/*************************************************************************/ /* physics_body_3d.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 "physics_body_3d.h" #include "core/config/engine.h" #include "core/core_string_names.h" #include "core/object/class_db.h" #include "core/templates/list.h" #include "core/templates/rid.h" #include "scene/3d/collision_shape_3d.h" #include "scene/scene_string_names.h" #include "servers/navigation_server_3d.h" #ifdef TOOLS_ENABLED #include "editor/plugins/node_3d_editor_plugin.h" #endif Vector3 PhysicsBody3D::get_linear_velocity() const { return Vector3(); } Vector3 PhysicsBody3D::get_angular_velocity() const { return Vector3(); } real_t PhysicsBody3D::get_inverse_mass() const { return 0; } TypedArray PhysicsBody3D::get_collision_exceptions() { List exceptions; PhysicsServer3D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions); Array ret; for (List::Element *E = exceptions.front(); E; E = E->next()) { RID body = E->get(); ObjectID instance_id = PhysicsServer3D::get_singleton()->body_get_object_instance_id(body); Object *obj = ObjectDB::get_instance(instance_id); PhysicsBody3D *physics_body = Object::cast_to(obj); ret.append(physics_body); } return ret; } void PhysicsBody3D::add_collision_exception_with(Node *p_node) { ERR_FAIL_NULL(p_node); CollisionObject3D *collision_object = Object::cast_to(p_node); ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject3Ds."); PhysicsServer3D::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid()); } void PhysicsBody3D::remove_collision_exception_with(Node *p_node) { ERR_FAIL_NULL(p_node); CollisionObject3D *collision_object = Object::cast_to(p_node); ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject3Ds."); PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid()); } void PhysicsBody3D::_bind_methods() {} PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) : CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) { PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), p_mode); } void StaticBody3D::set_physics_material_override(const Ref &p_physics_material_override) { if (physics_material_override.is_valid()) { if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics))) { physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics)); } } physics_material_override = p_physics_material_override; if (physics_material_override.is_valid()) { physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics)); } _reload_physics_characteristics(); } Ref StaticBody3D::get_physics_material_override() const { return physics_material_override; } void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) { constant_linear_velocity = p_vel; PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); } void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) { constant_angular_velocity = p_vel; PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); } Vector3 StaticBody3D::get_constant_linear_velocity() const { return constant_linear_velocity; } Vector3 StaticBody3D::get_constant_angular_velocity() const { return constant_angular_velocity; } void StaticBody3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity); ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity); ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity); ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity); ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override); ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override); ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions); ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with); ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity"); } StaticBody3D::StaticBody3D() : PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) { } StaticBody3D::~StaticBody3D() {} void StaticBody3D::_reload_physics_characteristics() { if (physics_material_override.is_null()) { PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0); PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1); } else { PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); } } void RigidBody3D::_body_enter_tree(ObjectID p_id) { Object *obj = ObjectDB::get_instance(p_id); Node *node = Object::cast_to(obj); ERR_FAIL_COND(!node); ERR_FAIL_COND(!contact_monitor); Map::Element *E = contact_monitor->body_map.find(p_id); ERR_FAIL_COND(!E); ERR_FAIL_COND(E->get().in_tree); E->get().in_tree = true; contact_monitor->locked = true; emit_signal(SceneStringNames::get_singleton()->body_entered, node); for (int i = 0; i < E->get().shapes.size(); i++) { emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape); } contact_monitor->locked = false; } void RigidBody3D::_body_exit_tree(ObjectID p_id) { Object *obj = ObjectDB::get_instance(p_id); Node *node = Object::cast_to(obj); ERR_FAIL_COND(!node); ERR_FAIL_COND(!contact_monitor); Map::Element *E = contact_monitor->body_map.find(p_id); ERR_FAIL_COND(!E); ERR_FAIL_COND(!E->get().in_tree); E->get().in_tree = false; contact_monitor->locked = true; emit_signal(SceneStringNames::get_singleton()->body_exited, node); for (int i = 0; i < E->get().shapes.size(); i++) { emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape); } contact_monitor->locked = false; } void RigidBody3D::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape) { bool body_in = p_status == 1; ObjectID objid = p_instance; Object *obj = ObjectDB::get_instance(objid); Node *node = Object::cast_to(obj); ERR_FAIL_COND(!contact_monitor); Map::Element *E = contact_monitor->body_map.find(objid); ERR_FAIL_COND(!body_in && !E); if (body_in) { if (!E) { E = contact_monitor->body_map.insert(objid, BodyState()); //E->get().rc=0; E->get().in_tree = node && node->is_inside_tree(); if (node) { node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree), make_binds(objid)); node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree), make_binds(objid)); if (E->get().in_tree) { emit_signal(SceneStringNames::get_singleton()->body_entered, node); } } } //E->get().rc++; if (node) { E->get().shapes.insert(ShapePair(p_body_shape, p_local_shape)); } if (E->get().in_tree) { emit_signal(SceneStringNames::get_singleton()->body_shape_entered, objid, node, p_body_shape, p_local_shape); } } else { //E->get().rc--; if (node) { E->get().shapes.erase(ShapePair(p_body_shape, p_local_shape)); } bool in_tree = E->get().in_tree; if (E->get().shapes.is_empty()) { if (node) { node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); if (in_tree) { emit_signal(SceneStringNames::get_singleton()->body_exited, node); } } contact_monitor->body_map.erase(E); } if (node && in_tree) { emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape); } } } struct _RigidBodyInOut { ObjectID id; int shape = 0; int local_shape = 0; }; void RigidBody3D::_direct_state_changed(Object *p_state) { #ifdef DEBUG_ENABLED state = Object::cast_to(p_state); ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument"); #else state = (PhysicsDirectBodyState3D *)p_state; //trust it #endif set_ignore_transform_notification(true); set_global_transform(state->get_transform()); linear_velocity = state->get_linear_velocity(); angular_velocity = state->get_angular_velocity(); inverse_inertia_tensor = state->get_inverse_inertia_tensor(); if (sleeping != state->is_sleeping()) { sleeping = state->is_sleeping(); emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); } if (get_script_instance()) { get_script_instance()->call("_integrate_forces", state); } set_ignore_transform_notification(false); _on_transform_changed(); if (contact_monitor) { contact_monitor->locked = true; //untag all int rc = 0; for (Map::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { for (int i = 0; i < E->get().shapes.size(); i++) { E->get().shapes[i].tagged = false; rc++; } } _RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut)); int toadd_count = 0; //state->get_contact_count(); RigidBody3D_RemoveAction *toremove = (RigidBody3D_RemoveAction *)alloca(rc * sizeof(RigidBody3D_RemoveAction)); int toremove_count = 0; //put the ones to add for (int i = 0; i < state->get_contact_count(); i++) { ObjectID obj = state->get_contact_collider_id(i); int local_shape = state->get_contact_local_shape(i); int shape = state->get_contact_collider_shape(i); //bool found=false; Map::Element *E = contact_monitor->body_map.find(obj); if (!E) { toadd[toadd_count].local_shape = local_shape; toadd[toadd_count].id = obj; toadd[toadd_count].shape = shape; toadd_count++; continue; } ShapePair sp(shape, local_shape); int idx = E->get().shapes.find(sp); if (idx == -1) { toadd[toadd_count].local_shape = local_shape; toadd[toadd_count].id = obj; toadd[toadd_count].shape = shape; toadd_count++; continue; } E->get().shapes[idx].tagged = true; } //put the ones to remove for (Map::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { for (int i = 0; i < E->get().shapes.size(); i++) { if (!E->get().shapes[i].tagged) { toremove[toremove_count].body_id = E->key(); toremove[toremove_count].pair = E->get().shapes[i]; toremove_count++; } } } //process removals for (int i = 0; i < toremove_count; i++) { _body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape); } //process additions for (int i = 0; i < toadd_count; i++) { _body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape); } contact_monitor->locked = false; } state = nullptr; } void RigidBody3D::_notification(int p_what) { #ifdef TOOLS_ENABLED if (p_what == NOTIFICATION_ENTER_TREE) { if (Engine::get_singleton()->is_editor_hint()) { set_notify_local_transform(true); //used for warnings and only in editor } } if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) { if (Engine::get_singleton()->is_editor_hint()) { update_configuration_warnings(); } } #endif } void RigidBody3D::set_mode(Mode p_mode) { mode = p_mode; switch (p_mode) { case MODE_RIGID: { PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID); } break; case MODE_STATIC: { PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC); } break; case MODE_CHARACTER: { PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_CHARACTER); } break; case MODE_KINEMATIC: { PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC); } break; } update_configuration_warnings(); } RigidBody3D::Mode RigidBody3D::get_mode() const { return mode; } void RigidBody3D::set_mass(real_t p_mass) { ERR_FAIL_COND(p_mass <= 0); mass = p_mass; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass); } real_t RigidBody3D::get_mass() const { return mass; } void RigidBody3D::set_physics_material_override(const Ref &p_physics_material_override) { if (physics_material_override.is_valid()) { if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics))) { physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics)); } } physics_material_override = p_physics_material_override; if (physics_material_override.is_valid()) { physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics)); } _reload_physics_characteristics(); } Ref RigidBody3D::get_physics_material_override() const { return physics_material_override; } void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) { gravity_scale = p_gravity_scale; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); } real_t RigidBody3D::get_gravity_scale() const { return gravity_scale; } void RigidBody3D::set_linear_damp(real_t p_linear_damp) { ERR_FAIL_COND(p_linear_damp < -1); linear_damp = p_linear_damp; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); } real_t RigidBody3D::get_linear_damp() const { return linear_damp; } void RigidBody3D::set_angular_damp(real_t p_angular_damp) { ERR_FAIL_COND(p_angular_damp < -1); angular_damp = p_angular_damp; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); } real_t RigidBody3D::get_angular_damp() const { return angular_damp; } void RigidBody3D::set_axis_velocity(const Vector3 &p_axis) { Vector3 v = state ? state->get_linear_velocity() : linear_velocity; Vector3 axis = p_axis.normalized(); v -= axis * axis.dot(v); v += p_axis; if (state) { set_linear_velocity(v); } else { PhysicsServer3D::get_singleton()->body_set_axis_velocity(get_rid(), p_axis); linear_velocity = v; } } void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) { linear_velocity = p_velocity; if (state) { state->set_linear_velocity(linear_velocity); } else { PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); } } Vector3 RigidBody3D::get_linear_velocity() const { return linear_velocity; } void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; if (state) { state->set_angular_velocity(angular_velocity); } else { PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); } } Vector3 RigidBody3D::get_angular_velocity() const { return angular_velocity; } Basis RigidBody3D::get_inverse_inertia_tensor() { return inverse_inertia_tensor; } void RigidBody3D::set_use_custom_integrator(bool p_enable) { if (custom_integrator == p_enable) { return; } custom_integrator = p_enable; PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); } bool RigidBody3D::is_using_custom_integrator() { return custom_integrator; } void RigidBody3D::set_sleeping(bool p_sleeping) { sleeping = p_sleeping; PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_SLEEPING, sleeping); } void RigidBody3D::set_can_sleep(bool p_active) { can_sleep = p_active; PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); } bool RigidBody3D::is_able_to_sleep() const { return can_sleep; } bool RigidBody3D::is_sleeping() const { return sleeping; } void RigidBody3D::set_max_contacts_reported(int p_amount) { max_contacts_reported = p_amount; PhysicsServer3D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount); } int RigidBody3D::get_max_contacts_reported() const { return max_contacts_reported; } void RigidBody3D::add_central_force(const Vector3 &p_force) { PhysicsServer3D::get_singleton()->body_add_central_force(get_rid(), p_force); } void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_position) { PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); singleton->body_add_force(get_rid(), p_force, p_position); } void RigidBody3D::add_torque(const Vector3 &p_torque) { PhysicsServer3D::get_singleton()->body_add_torque(get_rid(), p_torque); } void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) { PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); } void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); singleton->body_apply_impulse(get_rid(), p_impulse, p_position); } void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) { PhysicsServer3D::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse); } void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) { ccd = p_enable; PhysicsServer3D::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable); } bool RigidBody3D::is_using_continuous_collision_detection() const { return ccd; } void RigidBody3D::set_contact_monitor(bool p_enabled) { if (p_enabled == is_contact_monitor_enabled()) { return; } if (!p_enabled) { ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead."); for (Map::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { //clean up mess Object *obj = ObjectDB::get_instance(E->key()); Node *node = Object::cast_to(obj); if (node) { node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); } } memdelete(contact_monitor); contact_monitor = nullptr; } else { contact_monitor = memnew(ContactMonitor); contact_monitor->locked = false; } } bool RigidBody3D::is_contact_monitor_enabled() const { return contact_monitor != nullptr; } void RigidBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) { PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); } bool RigidBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const { return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis); } Array RigidBody3D::get_colliding_bodies() const { ERR_FAIL_COND_V(!contact_monitor, Array()); Array ret; ret.resize(contact_monitor->body_map.size()); int idx = 0; for (const Map::Element *E = contact_monitor->body_map.front(); E; E = E->next()) { Object *obj = ObjectDB::get_instance(E->key()); if (!obj) { ret.resize(ret.size() - 1); //ops } else { ret[idx++] = obj; } } return ret; } TypedArray RigidBody3D::get_configuration_warnings() const { Transform t = get_transform(); TypedArray warnings = Node::get_configuration_warnings(); if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) { warnings.push_back(TTR("Size changes to RigidBody3D (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.")); } return warnings; } void RigidBody3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody3D::set_mode); ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody3D::get_mode); ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass); ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass); ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody3D::set_physics_material_override); ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody3D::get_physics_material_override); ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody3D::set_linear_velocity); ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody3D::get_linear_velocity); ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity); ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity); ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor); ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale); ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale); ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody3D::set_linear_damp); ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody3D::get_linear_damp); ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody3D::set_angular_damp); ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody3D::get_angular_damp); ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody3D::set_max_contacts_reported); ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody3D::get_max_contacts_reported); ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody3D::set_use_custom_integrator); ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody3D::is_using_custom_integrator); ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody3D::set_contact_monitor); ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody3D::is_contact_monitor_enabled); ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody3D::set_use_continuous_collision_detection); ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody3D::is_using_continuous_collision_detection); ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity); ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody3D::add_central_force); ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force, Vector3()); ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque); ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse); ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3()); ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse); ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping); ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody3D::is_sleeping); ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody3D::set_can_sleep); ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep); ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody3D::set_axis_lock); ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody3D::get_axis_lock); ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies); BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectBodyState3D"))); ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass"); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection"); ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); ADD_GROUP("Axis Lock", "axis_lock_"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z); ADD_GROUP("Linear", "linear_"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); ADD_GROUP("Angular", "angular_"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape"))); ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); ADD_SIGNAL(MethodInfo("sleeping_state_changed")); BIND_ENUM_CONSTANT(MODE_RIGID); BIND_ENUM_CONSTANT(MODE_STATIC); BIND_ENUM_CONSTANT(MODE_CHARACTER); BIND_ENUM_CONSTANT(MODE_KINEMATIC); } RigidBody3D::RigidBody3D() : PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) { PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &RigidBody3D::_direct_state_changed)); } RigidBody3D::~RigidBody3D() { if (contact_monitor) { memdelete(contact_monitor); } } void RigidBody3D::_reload_physics_characteristics() { if (physics_material_override.is_null()) { PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0); PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1); } else { PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); } } ////////////////////////////////////////////////////// ////////////////////////// Ref KinematicBody3D::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only) { Collision col; if (move_and_collide(p_motion, p_infinite_inertia, col, p_exclude_raycast_shapes, p_test_only)) { if (motion_cache.is_null()) { motion_cache.instance(); motion_cache->owner = this; } motion_cache->collision = col; return motion_cache; } return Ref(); } Vector3 KinematicBody3D::get_linear_velocity() const { return linear_velocity; } Vector3 KinematicBody3D::get_angular_velocity() const { return angular_velocity; } bool KinematicBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) { Transform gt = get_global_transform(); PhysicsServer3D::MotionResult result; bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes); if (colliding) { r_collision.collider_metadata = result.collider_metadata; r_collision.collider_shape = result.collider_shape; r_collision.collider_vel = result.collider_velocity; r_collision.collision = result.collision_point; r_collision.normal = result.collision_normal; r_collision.collider = result.collider_id; r_collision.collider_rid = result.collider; r_collision.travel = result.motion; r_collision.remainder = result.remainder; r_collision.local_shape = result.collision_local_shape; } for (int i = 0; i < 3; i++) { if (locked_axis & (1 << i)) { result.motion[i] = 0; } } if (!p_test_only) { gt.origin += result.motion; set_global_transform(gt); } return colliding; } //so, if you pass 45 as limit, avoid numerical precision errors when angle is 45. #define FLOOR_ANGLE_THRESHOLD 0.01 Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t p_floor_max_angle, bool p_infinite_inertia) { Vector3 body_velocity = p_linear_velocity; Vector3 body_velocity_normal = body_velocity.normalized(); Vector3 up_direction = p_up_direction.normalized(); for (int i = 0; i < 3; i++) { if (locked_axis & (1 << i)) { body_velocity[i] = 0; } } // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky Vector3 motion = (floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time()); on_floor = false; on_floor_body = RID(); on_ceiling = false; on_wall = false; colliders.clear(); floor_normal = Vector3(); floor_velocity = Vector3(); while (p_max_slides) { Collision collision; bool found_collision = false; for (int i = 0; i < 2; ++i) { bool collided; if (i == 0) { //collide collided = move_and_collide(motion, p_infinite_inertia, collision); if (!collided) { motion = Vector3(); //clear because no collision happened and motion completed } } else { //separate raycasts (if any) collided = separate_raycast_shapes(p_infinite_inertia, collision); if (collided) { collision.remainder = motion; //keep collision.travel = Vector3(); } } if (collided) { found_collision = true; colliders.push_back(collision); motion = collision.remainder; if (up_direction == Vector3()) { //all is a wall on_wall = true; } else { if (Math::acos(collision.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor on_floor = true; floor_normal = collision.normal; on_floor_body = collision.collider_rid; floor_velocity = collision.collider_vel; if (p_stop_on_slope) { if ((body_velocity_normal + up_direction).length() < 0.01 && collision.travel.length() < 1) { Transform gt = get_global_transform(); gt.origin -= collision.travel.slide(up_direction); set_global_transform(gt); return Vector3(); } } } else if (Math::acos(collision.normal.dot(-up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling on_ceiling = true; } else { on_wall = true; } } motion = motion.slide(collision.normal); body_velocity = body_velocity.slide(collision.normal); for (int j = 0; j < 3; j++) { if (locked_axis & (1 << j)) { body_velocity[j] = 0; } } } } if (!found_collision || motion == Vector3()) { break; } --p_max_slides; } return body_velocity; } Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, real_t p_floor_max_angle, bool p_infinite_inertia) { Vector3 up_direction = p_up_direction.normalized(); bool was_on_floor = on_floor; Vector3 ret = move_and_slide(p_linear_velocity, up_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia); if (!was_on_floor || p_snap == Vector3()) { return ret; } Collision col; Transform gt = get_global_transform(); if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) { bool apply = true; if (up_direction != Vector3()) { if (Math::acos(col.normal.dot(up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { on_floor = true; floor_normal = col.normal; on_floor_body = col.collider_rid; floor_velocity = col.collider_vel; if (p_stop_on_slope) { // move and collide may stray the object a bit because of pre un-stucking, // so only ensure that motion happens on floor direction in this case. col.travel = col.travel.project(up_direction); } } else { apply = false; //snapped with floor direction, but did not snap to a floor, do not snap. } } if (apply) { gt.origin += col.travel; set_global_transform(gt); } } return ret; } bool KinematicBody3D::is_on_floor() const { return on_floor; } bool KinematicBody3D::is_on_wall() const { return on_wall; } bool KinematicBody3D::is_on_ceiling() const { return on_ceiling; } Vector3 KinematicBody3D::get_floor_normal() const { return floor_normal; } Vector3 KinematicBody3D::get_floor_velocity() const { return floor_velocity; } bool