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d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
792 lines
24 KiB
C++
792 lines
24 KiB
C++
/**************************************************************************/
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/* physics_body_3d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef PHYSICS_BODY_3D_H
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#define PHYSICS_BODY_3D_H
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#include "core/templates/vset.h"
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#include "scene/3d/collision_object_3d.h"
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#include "scene/resources/physics_material.h"
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#include "servers/physics_server_3d.h"
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#include "skeleton_3d.h"
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class KinematicCollision3D;
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class PhysicsBody3D : public CollisionObject3D {
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GDCLASS(PhysicsBody3D, CollisionObject3D);
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protected:
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static void _bind_methods();
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PhysicsBody3D(PhysicsServer3D::BodyMode p_mode);
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Ref<KinematicCollision3D> motion_cache;
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uint16_t locked_axis = 0;
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Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001, bool p_recovery_as_collision = false, int p_max_collisions = 1);
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public:
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bool move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only = false, bool p_cancel_sliding = true);
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bool test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001, bool p_recovery_as_collision = false, int p_max_collisions = 1);
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void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
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bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
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virtual Vector3 get_linear_velocity() const;
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virtual Vector3 get_angular_velocity() const;
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virtual real_t get_inverse_mass() const;
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TypedArray<PhysicsBody3D> get_collision_exceptions();
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void add_collision_exception_with(Node *p_node); //must be physicsbody
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void remove_collision_exception_with(Node *p_node);
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virtual ~PhysicsBody3D();
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};
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class StaticBody3D : public PhysicsBody3D {
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GDCLASS(StaticBody3D, PhysicsBody3D);
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private:
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Vector3 constant_linear_velocity;
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Vector3 constant_angular_velocity;
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Ref<PhysicsMaterial> physics_material_override;
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protected:
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static void _bind_methods();
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public:
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void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
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Ref<PhysicsMaterial> get_physics_material_override() const;
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void set_constant_linear_velocity(const Vector3 &p_vel);
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void set_constant_angular_velocity(const Vector3 &p_vel);
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Vector3 get_constant_linear_velocity() const;
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Vector3 get_constant_angular_velocity() const;
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StaticBody3D(PhysicsServer3D::BodyMode p_mode = PhysicsServer3D::BODY_MODE_STATIC);
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private:
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void _reload_physics_characteristics();
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};
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class AnimatableBody3D : public StaticBody3D {
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GDCLASS(AnimatableBody3D, StaticBody3D);
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private:
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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bool sync_to_physics = true;
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Transform3D last_valid_transform;
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
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void _body_state_changed(PhysicsDirectBodyState3D *p_state);
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protected:
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void _notification(int p_what);
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static void _bind_methods();
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public:
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virtual Vector3 get_linear_velocity() const override;
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virtual Vector3 get_angular_velocity() const override;
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AnimatableBody3D();
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private:
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void _update_kinematic_motion();
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void set_sync_to_physics(bool p_enable);
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bool is_sync_to_physics_enabled() const;
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};
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class RigidBody3D : public PhysicsBody3D {
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GDCLASS(RigidBody3D, PhysicsBody3D);
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public:
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enum FreezeMode {
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FREEZE_MODE_STATIC,
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FREEZE_MODE_KINEMATIC,
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};
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enum CenterOfMassMode {
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CENTER_OF_MASS_MODE_AUTO,
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CENTER_OF_MASS_MODE_CUSTOM,
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};
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enum DampMode {
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DAMP_MODE_COMBINE,
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DAMP_MODE_REPLACE,
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};
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private:
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bool can_sleep = true;
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bool lock_rotation = false;
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bool freeze = false;
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FreezeMode freeze_mode = FREEZE_MODE_STATIC;
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real_t mass = 1.0;
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Vector3 inertia;
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CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
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Vector3 center_of_mass;
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Ref<PhysicsMaterial> physics_material_override;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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Basis inverse_inertia_tensor;
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real_t gravity_scale = 1.0;
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DampMode linear_damp_mode = DAMP_MODE_COMBINE;
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DampMode angular_damp_mode = DAMP_MODE_COMBINE;
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real_t linear_damp = 0.0;
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real_t angular_damp = 0.0;
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bool sleeping = false;
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bool ccd = false;
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int max_contacts_reported = 0;
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bool custom_integrator = false;
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struct ShapePair {
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int body_shape = 0;
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int local_shape = 0;
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bool tagged = false;
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bool operator<(const ShapePair &p_sp) const {
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if (body_shape == p_sp.body_shape) {
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return local_shape < p_sp.local_shape;
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} else {
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return body_shape < p_sp.body_shape;
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}
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}
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ShapePair() {}
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ShapePair(int p_bs, int p_ls) {
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body_shape = p_bs;
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local_shape = p_ls;
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tagged = false;
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}
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};
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struct RigidBody3D_RemoveAction {
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RID rid;
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ObjectID body_id;
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ShapePair pair;
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};
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struct BodyState {
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RID rid;
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//int rc;
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bool in_tree = false;
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VSet<ShapePair> shapes;
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};
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struct ContactMonitor {
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bool locked = false;
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HashMap<ObjectID, BodyState> body_map;
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};
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ContactMonitor *contact_monitor = nullptr;
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void _body_enter_tree(ObjectID p_id);
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void _body_exit_tree(ObjectID p_id);
