godot/servers/physics/physics_server_sw.h

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/*************************************************************************/
/* physics_server_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
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/*************************************************************************/
/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
/* 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. */
/*************************************************************************/
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#ifndef PHYSICS_SERVER_SW
#define PHYSICS_SERVER_SW
#include "joints_sw.h"
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#include "servers/physics_server.h"
#include "shape_sw.h"
#include "space_sw.h"
#include "step_sw.h"
class PhysicsServerSW : public PhysicsServer {
GDCLASS(PhysicsServerSW, PhysicsServer);
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friend class PhysicsDirectSpaceStateSW;
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bool active;
int iterations;
bool doing_sync;
real_t last_step;
int island_count;
int active_objects;
int collision_pairs;
bool flushing_queries;
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StepSW *stepper;
Set<const SpaceSW *> active_spaces;
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PhysicsDirectBodyStateSW *direct_state;
mutable RID_Owner<ShapeSW> shape_owner;
mutable RID_Owner<SpaceSW> space_owner;
mutable RID_Owner<AreaSW> area_owner;
mutable RID_Owner<BodySW> body_owner;
mutable RID_Owner<JointSW> joint_owner;
//void _clear_query(QuerySW *p_query);
friend class CollisionObjectSW;
SelfList<CollisionObjectSW>::List pending_shape_update_list;
void _update_shapes();
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public:
static PhysicsServerSW *singleton;
struct CollCbkData {
int max;
int amount;
Vector3 *ptr;
};
static void _shape_col_cbk(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata);
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virtual RID shape_create(ShapeType p_shape);
virtual void shape_set_data(RID p_shape, const Variant &p_data);
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virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
virtual ShapeType shape_get_type(RID p_shape) const;
virtual Variant shape_get_data(RID p_shape) const;
virtual void shape_set_margin(RID p_shape, real_t p_margin);
virtual real_t shape_get_margin(RID p_shape) const;
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virtual real_t shape_get_custom_solver_bias(RID p_shape) const;
/* SPACE API */
virtual RID space_create();
virtual void space_set_active(RID p_space, bool p_active);
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virtual bool space_is_active(RID p_space) const;
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value);
virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const;
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// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space);
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virtual void space_set_debug_contacts(RID p_space, int p_max_contacts);
virtual Vector<Vector3> space_get_contacts(RID p_space) const;
virtual int space_get_contact_count(RID p_space) const;
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/* AREA API */
virtual RID area_create();
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;
virtual void area_set_space(RID p_area, RID p_space);
virtual RID area_get_space(RID p_area) const;
virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
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virtual int area_get_shape_count(RID p_area) const;
virtual RID area_get_shape(RID p_area, int p_shape_idx) const;
virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const;
virtual void area_remove_shape(RID p_area, int p_shape_idx);
virtual void area_clear_shapes(RID p_area);
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled);
virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID);
virtual ObjectID area_get_object_instance_id(RID p_area) const;
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virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value);
virtual void area_set_transform(RID p_area, const Transform &p_transform);
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virtual Variant area_get_param(RID p_area, AreaParameter p_param) const;
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virtual Transform area_get_transform(RID p_area) const;
virtual void area_set_ray_pickable(RID p_area, bool p_enable);
virtual bool area_is_ray_pickable(RID p_area) const;
virtual void area_set_collision_mask(RID p_area, uint32_t p_mask);
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virtual void area_set_collision_layer(RID p_area, uint32_t p_layer);
virtual void area_set_monitorable(RID p_area, bool p_monitorable);
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virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method);
virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method);
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/* BODY API */
// create a body of a given type
virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false);
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virtual void body_set_space(RID p_body, RID p_space);
virtual RID body_get_space(RID p_body) const;
virtual void body_set_mode(RID p_body, BodyMode p_mode);
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virtual BodyMode body_get_mode(RID p_body) const;
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virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
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virtual int body_get_shape_count(RID p_body) const;
virtual RID body_get_shape(RID p_body, int p_shape_idx) const;
virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const;
virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled);
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virtual void body_remove_shape(RID p_body, int p_shape_idx);
virtual void body_clear_shapes(RID p_body);
virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID);
