRIDE_COMBINE_REPLACE, - AREA_SPACE_OVERRIDE_REPLACE, - AREA_SPACE_OVERRIDE_REPLACE_COMBINE - }; - - virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) = 0; - virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const = 0; - - virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) = 0; - virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) = 0; - virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) = 0; - - virtual int area_get_shape_count(RID p_area) const = 0; - virtual RID area_get_shape(RID p_area, int p_shape_idx) const = 0; - virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const = 0; - - virtual void area_remove_shape(RID p_area, int p_shape_idx) = 0; - virtual void area_clear_shapes(RID p_area) = 0; - - virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) = 0; - - virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) = 0; - virtual ObjectID area_get_object_instance_id(RID p_area) const = 0; - - virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) = 0; - virtual void area_set_transform(RID p_area, const Transform &p_transform) = 0; - - virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const = 0; - virtual Transform area_get_transform(RID p_area) const = 0; - - virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) = 0; - virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) = 0; - - virtual void area_set_monitorable(RID p_area, bool p_monitorable) = 0; - - virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0; - virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0; - - virtual void area_set_ray_pickable(RID p_area, bool p_enable) = 0; - virtual bool area_is_ray_pickable(RID p_area) const = 0; - - /* BODY API */ - - //missing ccd? - - enum BodyMode { - BODY_MODE_STATIC, - BODY_MODE_KINEMATIC, - BODY_MODE_RIGID, - BODY_MODE_CHARACTER - }; - - virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false) = 0; - - virtual void body_set_space(RID p_body, RID p_space) = 0; - virtual RID body_get_space(RID p_body) const = 0; - - virtual void body_set_mode(RID p_body, BodyMode p_mode) = 0; - virtual BodyMode body_get_mode(RID p_body) const = 0; - - virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) = 0; - virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) = 0; - virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) = 0; - - virtual int body_get_shape_count(RID p_body) const = 0; - virtual RID body_get_shape(RID p_body, int p_shape_idx) const = 0; - virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const = 0; - - virtual void body_remove_shape(RID p_body, int p_shape_idx) = 0; - virtual void body_clear_shapes(RID p_body) = 0; - - virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) = 0; - - virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) = 0; - virtual ObjectID body_get_object_instance_id(RID p_body) const = 0; - - virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) = 0; - virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const = 0; - - virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) = 0; - virtual uint32_t body_get_collision_layer(RID p_body) const = 0; - - virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0; - virtual uint32_t body_get_collision_mask(RID p_body) const = 0; - - virtual void body_set_user_flags(RID p_body, uint32_t p_flags) = 0; - virtual uint32_t body_get_user_flags(RID p_body) const = 0; - - // common body variables - enum BodyParameter { - BODY_PARAM_BOUNCE, - BODY_PARAM_FRICTION, - BODY_PARAM_MASS, ///< unused for static, always infinite - BODY_PARAM_GRAVITY_SCALE, - BODY_PARAM_LINEAR_DAMP, - BODY_PARAM_ANGULAR_DAMP, - BODY_PARAM_MAX, - }; - - virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0; - virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0; - - virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) = 0; - virtual real_t body_get_kinematic_safe_margin(RID p_body) const = 0; - - //state - enum BodyState { - BODY_STATE_TRANSFORM, - BODY_STATE_LINEAR_VELOCITY, - BODY_STATE_ANGULAR_VELOCITY, - BODY_STATE_SLEEPING, - BODY_STATE_CAN_SLEEP - }; - - virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0; - virtual Variant body_get_state(RID p_body, BodyState p_state) const = 0; - - //do something about it - virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) = 0; - virtual Vector3 body_get_applied_force(RID p_body) const = 0; - - virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) = 0; - virtual Vector3 body_get_applied_torque(RID p_body) const = 0; - - virtual void