/*************************************************************************/ /* physics_server_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef PHYSICS_SERVER_H #define PHYSICS_SERVER_H #include "core/object.h" #include "core/resource.h" class PhysicsDirectSpaceState3D; class PhysicsDirectBodyState3D : public Object { GDCLASS(PhysicsDirectBodyState3D, Object); protected: static void _bind_methods(); public: virtual Vector3 get_total_gravity() const = 0; virtual float get_total_angular_damp() const = 0; virtual float get_total_linear_damp() const = 0; virtual Vector3 get_center_of_mass() const = 0; virtual Basis get_principal_inertia_axes() const = 0; virtual float get_inverse_mass() const = 0; // get the mass virtual Vector3 get_inverse_inertia() const = 0; // get density of this body space virtual Basis get_inverse_inertia_tensor() const = 0; // get density of this body space virtual void set_linear_velocity(const Vector3 &p_velocity) = 0; virtual Vector3 get_linear_velocity() const = 0; virtual void set_angular_velocity(const Vector3 &p_velocity) = 0; virtual Vector3 get_angular_velocity() const = 0; virtual void set_transform(const Transform &p_transform) = 0; virtual Transform get_transform() const = 0; virtual void add_central_force(const Vector3 &p_force) = 0; virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void add_torque(const Vector3 &p_torque) = 0; virtual void apply_central_impulse(const Vector3 &p_impulse) = 0; virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0; virtual void apply_torque_impulse(const Vector3 &p_impulse) = 0; virtual void set_sleep_state(bool p_sleep) = 0; virtual bool is_sleeping() const = 0; virtual int get_contact_count() const = 0; virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0; virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0; virtual float get_contact_impulse(int p_contact_idx) const = 0; virtual int get_contact_local_shape(int p_contact_idx) const = 0; virtual RID get_contact_collider(int p_contact_idx) const = 0; virtual Vector3 get_contact_collider_position(int p_contact_idx) const = 0; virtual ObjectID get_contact_collider_id(int p_contact_idx) const = 0; virtual Object *get_contact_collider_object(int p_contact_idx) const; virtual int get_contact_collider_shape(int p_contact_idx) const = 0; virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const = 0; virtual real_t get_step() const = 0; virtual void integrate_forces(); virtual PhysicsDirectSpaceState3D *get_space_state() = 0; PhysicsDirectBodyState3D(); }; class PhysicsShapeQueryResult3D; class PhysicsShapeQueryParameters3D : public Reference { GDCLASS(PhysicsShapeQueryParameters3D, Reference); friend class PhysicsDirectSpaceState3D; RES shape_ref; RID shape; Transform transform; float margin; Set<RID> exclude; uint32_t collision_mask; bool collide_with_bodies; bool collide_with_areas; protected: static void _bind_methods(); public: void set_shape(const RES &p_shape_ref); RES get_shape() const; void set_shape_rid(const RID &p_shape); RID get_shape_rid() const; void set_transform(const Transform &p_transform); Transform get_transform() const; void set_margin(float p_margin); float get_margin() const; void set_collision_mask(int p_collision_mask); int get_collision_mask() const; void set_exclude(const Vector<RID> &p_exclude); Vector<RID> get_exclude() const; void set_collide_with_bodies(bool p_enable); bool is_collide_with_bodies_enabled() const; void set_collide_with_areas(bool p_enable); bool is_collide_with_areas_enabled() const; PhysicsShapeQueryParameters3D(); }; class PhysicsDirectSpaceState3D : public Object { GDCLASS(PhysicsDirectSpaceState3D, Object); private: Dictionary _intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude = Vector<RID>(), uint32_t p_collision_mask = 0, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); Array _intersect_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32); Array _cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, const Vector3 &p_motion); Array _collide_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32); Dictionary _get_rest_info(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query); protected: static void _bind_methods(); public: struct ShapeResult { RID rid; ObjectID collider_id; Object *collider; int shape; }; virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; struct RayResult { Vector3 position; Vector3 normal; RID rid; ObjectID collider_id; Object *collider; int shape; }; virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) = 0; virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; struct ShapeRestInfo { Vector3 point; Vector3 normal; RID rid; ObjectID collider_id; int shape; Vector3 linear_velocity; //velocity at contact point }; virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0; virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0; PhysicsDirectSpaceState3D(); }; class