/*************************************************************************/ /* bullet_physics_server.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2019 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 BULLET_PHYSICS_SERVER_H #define BULLET_PHYSICS_SERVER_H #include "area_bullet.h" #include "core/rid.h" #include "joint_bullet.h" #include "rigid_body_bullet.h" #include "servers/physics_server.h" #include "shape_bullet.h" #include "soft_body_bullet.h" #include "space_bullet.h" /** @author AndreaCatania */ class BulletPhysicsServer : public PhysicsServer { GDCLASS(BulletPhysicsServer, PhysicsServer) friend class BulletPhysicsDirectSpaceState; bool active; char active_spaces_count; Vector<SpaceBullet *> active_spaces; mutable RID_Owner<SpaceBullet> space_owner; mutable RID_Owner<ShapeBullet> shape_owner; mutable RID_Owner<AreaBullet> area_owner; mutable RID_Owner<RigidBodyBullet> rigid_body_owner; mutable RID_Owner<SoftBodyBullet> soft_body_owner; mutable RID_Owner<JointBullet> joint_owner; protected: static void _bind_methods(); public: BulletPhysicsServer(); ~BulletPhysicsServer(); _FORCE_INLINE_ RID_Owner<SpaceBullet> *get_space_owner() { return &space_owner; } _FORCE_INLINE_ RID_Owner<ShapeBullet> *get_shape_owner() { return &shape_owner; } _FORCE_INLINE_ RID_Owner<AreaBullet> *get_area_owner() { return &area_owner; } _FORCE_INLINE_ RID_Owner<RigidBodyBullet> *get_rigid_body_owner() { return &rigid_body_owner; } _FORCE_INLINE_ RID_Owner<SoftBodyBullet> *get_soft_body_owner() { return &soft_body_owner; } _FORCE_INLINE_ RID_Owner<JointBullet> *get_joint_owner() { return &joint_owner; } /* SHAPE API */ virtual RID shape_create(ShapeType p_shape); virtual void shape_set_data(RID p_shape, const Variant &p_data); virtual ShapeType shape_get_type(RID p_shape) const; virtual Variant shape_get_data(RID p_shape) const; virtual void shape_set_margin(RID p_shape, real_t p_margin); virtual real_t shape_get_margin(RID p_shape) const; /// Not supported virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias); /// Not supported virtual real_t shape_get_custom_solver_bias(RID p_shape) const; /* SPACE API */ virtual RID space_create(); virtual void space_set_active(RID p_space, bool p_active); virtual bool space_is_active(RID p_space) const; /// Not supported virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value); /// Not supported virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const; virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space); virtual void space_set_debug_contacts(RID p_space, int p_max_contacts); virtual Vector<Vector3> space_get_contacts(RID p_space) const; virtual int space_get_contact_count(RID p_space) const; /* AREA API */ /// Bullet Physics Engine not support "Area", this must be handled by the game developer in another way. /// Since godot Physics use the concept of area even to define the main world, the API area_set_param is used to set initial physics world information. /// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console. /// All other APIs returns a warning message if used virtual RID area_create(); virtual void area_set_space(RID p_area, RID p_space); virtual RID area_get_space(RID p_area) const; virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode); virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const; virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform()); virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape); virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform); virtual int area_get_shape_count(RID p_area) const; virtual RID area_get_shape(RID p_area, int p_shape_idx) const; virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const; virtual void area_remove_shape(RID p_area, int p_shape_idx); virtual void area_clear_shapes(RID p_area); virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled); virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID); virtual ObjectID area_get_object_instance_id(RID p_area) const; /// If you pass as p_area the SpaceBullet you can set some parameters as specified below /// AREA_PARAM_GRAVITY /// AREA_PARAM_GRAVITY_VECTOR /// Otherwise you can set area parameters virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value); virtual Variant area_get_param(RID p_area, AreaParameter p_param) const; virtual void area_set_transform(RID p_area, const Transform &p_transform); virtual Transform area_get_transform(RID p_area) const; virtual void area_set_collision_mask(RID p_area, uint32_t p_mask); virtual void area_set_collision_layer(RID p_area, uint32_t p_layer); virtual void area_set_monitorable(RID p_area, bool p_monitorable); virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); virtual void area_set_ray_pickable(RID p_area, bool p_enable); virtual bool area_is_ray_pickable(RID p_area) const; /* RIGID BODY API */ virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false); virtual void body_set_space(RID p_body, RID p_space); virtual RID body_get_space(RID p_body) const; virtual void body_set_mode(RID p_body, BodyMode p_mode); virtual BodyMode body_get_mode(RID p_body) const; virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform()); // Not supported, Please remove and add new shape virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape); virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform); virtual int body_get_shape_count(RID p_body) const; virtual RID body_get_shape(RID p_body, int p_shape_idx) const; virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const; virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled); virtual void body_remove_shape(RID p_body, int p_shape_idx); virtual void body_clear_shapes(RID p_body); // Used for Rigid and Soft Bodies virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID); virtual uint32_t body_get_object_instance_id(RID p_body) const; virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable); virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const; virtual void body_set_collision_layer(RID p_body, uint32_t p_layer); virtual uint32_t body_get_collision_layer(RID p_body) const; virtual void body_set_collision_mask(RID p_body, uint32_t p_mask); virtual uint32_t body_get_collision_mask(RID p_body) const; /// This is not supported by physics server virtual void body_set_user_flags(RID p_body, uint32_t p_flags); /// This is not supported by physics server virtual uint32_t body_get_user_flags(RID p_body) const; virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value); virtual float body_get_param(RID p_body, BodyParameter p_param) const; virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin); virtual real_t body_get_kinematic_safe_margin(RID p_body) const; virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); virtual Variant body_get_state(RID p_body, BodyState