body_add_central_force(RID p_body, const Vector3 &p_force) = 0; - virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) = 0; - virtual void body_add_torque(RID p_body, const Vector3 &p_torque) = 0; - - virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) = 0; - virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) = 0; - virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0; - virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0; - - enum BodyAxis { - BODY_AXIS_LINEAR_X = 1 << 0, - BODY_AXIS_LINEAR_Y = 1 << 1, - BODY_AXIS_LINEAR_Z = 1 << 2, - BODY_AXIS_ANGULAR_X = 1 << 3, - BODY_AXIS_ANGULAR_Y = 1 << 4, - BODY_AXIS_ANGULAR_Z = 1 << 5 - }; - - virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) = 0; - virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const = 0; - - //fix - virtual void body_add_collision_exception(RID p_body, RID p_body_b) = 0; - virtual void body_remove_collision_exception(RID p_body, RID p_body_b) = 0; - virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0; - - virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) = 0; - virtual int body_get_max_contacts_reported(RID p_body) const = 0; - - //missing remove - virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) = 0; - virtual float body_get_contacts_reported_depth_threshold(RID p_body) const = 0; - - virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0; - virtual bool body_is_omitting_force_integration(RID p_body) const = 0; - - virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()) = 0; - - virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0; - virtual bool body_is_ray_pickable(RID p_body) const = 0; - - // this function only works on physics process, errors and returns null otherwise - virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body) = 0; - - struct MotionResult { - - Vector3 motion; - Vector3 remainder; - - Vector3 collision_point; - Vector3 collision_normal; - Vector3 collider_velocity; - int collision_local_shape; - ObjectID collider_id; - RID collider; - int collider_shape; - Variant collider_metadata; - MotionResult() { - collision_local_shape = 0; - collider_id = ObjectID(); - collider_shape = 0; - } - }; - - virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true) = 0; - - struct SeparationResult { - - float collision_depth; - Vector3 collision_point; - Vector3 collision_normal; - Vector3 collider_velocity; - int collision_local_shape; - ObjectID collider_id; - RID collider; - int collider_shape; - Variant collider_metadata; - }; - - virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) = 0; - - /* SOFT BODY */ - - virtual RID soft_body_create(bool p_init_sleeping = false) = 0; - - virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) = 0; - - virtual void soft_body_set_space(RID p_body, RID p_space) = 0; - virtual RID soft_body_get_space(RID p_body) const = 0; - - virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) = 0; - - virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) = 0; - virtual uint32_t soft_body_get_collision_layer(RID p_body) const = 0; - - virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) = 0; - virtual uint32_t soft_body_get_collision_mask(RID p_body) const = 0; - - virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) = 0; - virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) = 0; - virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0; - - virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0; - virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const = 0; - - virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) = 0; - virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const = 0; - - virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0; - virtual bool soft_body_is_ray_pickable(RID p_body) const = 0; - - virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) = 0; - virtual int soft_body_get_simulation_precision(RID p_body) = 0; - - virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) = 0; - virtual real_t soft_body_get_total_mass(RID p_body) = 0; - - virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) = 0; - virtual real_t soft_body_get_linear_stiffness(RID p_body) = 0; - - virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) = 0; - virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) = 0; - - virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) = 0; - virtual real_t soft_body_get_volume_stiffness(RID p_body) = 0; - - virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) = 0; - virtual