diff options
Diffstat (limited to 'servers/physics_server_3d.h')
| -rw-r--r-- | servers/physics_server_3d.h | 160 |
1 files changed, 83 insertions, 77 deletions
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index e16857192c..17bae9a057 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -59,8 +59,8 @@ public: 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 set_transform(const Transform3D &p_transform) = 0; + virtual Transform3D 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_position = Vector3()) = 0; @@ -94,15 +94,13 @@ public: PhysicsDirectBodyState3D(); }; -class PhysicsShapeQueryResult3D; - -class PhysicsShapeQueryParameters3D : public Reference { - GDCLASS(PhysicsShapeQueryParameters3D, Reference); +class PhysicsShapeQueryParameters3D : public RefCounted { + GDCLASS(PhysicsShapeQueryParameters3D, RefCounted); friend class PhysicsDirectSpaceState3D; RES shape_ref; RID shape; - Transform transform; + Transform3D transform; real_t margin; Set<RID> exclude; uint32_t collision_mask; @@ -119,14 +117,14 @@ public: 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_transform(const Transform3D &p_transform); + Transform3D get_transform() const; void set_margin(real_t p_margin); real_t get_margin() const; - void set_collision_mask(int p_collision_mask); - int get_collision_mask() const; + void set_collision_mask(uint32_t p_collision_mask); + uint32_t get_collision_mask() const; void set_exclude(const Vector<RID> &p_exclude); Vector<RID> get_exclude() const; @@ -157,8 +155,8 @@ public: struct ShapeResult { RID rid; ObjectID collider_id; - Object *collider; - int shape; + Object *collider = nullptr; + int shape = 0; }; 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; @@ -168,59 +166,52 @@ public: Vector3 normal; RID rid; ObjectID collider_id; - Object *collider; - int shape; + Object *collider = nullptr; + int shape = 0; }; 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, real_t 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; + virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t 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; + int shape = 0; Vector3 linear_velocity; //velocity at contact point }; - virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &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 = nullptr) = 0; + virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &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 = nullptr) = 0; - virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t 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 collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t 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, real_t 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 bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t 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; PhysicsDirectSpaceState3D(); }; -class PhysicsShapeQueryResult3D : public Reference { - GDCLASS(PhysicsShapeQueryResult3D, Reference); - - Vector<PhysicsDirectSpaceState3D::ShapeResult> result; - - friend class PhysicsDirectSpaceState3D; - -protected: - static void _bind_methods(); - +class RenderingServerHandler { 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; + virtual void set_vertex(int p_vertex_id, const void *p_vector3) = 0; + virtual void set_normal(int p_vertex_id, const void *p_vector3) = 0; + virtual void set_aabb(const AABB &p_aabb) = 0; - PhysicsShapeQueryResult3D(); + virtual ~RenderingServerHandler() {} }; +class PhysicsTestMotionResult3D; + class PhysicsServer3D : public Object { GDCLASS(PhysicsServer3D, Object); static PhysicsServer3D *singleton; + virtual bool _body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>()); + protected: static void _bind_methods(); @@ -237,6 +228,7 @@ public: 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_SOFT_BODY, ///< Used internally, can't be created from the physics server. SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error }; @@ -325,13 +317,13 @@ public: 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_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform = Transform3D(), 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 void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &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 Transform3D 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; @@ -342,10 +334,10 @@ public: 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 void area_set_transform(RID p_area, const Transform3D &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 Transform3D 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; @@ -364,8 +356,8 @@ public: enum BodyMode { BODY_MODE_STATIC, BODY_MODE_KINEMATIC, - BODY_MODE_RIGID, - BODY_MODE_CHARACTER + BODY_MODE_DYNAMIC, + BODY_MODE_DYNAMIC_LOCKED, }; virtual RID body_create() = 0; @@ -376,13 +368,13 @@ public: 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_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform = Transform3D(), 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 void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &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 Transform3D 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; @@ -418,9 +410,6 @@ public: virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) = 0; virtual real_t 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, @@ -476,7 +465,7 @@ public: 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_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) = 0; virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0; @@ -490,19 +479,17 @@ public: Vector3 collision_point; Vector3 collision_normal; Vector3 collider_velocity; - int collision_local_shape; + real_t collision_depth = 0.0; + real_t collision_safe_fraction = 0.0; + real_t collision_unsafe_fraction = 0.0; + int collision_local_shape = 0; ObjectID collider_id; RID collider; - int collider_shape; + int collider_shape = 0; 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 = nullptr, bool p_exclude_raycast_shapes = true) = 0; + virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0; struct SeparationResult { real_t collision_depth; @@ -516,19 +503,21 @@ public: 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, real_t p_margin = 0.001) = 0; + virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) = 0; /* SOFT BODY */ virtual RID soft_body_create() = 0; - virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) = 0; + virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_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 AABB soft_body_get_bounds(RID p_body) const = 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; @@ -542,8 +531,7 @@ public: 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_transform(RID p_body, const Transform3D &p_transform) = 0; virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0; @@ -556,18 +544,9 @@ public: 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) const = 0; - virtual void soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) = 0; - virtual real_t soft_body_get_angular_stiffness(RID p_body) const = 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) const = 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) const = 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) const = 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) const = 0; @@ -577,8 +556,6 @@ public: 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) const = 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) const = 0; @@ -642,7 +619,7 @@ public: HINGE_JOINT_FLAG_MAX }; - virtual void joint_make_hinge(RID p_joint, RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) = 0; + virtual void joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) = 0; virtual void joint_make_hinge_simple(RID p_joint, 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, real_t p_value) = 0; @@ -679,7 +656,7 @@ public: }; - virtual void joint_make_slider(RID p_joint, 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 joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) = 0; virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0; @@ -693,7 +670,7 @@ public: CONE_TWIST_MAX }; - virtual void joint_make_cone_twist(RID p_joint, 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 joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) = 0; virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0; @@ -734,7 +711,7 @@ public: G6DOF_JOINT_FLAG_MAX }; - virtual void joint_make_generic_6dof(RID p_joint, 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 joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value) = 0; virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) const = 0; @@ -763,6 +740,8 @@ public: virtual bool is_flushing_queries() const = 0; + virtual void set_collision_iterations(int p_iterations) = 0; + enum ProcessInfo { INFO_ACTIVE_OBJECTS, INFO_COLLISION_PAIRS, @@ -775,6 +754,33 @@ public: ~PhysicsServer3D(); }; +class PhysicsTestMotionResult3D : public RefCounted { + GDCLASS(PhysicsTestMotionResult3D, RefCounted); + + PhysicsServer3D::MotionResult result; + friend class PhysicsServer3D; + +protected: + static void _bind_methods(); + +public: + PhysicsServer3D::MotionResult *get_result_ptr() const { return const_cast<PhysicsServer3D::MotionResult *>(&result); } + + Vector3 get_motion() const; + Vector3 get_motion_remainder() const; + + Vector3 get_collision_point() const; + Vector3 get_collision_normal() const; + Vector3 get_collider_velocity() const; + ObjectID get_collider_id() const; + RID get_collider_rid() const; + Object *get_collider() const; + int get_collider_shape() const; + real_t get_collision_depth() const; + real_t get_collision_safe_fraction() const; + real_t get_collision_unsafe_fraction() const; +}; + typedef PhysicsServer3D *(*CreatePhysicsServer3DCallback)(); class PhysicsServer3DManager { |