/*************************************************************************/ /* bullet_physics_server.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 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. */ /*************************************************************************/ #include "bullet_physics_server.h" #include "bullet_utilities.h" #include "cone_twist_joint_bullet.h" #include "core/error/error_macros.h" #include "core/object/class_db.h" #include "core/string/ustring.h" #include "generic_6dof_joint_bullet.h" #include "hinge_joint_bullet.h" #include "pin_joint_bullet.h" #include "shape_bullet.h" #include "slider_joint_bullet.h" #include #include /** @author AndreaCatania */ #define CreateThenReturnRID(owner, ridData) \ RID rid = owner.make_rid(ridData); \ ridData->set_self(rid); \ ridData->_set_physics_server(this); \ return rid; // <--------------- Joint creation asserts /// Assert the body is assigned to a space #define JointAssertSpace(body, bIndex, ret) \ if (!body->get_space()) { \ ERR_PRINT("Before create a joint the Body" + String(bIndex) + " must be added to a space!"); \ return ret; \ } /// Assert the two bodies of joint are in the same space #define JointAssertSameSpace(bodyA, bodyB, ret) \ if (bodyA->get_space() != bodyB->get_space()) { \ ERR_PRINT("In order to create a joint the Body_A and Body_B must be in the same space!"); \ return RID(); \ } #define AddJointToSpace(body, joint) \ body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies()); // <--------------- Joint creation asserts void BulletPhysicsServer3D::_bind_methods() { //ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer3D::DoTest); } BulletPhysicsServer3D::BulletPhysicsServer3D() : PhysicsServer3D() {} BulletPhysicsServer3D::~BulletPhysicsServer3D() {} RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) { ShapeBullet *shape = nullptr; switch (p_shape) { case SHAPE_PLANE: { shape = bulletnew(PlaneShapeBullet); } break; case SHAPE_SPHERE: { shape = bulletnew(SphereShapeBullet); } break; case SHAPE_BOX: { shape = bulletnew(BoxShapeBullet); } break; case SHAPE_CAPSULE: { shape = bulletnew(CapsuleShapeBullet); } break; case SHAPE_CYLINDER: { shape = bulletnew(CylinderShapeBullet); } break; case SHAPE_CONVEX_POLYGON: { shape = bulletnew(ConvexPolygonShapeBullet); } break; case SHAPE_CONCAVE_POLYGON: { shape = bulletnew(ConcavePolygonShapeBullet); } break; case SHAPE_HEIGHTMAP: { shape = bulletnew(HeightMapShapeBullet); } break; case SHAPE_RAY: { shape = bulletnew(RayShapeBullet); } break; case SHAPE_CUSTOM: default: ERR_FAIL_V(RID()); break; } CreateThenReturnRID(shape_owner, shape) } void BulletPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) { ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND(!shape); shape->set_data(p_data); } void BulletPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { //WARN_PRINT("Bias not supported by Bullet physics engine"); } PhysicsServer3D::ShapeType BulletPhysicsServer3D::shape_get_type(RID p_shape) const { ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND_V(!shape, PhysicsServer3D::SHAPE_CUSTOM); return shape->get_type(); } Variant BulletPhysicsServer3D::shape_get_data(RID p_shape) const { ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND_V(!shape, Variant()); return shape->get_data(); } void BulletPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) { ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND(!shape); shape->set_margin(p_margin); } real_t BulletPhysicsServer3D::shape_get_margin(RID p_shape) const { ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND_V(!shape, 0.0); return shape->get_margin(); } real_t BulletPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const { //WARN_PRINT("Bias not supported by Bullet physics engine"); return 0.; } RID BulletPhysicsServer3D::space_create() { SpaceBullet *space = bulletnew(SpaceBullet); CreateThenReturnRID(space_owner, space); } void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) { SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND(!space); if (space_is_active(p_space) == p_active) { return; } if (p_active) { ++active_spaces_count; active_spaces.push_back(space); } else { --active_spaces_count; active_spaces.erase(space); } } bool BulletPhysicsServer3D::space_is_active(RID p_space) const { SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND_V(!space, false); return -1 != active_spaces.find(space); } void BulletPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND(!space); space->set_param(p_param, p_value); } real_t BulletPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const { SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND_V(!space, 0); return space->get_param(p_param); } PhysicsDirectSpaceState3D *BulletPhysicsServer3D::space_get_direct_state(RID p_space) { SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND_V(!space, nullptr); return