/*************************************************************************/ /* physics_server.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* http://www.godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ /* */ /* 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_server.h" #include "print_string.h" PhysicsServer * PhysicsServer::singleton=NULL; void PhysicsDirectBodyState::integrate_forces() { real_t step = get_step(); Vector3 lv = get_linear_velocity(); lv+=get_total_gravity() * step; Vector3 av = get_angular_velocity(); float damp = 1.0 - step * get_total_density(); if (damp<0) // reached zero in the given time damp=0; lv*=damp; av*=damp; set_linear_velocity(lv); set_angular_velocity(av); } Object* PhysicsDirectBodyState::get_contact_collider_object(int p_contact_idx) const { ObjectID objid = get_contact_collider_id(p_contact_idx); Object *obj = ObjectDB::get_instance( objid ); return obj; } PhysicsServer * PhysicsServer::get_singleton() { return singleton; } void PhysicsDirectBodyState::_bind_methods() { ObjectTypeDB::bind_method(_MD("get_total_gravity"),&PhysicsDirectBodyState::get_total_gravity); ObjectTypeDB::bind_method(_MD("get_total_density"),&PhysicsDirectBodyState::get_total_density); ObjectTypeDB::bind_method(_MD("get_inverse_mass"),&PhysicsDirectBodyState::get_inverse_mass); ObjectTypeDB::bind_method(_MD("get_inverse_inertia"),&PhysicsDirectBodyState::get_inverse_inertia); ObjectTypeDB::bind_method(_MD("set_linear_velocity","velocity"),&PhysicsDirectBodyState::set_linear_velocity); ObjectTypeDB::bind_method(_MD("get_linear_velocity"),&PhysicsDirectBodyState::get_linear_velocity); ObjectTypeDB::bind_method(_MD("set_angular_velocity","velocity"),&PhysicsDirectBodyState::set_angular_velocity); ObjectTypeDB::bind_method(_MD("get_angular_velocity"),&PhysicsDirectBodyState::get_angular_velocity); ObjectTypeDB::bind_method(_MD("set_transform","transform"),&PhysicsDirectBodyState::set_transform); ObjectTypeDB::bind_method(_MD("get_transform"),&PhysicsDirectBodyState::get_transform); ObjectTypeDB::bind_method(_MD("add_force","force","pos"),&PhysicsDirectBodyState::add_force); ObjectTypeDB::bind_method(_MD("apply_impulse","pos","j"),&PhysicsDirectBodyState::apply_impulse); ObjectTypeDB::bind_method(_MD("set_sleep_state","enabled"),&PhysicsDirectBodyState::set_sleep_state); ObjectTypeDB::bind_method(_MD("is_sleeping"),&PhysicsDirectBodyState::is_sleeping); ObjectTypeDB::bind_method(_MD("get_contact_count"),&PhysicsDirectBodyState::get_contact_count); ObjectTypeDB::bind_method(_MD("get_contact_local_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_local_pos); ObjectTypeDB::bind_method(_MD("get_contact_local_normal","contact_idx"),&PhysicsDirectBodyState::get_contact_local_normal); ObjectTypeDB::bind_method(_MD("get_contact_local_shape","contact_idx"),&PhysicsDirectBodyState::get_contact_local_shape); ObjectTypeDB::bind_method(_MD("get_contact_collider","contact_idx"),&PhysicsDirectBodyState::get_contact_collider); ObjectTypeDB::bind_method(_MD("get_contact_collider_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_pos); ObjectTypeDB::bind_method(_MD("get_contact_collider_id","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_id); ObjectTypeDB::bind_method(_MD("get_contact_collider_object","