real_t soft_body_get_pressure_coefficient(RID p_body) = 0; - - virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) = 0; - virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) = 0; - - virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) = 0; - virtual real_t soft_body_get_damping_coefficient(RID p_body) = 0; - - virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) = 0; - virtual real_t soft_body_get_drag_coefficient(RID p_body) = 0; - - virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) = 0; - virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) = 0; - - virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const = 0; - - virtual void soft_body_remove_all_pinned_points(RID p_body) = 0; - virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) = 0; - virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) = 0; - - /* JOINT API */ - - enum JointType { - - JOINT_PIN, - JOINT_HINGE, - JOINT_SLIDER, - JOINT_CONE_TWIST, - JOINT_6DOF - - }; - - virtual JointType joint_get_type(RID p_joint) const = 0; - - virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0; - virtual int joint_get_solver_priority(RID p_joint) const = 0; - - virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0; - virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0; - - virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0; - - enum PinJointParam { - PIN_JOINT_BIAS, - PIN_JOINT_DAMPING, - PIN_JOINT_IMPULSE_CLAMP - }; - - virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) = 0; - virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0; - - virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) = 0; - virtual Vector3 pin_joint_get_local_a(RID p_joint) const = 0; - - virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) = 0; - virtual Vector3 pin_joint_get_local_b(RID p_joint) const = 0; - - enum HingeJointParam { - - HINGE_JOINT_BIAS, - HINGE_JOINT_LIMIT_UPPER, - HINGE_JOINT_LIMIT_LOWER, - HINGE_JOINT_LIMIT_BIAS, - HINGE_JOINT_LIMIT_SOFTNESS, - HINGE_JOINT_LIMIT_RELAXATION, - HINGE_JOINT_MOTOR_TARGET_VELOCITY, - HINGE_JOINT_MOTOR_MAX_IMPULSE, - HINGE_JOINT_MAX - }; - - enum HingeJointFlag { - HINGE_JOINT_FLAG_USE_LIMIT, - HINGE_JOINT_FLAG_ENABLE_MOTOR, - HINGE_JOINT_FLAG_MAX - }; - - virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) = 0; - virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) = 0; - - virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) = 0; - virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0; - - virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) = 0; - virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const = 0; - - enum SliderJointParam { - SLIDER_JOINT_LINEAR_LIMIT_UPPER, - SLIDER_JOINT_LINEAR_LIMIT_LOWER, - SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, - SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, - SLIDER_JOINT_LINEAR_LIMIT_DAMPING, - SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, - SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, - SLIDER_JOINT_LINEAR_MOTION_DAMPING, - SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, - SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, - SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, - - SLIDER_JOINT_ANGULAR_LIMIT_UPPER, - SLIDER_JOINT_ANGULAR_LIMIT_LOWER, - SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, - SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, - SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, - SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, - SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, - SLIDER_JOINT_ANGULAR_MOTION_DAMPING, - SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, - SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, - SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, - SLIDER_JOINT_MAX - - }; - - virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A - - virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) = 0; - virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0; - - enum ConeTwistJointParam { - CONE_TWIST_JOINT_SWING_SPAN, - CONE_TWIST_JOINT_TWIST_SPAN, - CONE_TWIST_JOINT_BIAS, - CONE_TWIST_JOINT_SOFTNESS, - CONE_TWIST_JOINT_RELAXATION, - CONE_TWIST_MAX - }; - - virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A - - virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) = 0; - virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0; - - enum G6DOFJointAxisParam { - G6DOF_JOINT_LINEAR_LOWER_LIMIT, - G6DOF_JOINT_LINEAR_UPPER_LIMIT, - G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, - G6DOF_JOINT_LINEAR_RESTITUTION, - G6DOF_JOINT_LINEAR_DAMPING, - G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY, - G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT, - G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, - G6DOF_JOINT_LINEAR_SPRING_DAMPING, - G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, - G6DOF_JOINT_ANGULAR_LOWER_LIMIT, - G6DOF_JOINT_ANGULAR_UPPER_LIMIT, - G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, - G6DOF_JOINT_ANGULAR_DAMPING, - G6DOF_JOINT_ANGULAR_RESTITUTION, - G6DOF_JOINT_ANGULAR_FORCE_LIMIT, - G6DOF_JOINT_ANGULAR_ERP, - G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, - G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, - G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, - G6DOF_JOINT_ANGULAR_SPRING_DAMPING, - G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, - G6DOF_JOINT_MAX - }; - - enum G6DOFJointAxisFlag { - - G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, - G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, - G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, - G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, - G6DOF_JOINT_FLAG_ENABLE_MOTOR, - G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR, - G6DOF_JOINT_FLAG_MAX - }; - - virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A - - virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, float p_value) = 0; - virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) = 0; - - virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0; - virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) = 0; - - virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) = 0; - virtual int generic_6dof_joint_get_precision(RID p_joint) = 0; - - /* QUERY API */ - - enum AreaBodyStatus { - AREA_BODY_ADDED, - AREA_BODY_REMOVED - }; - - /* MISC */ - - virtual void free(RID p_rid) = 0; - - virtual void set_active(bool p_active) = 0; - virtual void init() = 0; - virtual void step(float p_step) = 0; - virtual void sync() = 0; - virtual void flush_queries() = 0; - virtual void finish() = 0; - - virtual bool is_flushing_queries() const = 0; - - enum ProcessInfo { - - INFO_ACTIVE_OBJECTS, - INFO_COLLISION_PAIRS, - INFO_ISLAND_COUNT - }; - - virtual int get_process_info(ProcessInfo p_info) = 0; - - PhysicsServer(); - ~PhysicsServer(); -}; - -typedef PhysicsServer *(*CreatePhysicsServerCallback)(); - -class PhysicsServerManager { - struct ClassInfo { - String name; - CreatePhysicsServerCallback create_callback; - - ClassInfo() : - name(""), - create_callback(NULL) {} - - ClassInfo(String p_name, CreatePhysicsServerCallback p_create_callback) : - name(p_name), - create_callback(p_create_callback) {} - - ClassInfo(const ClassInfo &p_ci) : - name(p_ci.name), - create_callback(p_ci.create_callback) {} - - ClassInfo operator=(const ClassInfo &p_ci) { - name = p_ci.name; - create_callback = p_ci.create_callback; - return *this; - } - }; - - static Vector<ClassInfo> physics_servers; - static int default_server_id; - static int default_server_priority; - -public: - static const String setting_property_name; - -private: - static void on_servers_changed(); - -public: - static void register_server(const String &p_name, CreatePhysicsServerCallback p_creat_callback); - static void set_default_server(const String &p_name, int p_priority = 0); - static int find_server_id(const String &p_name); - static int get_servers_count(); - static String get_server_name(int p_id); - static PhysicsServer *new_default_server(); - static PhysicsServer *new_server(const String &p_name); -}; - -VARIANT_ENUM_CAST(PhysicsServer::ShapeType); -VARIANT_ENUM_CAST(PhysicsServer::SpaceParameter); -VARIANT_ENUM_CAST(PhysicsServer::AreaParameter); -VARIANT_ENUM_CAST(PhysicsServer::AreaSpaceOverrideMode); -VARIANT_ENUM_CAST(PhysicsServer::BodyMode); -VARIANT_ENUM_CAST(PhysicsServer::BodyParameter); -VARIANT_ENUM_CAST(PhysicsServer::BodyState); -VARIANT_ENUM_CAST(PhysicsServer::BodyAxis); -VARIANT_ENUM_CAST(PhysicsServer::PinJointParam); -VARIANT_ENUM_CAST(PhysicsServer::JointType); -VARIANT_ENUM_CAST(PhysicsServer::HingeJointParam); -VARIANT_ENUM_CAST(PhysicsServer::HingeJointFlag); -VARIANT_ENUM_CAST(PhysicsServer::SliderJointParam); -VARIANT_ENUM_CAST(PhysicsServer::ConeTwistJointParam); -VARIANT_ENUM_CAST(PhysicsServer::G6DOFJointAxisParam); -VARIANT_ENUM_CAST(PhysicsServer::G6DOFJointAxisFlag); -VARIANT_ENUM_CAST(PhysicsServer::AreaBodyStatus); -VARIANT_ENUM_CAST(PhysicsServer::ProcessInfo); - -#endif |