p_state) const; virtual void body_set_applied_force(RID p_body, const Vector3 &p_force); virtual Vector3 body_get_applied_force(RID p_body) const; virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque); virtual Vector3 body_get_applied_torque(RID p_body) const; virtual void body_add_central_force(RID p_body, const Vector3 &p_force); virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos); virtual void body_add_torque(RID p_body, const Vector3 &p_torque); virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse); virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse); virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock); virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const; virtual void body_add_collision_exception(RID p_body, RID p_body_b); virtual void body_remove_collision_exception(RID p_body, RID p_body_b); virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); virtual void body_set_max_contacts_reported(RID p_body, int p_contacts); virtual int body_get_max_contacts_reported(RID p_body) const; virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold); virtual float body_get_contacts_reported_depth_threshold(RID p_body) const; virtual void body_set_omit_force_integration(RID p_body, bool p_omit); virtual bool body_is_omitting_force_integration(RID p_body) const; virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()); virtual void body_set_ray_pickable(RID p_body, bool p_enable); virtual bool body_is_ray_pickable(RID p_body) const; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body); virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true); 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); /* SOFT BODY API */ virtual RID soft_body_create(bool p_init_sleeping = false); virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler); virtual void soft_body_set_space(RID p_body, RID p_space); virtual RID soft_body_get_space(RID p_body) const; virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh); virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer); virtual uint32_t soft_body_get_collision_layer(RID p_body) const; virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask); virtual uint32_t soft_body_get_collision_mask(RID p_body) const; virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b); virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b); virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const; /// Special function. This function has bad performance virtual void soft_body_set_transform(RID p_body, const Transform &p_transform); virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const; virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable); virtual bool soft_body_is_ray_pickable(RID p_body) const; virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision); virtual int soft_body_get_simulation_precision(RID p_body); virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass); virtual real_t soft_body_get_total_mass(RID p_body); virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness); virtual real_t soft_body_get_linear_stiffness(RID p_body); virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness); virtual real_t soft_body_get_areaAngular_stiffness(RID p_body); virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness); virtual real_t soft_body_get_volume_stiffness(RID p_body); virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient); virtual real_t soft_body_get_pressure_coefficient(RID p_body); virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient); virtual real_t soft_body_get_pose_matching_coefficient(RID p_body); virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient); virtual real_t soft_body_get_damping_coefficient(RID p_body); virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient); virtual real_t soft_body_get_drag_coefficient(RID p_body); virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position); virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index); virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const; virtual void soft_body_remove_all_pinned_points(RID p_body); virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin); virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index); /* JOINT API */ virtual JointType joint_get_type(RID p_joint) const; virtual void joint_set_solver_priority(RID p_joint, int p_priority); virtual int joint_get_solver_priority(RID p_joint) const; virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable); virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B); virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value); virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const; virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A); virtual Vector3 pin_joint_get_local_a(RID p_joint) const; virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B); virtual Vector3 pin_joint_get_local_b(RID p_joint) const; virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B); 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); virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value); virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const; virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value); virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const; /// Reference frame is A 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); virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value); virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const; /// Reference frame is A 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); virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value); virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const; /// Reference frame is A 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); virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value); virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param); virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable); virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag); virtual void generic_6dof_joint_set_precision(RID p_joint, int precision); virtual int generic_6dof_joint_get_precision(RID p_joint); /* MISC */ virtual void free(RID p_rid); virtual void set_active(bool p_active) { active = p_active; } static bool singleton_isActive() { return static_cast<BulletPhysicsServer *>(get_singleton())->active; } bool isActive() { return active; } virtual void init(); virtual void step(float p_deltaTime); virtual void sync(); virtual void flush_queries(); virtual void finish(); virtual bool is_flushing_queries() const { return false; } virtual int get_process_info(ProcessInfo p_info); CollisionObjectBullet *get_collisin_object(RID p_object) const; RigidCollisionObjectBullet *get_rigid_collisin_object(RID p_object) const; /// Internal APIs public: }; #endif