space->get_direct_state(); } void BulletPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) { SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND(!space); space->set_debug_contacts(p_max_contacts); } Vector BulletPhysicsServer3D::space_get_contacts(RID p_space) const { SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND_V(!space, Vector()); return space->get_debug_contacts(); } int BulletPhysicsServer3D::space_get_contact_count(RID p_space) const { SpaceBullet *space = space_owner.getornull(p_space); ERR_FAIL_COND_V(!space, 0); return space->get_debug_contact_count(); } RID BulletPhysicsServer3D::area_create() { AreaBullet *area = bulletnew(AreaBullet); area->set_collision_layer(1); area->set_collision_mask(1); CreateThenReturnRID(area_owner, area) } void BulletPhysicsServer3D::area_set_space(RID p_area, RID p_space) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); SpaceBullet *space = nullptr; if (p_space.is_valid()) { space = space_owner.getornull(p_space); ERR_FAIL_COND(!space); } area->set_space(space); } RID BulletPhysicsServer3D::area_get_space(RID p_area) const { AreaBullet *area = area_owner.getornull(p_area); return area->get_space()->get_self(); } void BulletPhysicsServer3D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_spOv_mode(p_mode); } PhysicsServer3D::AreaSpaceOverrideMode BulletPhysicsServer3D::area_get_space_override_mode(RID p_area) const { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND_V(!area, PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED); return area->get_spOv_mode(); } void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND(!shape); area->add_shape(shape, p_transform, p_disabled); } void BulletPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND(!shape); area->set_shape(p_shape_idx, shape); } void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_shape_transform(p_shape_idx, p_transform); } int BulletPhysicsServer3D::area_get_shape_count(RID p_area) const { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND_V(!area, 0); return area->get_shape_count(); } RID BulletPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND_V(!area, RID()); return area->get_shape(p_shape_idx)->get_self(); } Transform BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND_V(!area, Transform()); return area->get_shape_transform(p_shape_idx); } void BulletPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); return area->remove_shape_full(p_shape_idx); } void BulletPhysicsServer3D::area_clear_shapes(RID p_area) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); for (int i = area->get_shape_count(); 0 < i; --i) { area->remove_shape_full(0); } } void BulletPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_shape_disabled(p_shape_idx, p_disabled); } void BulletPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) { if (space_owner.owns(p_area)) { return; } AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_instance_id(p_id); } ObjectID BulletPhysicsServer3D::area_get_object_instance_id(RID p_area) const { if (space_owner.owns(p_area)) { return ObjectID(); } AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND_V(!area, ObjectID()); return area->get_instance_id(); } void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { if (space_owner.owns(p_area)) { SpaceBullet *space = space_owner.getornull(p_area); if (space) { space->set_param(p_param, p_value); } } else { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_param(p_param, p_value); } } Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const { if (space_owner.owns(p_area)) { SpaceBullet *space = space_owner.getornull(p_area); return space->get_param(p_param); } else { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND_V(!area, Variant()); return area->get_param(p_param); } } void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform &p_transform) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_transform(p_transform); } Transform BulletPhysicsServer3D::area_get_transform(RID p_area) const { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND_V(!area, Transform()); return area->get_transform(); } void BulletPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_collision_mask(p_mask); } void BulletPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_collision_layer(p_layer); } void BulletPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_monitorable(p_monitorable); } void BulletPhysicsServer3D::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); } void BulletPhysicsServer3D::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); } void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND(!area); area->set_ray_pickable(p_enable); } bool BulletPhysicsServer3D::area_is_ray_pickable(RID p_area) const { AreaBullet *area = area_owner.getornull(p_area); ERR_FAIL_COND_V(!area, false); return