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_object); ObjectTypeDB::bind_method(_MD("get_contact_collider_shape","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_shape); ObjectTypeDB::bind_method(_MD("get_contact_collider_velocity_at_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_velocity_at_pos); ObjectTypeDB::bind_method(_MD("get_step"),&PhysicsDirectBodyState::get_step); ObjectTypeDB::bind_method(_MD("integrate_forces"),&PhysicsDirectBodyState::integrate_forces); ObjectTypeDB::bind_method(_MD("get_space_state:PhysicsDirectSpaceState"),&PhysicsDirectBodyState::get_space_state); } PhysicsDirectBodyState::PhysicsDirectBodyState() {} /////////////////////////////////////////////////////// Variant PhysicsDirectSpaceState::_intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector& p_exclude,uint32_t p_user_mask) { RayResult inters; Set exclude; for(int i=0;i& p_exclude,uint32_t p_user_mask) { ERR_FAIL_INDEX_V(p_result_max,4096,Variant()); if (p_result_max<=0) return Variant(); Set exclude; for(int i=0;i result = memnew( PhysicsShapeQueryResult ); result->result.resize(rc); for(int i=0;iresult[i]=res[i]; return result; } PhysicsDirectSpaceState::PhysicsDirectSpaceState() { } void PhysicsDirectSpaceState::_bind_methods() { ObjectTypeDB::bind_method(_MD("intersect_ray","from","to","exclude","umask"),&PhysicsDirectSpaceState::_intersect_ray,DEFVAL(Array()),DEFVAL(0)); ObjectTypeDB::bind_method(_MD("intersect_shape:PhysicsShapeQueryResult","shape","xform","result_max","exclude","umask"),&PhysicsDirectSpaceState::_intersect_shape,DEFVAL(Array()),DEFVAL(0)); } int PhysicsShapeQueryResult::get_result_count() const { return result.size(); } RID PhysicsShapeQueryResult::get_result_rid(int p_idx) const { return result[p_idx].rid; } ObjectID PhysicsShapeQueryResult::get_result_object_id(int p_idx) const { return result[p_idx].collider_id; } Object* PhysicsShapeQueryResult::get_result_object(int p_idx) const { return result[p_idx].collider; } int PhysicsShapeQueryResult::get_result_object_shape(int p_idx) const { return result[p_idx].shape; } PhysicsShapeQueryResult::PhysicsShapeQueryResult() { } void PhysicsShapeQueryResult::_bind_methods() { ObjectTypeDB::bind_method(_MD("get_result_count"),&PhysicsShapeQueryResult::get_result_count); ObjectTypeDB::bind_method(_MD("get_result_rid","idx"),&PhysicsShapeQueryResult::get_result_rid); ObjectTypeDB::bind_method(_MD("get_result_object_id","idx"),&PhysicsShapeQueryResult::get_result_object_id); ObjectTypeDB::bind_method(_MD("get_result_object","idx"),&PhysicsShapeQueryResult::get_result_object); ObjectTypeDB::bind_method(_MD("get_result_object_shape","idx"),&PhysicsShapeQueryResult::get_result_object_shape); } /////////////////////////////////////// void PhysicsServer::_bind_methods() { ObjectTypeDB::bind_method(_MD("shape_create","type"),&PhysicsServer::shape_create); ObjectTypeDB::bind_method(_MD("shape_set_data","shape","data"),&PhysicsServer::shape_set_data); ObjectTypeDB::bind_method(_MD("shape_get_type","shape"),&PhysicsServer::shape_get_type); ObjectTypeDB::bind_method(_MD("shape_get_data","shape"),&PhysicsServer::shape_get_data); ObjectTypeDB::bind_method(_MD("space_create"),&PhysicsServer::space_create); ObjectTypeDB::bind_method(_MD("space_set_active","space","active"),&PhysicsServer::space_set_active