godot/scene/3d/physics_body.h

/*************************************************************************/
/*  physics_body.h                                                       */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur.                 */
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#ifndef PHYSICS_BODY__H
#define PHYSICS_BODY__H

#include "scene/3d/collision_object.h"
#include "servers/physics_server.h"
#include "vset.h"


class PhysicsBody : public CollisionObject {

	OBJ_TYPE(PhysicsBody,CollisionObject);

	uint32_t layer_mask;
protected:

	static void _bind_methods();
	void _notification(int p_what);
	PhysicsBody(PhysicsServer::BodyMode p_mode);
public:

	virtual Vector3 get_linear_velocity() const;
	virtual Vector3 get_angular_velocity() const;
	virtual float get_inverse_mass() const;

	void set_layer_mask(uint32_t p_mask);
	uint32_t get_layer_mask() const;

	void add_collision_exception_with(Node* p_node); //must be physicsbody
	void remove_collision_exception_with(Node* p_node);



	PhysicsBody();

};

class StaticBody : public PhysicsBody {

	OBJ_TYPE(StaticBody,PhysicsBody);

	Vector3 constant_linear_velocity;
	Vector3 constant_angular_velocity;

	real_t bounce;
	real_t friction;


protected:

	static void _bind_methods();

public:


	void set_friction(real_t p_friction);
	real_t get_friction() const;

	void set_bounce(real_t p_bounce);
	real_t get_bounce() const;


	void set_constant_linear_velocity(const Vector3& p_vel);
	void set_constant_angular_velocity(const Vector3& p_vel);

	Vector3 get_constant_linear_velocity() const;
	Vector3 get_constant_angular_velocity() const;

	StaticBody();
	~StaticBody();

};

class RigidBody : public PhysicsBody {

	OBJ_TYPE(RigidBody,PhysicsBody);
public:

	enum Mode {
		MODE_RIGID,
		MODE_STATIC,
		MODE_CHARACTER,
		MODE_KINEMATIC,
	};

	enum AxisLock {
		AXIS_LOCK_DISABLED,
		AXIS_LOCK_X,
		AXIS_LOCK_Y,
		AXIS_LOCK_Z,
	};

private:

	bool can_sleep;
	PhysicsDirectBodyState *state;
	Mode mode;

	real_t bounce;
	real_t mass;
	real_t friction;

	Vector3 linear_velocity;
	Vector3  angular_velocity;
	real_t gravity_scale;
	real_t linear_damp;
	real_t angular_damp;

	bool sleeping;
	bool ccd;

	AxisLock axis_lock;


	int max_contacts_reported;

	bool custom_integrator;


	struct ShapePair {

		int body_shape;
		int local_shape;
		bool tagged;
		bool operator<(const ShapePair& p_sp) const {
			if (body_shape==p_sp.body_shape)
				return local_shape < p_sp.local_shape;
			else
				return body_shape < p_sp.body_shape;
		}

		ShapePair() {}
		ShapePair(int p_bs, int p_ls) { body_shape=p_bs; local_shape=p_ls; }
	};
	struct RigidBody_RemoveAction {


		ObjectID body_id;
		ShapePair pair;

	};
	struct BodyState {

		//int rc;
		bool in_tree;
		VSet<ShapePair> shapes;
	};

	struct ContactMonitor {


		Map<ObjectID,BodyState> body_map;

	};


	ContactMonitor *contact_monitor;
	void _body_enter_tree(ObjectID p_id);
	void _body_exit_tree(ObjectID p_id);


	void _body_inout(int p_status, ObjectID p_instance, int p_body_shape,int p_local_shape);
	void _direct_state_changed(Object *p_state);


protected:

	void _notification(int p_what);
	static void _bind_methods();
public:

	void set_mode(Mode p_mode);
	Mode get_mode() const;

	void set_mass(real_t p_mass);
	real_t get_mass() const;

	virtual float get_inverse_mass() const { return 1.0/mass; }

	void set_weight(real_t p_weight);
	real_t get_weight() const;

	void set_friction(real_t p_friction);
	real_t get_friction() const;

	void set_bounce(real_t p_bounce);
	real_t get_bounce() const;

	void set_linear_velocity(const Vector3& p_velocity);
	Vector3 get_linear_velocity() const;

	void set_axis_velocity(const Vector3& p_axis);

	void set_angular_velocity(const Vector3&p_velocity);
	Vector3  get_angular_velocity() const;

	void set_gravity_scale(real_t p_gravity_scale);
	real_t get_gravity_scale() const;

	void set_linear_damp(real_t p_linear_damp);
	real_t get_linear_damp() const;

	void set_angular_damp(real_t p_angular_damp);
	real_t get_angular_damp() const;


	void set_use_custom_integrator(bool p_enable);
	bool is_using_custom_integrator();

	void set_sleeping(bool p_sleeping);
	bool is_sleeping() const;

	void set_can_sleep(bool p_active);
	bool is_able_to_sleep() const;

	void set_contact_monitor(bool p_enabled);
	bool is_contact_monitor_enabled() const;

	void set_max_contacts_reported(int p_amount);
	int get_max_contacts_reported() const;

	void set_use_continuous_collision_detection(bool p_enable);
	bool is_using_continuous_collision_detection() const;

	void set_axis_lock(AxisLock p_lock);
	AxisLock get_axis_lock() const;

	Array get_colliding_bodies() const;

	void apply_impulse(const Vector3& p_pos, const Vector3& p_impulse);

	RigidBody();
	~RigidBody();

};

VARIANT_ENUM_CAST(RigidBody::Mode);
VARIANT_ENUM_CAST(RigidBody::AxisLock);





class KinematicBody : public PhysicsBody {

	OBJ_TYPE(KinematicBody,PhysicsBody);

	float margin;
	bool collide_static;
	bool collide_rigid;
	bool collide_kinematic;
	bool collide_character;

	bool colliding;
	Vector3 collision;
	Vector3 normal;
	Vector3 collider_vel;
	ObjectID collider;
	int collider_shape;



	Variant _get_collider() const;

	_FORCE_INLINE_ bool _ignores_mode(PhysicsServer::BodyMode) const;
protected:

	static void _bind_methods();
public:

	enum {
		SLIDE_FLAG_FLOOR,
		SLIDE_FLAG_WALL,
		SLIDE_FLAG_ROOF
	};

	Vector3 move(const Vector3& p_motion);
	Vector3 move_to(const Vector3& p_position);

	bool can_move_to(const Vector3& p_position,bool p_discrete=false);
	bool is_colliding() const;
	Vector3 get_collision_pos() const;
	Vector3 get_collision_normal() const;
	Vector3 get_collider_velocity() const;
	ObjectID get_collider() const;
	int get_collider_shape() const;

	void set_collide_with_static_bodies(bool p_enable);
	bool can_collide_with_static_bodies() const;

	void set_collide_with_rigid_bodies(bool p_enable);
	bool can_collide_with_rigid_bodies() const;

	void set_collide_with_kinematic_bodies(bool p_enable);
	bool can_collide_with_kinematic_bodies() const;

	void set_collide_with_character_bodies(bool p_enable);
	bool can_collide_with_character_bodies() const;

	void set_collision_margin(float p_margin);
	float get_collision_margin() const;

	KinematicBody();
	~KinematicBody();

};

#endif // PHYSICS_BODY__H