diff options
Diffstat (limited to 'servers/physics_server_3d.h')
| -rw-r--r-- | servers/physics_server_3d.h | 132 |
1 files changed, 74 insertions, 58 deletions
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index 303825f37c..e16857192c 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -44,12 +44,12 @@ protected: 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 real_t get_total_angular_damp() const = 0; + virtual real_t 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 real_t 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 @@ -76,7 +76,7 @@ public: 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 real_t 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; @@ -103,7 +103,7 @@ class PhysicsShapeQueryParameters3D : public Reference { RES shape_ref; RID shape; Transform transform; - float margin; + real_t margin; Set<RID> exclude; uint32_t collision_mask; @@ -122,8 +122,8 @@ public: void set_transform(const Transform &p_transform); Transform get_transform() const; - void set_margin(float p_margin); - float get_margin() 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; @@ -174,7 +174,7 @@ public: 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; + 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; struct ShapeRestInfo { Vector3 point; @@ -185,11 +185,11 @@ public: 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 = nullptr) = 0; + 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 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 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 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 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 Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0; @@ -240,7 +240,19 @@ public: 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; + RID shape_create(ShapeType p_shape); + + virtual RID plane_shape_create() = 0; + virtual RID ray_shape_create() = 0; + virtual RID sphere_shape_create() = 0; + virtual RID box_shape_create() = 0; + virtual RID capsule_shape_create() = 0; + virtual RID cylinder_shape_create() = 0; + virtual RID convex_polygon_shape_create() = 0; + virtual RID concave_polygon_shape_create() = 0; + virtual RID heightmap_shape_create() = 0; + virtual RID custom_shape_create() = 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; @@ -344,7 +356,6 @@ public: 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 */ @@ -357,7 +368,7 @@ public: BODY_MODE_CHARACTER }; - virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false) = 0; + virtual RID body_create() = 0; virtual void body_set_space(RID p_body, RID p_space) = 0; virtual RID body_get_space(RID p_body) const = 0; @@ -404,8 +415,8 @@ public: 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_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; @@ -459,8 +470,8 @@ public: 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_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) = 0; + virtual real_t 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; @@ -468,7 +479,6 @@ public: 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 PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) = 0; @@ -495,7 +505,7 @@ public: 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; struct SeparationResult { - float collision_depth; + real_t collision_depth; Vector3 collision_point; Vector3 collision_normal; Vector3 collider_velocity; @@ -506,11 +516,11 @@ 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, float p_margin = 0.001) = 0; + 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; /* SOFT BODY */ - virtual RID soft_body_create(bool p_init_sleeping = false) = 0; + virtual RID soft_body_create() = 0; virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) = 0; @@ -536,55 +546,59 @@ public: 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 int soft_body_get_simulation_precision(RID p_body) const = 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 real_t soft_body_get_total_mass(RID p_body) const = 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 real_t soft_body_get_linear_stiffness(RID p_body) const = 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_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) = 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) = 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) = 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) = 0; + virtual real_t soft_body_get_damping_coefficient(RID p_body) const = 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 real_t soft_body_get_drag_coefficient(RID p_body) const = 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_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) = 0; + virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const = 0; /* JOINT API */ enum JointType { - JOINT_PIN, - JOINT_HINGE, - JOINT_SLIDER, - JOINT_CONE_TWIST, - JOINT_6DOF + JOINT_TYPE_PIN, + JOINT_TYPE_HINGE, + JOINT_TYPE_SLIDER, + JOINT_TYPE_CONE_TWIST, + JOINT_TYPE_6DOF, + JOINT_TYPE_MAX, }; + virtual RID joint_create() = 0; + + virtual void joint_clear(RID p_joint) = 0; + virtual JointType joint_get_type(RID p_joint) const = 0; virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0; @@ -593,7 +607,7 @@ public: 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; + virtual void joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0; enum PinJointParam { PIN_JOINT_BIAS, @@ -601,8 +615,8 @@ public: 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_param(RID p_joint, PinJointParam p_param, real_t p_value) = 0; + virtual real_t 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; @@ -628,11 +642,11 @@ public: 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 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_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, float p_value) = 0; - virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0; + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) = 0; + virtual real_t 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; @@ -665,10 +679,10 @@ public: }; - 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 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 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; + 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; enum ConeTwistJointParam { CONE_TWIST_JOINT_SWING_SPAN, @@ -679,10 +693,10 @@ public: 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 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 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; + 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; enum G6DOFJointAxisParam { G6DOF_JOINT_LINEAR_LOWER_LIMIT, @@ -720,13 +734,13 @@ public: 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 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 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_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; 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 bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) const = 0; /* QUERY API */ @@ -741,8 +755,10 @@ public: virtual void set_active(bool p_active) = 0; virtual void init() = 0; - virtual void step(float p_step) = 0; + virtual void step(real_t p_step) = 0; + virtual void sync() = 0; virtual void flush_queries() = 0; + virtual void end_sync() = 0; virtual void finish() = 0; virtual bool is_flushing_queries() const = 0; |