PhysicsShapeQueryResult3D : public Reference { GDCLASS(PhysicsShapeQueryResult3D, Reference); Vector<PhysicsDirectSpaceState3D::ShapeResult> result; friend class PhysicsDirectSpaceState3D; protected: static void _bind_methods(); public: int get_result_count() const; RID get_result_rid(int p_idx) const; ObjectID get_result_object_id(int p_idx) const; Object *get_result_object(int p_idx) const; int get_result_object_shape(int p_idx) const; PhysicsShapeQueryResult3D(); }; class PhysicsServer3D : public Object { GDCLASS(PhysicsServer3D, Object); static PhysicsServer3D *singleton; protected: static void _bind_methods(); public: static PhysicsServer3D *get_singleton(); enum ShapeType { SHAPE_PLANE, ///< plane:"plane" SHAPE_RAY, ///< float:"length" SHAPE_SPHERE, ///< float:"radius" SHAPE_BOX, ///< vec3:"extents" SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule SHAPE_CYLINDER, ///< dict( float:"radius", float:"height"):cylinder SHAPE_CONVEX_POLYGON, ///< array of planes:"planes" SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array) SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights" SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error }; virtual RID shape_create(ShapeType p_shape) = 0; virtual void shape_set_data(RID p_shape, const Variant &p_data) = 0; virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) = 0; virtual ShapeType shape_get_type(RID p_shape) const = 0; virtual Variant shape_get_data(RID p_shape) const = 0; virtual void shape_set_margin(RID p_shape, real_t p_margin) = 0; virtual real_t shape_get_margin(RID p_shape) const = 0; virtual real_t shape_get_custom_solver_bias(RID p_shape) const = 0; /* SPACE API */ virtual RID space_create() = 0; virtual void space_set_active(RID p_space, bool p_active) = 0; virtual bool space_is_active(RID p_space) const = 0; enum SpaceParameter { SPACE_PARAM_CONTACT_RECYCLE_RADIUS, SPACE_PARAM_CONTACT_MAX_SEPARATION, SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION, SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD, SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD, SPACE_PARAM_BODY_TIME_TO_SLEEP, SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO, SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS, SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH }; virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0; virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const = 0; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) = 0; virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) = 0; virtual Vector<Vector3> space_get_contacts(RID p_space) const = 0; virtual int space_get_contact_count(RID p_space) const = 0; //missing space parameters /* AREA API */ //missing attenuation? missing better override? enum AreaParameter { AREA_PARAM_GRAVITY, AREA_PARAM_GRAVITY_VECTOR, AREA_PARAM_GRAVITY_IS_POINT, AREA_PARAM_GRAVITY_DISTANCE_SCALE, AREA_PARAM_GRAVITY_POINT_ATTENUATION, AREA_PARAM_LINEAR_DAMP, AREA_PARAM_ANGULAR_DAMP, AREA_PARAM_PRIORITY }; virtual RID area_create() = 0; virtual void area_set_space(RID p_area, RID p_space) = 0; virtual RID area_get_space(RID p_area) const = 0; enum AreaSpaceOverrideMode { AREA_SPACE_OVERRIDE_DISABLED, AREA_SPACE_OVERRIDE_COMBINE, AREA_SPACE_OVERRIDE_COMBINE_REPLACE, AREA_SPACE_OVERRIDE_REPLACE, AREA_SPACE_OVERRIDE_REPLACE_COMBINE }; virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) = 0; virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const = 0; virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) = 0; virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) = 0; virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) = 0; virtual int area_get_shape_count(RID p_area) const = 0; virtual RID area_get_shape(RID p_area, int p_shape_idx) const = 0; virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const = 0; virtual void area_remove_shape(RID p_area, int p_shape_idx) = 0; virtual void area_clear_shapes(RID p_area) = 0; virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) = 0; virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) = 0; virtual ObjectID area_get_object_instance_id(RID p_area) const = 0; virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) = 0; virtual void area_set_transform(RID p_area, const Transform &p_transform) = 0; virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const = 0; virtual Transform area_get_transform(RID p_area) const = 0; virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) = 0; virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) = 0; virtual void area_set_monitorable(RID p_area, bool p_monitorable) = 0; virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0; virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0; virtual void area_set_ray_pickable(RID