area->is_ray_pickable(); } RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) { RigidBodyBullet *body = bulletnew(RigidBodyBullet); body->set_mode(p_mode); body->set_collision_layer(1); body->set_collision_mask(1); if (p_init_sleeping) { body->set_state(BODY_STATE_SLEEPING, p_init_sleeping); } CreateThenReturnRID(rigid_body_owner, body); } void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); SpaceBullet *space = nullptr; if (p_space.is_valid()) { space = space_owner.getornull(p_space); ERR_FAIL_COND(!space); } if (body->get_space() == space) { return; //pointless } body->set_space(space); } RID BulletPhysicsServer3D::body_get_space(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, RID()); SpaceBullet *space = body->get_space(); if (!space) { return RID(); } return space->get_self(); } void BulletPhysicsServer3D::body_set_mode(RID p_body, PhysicsServer3D::BodyMode p_mode) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_mode(p_mode); } PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); return body->get_mode(); } void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND(!shape); body->add_shape(shape, p_transform, p_disabled); } void BulletPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); ShapeBullet *shape = shape_owner.getornull(p_shape); ERR_FAIL_COND(!shape); body->set_shape(p_shape_idx, shape); } void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_shape_transform(p_shape_idx, p_transform); } int BulletPhysicsServer3D::body_get_shape_count(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_shape_count(); } RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, RID()); ShapeBullet *shape = body->get_shape(p_shape_idx); ERR_FAIL_COND_V(!shape, RID()); return shape->get_self(); } Transform BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, Transform()); return body->get_shape_transform(p_shape_idx); } void BulletPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_shape_disabled(p_shape_idx, p_disabled); } void BulletPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->remove_shape_full(p_shape_idx); } void BulletPhysicsServer3D::body_clear_shapes(RID p_body) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->remove_all_shapes(); } void BulletPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) { CollisionObjectBullet *body = get_collision_object(p_body); ERR_FAIL_COND(!body); body->set_instance_id(p_id); } ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const { CollisionObjectBullet *body = get_collision_object(p_body); ERR_FAIL_COND_V(!body, ObjectID()); return body->get_instance_id(); } void BulletPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_continuous_collision_detection(p_enable); } bool BulletPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); return body->is_continuous_collision_detection_enabled(); } void BulletPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_collision_layer(p_layer); } uint32_t BulletPhysicsServer3D::body_get_collision_layer(RID p_body) const { const RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_collision_layer(); } void BulletPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_collision_mask(p_mask); } uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_collision_mask(); } void BulletPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) { // This function is not currently supported } uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const { // This function is not currently supported return 0; } void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); } real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_param(p_param); } void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); if (body->get_kinematic_utilities()) { body->get_kinematic_utilities()->setSafeMargin(p_margin); } } real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); if (body->get_kinematic_utilities()) { return body->get_kinematic_utilities()->safe_margin; } return 0; } void BulletPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_state(p_state, p_variant); } Variant BulletPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, Variant()); return body->get_state(p_state); } void BulletPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_applied_force(p_force); } Vector3 BulletPhysicsServer3D::body_get_applied_force(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, Vector3()); return body->get_applied_force(); } void BulletPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_applied_torque(p_torque); } Vector3 BulletPhysicsServer3D::body_get_applied_torque(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, Vector3()); return