); ObjectTypeDB::bind_method(_MD("space_is_active","space"),&PhysicsServer::space_is_active); ObjectTypeDB::bind_method(_MD("space_set_param","space","param","value"),&PhysicsServer::space_set_param); ObjectTypeDB::bind_method(_MD("space_get_param","space","param"),&PhysicsServer::space_get_param); ObjectTypeDB::bind_method(_MD("space_get_direct_state:PhysicsDirectSpaceState","space"),&PhysicsServer::space_get_direct_state); ObjectTypeDB::bind_method(_MD("area_create"),&PhysicsServer::area_create); ObjectTypeDB::bind_method(_MD("area_set_space","area","space"),&PhysicsServer::area_set_space); ObjectTypeDB::bind_method(_MD("area_get_space","area"),&PhysicsServer::area_get_space); ObjectTypeDB::bind_method(_MD("area_set_space_override_mode","area","mode"),&PhysicsServer::area_set_space_override_mode); ObjectTypeDB::bind_method(_MD("area_get_space_override_mode","area"),&PhysicsServer::area_get_space_override_mode); ObjectTypeDB::bind_method(_MD("area_add_shape","area","shape","transform"),&PhysicsServer::area_set_shape,DEFVAL(Transform())); ObjectTypeDB::bind_method(_MD("area_set_shape","area","shape_idx","shape"),&PhysicsServer::area_get_shape); ObjectTypeDB::bind_method(_MD("area_set_shape_transform","area","shape_idx","transform"),&PhysicsServer::area_set_shape_transform); ObjectTypeDB::bind_method(_MD("area_get_shape_count","area"),&PhysicsServer::area_get_shape_count); ObjectTypeDB::bind_method(_MD("area_get_shape","area","shape_idx"),&PhysicsServer::area_get_shape); ObjectTypeDB::bind_method(_MD("area_get_shape_transform","area","shape_idx"),&PhysicsServer::area_get_shape_transform); ObjectTypeDB::bind_method(_MD("area_remove_shape","area","shape_idx"),&PhysicsServer::area_remove_shape); ObjectTypeDB::bind_method(_MD("area_clear_shapes","area"),&PhysicsServer::area_clear_shapes); ObjectTypeDB::bind_method(_MD("area_set_param","area","param","value"),&PhysicsServer::area_get_param); ObjectTypeDB::bind_method(_MD("area_set_transform","area","transform"),&PhysicsServer::area_get_transform); ObjectTypeDB::bind_method(_MD("area_get_param","area","param"),&PhysicsServer::area_get_param); ObjectTypeDB::bind_method(_MD("area_get_transform","area"),&PhysicsServer::area_get_transform); ObjectTypeDB::bind_method(_MD("area_attach_object_instance_ID","area","id"),&PhysicsServer::area_attach_object_instance_ID); ObjectTypeDB::bind_method(_MD("area_get_object_instance_ID","area"),&PhysicsServer::area_get_object_instance_ID); ObjectTypeDB::bind_method(_MD("area_set_monitor_callback","receiver","method"),&PhysicsServer::area_set_monitor_callback); ObjectTypeDB::bind_method(_MD("body_create","mode","init_sleeping"),&PhysicsServer::body_create,DEFVAL(BODY_MODE_RIGID),DEFVAL(false)); ObjectTypeDB::bind_method(_MD("body_set_space","body","space"),&PhysicsServer::body_set_space); ObjectTypeDB::bind_method(_MD("body_get_space","body"),&PhysicsServer::body_get_space); ObjectTypeDB::bind_method(_MD("body_set_mode","body","mode"),&PhysicsServer::body_set_mode); ObjectTypeDB::bind_method(_MD("body_get_mode","body"),&PhysicsServer::body_get_mode); ObjectTypeDB::bind_method(_MD("body_add_shape","body","shape","transform"),&PhysicsServer::body_add_shape,DEFVAL(Transform())); ObjectTypeDB::bind_method(_MD("body_set_shape","body","shape_idx","shape"),&PhysicsServer