p_area, bool p_enable) = 0; virtual bool area_is_ray_pickable(RID p_area) const = 0; /* BODY API */ //missing ccd? enum BodyMode { BODY_MODE_STATIC, BODY_MODE_KINEMATIC, BODY_MODE_RIGID, BODY_MODE_CHARACTER }; virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false) = 0; virtual void body_set_space(RID p_body, RID p_space) = 0; virtual RID body_get_space(RID p_body) const = 0; virtual void body_set_mode(RID p_body, BodyMode p_mode) = 0; virtual BodyMode body_get_mode(RID p_body) const = 0; virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false) = 0; virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) = 0; virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) = 0; virtual int body_get_shape_count(RID p_body) const = 0; virtual RID body_get_shape(RID p_body, int p_shape_idx) const = 0; virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const = 0; virtual void body_remove_shape(RID p_body, int p_shape_idx) = 0; virtual void body_clear_shapes(RID p_body) = 0; virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) = 0; virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) = 0; virtual ObjectID body_get_object_instance_id(RID p_body) const = 0; virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) = 0; virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const = 0; virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) = 0; virtual uint32_t body_get_collision_layer(RID p_body) const = 0; virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0; virtual uint32_t body_get_collision_mask(RID p_body) const = 0; virtual void body_set_user_flags(RID p_body, uint32_t p_flags) = 0; virtual uint32_t body_get_user_flags(RID p_body) const = 0; // common body variables enum BodyParameter { BODY_PARAM_BOUNCE, BODY_PARAM_FRICTION, BODY_PARAM_MASS, ///< unused for static, always infinite BODY_PARAM_GRAVITY_SCALE, BODY_PARAM_LINEAR_DAMP, BODY_PARAM_ANGULAR_DAMP, BODY_PARAM_MAX, }; virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0; virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0; virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) = 0; virtual real_t body_get_kinematic_safe_margin(RID p_body) const = 0; //state enum BodyState { BODY_STATE_TRANSFORM, BODY_STATE_LINEAR_VELOCITY, BODY_STATE_ANGULAR_VELOCITY, BODY_STATE_SLEEPING, BODY_STATE_CAN_SLEEP }; virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0; virtual Variant body_get_state(RID p_body, BodyState p_state) const = 0; //do something about it virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) = 0; virtual Vector3 body_get_applied_force(RID p_body) const = 0; virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) = 0; virtual Vector3 body_get_applied_torque(RID p_body) const = 0; virtual void body_add_central_force(RID p_body, const Vector3 &p_force) = 0; virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void body_add_torque(RID p_body, const Vector3 &p_torque) = 0; virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) = 0; virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0; virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0; virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0; enum BodyAxis { BODY_AXIS_LINEAR_X = 1 << 0, BODY_AXIS_LINEAR_Y = 1 << 1, BODY_AXIS_LINEAR_Z = 1 << 2, BODY_AXIS_ANGULAR_X = 1 << 3, BODY_AXIS_ANGULAR_Y = 1 << 4, BODY_AXIS_ANGULAR_Z = 1 << 5 }; virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) = 0; virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const = 0; //fix virtual void body_add_collision_exception(RID p_body, RID p_body_b) = 0; virtual void body_remove_collision_exception(RID p_body, RID p_body_b) = 0; virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0; virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) = 0; virtual int body_get_max_contacts_reported(RID p_body) const = 0; //missing remove virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) = 0; virtual float body_get_contacts_reported_depth_threshold(RID p_body) const = 0; virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0; virtual bool body_is_omitting_force_integration(RID p_body) const = 0; virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()) = 0; virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0; virtual bool body_is_ray_pickable(RID p_body) const = 0; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) = 0; struct MotionResult { Vector3 motion; Vector3 remainder; Vector3 collision_point; Vector3 collision_normal; Vector3 collider_velocity; int collision_local_shape; ObjectID collider_id; RID collider; int collider_shape; Variant collider_metadata; MotionResult() { collision_local_shape = 0; collider_id = ObjectID(); collider_shape = 0; } }; virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) = 0; struct SeparationResult { float collision_depth; Vector3 