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Diffstat (limited to 'servers/physics_server_3d.h')
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1 files changed, 844 insertions, 0 deletions
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h new file mode 100644 index 0000000000..8ea8b22455 --- /dev/null +++ b/servers/physics_server_3d.h @@ -0,0 +1,844 @@ +/*************************************************************************/ +/* physics_server_3d.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 PhysicsDirectSpaceState3D; + +class PhysicsDirectBodyState3D : public Object { + + GDCLASS(PhysicsDirectBodyState3D, 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_sleep) = 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 PhysicsDirectSpaceState3D *get_space_state() = 0; + + PhysicsDirectBodyState3D(); +}; + +class PhysicsShapeQueryResult3D; + +class PhysicsShapeQueryParameters3D : public Reference { + + GDCLASS(PhysicsShapeQueryParameters3D, Reference); + friend class PhysicsDirectSpaceState3D; + + 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; + + PhysicsShapeQueryParameters3D(); +}; + +class PhysicsDirectSpaceState3D : public Object { + + GDCLASS(PhysicsDirectSpaceState3D, 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<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32); + Array _cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, const Vector3 &p_motion); + Array _collide_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32); + Dictionary _get_rest_info(const Ref<PhysicsShapeQueryParameters3D> &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 = 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 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; + + PhysicsDirectSpaceState3D(); +}; + +class PhysicsShapeQueryResult3D : public Reference { + + GDCLASS(PhysicsShapeQueryResult3D, Reference); + + Vector<PhysicsDirectSpaceState3D::ShapeResult> result; + + friend class PhysicsDirectSpaceState3D; + +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; + + PhysicsShapeQueryResult3D(); +}; + +class PhysicsServer3D : public Object { + + GDCLASS(PhysicsServer3D, Object); + + static PhysicsServer3D *singleton; + +protected: + static void _bind_methods(); + +public: + static PhysicsServer3D *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 PhysicsDirectSpaceState3D *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 PhysicsDirectBodyState3D *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 = nullptr, 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_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *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 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; + + PhysicsServer3D(); + ~PhysicsServer3D(); +}; + +typedef PhysicsServer3D *(*CreatePhysicsServer3DCallback)(); + +class PhysicsServer3DManager { + struct ClassInfo { + String name; + CreatePhysicsServer3DCallback create_callback; + + ClassInfo() : + name(""), + create_callback(nullptr) {} + + ClassInfo(String p_name, CreatePhysicsServer3DCallback 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, CreatePhysicsServer3DCallback 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 PhysicsServer3D *new_default_server(); + static PhysicsServer3D *new_server(const String &p_name); +}; + +VARIANT_ENUM_CAST(PhysicsServer3D::ShapeType); +VARIANT_ENUM_CAST(PhysicsServer3D::SpaceParameter); +VARIANT_ENUM_CAST(PhysicsServer3D::AreaParameter); +VARIANT_ENUM_CAST(PhysicsServer3D::AreaSpaceOverrideMode); +VARIANT_ENUM_CAST(PhysicsServer3D::BodyMode); +VARIANT_ENUM_CAST(PhysicsServer3D::BodyParameter); +VARIANT_ENUM_CAST(PhysicsServer3D::BodyState); +VARIANT_ENUM_CAST(PhysicsServer3D::BodyAxis); +VARIANT_ENUM_CAST(PhysicsServer3D::PinJointParam); +VARIANT_ENUM_CAST(PhysicsServer3D::JointType); +VARIANT_ENUM_CAST(PhysicsServer3D::HingeJointParam); +VARIANT_ENUM_CAST(PhysicsServer3D::HingeJointFlag); +VARIANT_ENUM_CAST(PhysicsServer3D::SliderJointParam); +VARIANT_ENUM_CAST(PhysicsServer3D::ConeTwistJointParam); +VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisParam); +VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisFlag); +VARIANT_ENUM_CAST(PhysicsServer3D::AreaBodyStatus); +VARIANT_ENUM_CAST(PhysicsServer3D::ProcessInfo); + +#endif |