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-rw-r--r--servers/physics_server_3d.h156
1 files changed, 74 insertions, 82 deletions
diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h
index 3128092420..31ae352d9e 100644
--- a/servers/physics_server_3d.h
+++ b/servers/physics_server_3d.h
@@ -59,8 +59,10 @@ 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 Vector3 get_velocity_at_local_position(const Vector3 &p_position) 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 +96,13 @@ 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 +119,14 @@ 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 +157,8 @@ 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;
@@ -168,54 +168,34 @@ 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();
-
-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 RenderingServerHandler {
public:
virtual void set_vertex(int p_vertex_id, const void *p_vector3) = 0;
@@ -225,11 +205,15 @@ public:
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, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>(), const Vector<RID> &p_exclude = Vector<RID>());
+
protected:
static void _bind_methods();
@@ -238,7 +222,6 @@ public:
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
@@ -253,7 +236,6 @@ public:
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;
@@ -335,13 +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;
@@ -352,10 +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;
@@ -374,8 +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;
@@ -386,13 +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;
@@ -428,9 +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,
@@ -500,33 +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;
-
- struct SeparationResult {
- real_t 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, real_t p_margin = 0.001) = 0;
+ virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, const Set<RID> &p_exclude = Set<RID>()) = 0;
/* SOFT BODY */
@@ -554,7 +517,7 @@ 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 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;
@@ -642,7 +605,7 @@ 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 +642,7 @@ 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 +656,7 @@ 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 +697,7 @@ 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 +726,8 @@ 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 +740,33 @@ 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 {
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-16 23:14:17 +0000