body->get_applied_torque(); } void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->apply_central_force(p_force); } void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->apply_force(p_force, p_position); } void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->apply_torque(p_torque); } void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->apply_central_impulse(p_impulse); } void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->apply_impulse(p_impulse, p_position); } void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->apply_torque_impulse(p_impulse); } void BulletPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); Vector3 v = body->get_linear_velocity(); Vector3 axis = p_axis_velocity.normalized(); v -= axis * axis.dot(v); v += p_axis_velocity; body->set_linear_velocity(v); } void BulletPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_axis_lock(p_axis, p_lock); } bool BulletPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const { const RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->is_axis_locked(p_axis); } void BulletPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); RigidBodyBullet *other_body = rigid_body_owner.getornull(p_body_b); ERR_FAIL_COND(!other_body); body->add_collision_exception(other_body); } void BulletPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); RigidBodyBullet *other_body = rigid_body_owner.getornull(p_body_b); ERR_FAIL_COND(!other_body); body->remove_collision_exception(other_body); } void BulletPhysicsServer3D::body_get_collision_exceptions(RID p_body, List *p_exceptions) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); for (int i = 0; i < body->get_exceptions().size(); i++) { p_exceptions->push_back(body->get_exceptions()[i]); } } void BulletPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_max_collisions_detection(p_contacts); } int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_max_collisions_detection(); } void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { // Not supported by bullet and even Godot } real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { // Not supported by bullet and even Godot return 0.; } void BulletPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_omit_forces_integration(p_omit); } bool BulletPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); return body->get_omit_forces_integration(); } void BulletPhysicsServer3D::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_force_integration_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method, p_udata); } void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_ray_pickable(p_enable); } bool BulletPhysicsServer3D::body_is_ray_pickable(RID p_body) const { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); return body->is_ray_pickable(); } PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, nullptr); return BulletPhysicsDirectBodyState3D::get_singleton(body); } bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_COND_V(!body->get_space(), false); return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes); } int BulletPhysicsServer3D::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) { RigidBodyBullet *body = rigid_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); ERR_FAIL_COND_V(!body->get_space(), 0); return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin); } RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) { SoftBodyBullet *body = bulletnew(SoftBodyBullet); body->set_collision_layer(1); body->set_collision_mask(1); if (p_init_sleeping) { body->set_activation_state(false); } CreateThenReturnRID(soft_body_owner, body); } void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->update_rendering_server(p_rendering_server_handler); } void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); SpaceBullet *space = nullptr; if (p_space.is_valid()) { space = space_owner.getornull(p_space); ERR_FAIL_COND(!space); } if (body->get_space() == space) { return; //pointless } body->set_space(space); } RID BulletPhysicsServer3D::soft_body_get_space(RID p_body) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, RID()); SpaceBullet *space = body->get_space(); if (!space) { return RID(); } return space->get_self(); } void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, const REF &p_mesh) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_soft_mesh(p_mesh); } void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_collision_layer(p_layer); } uint32_t BulletPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const { const SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_collision_layer(); } void BulletPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_collision_mask(p_mask); } uint32_t BulletPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const { const SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_collision_mask(); } void BulletPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); CollisionObjectBullet *other_body = rigid_body_owner.getornull(p_body_b); if (!other_body) { other_body = soft_body_owner.getornull(p_body_b); } ERR_FAIL_COND(!other_body); body->add_collision_exception(other_body); } void BulletPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); CollisionObjectBullet *other_body = rigid_body_owner.getornull(p_body_b); if (!other_body) { other_body = soft_body_owner.getornull(p_body_b); } ERR_FAIL_COND(!other_body); body->remove_collision_exception(other_body); } void BulletPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List *p_exceptions) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); for (int i = 0; i < body->get_exceptions().size(); i++) { p_exceptions->push_back(body->get_exceptions()[i]); } } void BulletPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { // FIXME: Must be implemented. WARN_PRINT("soft_body_state is not implemented yet in Bullet backend."); } Variant BulletPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const { // FIXME: Must be implemented. WARN_PRINT("soft_body_state is not implemented yet in Bullet backend."); return Variant(); } void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform &p_transform) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_soft_transform(p_transform); } Vector3 BulletPhysicsServer3D::soft_body_get_vertex_position(RID p_body, int vertex_index) const { const SoftBodyBullet *body = soft_body_owner.getornull(p_body); Vector3 pos; ERR_FAIL_COND_V(!body, pos); body->get_node_position(vertex_index, pos); return pos; } void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_ray_pickable(p_enable); } bool BulletPhysicsServer3D::soft_body_is_ray_pickable(RID p_body) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, false); return body->is_ray_pickable(); } void BulletPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_simulation_precision(p_simulation_precision); } int BulletPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_simulation_precision(); } void BulletPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_total_mass(p_total_mass); } real_t BulletPhysicsServer3D::soft_body_get_total_mass(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_total_mass(); } void BulletPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_linear_stiffness(p_stiffness); } real_t BulletPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_linear_stiffness(); } void BulletPhysicsServer3D::soft_body_set_angular_stiffness(RID p_body, real_t p_stiffness) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_angular_stiffness(p_stiffness); } real_t BulletPhysicsServer3D::soft_body_get_angular_stiffness(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_angular_stiffness(); } void BulletPhysicsServer3D::soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_volume_stiffness(p_stiffness); } real_t BulletPhysicsServer3D::soft_body_get_volume_stiffness(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_volume_stiffness(); } void BulletPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_pressure_coefficient(p_pressure_coefficient); } real_t BulletPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_pressure_coefficient(); } void BulletPhysicsServer3D::soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); return body->set_pose_matching_coefficient(p_pose_matching_coefficient); } real_t BulletPhysicsServer3D::soft_body_get_pose_matching_coefficient(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_pose_matching_coefficient(); } void BulletPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_damping_coefficient(p_damping_coefficient); } real_t BulletPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_damping_coefficient(); } void BulletPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_drag_coefficient(p_drag_coefficient); } real_t BulletPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_drag_coefficient(); } void BulletPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_node_position(p_point_index, p_global_position); } Vector3 BulletPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, Vector3(0., 0., 0.)); Vector3 pos; body->get_node_position(p_point_index, pos); return pos; } Vector3 BulletPhysicsServer3D::soft_body_get_point_offset(RID p_body, int p_point_index) const { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, Vector3()); Vector3 res; body->get_node_offset(p_point_index, res); return res; } void BulletPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->reset_all_node_mass(); } void BulletPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND(!body); body->set_node_mass(p_point_index, p_pin ? 