KinematicBody3D::test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia) { ERR_FAIL_COND_V(!is_inside_tree(), false); return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia); } bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) { PhysicsServer3D::SeparationResult sep_res[8]; //max 8 rays Transform gt = get_global_transform(); Vector3 recover; int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin); int deepest = -1; real_t deepest_depth; for (int i = 0; i < hits; i++) { if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) { deepest = i; deepest_depth = sep_res[i].collision_depth; } } gt.origin += recover; set_global_transform(gt); if (deepest != -1) { r_collision.collider = sep_res[deepest].collider_id; r_collision.collider_metadata = sep_res[deepest].collider_metadata; r_collision.collider_shape = sep_res[deepest].collider_shape; r_collision.collider_vel = sep_res[deepest].collider_velocity; r_collision.collision = sep_res[deepest].collision_point; r_collision.normal = sep_res[deepest].collision_normal; r_collision.local_shape = sep_res[deepest].collision_local_shape; r_collision.travel = recover; r_collision.remainder = Vector3(); return true; } else { return false; } } void KinematicBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) { if (p_lock) { locked_axis |= p_axis; } else { locked_axis &= (~p_axis); } PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); } bool KinematicBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const { return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis); } void KinematicBody3D::set_safe_margin(real_t p_margin) { margin = p_margin; PhysicsServer3D::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin); } real_t KinematicBody3D::get_safe_margin() const { return margin; } int KinematicBody3D::get_slide_count() const { return colliders.size(); } KinematicBody3D::Collision KinematicBody3D::get_slide_collision(int p_bounce) const { ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Collision()); return colliders[p_bounce]; } Ref KinematicBody3D::_get_slide_collision(int p_bounce) { ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Ref()); if (p_bounce >= slide_colliders.size()) { slide_colliders.resize(p_bounce + 1); } if (slide_colliders[p_bounce].is_null()) { slide_colliders.write[p_bounce].instance(); slide_colliders.write[p_bounce]->owner = this; } slide_colliders.write[p_bounce]->collision = colliders[p_bounce]; return slide_colliders[p_bounce]; } void KinematicBody3D::_notification(int p_what) { if (p_what == NOTIFICATION_ENTER_TREE) { // Reset move_and_slide() data. on_floor = false; on_floor_body = RID(); on_ceiling = false; on_wall = false; colliders.clear(); floor_velocity = Vector3(); } } void KinematicBody3D::_bind_methods() { ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false)); ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true)); ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((real_t)45.0)), DEFVAL(true)); ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody3D::test_move, DEFVAL(true)); ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody3D::is_on_floor); ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody3D::is_on_ceiling); ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody3D::is_on_wall); ClassDB::bind_method(D_METHOD("get_floor_normal"), &KinematicBody3D::get_floor_normal); ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody3D::get_floor_velocity); ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &KinematicBody3D::set_axis_lock); ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &KinematicBody3D::get_axis_lock); ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody3D::set_safe_margin); ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody3D::get_safe_margin); ClassDB::bind_method(D_METHOD("get_slide_count"), &KinematicBody3D::get_slide_count); ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody3D::_get_slide_collision); ADD_GROUP("Axis Lock", "axis_lock_"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_motion_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin"); } void KinematicBody3D::_direct_state_changed(Object *p_state) { #ifdef DEBUG_ENABLED PhysicsDirectBodyState3D *state = Object::cast_to(p_state); ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument"); #else PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it #endif linear_velocity = state->get_linear_velocity(); angular_velocity = state->get_angular_velocity(); } KinematicBody3D::KinematicBody3D() : PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) { set_safe_margin(0.001); PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &KinematicBody3D::_direct_state_changed)); } KinematicBody3D::~KinematicBody3D() { if (motion_cache.is_valid()) { motion_cache->owner = nullptr; } for (int i = 0; i < slide_colliders.size(); i++) { if (slide_colliders[i].is_valid()) { slide_colliders.write[i]->owner = nullptr; } } } /////////////////////////////////////// Vector3 KinematicCollision3D::get_position() const { return collision.collision; } Vector3 KinematicCollision3D::get_normal() const { return collision.normal; } Vector3 KinematicCollision3D::get_travel() const { return collision.travel; } Vector3 KinematicCollision3D::get_remainder() const { return collision.remainder; } Object *KinematicCollision3D::get_local_shape() const { if (!owner) { return nullptr; } uint32_t ownerid = owner->shape_find_owner(collision.local_shape); return owner->shape_owner_get_owner(ownerid); } Object *KinematicCollision3D::get_collider() const { if (collision.collider.is_valid()) { return ObjectDB::get_instance(collision.collider); } return nullptr; } ObjectID KinematicCollision3D::get_collider_id() const { return collision.collider; } Object *KinematicCollision3D::get_collider_shape() const { Object *collider = get_collider(); if (collider) { CollisionObject3D *obj2d = Object::cast_to(collider); if (obj2d) { uint32_t ownerid = obj2d->shape_find_owner(collision.collider_shape); return obj2d->shape_owner_get_owner(ownerid); } } return nullptr; } int KinematicCollision3D::get_collider_shape_index() const { return collision.collider_shape; } Vector3 KinematicCollision3D::get_collider_velocity() const { return collision.collider_vel; } Variant KinematicCollision3D::get_collider_metadata() const { return Variant(); } void KinematicCollision3D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_position"), &KinematicCollision3D::get_position); ClassDB::bind_method(D_METHOD("get_normal"), &KinematicCollision3D::get_normal); ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision3D::get_travel); ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision3D::get_remainder); ClassDB::bind_method(D_METHOD("get_local_shape"), &KinematicCollision3D::get_local_shape); ClassDB::bind_method(D_METHOD("get_collider"), &KinematicCollision3D::get_collider); ClassDB::bind_method(D_METHOD("get_collider_id"), &KinematicCollision3D::get_collider_id); ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicCollision3D::get_collider_shape); ClassDB::bind_method(D_METHOD("get_collider_shape_index"), &KinematicCollision3D::get_collider_shape_index); ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicCollision3D::get_collider_velocity); ClassDB::bind_method(D_METHOD("get_collider_metadata"), &KinematicCollision3D::get_collider_metadata); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "position"), "", "get_position"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "normal"), "", "get_normal"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "travel"), "", "get_travel"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "remainder"), "", "get_remainder"); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "local_shape"), "", "get_local_shape"); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider"); ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id"), "", "get_collider_id"); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider_shape"), "", "get_collider_shape"); ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape_index"), "", "get_collider_shape_index"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collider_velocity"), "", "get_collider_velocity"); ADD_PROPERTY(PropertyInfo(Variant::NIL, "collider_metadata", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NIL_IS_VARIANT), "", "get_collider_metadata"); } KinematicCollision3D::KinematicCollision3D() { collision.collider_shape = 0; collision.local_shape = 0; owner = nullptr; } /////////////////////////////////////// bool PhysicalBone3D::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) { return false; } bool PhysicalBone3D::JointData::_get(const StringName &p_name, Variant &r_ret) const { return false; } void PhysicalBone3D::JointData::_get_property_list(List *p_list) const { } void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) { PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); } void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position); } void PhysicalBone3D::reset_physics_simulation_state() { if (simulate_physics) { _start_physics_simulation(); } else { _stop_physics_simulation(); } } void PhysicalBone3D::reset_to_rest_position() { if (parent_skeleton) { if (-1 == bone_id) { set_global_transform(parent_skeleton->get_global_transform() * body_offset); } else { set_global_transform(parent_skeleton->get_global_transform() * parent_skeleton->get_bone_global_pose(bone_id) * body_offset); } } } bool PhysicalBone3D::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { if (JointData::_set(p_name, p_value, j)) { return true; } if ("joint_constraints/bias" == p_name) { bias = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_BIAS, bias); } } else if ("joint_constraints/damping" == p_name) { damping = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_DAMPING, damping); } } else if ("joint_constraints/impulse_clamp" == p_name) { impulse_clamp = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, impulse_clamp); } } else { return false; } return true; } bool PhysicalBone3D::PinJointData::_get(const StringName &p_name, Variant &r_ret) const { if (JointData::_get(p_name, r_ret)) { return true; } if ("joint_constraints/bias" == p_name) { r_ret = bias; } else if ("joint_constraints/damping" == p_name) { r_ret = damping; } else if ("joint_constraints/impulse_clamp" == p_name) { r_ret = impulse_clamp; } else { return false; } return true; } void PhysicalBone3D::PinJointData::_get_property_list(List *p_list) const { JointData::_get_property_list(p_list); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01")); } bool PhysicalBone3D::ConeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { if (JointData::_set(p_name, p_value, j)) { return true; } if ("joint_constraints/swing_span" == p_name) { swing_span = Math::deg2rad(real_t(p_value)); if (j.is_valid()) { PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, swing_span); } } else if ("joint_constraints/twist_span" == p_name) { twist_span = Math::deg2rad(real_t(p_value)); if (j.is_valid()) { PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, twist_span); } } else if ("joint_constraints/bias" == p_name) { bias = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, bias); } } else if ("joint_constraints/softness" == p_name) { softness = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, softness); } } else if ("joint_constraints/relaxation" == p_name) { relaxation = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, relaxation); } } else { return false; } return true; } bool PhysicalBone3D::ConeJointData::_get(const StringName &p_name, Variant &r_ret) const { if (JointData::_get(p_name, r_ret)) { return true; } if ("joint_constraints/swing_span" == p_name) { r_ret = Math::rad2deg(swing_span); } else if ("joint_constraints/twist_span" == p_name) { r_ret = Math::rad2deg(twist_span); } else if ("joint_constraints/bias" == p_name) { r_ret = bias; } else if ("joint_constraints/softness" == p_name) { r_ret = softness; } else if ("joint_constraints/relaxation" == p_name) { r_ret = relaxation; } else { return false; } return true; } void PhysicalBone3D::ConeJointData::_get_property_list(List *p_list) const { JointData::_get_property_list(p_list); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/swing_span", PROPERTY_HINT_RANGE, "-180,180,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1,or_lesser,or_greater")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); } bool PhysicalBone3D::HingeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { if (JointData::_set(p_name, p_value, j)) { return true; } if ("joint_constraints/angular_limit_enabled" == p_name) { angular_limit_enabled = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->hinge_joint_set_flag(j, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, angular_limit_enabled); } } else if ("joint_constraints/angular_limit_upper" == p_name) { angular_limit_upper = Math::deg2rad(real_t(p_value)); if (j.is_valid()) { PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, angular_limit_upper); } } else if ("joint_constraints/angular_limit_lower" == p_name) { angular_limit_lower = Math::deg2rad(real_t(p_value)); if (j.is_valid()) { PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, angular_limit_lower); } } else if ("joint_constraints/angular_limit_bias" == p_name) { angular_limit_bias = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, angular_limit_bias); } } else if ("joint_constraints/angular_limit_softness" == p_name) { angular_limit_softness = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, angular_limit_softness); } } else if ("joint_constraints/angular_limit_relaxation" == p_name) { angular_limit_relaxation = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, angular_limit_relaxation); } } else { return false; } return true; } bool PhysicalBone3D::HingeJointData::_get(const StringName &p_name, Variant &r_ret) const { if (JointData::_get(p_name, r_ret)) { return true; } if ("joint_constraints/angular_limit_enabled" == p_name) { r_ret = angular_limit_enabled; } else if ("joint_constraints/angular_limit_upper" == p_name) { r_ret = Math::rad2deg(angular_limit_upper); } else if ("joint_constraints/angular_limit_lower" == p_name) { r_ret = Math::rad2deg(angular_limit_lower); } else if ("joint_constraints/angular_limit_bias" == p_name) { r_ret = angular_limit_bias; } else if ("joint_constraints/angular_limit_softness" == p_name) { r_ret = angular_limit_softness; } else if ("joint_constraints/angular_limit_relaxation" == p_name) { r_ret = angular_limit_relaxation; } else { return false; } return true; } void PhysicalBone3D::HingeJointData::_get_property_list(List *p_list) const { JointData::_get_property_list(p_list); p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/angular_limit_enabled")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01")); } bool PhysicalBone3D::SliderJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { if (JointData::_set(p_name, p_value, j)) { return true; } if ("joint_constraints/linear_limit_upper" == p_name) { linear_limit_upper = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, linear_limit_upper); } } else if ("joint_constraints/linear_limit_lower" == p_name) { linear_limit_lower = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, linear_limit_lower); } } else if ("joint_constraints/linear_limit_softness" == p_name) { linear_limit_softness = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, linear_limit_softness); } } else if ("joint_constraints/linear_limit_restitution" == p_name) { linear_limit_restitution = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, linear_limit_restitution); } } else if ("joint_constraints/linear_limit_damping" == p_name) { linear_limit_damping = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, linear_limit_restitution); } } else if ("joint_constraints/angular_limit_upper" == p_name) { angular_limit_upper = Math::deg2rad(real_t(p_value)); if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, angular_limit_upper); } } else if ("joint_constraints/angular_limit_lower" == p_name) { angular_limit_lower = Math::deg2rad(real_t(p_value)); if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, angular_limit_lower); } } else if ("joint_constraints/angular_limit_softness" == p_name) { angular_limit_softness = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); } } else if ("joint_constraints/angular_limit_restitution" == p_name) { angular_limit_restitution = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); } } else if ("joint_constraints/angular_limit_damping" == p_name) { angular_limit_damping = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, angular_limit_damping); } } else { return false; } return true; } bool PhysicalBone3D::SliderJointData::_get(const StringName &p_name, Variant &r_ret) const { if (JointData::_get(p_name, r_ret)) { return true; } if ("joint_constraints/linear_limit_upper" == p_name) { r_ret = linear_limit_upper; } else if ("joint_constraints/linear_limit_lower" == p_name) { r_ret = linear_limit_lower; } else if ("joint_constraints/linear_limit_softness" == p_name) { r_ret = linear_limit_softness; } else if ("joint_constraints/linear_limit_restitution" == p_name) { r_ret = linear_limit_restitution; } else if ("joint_constraints/linear_limit_damping" == p_name) { r_ret = linear_limit_damping; } else if ("joint_constraints/angular_limit_upper" == p_name) { r_ret = Math::rad2deg(angular_limit_upper); } else if ("joint_constraints/angular_limit_lower" == p_name) { r_ret = Math::rad2deg(angular_limit_lower); } else if ("joint_constraints/angular_limit_softness" == p_name) { r_ret = angular_limit_softness; } else if ("joint_constraints/angular_limit_restitution" == p_name) { r_ret = angular_limit_restitution; } else if ("joint_constraints/angular_limit_damping" == p_name) { r_ret = angular_limit_damping; } else { return false; } return true; } void PhysicalBone3D::SliderJointData::_get_property_list(List *p_list) const { JointData::_get_property_list(p_list); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_upper")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_lower")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01")); } bool PhysicalBone3D::SixDOFJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { if (JointData::_set(p_name, p_value, j)) { return true; } String path = p_name; if (!path.begins_with("joint_constraints/")) { return false; } Vector3::Axis axis; { const String axis_s = path.get_slicec('/', 1); if ("x" == axis_s) { axis = Vector3::AXIS_X; } else if ("y" == axis_s) { axis = Vector3::AXIS_Y; } else if ("z" == axis_s) { axis = Vector3::AXIS_Z; } else { return false; } } String var_name = path.get_slicec('/', 2); if ("linear_limit_enabled" == var_name) { axis_data[axis].linear_limit_enabled = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, axis_data[axis].linear_limit_enabled); } } else if ("linear_limit_upper" == var_name) { axis_data[axis].linear_limit_upper = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, axis_data[axis].linear_limit_upper); } } else if ("linear_limit_lower" == var_name) { axis_data[axis].linear_limit_lower = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, axis_data[axis].linear_limit_lower); } } else if ("linear_limit_softness" == var_name) { axis_data[axis].linear_limit_softness = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness); } } else if ("linear_spring_enabled" == var_name) { axis_data[axis].linear_spring_enabled = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled); } } else if ("linear_spring_stiffness" == var_name) { axis_data[axis].linear_spring_stiffness = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness); } } else if ("linear_spring_damping" == var_name) { axis_data[axis].linear_spring_damping = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping); } } else if ("linear_equilibrium_point" == var_name) { axis_data[axis].linear_equilibrium_point = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point); } } else if ("linear_restitution" == var_name) { axis_data[axis].linear_restitution = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, axis_data[axis].linear_restitution); } } else if ("linear_damping" == var_name) { axis_data[axis].linear_damping = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, axis_data[axis].linear_damping); } } else if ("angular_limit_enabled" == var_name) { axis_data[axis].angular_limit_enabled = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, axis_data[axis].angular_limit_enabled); } } else if ("angular_limit_upper" == var_name) { axis_data[axis].angular_limit_upper = Math::deg2rad(real_t(p_value)); if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, axis_data[axis].angular_limit_upper); } } else if ("angular_limit_lower" == var_name) { axis_data[axis].angular_limit_lower = Math::deg2rad(real_t(p_value)); if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, axis_data[axis].angular_limit_lower); } } else if ("angular_limit_softness" == var_name) { axis_data[axis].angular_limit_softness = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, axis_data[axis].angular_limit_softness); } } else if ("angular_restitution" == var_name) { axis_data[axis].angular_restitution = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, axis_data[axis].angular_restitution); } } else if ("angular_damping" == var_name) { axis_data[axis].angular_damping = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, axis_data[axis].angular_damping); } } else if ("erp" == var_name) { axis_data[axis].erp = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp); } } else if ("angular_spring_enabled" == var_name) { axis_data[axis].angular_spring_enabled = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled); } } else if ("angular_spring_stiffness" == var_name) { axis_data[axis].angular_spring_stiffness = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness); } } else if ("angular_spring_damping" == var_name) { axis_data[axis].angular_spring_damping = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping); } } else if ("angular_equilibrium_point" == var_name) { axis_data[axis].angular_equilibrium_point = p_value; if (j.is_valid()) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point); } } else { return false; } return true; } bool PhysicalBone3D::SixDOFJointData::_get(const StringName &p_name, Variant &r_ret) const { if (JointData::_get(p_name, r_ret)) { return true; } String path = p_name; if (!path.begins_with("joint_constraints/")) { return false; } int axis; { const String axis_s = path.get_slicec('/', 1); if ("x" == axis_s) { axis = 0; } else if ("y" == axis_s) { axis = 1; } else if ("z" == axis_s) { axis = 2; } else { return false; } } String var_name = path.get_slicec('/', 2); if ("linear_limit_enabled" == var_name) { r_ret = axis_data[axis].linear_limit_enabled; } else if ("linear_limit_upper" == var_name) { r_ret = axis_data[axis].linear_limit_upper; } else if ("linear_limit_lower" == var_name) { r_ret = axis_data[axis].linear_limit_lower; } else if ("linear_limit_softness" == var_name) { r_ret = axis_data[axis].linear_limit_softness; } else if ("linear_spring_enabled" == var_name) { r_ret = axis_data[axis].linear_spring_enabled; } else if ("linear_spring_stiffness" == var_name) { r_ret = axis_data[axis].linear_spring_stiffness; } else if ("linear_spring_damping" == var_name) { r_ret = axis_data[axis].linear_spring_damping; } else if ("linear_equilibrium_point" == var_name) { r_ret = axis_data[axis].linear_equilibrium_point; } else if ("linear_restitution" == var_name) { r_ret = axis_data[axis].linear_restitution; } else if ("linear_damping" == var_name) { r_ret = axis_data[axis].linear_damping; } else if ("angular_limit_enabled" == var_name) { r_ret = axis_data[axis].angular_limit_enabled; } else if ("angular_limit_upper" == var_name) { r_ret = Math::rad2deg(axis_data[axis].angular_limit_upper); } else if ("angular_limit_lower" == var_name) { r_ret = Math::rad2deg(axis_data[axis].angular_limit_lower); } else if ("angular_limit_softness" == var_name) { r_ret = axis_data[axis].angular_limit_softness; } else if ("angular_restitution" == var_name) { r_ret = axis_data[axis].angular_restitution; } else if ("angular_damping" == var_name) { r_ret = axis_data[axis].angular_damping; } else if ("erp" == var_name) { r_ret = axis_data[axis].erp; } else if ("angular_spring_enabled" == var_name) { r_ret = axis_data[axis].angular_spring_enabled; } else if ("angular_spring_stiffness" == var_name) { r_ret = axis_data[axis].angular_spring_stiffness; } else if ("angular_spring_damping" == var_name) { r_ret = axis_data[axis].angular_spring_damping; } else if ("angular_equilibrium_point" == var_name) { r_ret = axis_data[axis].angular_equilibrium_point; } else { return false; } return true; } void PhysicalBone3D::SixDOFJointData::_get_property_list(List *p_list) const { const StringName axis_names[] = { "x", "y", "z" }; for (int i = 0; i < 3; ++i) { p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_limit_enabled")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_upper")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_lower")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_spring_enabled")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_stiffness")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_damping")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_equilibrium_point")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01")); p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_limit_enabled")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/erp")); p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_spring_enabled")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_stiffness")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_damping")); p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_equilibrium_point")); } } bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) { if (p_name == "bone_name") { set_bone_name(p_value); return true; } if (joint_data) { if (joint_data->_set(p_name, p_value, joint)) { #ifdef TOOLS_ENABLED if (get_gizmo().is_valid()) { get_gizmo()->redraw(); } #endif return true; } } return false; } bool PhysicalBone3D::_get(const StringName &p_name, Variant &r_ret) const { if (p_name == "bone_name") { r_ret = get_bone_name(); return true; } if (joint_data) { return joint_data->_get(p_name, r_ret); } return false; } void PhysicalBone3D::_get_property_list(List *p_list) const { Skeleton3D *parent = find_skeleton_parent(get_parent()); if (parent) { String names; for (int i = 0; i < parent->get_bone_count(); i++) { if (i > 0) { names += ","; } names += parent->get_bone_name(i); } p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name", PROPERTY_HINT_ENUM, names)); } else { p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name")); } if (joint_data) { joint_data->_get_property_list(p_list); } } void PhysicalBone3D::_notification(int p_what) { switch (p_what) { case NOTIFICATION_ENTER_TREE: parent_skeleton = find_skeleton_parent(get_parent()); update_bone_id(); reset_to_rest_position(); reset_physics_simulation_state(); if (joint_data) { _reload_joint(); } break; case NOTIFICATION_EXIT_TREE: if (parent_skeleton) { if (-1 != bone_id) { parent_skeleton->unbind_physical_bone_from_bone(bone_id); } } parent_skeleton = nullptr; PhysicsServer3D::get_singleton()->joint_clear(joint); break; case NOTIFICATION_TRANSFORM_CHANGED: if (Engine::get_singleton()->is_editor_hint()) { update_offset(); } break; } } void PhysicalBone3D::_direct_state_changed(Object *p_state) { if (!simulate_physics || !_internal_simulate_physics) { return; } /// Update bone transform PhysicsDirectBodyState3D *state; #ifdef DEBUG_ENABLED state = Object::cast_to(p_state); ERR_FAIL_NULL_MSG(state, "Method '_direct_state_changed' must receive a valid PhysicsDirectBodyState3D object as argument"); #else state = (PhysicsDirectBodyState3D *)p_state; //trust it #endif Transform global_transform(state->get_transform()); set_ignore_transform_notification(true); set_global_transform(global_transform); set_ignore_transform_notification(false); _on_transform_changed(); // Update skeleton if (parent_skeleton) { if (-1 != bone_id) { parent_skeleton->set_bone_global_pose_override(bone_id, parent_skeleton->get_global_transform().affine_inverse() * (global_transform * body_offset_inverse), 1.0, true); } } } void PhysicalBone3D::_bind_methods() { ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse); ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3()); ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone3D::set_joint_type); ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone3D::get_joint_type); ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset); ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset); ClassDB::bind_method(D_METHOD("set_joint_rotation", "euler"), &PhysicalBone3D::set_joint_rotation); ClassDB::bind_method(D_METHOD("get_joint_rotation"), &PhysicalBone3D::get_joint_rotation); ClassDB::bind_method(D_METHOD("set_joint_rotation_degrees", "euler_degrees"), &PhysicalBone3D::set_joint_rotation_degrees); ClassDB::bind_method(D_METHOD("get_joint_rotation_degrees"), &PhysicalBone3D::get_joint_rotation_degrees); ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset); ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset); ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone3D::get_simulate_physics); ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone3D::is_simulating_physics); ClassDB::bind_method(D_METHOD("get_bone_id"), &PhysicalBone3D::get_bone_id); ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone3D::set_mass); ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone3D::get_mass); ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone3D::set_friction); ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone3D::get_friction); ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &PhysicalBone3D::set_bounce); ClassDB::bind_method(D_METHOD("get_bounce"), &PhysicalBone3D::get_bounce); ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale); ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale); ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &PhysicalBone3D::set_linear_damp); ClassDB::bind_method(D_METHOD("get_linear_damp"), &PhysicalBone3D::get_linear_damp); ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp); ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp); ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep); ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep); ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicalBone3D::set_axis_lock); ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicalBone3D::get_axis_lock); ADD_GROUP("Joint", "joint_"); ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type"); ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "joint_offset"), "set_joint_offset", "get_joint_offset"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation_degrees", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_EDITOR), "set_joint_rotation_degrees", "get_joint_rotation_degrees"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_NONE, "", 0), "set_joint_rotation", "get_joint_rotation"); ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "body_offset"), "set_body_offset", "get_body_offset"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); ADD_GROUP("Axis Lock", "axis_lock_"); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y); ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z); BIND_ENUM_CONSTANT(JOINT_TYPE_NONE); BIND_ENUM_CONSTANT(JOINT_TYPE_PIN); BIND_ENUM_CONSTANT(JOINT_TYPE_CONE); BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE); BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER); BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF); } Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) { if (!p_parent) { return nullptr; } Skeleton3D *s = Object::cast_to(p_parent); return s ? s : find_skeleton_parent(p_parent->get_parent()); } void PhysicalBone3D::_update_joint_offset() { _fix_joint_offset(); set_ignore_transform_notification(true); reset_to_rest_position(); set_ignore_transform_notification(false); #ifdef TOOLS_ENABLED if (get_gizmo().is_valid()) { get_gizmo()->redraw(); } #endif } void PhysicalBone3D::_fix_joint_offset() { // Clamp joint origin to bone origin if (parent_skeleton) { joint_offset.origin = body_offset.affine_inverse().origin; } } void PhysicalBone3D::_reload_joint() { if (!parent_skeleton) { PhysicsServer3D::get_singleton()->joint_clear(joint); return; } PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id); if (!body_a) { PhysicsServer3D::get_singleton()->joint_clear(joint); return; } Transform joint_transf = get_global_transform() * joint_offset; Transform local_a = body_a->get_global_transform().affine_inverse() * joint_transf; local_a.orthonormalize(); switch (get_joint_type()) { case JOINT_TYPE_PIN: { PhysicsServer3D::get_singleton()->joint_make_pin(joint, body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin); const PinJointData *pjd(static_cast(joint_data)); PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_BIAS, pjd->bias); PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_DAMPING, pjd->damping); PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, pjd->impulse_clamp); } break; case JOINT_TYPE_CONE: { PhysicsServer3D::get_singleton()->joint_make_cone_twist(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); const ConeJointData *cjd(static_cast(joint_data)); PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span); PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span); PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, cjd->bias); PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, cjd->softness); PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, cjd->relaxation); } break; case JOINT_TYPE_HINGE: { PhysicsServer3D::get_singleton()->joint_make_hinge(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); const HingeJointData *hjd(static_cast(joint_data)); PhysicsServer3D::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled); PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper); PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, hjd->angular_limit_lower); PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, hjd->angular_limit_bias); PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, hjd->angular_limit_softness); PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, hjd->angular_limit_relaxation); } break; case JOINT_TYPE_SLIDER: { PhysicsServer3D::get_singleton()->joint_make_slider(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); const SliderJointData *sjd(static_cast(joint_data)); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, sjd->linear_limit_softness); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, sjd->linear_limit_restitution); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, sjd->linear_limit_restitution); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, sjd->angular_limit_upper); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, sjd->angular_limit_lower); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, sjd->angular_limit_damping); } break; case JOINT_TYPE_6DOF: { PhysicsServer3D::get_singleton()->joint_make_generic_6dof(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); const SixDOFJointData *g6dofjd(static_cast(joint_data)); for (int axis = 0; axis < 3; ++axis) { PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, g6dofjd->axis_data[axis].angular_limit_upper); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, g6dofjd->axis_data[axis].angular_limit_lower); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].angular_limit_softness); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping); PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point); } } break; case JOINT_TYPE_NONE: { } break; } } void PhysicalBone3D::_on_bone_parent_changed() { _reload_joint(); } void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) { #ifdef TOOLS_ENABLED gizmo_move_joint = p_move_joint; Node3DEditor::get_singleton()->update_transform_gizmo(); #endif } #ifdef TOOLS_ENABLED Transform PhysicalBone3D::get_global_gizmo_transform() const { return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform(); } Transform PhysicalBone3D::get_local_gizmo_transform() const { return gizmo_move_joint ? get_transform() * joint_offset : get_transform(); } #endif const PhysicalBone3D::JointData *PhysicalBone3D::get_joint_data() const { return joint_data; } Skeleton3D *PhysicalBone3D::find_skeleton_parent() { return find_skeleton_parent(this); } void PhysicalBone3D::set_joint_type(JointType p_joint_type) { if (p_joint_type == get_joint_type()) { return; } if (joint_data) { memdelete(joint_data); } joint_data = nullptr; switch (p_joint_type) { case JOINT_TYPE_PIN: joint_data = memnew(PinJointData); break; case JOINT_TYPE_CONE: joint_data = memnew(ConeJointData); break; case JOINT_TYPE_HINGE: joint_data = memnew(HingeJointData); break; case JOINT_TYPE_SLIDER: joint_data = memnew(SliderJointData); break; case JOINT_TYPE_6DOF: joint_data = memnew(SixDOFJointData); break; case JOINT_TYPE_NONE: break; } _reload_joint(); #ifdef TOOLS_ENABLED notify_property_list_changed(); if (get_gizmo().is_valid()) { get_gizmo()->redraw(); } #endif } PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const { return joint_data ? joint_data->get_joint_type() : JOINT_TYPE_NONE; } void PhysicalBone3D::set_joint_offset(const Transform &p_offset) { joint_offset = p_offset; _update_joint_offset(); } const Transform &PhysicalBone3D::get_joint_offset() const { return joint_offset; } void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) { joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale()); _update_joint_offset(); } Vector3 PhysicalBone3D::get_joint_rotation() const { return joint_offset.basis.get_rotation(); } void PhysicalBone3D::set_joint_rotation_degrees(const Vector3 &p_euler_deg) { set_joint_rotation(p_euler_deg * (Math_PI / 180.0)); } Vector3 PhysicalBone3D::get_joint_rotation_degrees() const { return get_joint_rotation() * (180.0 / Math_PI); } const Transform &PhysicalBone3D::get_body_offset() const { return body_offset; } void PhysicalBone3D::set_body_offset(const Transform &p_offset) { body_offset = p_offset; body_offset_inverse = body_offset.affine_inverse(); _update_joint_offset(); } void PhysicalBone3D::set_simulate_physics(bool p_simulate) { if (simulate_physics == p_simulate) { return; } simulate_physics = p_simulate; reset_physics_simulation_state(); } bool PhysicalBone3D::get_simulate_physics() { return simulate_physics; } bool PhysicalBone3D::is_simulating_physics() { return _internal_simulate_physics; } void PhysicalBone3D::set_bone_name(const String &p_name) { bone_name = p_name; bone_id = -1; update_bone_id(); reset_to_rest_position(); } const String &PhysicalBone3D::get_bone_name() const { return bone_name; } void PhysicalBone3D::set_mass(real_t p_mass) { ERR_FAIL_COND(p_mass <= 0); mass = p_mass; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass); } real_t PhysicalBone3D::get_mass() const { return mass; } void PhysicalBone3D::set_friction(real_t p_friction) { ERR_FAIL_COND(p_friction < 0 || p_friction > 1); friction = p_friction; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, friction); } real_t PhysicalBone3D::get_friction() const { return friction; } void PhysicalBone3D::set_bounce(real_t p_bounce) { ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); bounce = p_bounce; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, bounce); } real_t PhysicalBone3D::get_bounce() const { return bounce; } void PhysicalBone3D::set_gravity_scale(real_t p_gravity_scale) { gravity_scale = p_gravity_scale; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); } real_t PhysicalBone3D::get_gravity_scale() const { return gravity_scale; } void PhysicalBone3D::set_linear_damp(real_t p_linear_damp) { ERR_FAIL_COND(p_linear_damp < -1); linear_damp = p_linear_damp; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); } real_t PhysicalBone3D::get_linear_damp() const { return linear_damp; } void PhysicalBone3D::set_angular_damp(real_t p_angular_damp) { ERR_FAIL_COND(p_angular_damp < -1); angular_damp = p_angular_damp; PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); } real_t PhysicalBone3D::get_angular_damp() const { return angular_damp; } void PhysicalBone3D::set_can_sleep(bool p_active) { can_sleep = p_active; PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); } bool PhysicalBone3D::is_able_to_sleep() const { return can_sleep; } void PhysicalBone3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) { PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); } bool PhysicalBone3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const { return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis); } PhysicalBone3D::PhysicalBone3D() : PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) { joint = PhysicsServer3D::get_singleton()->joint_create(); reset_physics_simulation_state(); } PhysicalBone3D::~PhysicalBone3D() { if (joint_data) { memdelete(joint_data); } PhysicsServer3D::get_singleton()->free(joint); } void PhysicalBone3D::update_bone_id() { if (!parent_skeleton) { return; } const int new_bone_id = parent_skeleton->find_bone(bone_name); if (new_bone_id != bone_id) { if (-1 != bone_id) { // Assert the unbind from old node parent_skeleton->unbind_physical_bone_from_bone(bone_id); parent_skeleton->unbind_child_node_from_bone(bone_id, this); } bone_id = new_bone_id; parent_skeleton->bind_physical_bone_to_bone(bone_id, this); _fix_joint_offset(); reset_physics_simulation_state(); } } void PhysicalBone3D::update_offset() { #ifdef TOOLS_ENABLED if (parent_skeleton) { Transform bone_transform(parent_skeleton->get_global_transform()); if (-1 != bone_id) { bone_transform *= parent_skeleton->get_bone_global_pose(bone_id); } if (gizmo_move_joint) { bone_transform *= body_offset; set_joint_offset(bone_transform.affine_inverse() * get_global_transform()); } else { set_body_offset(bone_transform.affine_inverse() * get_global_transform()); } } #endif } void PhysicalBone3D::_start_physics_simulation() { if (_internal_simulate_physics || !parent_skeleton) { return; } reset_to_rest_position(); PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID); PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), callable_mp(this, &PhysicalBone3D::_direct_state_changed)); set_as_top_level(true); _internal_simulate_physics = true; } void PhysicalBone3D::_stop_physics_simulation() { if (!parent_skeleton) { return; } if (parent_skeleton->get_animate_physical_bones()) { PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC); PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); } else { PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC); PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), 0); PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), 0); } if (_internal_simulate_physics) { PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), Callable()); parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false); set_as_top_level(false); _internal_simulate_physics = false; } }