virtual uint32_t body_get_object_instance_id(RID p_body) const;
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virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
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virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const;
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virtual void body_set_collision_layer(RID p_body, uint32_t p_layer);
virtual uint32_t body_get_collision_layer(RID p_body) const;
virtual void body_set_collision_mask(RID p_body, uint32_t p_mask);
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virtual uint32_t body_get_collision_mask(RID p_body) const;
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virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
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virtual uint32_t body_get_user_flags(RID p_body) const;
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virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value);
virtual real_t body_get_param(RID p_body, BodyParameter p_param) const;
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virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin);
virtual real_t body_get_kinematic_safe_margin(RID p_body) const;
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
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virtual Variant body_get_state(RID p_body, BodyState p_state) const;
virtual void body_set_applied_force(RID p_body, const Vector3 &p_force);
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virtual Vector3 body_get_applied_force(RID p_body) const;
virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque);
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virtual Vector3 body_get_applied_torque(RID p_body) const;
virtual void body_add_central_force(RID p_body, const Vector3 &p_force);
virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos);
virtual void body_add_torque(RID p_body, const Vector3 &p_torque);
virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse);
virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse);
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
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virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock);
virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const;
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virtual void body_add_collision_exception(RID p_body, RID p_body_b);
virtual void body_remove_collision_exception(RID p_body, RID p_body_b);
virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);
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virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold);
virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const;
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virtual void body_set_omit_force_integration(RID p_body, bool p_omit);
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virtual bool body_is_omitting_force_integration(RID p_body) const;
virtual void body_set_max_contacts_reported(RID p_body, int p_contacts);
virtual int body_get_max_contacts_reported(RID p_body) const;
virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant());
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virtual void body_set_ray_pickable(RID p_body, bool p_enable);
Huge Amount of BugFix -=-=-=-=-=-=-=-=-=-=- -Fixes to Collada Exporter (avoid crash situtions) -Fixed to Collada Importer (Fixed Animation Optimizer Bugs) -Fixes to RigidBody/RigidBody2D body_enter/body_exit, was buggy -Fixed ability for RigidBody/RigidBody2D to get contacts reported and bodyin/out in Kinematic mode. -Added proper trigger support for 3D Physics shapes -Changed proper value for Z-Offset in OmniLight -Fixed spot attenuation bug in SpotLight -Fixed some 3D and 2D spatial soudn bugs related to distance attenuation. -Fixed bugs in EventPlayer (channels were muted by default) -Fix in ButtonGroup (get nodes in group are now returned in order) -Fixed Linear->SRGB Conversion, previous algo sucked, new algo works OK -Changed SRGB->Linear conversion to use hardware if supported, improves texture quality a lot -Fixed options for Y-Fov and X-Fov in camera, should be more intuitive. -Fixed bugs related to viewports and transparency Huge Amount of New Stuff: -=-=-=-=-=-=-=-==-=-=-=- -Ability to manually advance an AnimationPlayer that is inactive (with advance() function) -More work in WinRT platform -Added XY normalmap support, imports on this format by default. Reduces normlmap size and enables much nice compression using LATC -Added Anisotropic filter support to textures, can be specified on import -Added support for Non-Square, Isometric and Hexagonal tilemaps in TileMap. -Added Isometric Dungeon demo. -Added simple hexagonal map demo. -Added Truck-Town demo. Shows how most types of joints and vehicles are used. Please somebody make a nicer town, this one is too hardcore. -Added an Object-Picking API to both RigidBody and Area! (and relevant demo)
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virtual bool body_is_ray_pickable(RID p_body) const;
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true);
virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001);
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// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
/* SOFT BODY */
virtual RID soft_body_create(bool p_init_sleeping = false) { return RID(); }
virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler) {}
virtual void soft_body_set_space(RID p_body, RID p_space) {}
virtual RID soft_body_get_space(RID p_body) const { return RID(); }
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {}
virtual uint32_t soft_body_get_collision_layer(RID p_body) const { return 0; }
virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {}
virtual uint32_t soft_body_get_collision_mask(RID p_body) const { return 0; }
virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) {}
virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) {}
virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {}
virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {}
virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const { return Variant(); }
virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) {}
virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const { return Vector3(); }
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) {}
virtual bool soft_body_is_ray_pickable(RID p_body) const { return false; }
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {}
virtual int soft_body_get_simulation_precision(RID p_body) { return 0; }
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) {}
virtual real_t soft_body_get_total_mass(RID p_body) { return 0.; }
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {}
virtual real_t soft_body_get_linear_stiffness(RID p_body) { return 0.; }
virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {}
virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) { return 0.; }
virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {}
virtual real_t soft_body_get_volume_stiffness(RID p_body) { return 0.; }
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {}
virtual real_t soft_body_get_pressure_coefficient(RID p_body) { return 0.; }
virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {}
virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) { return 0.; }
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {}
virtual real_t soft_body_get_damping_coefficient(RID p_body) { return 0.; }
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {}
virtual real_t soft_body_get_drag_coefficient(RID p_body) { return 0.; }
virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) {}
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {}
virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) { return Vector3(); }
virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const { return Vector3(); }
virtual void soft_body_remove_all_pinned_points(RID p_body) {}
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {}
virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) { return 0; }
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/* JOINT API */
virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);
virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value);
virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const;
virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A);
virtual Vector3 pin_joint_get_local_a(RID p_joint) const;
virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B);
virtual Vector3 pin_joint_get_local_b(RID p_joint) const;
virtual RID joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B);
virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B);
virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value);
virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const;
virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value);
virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const;
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); //reference frame is A
virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value);
virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const;
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); //reference frame is A
virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value);
virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const;
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); //reference frame is A
virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value);
virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param);
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable);
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag);
virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) {}
virtual int generic_6dof_joint_get_precision(RID p_joint) { return 0; }
virtual JointType joint_get_type(RID p_joint) const;
virtual void joint_set_solver_priority(RID p_joint, int p_priority);
Huge Amount of BugFix -=-=-=-=-=-=-=-=-=-=- -Fixes to Collada Exporter (avoid crash situtions) -Fixed to Collada Importer (Fixed Animation Optimizer Bugs) -Fixes to RigidBody/RigidBody2D body_enter/body_exit, was buggy -Fixed ability for RigidBody/RigidBody2D to get contacts reported and bodyin/out in Kinematic mode. -Added proper trigger support for 3D Physics shapes -Changed proper value for Z-Offset in OmniLight -Fixed spot attenuation bug in SpotLight -Fixed some 3D and 2D spatial soudn bugs related to distance attenuation. -Fixed bugs in EventPlayer (channels were muted by default) -Fix in ButtonGroup (get nodes in group are now returned in order) -Fixed Linear->SRGB Conversion, previous algo sucked, new algo works OK -Changed SRGB->Linear conversion to use hardware if supported, improves texture quality a lot -Fixed options for Y-Fov and X-Fov in camera, should be more intuitive. -Fixed bugs related to viewports and transparency Huge Amount of New Stuff: -=-=-=-=-=-=-=-==-=-=-=- -Ability to manually advance an AnimationPlayer that is inactive (with advance() function) -More work in WinRT platform -Added XY normalmap support, imports on this format by default. Reduces normlmap size and enables much nice compression using LATC -Added Anisotropic filter support to textures, can be specified on import -Added support for Non-Square, Isometric and Hexagonal tilemaps in TileMap. -Added Isometric Dungeon demo. -Added simple hexagonal map demo. -Added Truck-Town demo. Shows how most types of joints and vehicles are used. Please somebody make a nicer town, this one is too hardcore. -Added an Object-Picking API to both RigidBody and Area! (and relevant demo)
2014-10-03 11:10:51 +08:00
virtual int joint_get_solver_priority(RID p_joint) const;
virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable);
virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
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/* MISC */
virtual void free(RID p_rid);
virtual void set_active(bool p_active);
virtual void init();
virtual void step(real_t p_step);
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virtual void sync();
virtual void flush_queries();
virtual void finish();
virtual bool is_flushing_queries() const { return flushing_queries; }
int get_process_info(ProcessInfo p_info);
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PhysicsServerSW();
~PhysicsServerSW();
};
#endif