0 : 1); } bool BulletPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) { SoftBodyBullet *body = soft_body_owner.getornull(p_body); ERR_FAIL_COND_V(!body, 0.f); return body->get_node_mass(p_point_index); } PhysicsServer3D::JointType BulletPhysicsServer3D::joint_get_type(RID p_joint) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, JOINT_PIN); return joint->get_type(); } void BulletPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) { // Joint priority not supported by bullet } int BulletPhysicsServer3D::joint_get_solver_priority(RID p_joint) const { // Joint priority not supported by bullet return 0; } void BulletPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); joint->disable_collisions_between_bodies(p_disable); } bool BulletPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const { JointBullet *joint(joint_owner.getornull(p_joint)); ERR_FAIL_COND_V(!joint, false); return joint->is_disabled_collisions_between_bodies(); } RID BulletPhysicsServer3D::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); RigidBodyBullet *body_B = nullptr; if (p_body_B.is_valid()) { body_B = rigid_body_owner.getornull(p_body_B); JointAssertSpace(body_B, "B", RID()); JointAssertSameSpace(body_A, body_B, RID()); } ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B)); AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } void BulletPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_PIN); PinJointBullet *pin_joint = static_cast(joint); pin_joint->set_param(p_param, p_value); } real_t BulletPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0); PinJointBullet *pin_joint = static_cast(joint); return pin_joint->get_param(p_param); } void BulletPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_PIN); PinJointBullet *pin_joint = static_cast(joint); pin_joint->setPivotInA(p_A); } Vector3 BulletPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, Vector3()); ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3()); PinJointBullet *pin_joint = static_cast(joint); return pin_joint->getPivotInA(); } void BulletPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_PIN); PinJointBullet *pin_joint = static_cast(joint); pin_joint->setPivotInB(p_B); } Vector3 BulletPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, Vector3()); ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3()); PinJointBullet *pin_joint = static_cast(joint); return pin_joint->getPivotInB(); } RID BulletPhysicsServer3D::joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); RigidBodyBullet *body_B = nullptr; if (p_body_B.is_valid()) { body_B = rigid_body_owner.getornull(p_body_B); JointAssertSpace(body_B, "B", RID()); JointAssertSameSpace(body_A, body_B, RID()); } ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B)); AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } RID BulletPhysicsServer3D::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) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); RigidBodyBullet *body_B = nullptr; if (p_body_B.is_valid()) { body_B = rigid_body_owner.getornull(p_body_B); JointAssertSpace(body_B, "B", RID()); JointAssertSameSpace(body_A, body_B, RID()); } ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B)); AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } void BulletPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); HingeJointBullet *hinge_joint = static_cast(joint); hinge_joint->set_param(p_param, p_value); } real_t BulletPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0); HingeJointBullet *hinge_joint = static_cast(joint); return hinge_joint->get_param(p_param); } void BulletPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); HingeJointBullet *hinge_joint = static_cast(joint); hinge_joint->set_flag(p_flag, p_value); } bool BulletPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, false); ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false); HingeJointBullet *hinge_joint = static_cast(joint); return hinge_joint->get_flag(p_flag); } RID BulletPhysicsServer3D::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); RigidBodyBullet *body_B = nullptr; if (p_body_B.is_valid()) { body_B = rigid_body_owner.getornull(p_body_B); JointAssertSpace(body_B, "B", RID()); JointAssertSameSpace(body_A, body_B, RID()); } ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } void BulletPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER); SliderJointBullet *slider_joint = static_cast(joint); slider_joint->set_param(p_param, p_value); } real_t BulletPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0); SliderJointBullet *slider_joint = static_cast(joint); return slider_joint->get_param(p_param); } RID BulletPhysicsServer3D::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); RigidBodyBullet *body_B = nullptr; if (p_body_B.is_valid()) { body_B = rigid_body_owner.getornull(p_body_B); JointAssertSpace(body_B, "B", RID()); JointAssertSameSpace(body_A, body_B, RID()); } JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } void BulletPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST); ConeTwistJointBullet *coneTwist_joint = static_cast(joint); coneTwist_joint->set_param(p_param, p_value); } real_t BulletPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0.); ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.); ConeTwistJointBullet *coneTwist_joint = static_cast(joint); return coneTwist_joint->get_param(p_param); } RID BulletPhysicsServer3D::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { RigidBodyBullet *body_A = rigid_body_owner.getornull(p_body_A); ERR_FAIL_COND_V(!body_A, RID()); JointAssertSpace(body_A, "A", RID()); RigidBodyBullet *body_B = nullptr; if (p_body_B.is_valid()) { body_B = rigid_body_owner.getornull(p_body_B); JointAssertSpace(body_B, "B", RID()); JointAssertSameSpace(body_A, body_B, RID()); } ERR_FAIL_COND_V(body_A == body_B, RID()); JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); AddJointToSpace(body_A, joint); CreateThenReturnRID(joint_owner, joint); } void BulletPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); Generic6DOFJointBullet *generic_6dof_joint = static_cast(joint); generic_6dof_joint->set_param(p_axis, p_param, p_value); } real_t BulletPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); Generic6DOFJointBullet *generic_6dof_joint = static_cast(joint); return generic_6dof_joint->get_param(p_axis, p_param); } void BulletPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); Generic6DOFJointBullet *generic_6dof_joint = static_cast(joint); generic_6dof_joint->set_flag(p_axis, p_flag, p_enable); } bool BulletPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) { JointBullet *joint = joint_owner.getornull(p_joint); ERR_FAIL_COND_V(!joint, false); ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false); Generic6DOFJointBullet *generic_6dof_joint = static_cast(joint); return generic_6dof_joint->get_flag(p_axis, p_flag); } void BulletPhysicsServer3D::free(RID p_rid) { if (shape_owner.owns(p_rid)) { ShapeBullet *shape = shape_owner.getornull(p_rid); // Notify the shape is configured for (Map::Element *element = shape->get_owners().front(); element; element = element->next()) { static_cast(element->key())->remove_shape_full(shape); } shape_owner.free(p_rid); bulletdelete(shape); } else if (rigid_body_owner.owns(p_rid)) { RigidBodyBullet *body = rigid_body_owner.getornull(p_rid); body->set_space(nullptr); body->remove_all_shapes(true, true); rigid_body_owner.free(p_rid); bulletdelete(body); } else if (soft_body_owner.owns(p_rid)) { SoftBodyBullet *body = soft_body_owner.getornull(p_rid); body->set_space(nullptr); soft_body_owner.free(p_rid); bulletdelete(body); } else if (area_owner.owns(p_rid)) { AreaBullet *area = area_owner.getornull(p_rid); area->set_space(nullptr); area->remove_all_shapes(true, true); area_owner.free(p_rid); bulletdelete(area); } else if (joint_owner.owns(p_rid)) { JointBullet *joint = joint_owner.getornull(p_rid); joint->destroy_internal_constraint(); joint_owner.free(p_rid); bulletdelete(joint); } else if (space_owner.owns(p_rid)) { SpaceBullet *space = space_owner.getornull(p_rid); space->remove_all_collision_objects(); space_set_active(p_rid, false); space_owner.free(p_rid); bulletdelete(space); } else { ERR_FAIL_MSG("Invalid ID."); } } void BulletPhysicsServer3D::init() { BulletPhysicsDirectBodyState3D::initSingleton(); } void BulletPhysicsServer3D::step(real_t p_deltaTime) { if (!active) { return; } BulletPhysicsDirectBodyState3D::singleton_setDeltaTime(p_deltaTime); for (int i = 0; i < active_spaces_count; ++i) { active_spaces[i]->step(p_deltaTime); } } void BulletPhysicsServer3D::flush_queries() { if (!active) { return; } for (int i = 0; i < active_spaces_count; ++i) { active_spaces[i]->flush_queries(); } } void BulletPhysicsServer3D::finish() { BulletPhysicsDirectBodyState3D::destroySingleton(); } int BulletPhysicsServer3D::get_process_info(ProcessInfo p_info) { return 0; } SpaceBullet *BulletPhysicsServer3D::get_space(RID p_rid) const { ERR_FAIL_COND_V_MSG(space_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); return space_owner.getornull(p_rid); } ShapeBullet *BulletPhysicsServer3D::get_shape(RID p_rid) const { ERR_FAIL_COND_V_MSG(shape_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); return shape_owner.getornull(p_rid); } CollisionObjectBullet *BulletPhysicsServer3D::get_collision_object(RID p_object) const { if (rigid_body_owner.owns(p_object)) { return rigid_body_owner.getornull(p_object); } if (area_owner.owns(p_object)) { return area_owner.getornull(p_object); } if (soft_body_owner.owns(p_object)) { return soft_body_owner.getornull(p_object); } ERR_FAIL_V_MSG(nullptr, "The RID is no valid."); } RigidCollisionObjectBullet *BulletPhysicsServer3D::get_rigid_collision_object(RID p_object) const { if (rigid_body_owner.owns(p_object)) { return rigid_body_owner.getornull(p_object); } if (area_owner.owns(p_object)) { return area_owner.getornull(p_object); } ERR_FAIL_V_MSG(nullptr, "The RID is no valid."); } JointBullet *BulletPhysicsServer3D::get_joint(RID p_rid) const { ERR_FAIL_COND_V_MSG(joint_owner.owns(p_rid) == false, nullptr, "The RID is not valid."); return joint_owner.getornull(p_rid); }