::body_set_shape); ObjectTypeDB::bind_method(_MD("body_set_shape_transform","body","shape_idx","transform"),&PhysicsServer::body_set_shape_transform); ObjectTypeDB::bind_method(_MD("body_get_shape_count","body"),&PhysicsServer::body_get_shape_count); ObjectTypeDB::bind_method(_MD("body_get_shape","body","shape_idx"),&PhysicsServer::body_get_shape); ObjectTypeDB::bind_method(_MD("body_get_shape_transform","body","shape_idx"),&PhysicsServer::body_get_shape_transform); ObjectTypeDB::bind_method(_MD("body_remove_shape","body","shape_idx"),&PhysicsServer::body_remove_shape); ObjectTypeDB::bind_method(_MD("body_clear_shapes","body"),&PhysicsServer::body_clear_shapes); ObjectTypeDB::bind_method(_MD("body_attach_object_instance_ID","body","id"),&PhysicsServer::body_attach_object_instance_ID); ObjectTypeDB::bind_method(_MD("body_get_object_instance_ID","body"),&PhysicsServer::body_get_object_instance_ID); ObjectTypeDB::bind_method(_MD("body_set_enable_continuous_collision_detection","body","enable"),&PhysicsServer::body_set_enable_continuous_collision_detection); ObjectTypeDB::bind_method(_MD("body_is_continuous_collision_detection_enabled","body"),&PhysicsServer::body_is_continuous_collision_detection_enabled); //ObjectTypeDB::bind_method(_MD("body_set_user_flags","flags""),&PhysicsServer::body_set_shape,DEFVAL(Transform)); //ObjectTypeDB::bind_method(_MD("body_get_user_flags","body","shape_idx","shape"),&PhysicsServer::body_get_shape); ObjectTypeDB::bind_method(_MD("body_set_param","body","param","value"),&PhysicsServer::body_set_param); ObjectTypeDB::bind_method(_MD("body_get_param","body","param"),&PhysicsServer::body_get_param); ObjectTypeDB::bind_method(_MD("body_static_simulate_motion","body","new_xform"),&PhysicsServer::body_static_simulate_motion); ObjectTypeDB::bind_method(_MD("body_set_state","body","state","value"),&PhysicsServer::body_set_state); ObjectTypeDB::bind_method(_MD("body_get_state","body","state"),&PhysicsServer::body_get_state); ObjectTypeDB::bind_method(_MD("body_apply_impulse","body","pos","impulse"),&PhysicsServer::body_apply_impulse); ObjectTypeDB::bind_method(_MD("body_set_axis_velocity","body","axis_velocity"),&PhysicsServer::body_set_axis_velocity); ObjectTypeDB::bind_method(_MD("body_set_axis_lock","body","axis"),&PhysicsServer::body_set_axis_lock); ObjectTypeDB::bind_method(_MD("body_get_axis_lock","body"),&PhysicsServer::body_set_axis_lock); ObjectTypeDB::bind_method(_MD("body_add_collision_exception","body","excepted_body"),&PhysicsServer::body_add_collision_exception); ObjectTypeDB::bind_method(_MD("body_remove_collision_exception","body","excepted_body"),&PhysicsServer::body_remove_collision_exception); // virtual void body_get_collision_exceptions(RID p_body, List *p_exceptions)=0; ObjectTypeDB::bind_method(_MD("body_set_max_contacts_reported","body","amount"),&PhysicsServer::body_set_max_contacts_reported); ObjectTypeDB::bind_method(_MD("body_get_max_contacts_reported","body"),&PhysicsServer::body_get_max_contacts_reported); ObjectTypeDB::bind_method(_MD("body_set_omit_force_integration","body","enable"),&PhysicsServer::body_set_omit_force_integration); ObjectTypeDB::bind_method(_MD("body_is_omitting_force_integration","body"),&PhysicsServer::body_is_omitting_force_integration); ObjectTypeDB::bind_method(_MD("body_set_force_integration_callback","body","receiver","method","userdata"),&PhysicsServer::body_set_force_integration_callback,DEFVAL(Variant())); /* JOINT