collision_point; Vector3 collision_normal; Vector3 collider_velocity; int collision_local_shape; ObjectID collider_id; RID collider; int collider_shape; Variant collider_metadata; }; virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001) = 0; /* SOFT BODY */ virtual RID soft_body_create(bool p_init_sleeping = false) = 0; virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) = 0; virtual void soft_body_set_space(RID p_body, RID p_space) = 0; virtual RID soft_body_get_space(RID p_body) const = 0; virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) = 0; virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) = 0; virtual uint32_t soft_body_get_collision_layer(RID p_body) const = 0; virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) = 0; virtual uint32_t soft_body_get_collision_mask(RID p_body) const = 0; virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) = 0; virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) = 0; virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0; virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0; virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const = 0; virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) = 0; virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const = 0; virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0; virtual bool soft_body_is_ray_pickable(RID p_body) const = 0; virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) = 0; virtual int soft_body_get_simulation_precision(RID p_body) = 0; virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) = 0; virtual real_t soft_body_get_total_mass(RID p_body) = 0; virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) = 0; virtual real_t soft_body_get_linear_stiffness(RID p_body) = 0; virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) = 0; virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) = 0; virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) = 0; virtual real_t soft_body_get_volume_stiffness(RID p_body) = 0; virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) = 0; virtual real_t soft_body_get_pressure_coefficient(RID p_body) = 0; virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) = 0; virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) = 0; virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) = 0; virtual real_t soft_body_get_damping_coefficient(RID p_body) = 0; virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) = 0; virtual real_t soft_body_get_drag_coefficient(RID p_body) = 0; virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) = 0; virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) = 0; virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const = 0; virtual void soft_body_remove_all_pinned_points(RID p_body) = 0; virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) = 0; virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) = 0; /* JOINT API */ enum JointType { JOINT_PIN, JOINT_HINGE, JOINT_SLIDER, JOINT_CONE_TWIST, JOINT_6DOF }; virtual JointType joint_get_type(RID p_joint) const = 0; virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0; virtual int joint_get_solver_priority(RID p_joint) const = 0; virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0; virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0; virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0; enum PinJointParam { PIN_JOINT_BIAS, PIN_JOINT_DAMPING, PIN_JOINT_IMPULSE_CLAMP }; virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) = 0; virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0; virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) = 0; virtual Vector3 pin_joint_get_local_a(RID p_joint) const = 0; virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) = 0; virtual Vector3 pin_joint_get_local_b(RID p_joint) const = 0; enum HingeJointParam { HINGE_JOINT_BIAS, HINGE_JOINT_LIMIT_UPPER, HINGE_JOINT_LIMIT_LOWER, HINGE_JOINT_LIMIT_BIAS, HINGE_JOINT_LIMIT_SOFTNESS, HINGE_JOINT_LIMIT_RELAXATION, HINGE_JOINT_MOTOR_TARGET_VELOCITY, HINGE_JOINT_MOTOR_MAX_IMPULSE, HINGE_JOINT_MAX }; enum HingeJointFlag { HINGE_JOINT_FLAG_USE_LIMIT, HINGE_JOINT_FLAG_ENABLE_MOTOR, HINGE_JOINT_FLAG_MAX }; virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) = 0; virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) = 0; virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) = 0; virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0; virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) = 0; virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const = 0; enum SliderJointParam { SLIDER_JOINT_LINEAR_LIMIT_UPPER, SLIDER_JOINT_LINEAR_LIMIT_LOWER, SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, SLIDER_JOINT_LINEAR_LIMIT_DAMPING, SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, SLIDER_JOINT_LINEAR_MOTION_DAMPING, SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, SLIDER_JOINT_ANGULAR_LIMIT_UPPER, SLIDER_JOINT_ANGULAR_LIMIT_LOWER, SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, SLIDER_JOINT_ANGULAR_MOTION_DAMPING, SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, SLIDER_JOINT_MAX }; virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) = 0; virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0; enum ConeTwistJointParam { CONE_TWIST_JOINT_SWING_SPAN, CONE_TWIST_JOINT_TWIST_SPAN, CONE_TWIST_JOINT_BIAS, CONE_TWIST_JOINT_SOFTNESS, CONE_TWIST_JOINT_RELAXATION, CONE_TWIST_MAX }; virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) = 0; virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0; enum G6DOFJointAxisParam { G6DOF_JOINT_LINEAR_LOWER_LIMIT, G6DOF_JOINT_LINEAR_UPPER_LIMIT, G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, G6DOF_JOINT_LINEAR_RESTITUTION, G6DOF_JOINT_LINEAR_DAMPING, G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY, G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT, G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, G6DOF_JOINT_LINEAR_SPRING_DAMPING, G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, G6DOF_JOINT_ANGULAR_LOWER_LIMIT, G6DOF_JOINT_ANGULAR_UPPER_LIMIT, G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, G6DOF_JOINT_ANGULAR_DAMPING, G6DOF_JOINT_ANGULAR_RESTITUTION, G6DOF_JOINT_ANGULAR_FORCE_LIMIT, G6DOF_JOINT_ANGULAR_ERP, G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, G6DOF_JOINT_ANGULAR_SPRING_DAMPING, G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, G6DOF_JOINT_MAX }; enum G6DOFJointAxisFlag { G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, G6DOF_JOINT_FLAG_ENABLE_MOTOR, G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR, G6DOF_JOINT_FLAG_MAX }; virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, float p_value) = 0; virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) = 0; virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0; virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) = 0; virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) = 0; virtual int generic_6dof_joint_get_precision(RID p_joint) = 0; /* QUERY API */ enum AreaBodyStatus { AREA_BODY_ADDED, AREA_BODY_REMOVED }; /* MISC */ virtual void free(RID p_rid) = 0; virtual void set_active(bool p_active) = 0; virtual void init() = 0; virtual void step(float p_step) = 0; virtual void sync() = 0; virtual void flush_queries() = 0; virtual void finish() = 0; virtual bool is_flushing_queries() const = 0; enum ProcessInfo { INFO_ACTIVE_OBJECTS, INFO_COLLISION_PAIRS, INFO_ISLAND_COUNT }; virtual int get_process_info(ProcessInfo p_info) = 0; PhysicsServer3D(); ~PhysicsServer3D(); }; typedef PhysicsServer3D *(*CreatePhysicsServer3DCallback)(); class PhysicsServer3DManager { struct ClassInfo { String name; CreatePhysicsServer3DCallback create_callback = nullptr; ClassInfo() {} ClassInfo(String p_name, CreatePhysicsServer3DCallback p_create_callback) : name(p_name), create_callback(p_create_callback) {} ClassInfo(const ClassInfo &p_ci) : name(p_ci.name), create_callback(p_ci.create_callback) {} ClassInfo operator=(const ClassInfo &p_ci) { name = p_ci.name; create_callback = p_ci.create_callback; return *this; } }; static Vector<ClassInfo> physics_servers; static int default_server_id; static int default_server_priority; public: static const String setting_property_name; private: static void on_servers_changed(); public: static void register_server(const String &p_name, CreatePhysicsServer3DCallback p_creat_callback); static void set_default_server(const String &p_name, int p_priority = 0); static int find_server_id(const String &p_name); static int get_servers_count(); static String get_server_name(int p_id); static PhysicsServer3D *new_default_server(); static PhysicsServer3D *new_server(const String &p_name); }; VARIANT_ENUM_CAST(PhysicsServer3D::ShapeType); VARIANT_ENUM_CAST(PhysicsServer3D::SpaceParameter); VARIANT_ENUM_CAST(PhysicsServer3D::AreaParameter); VARIANT_ENUM_CAST(PhysicsServer3D::AreaSpaceOverrideMode); VARIANT_ENUM_CAST(PhysicsServer3D::BodyMode); VARIANT_ENUM_CAST(PhysicsServer3D::BodyParameter); VARIANT_ENUM_CAST(PhysicsServer3D::BodyState); VARIANT_ENUM_CAST(PhysicsServer3D::BodyAxis); VARIANT_ENUM_CAST(PhysicsServer3D::PinJointParam); VARIANT_ENUM_CAST(PhysicsServer3D::JointType); VARIANT_ENUM_CAST(PhysicsServer3D::HingeJointParam); VARIANT_ENUM_CAST(PhysicsServer3D::HingeJointFlag); VARIANT_ENUM_CAST(PhysicsServer3D::SliderJointParam); VARIANT_ENUM_CAST(PhysicsServer3D::ConeTwistJointParam); VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisParam); VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisFlag); VARIANT_ENUM_CAST(PhysicsServer3D::AreaBodyStatus); VARIANT_ENUM_CAST(PhysicsServer3D::ProcessInfo); #endif