API */ /* ObjectTypeDB::bind_method(_MD("joint_set_param","joint","param","value"),&PhysicsServer::joint_set_param); ObjectTypeDB::bind_method(_MD("joint_get_param","joint","param"),&PhysicsServer::joint_get_param); ObjectTypeDB::bind_method(_MD("pin_joint_create","anchor","body_a","body_b"),&PhysicsServer::pin_joint_create,DEFVAL(RID())); ObjectTypeDB::bind_method(_MD("groove_joint_create","groove1_a","groove2_a","anchor_b","body_a","body_b"),&PhysicsServer::groove_joint_create,DEFVAL(RID()),DEFVAL(RID())); ObjectTypeDB::bind_method(_MD("damped_spring_joint_create","anchor_a","anchor_b","body_a","body_b"),&PhysicsServer::damped_spring_joint_create,DEFVAL(RID())); ObjectTypeDB::bind_method(_MD("damped_string_joint_set_param","joint","param","value"),&PhysicsServer::damped_string_joint_set_param,DEFVAL(RID())); ObjectTypeDB::bind_method(_MD("damped_string_joint_get_param","joint","param"),&PhysicsServer::damped_string_joint_get_param); ObjectTypeDB::bind_method(_MD("joint_get_type","joint"),&PhysicsServer::joint_get_type); */ ObjectTypeDB::bind_method(_MD("free","rid"),&PhysicsServer::free); ObjectTypeDB::bind_method(_MD("set_active","active"),&PhysicsServer::set_active); // ObjectTypeDB::bind_method(_MD("init"),&PhysicsServer::init); // ObjectTypeDB::bind_method(_MD("step"),&PhysicsServer::step); // ObjectTypeDB::bind_method(_MD("sync"),&PhysicsServer::sync); //ObjectTypeDB::bind_method(_MD("flush_queries"),&PhysicsServer::flush_queries); BIND_CONSTANT( SHAPE_PLANE ); BIND_CONSTANT( SHAPE_RAY ); BIND_CONSTANT( SHAPE_SPHERE ); BIND_CONSTANT( SHAPE_BOX ); BIND_CONSTANT( SHAPE_CAPSULE ); BIND_CONSTANT( SHAPE_CONVEX_POLYGON ); BIND_CONSTANT( SHAPE_CONCAVE_POLYGON ); BIND_CONSTANT( SHAPE_HEIGHTMAP ); BIND_CONSTANT( SHAPE_CUSTOM ); BIND_CONSTANT( AREA_PARAM_GRAVITY ); BIND_CONSTANT( AREA_PARAM_GRAVITY_VECTOR ); BIND_CONSTANT( AREA_PARAM_GRAVITY_IS_POINT ); BIND_CONSTANT( AREA_PARAM_GRAVITY_POINT_ATTENUATION ); BIND_CONSTANT( AREA_PARAM_DENSITY ); BIND_CONSTANT( AREA_PARAM_PRIORITY ); BIND_CONSTANT( AREA_SPACE_OVERRIDE_COMBINE ); BIND_CONSTANT( AREA_SPACE_OVERRIDE_DISABLED ); BIND_CONSTANT( AREA_SPACE_OVERRIDE_REPLACE ); BIND_CONSTANT( BODY_MODE_STATIC ); BIND_CONSTANT( BODY_MODE_KINEMATIC ); BIND_CONSTANT( BODY_MODE_RIGID ); BIND_CONSTANT( BODY_MODE_CHARACTER ); BIND_CONSTANT( BODY_PARAM_BOUNCE ); BIND_CONSTANT( BODY_PARAM_FRICTION ); BIND_CONSTANT( BODY_PARAM_MASS ); BIND_CONSTANT( BODY_PARAM_MAX ); BIND_CONSTANT( BODY_STATE_TRANSFORM ); BIND_CONSTANT( BODY_STATE_LINEAR_VELOCITY ); BIND_CONSTANT( BODY_STATE_ANGULAR_VELOCITY ); BIND_CONSTANT( BODY_STATE_SLEEPING ); BIND_CONSTANT( BODY_STATE_CAN_SLEEP ); /* BIND_CONSTANT( JOINT_PIN ); BIND_CONSTANT( JOINT_GROOVE ); BIND_CONSTANT( JOINT_DAMPED_SPRING ); BIND_CONSTANT( DAMPED_STRING_REST_LENGTH ); BIND_CONSTANT( DAMPED_STRING_STIFFNESS ); BIND_CONSTANT( DAMPED_STRING_DAMPING ); */ // BIND_CONSTANT( TYPE_BODY ); // BIND_CONSTANT( TYPE_AREA ); BIND_CONSTANT( AREA_BODY_ADDED ); BIND_CONSTANT( AREA_BODY_REMOVED ); } PhysicsServer::PhysicsServer() { ERR_FAIL_COND( singleton!=NULL ); singleton=this; } PhysicsServer::~PhysicsServer() { singleton=NULL; }