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void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
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protected:
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void _notification(int p_what);
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static void _bind_methods();
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void _validate_property(PropertyInfo &p_property) const;
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GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
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virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
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void _apply_body_mode();
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public:
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void set_lock_rotation_enabled(bool p_lock_rotation);
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bool is_lock_rotation_enabled() const;
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void set_freeze_enabled(bool p_freeze);
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bool is_freeze_enabled() const;
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void set_freeze_mode(FreezeMode p_freeze_mode);
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FreezeMode get_freeze_mode() const;
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
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void set_inertia(const Vector3 &p_inertia);
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const Vector3 &get_inertia() const;
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void set_center_of_mass_mode(CenterOfMassMode p_mode);
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CenterOfMassMode get_center_of_mass_mode() const;
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void set_center_of_mass(const Vector3 &p_center_of_mass);
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const Vector3 &get_center_of_mass() const;
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void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
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Ref<PhysicsMaterial> get_physics_material_override() const;
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void set_linear_velocity(const Vector3 &p_velocity);
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Vector3 get_linear_velocity() const override;
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void set_axis_velocity(const Vector3 &p_axis);
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void set_angular_velocity(const Vector3 &p_velocity);
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Vector3 get_angular_velocity() const override;
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Basis get_inverse_inertia_tensor() const;
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void set_gravity_scale(real_t p_gravity_scale);
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real_t get_gravity_scale() const;
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void set_linear_damp_mode(DampMode p_mode);
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DampMode get_linear_damp_mode() const;
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void set_angular_damp_mode(DampMode p_mode);
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DampMode get_angular_damp_mode() const;
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void set_linear_damp(real_t p_linear_damp);
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real_t get_linear_damp() const;
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void set_angular_damp(real_t p_angular_damp);
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real_t get_angular_damp() const;
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void set_use_custom_integrator(bool p_enable);
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bool is_using_custom_integrator();
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void set_sleeping(bool p_sleeping);
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bool is_sleeping() const;
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void set_can_sleep(bool p_active);
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bool is_able_to_sleep() const;
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void set_contact_monitor(bool p_enabled);
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bool is_contact_monitor_enabled() const;
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void set_max_contacts_reported(int p_amount);
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int get_max_contacts_reported() const;
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int get_contact_count() const;
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void set_use_continuous_collision_detection(bool p_enable);
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bool is_using_continuous_collision_detection() const;
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TypedArray<Node3D> get_colliding_bodies() const;
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
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void apply_torque_impulse(const Vector3 &p_impulse);
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void apply_central_force(const Vector3 &p_force);
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void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
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void apply_torque(const Vector3 &p_torque);
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void add_constant_central_force(const Vector3 &p_force);
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void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
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void add_constant_torque(const Vector3 &p_torque);
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void set_constant_force(const Vector3 &p_force);
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Vector3 get_constant_force() const;
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void set_constant_torque(const Vector3 &p_torque);
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Vector3 get_constant_torque() const;
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virtual PackedStringArray get_configuration_warnings() const override;
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RigidBody3D();
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~RigidBody3D();
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private:
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void _reload_physics_characteristics();
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};
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VARIANT_ENUM_CAST(RigidBody3D::FreezeMode);
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VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode);
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VARIANT_ENUM_CAST(RigidBody3D::DampMode);
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class KinematicCollision3D;
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class CharacterBody3D : public PhysicsBody3D {
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GDCLASS(CharacterBody3D, PhysicsBody3D);
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public:
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enum MotionMode {
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MOTION_MODE_GROUNDED,
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MOTION_MODE_FLOATING,
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};
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enum PlatformOnLeave {
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PLATFORM_ON_LEAVE_ADD_VELOCITY,
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PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY,
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PLATFORM_ON_LEAVE_DO_NOTHING,
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};
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bool move_and_slide();
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const Vector3 &get_velocity() const;
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void set_velocity(const Vector3 &p_velocity);
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bool is_on_floor() const;
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bool is_on_floor_only() const;
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bool is_on_wall() const;
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bool is_on_wall_only() const;
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bool is_on_ceiling() const;
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bool is_on_ceiling_only() const;
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const Vector3 &get_last_motion() const;
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Vector3 get_position_delta() const;
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const Vector3 &get_floor_normal() const;
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const Vector3 &get_wall_normal() const;
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const Vector3 &get_real_velocity() const;
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real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
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const Vector3 &get_platform_velocity() const;
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const Vector3 &get_platform_angular_velocity() const;
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virtual Vector3 get_linear_velocity() const override;
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int get_slide_collision_count() const;
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PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const;
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CharacterBody3D();
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~CharacterBody3D();
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private:
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real_t margin = 0.001;
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MotionMode motion_mode = MOTION_MODE_GROUNDED;
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PlatformOnLeave platform_on_leave = PLATFORM_ON_LEAVE_ADD_VELOCITY;
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union CollisionState {
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uint32_t state = 0;
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struct {
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bool floor;
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bool wall;
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bool ceiling;
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};
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CollisionState() {
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}
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CollisionState(bool p_floor, bool p_wall, bool p_ceiling) {
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floor = p_floor;
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wall = p_wall;
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ceiling = p_ceiling;
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}
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};
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CollisionState collision_state;
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bool floor_constant_speed = false;
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bool floor_stop_on_slope = true;
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bool floor_block_on_wall = true;
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bool slide_on_ceiling = true;
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int max_slides = 6;
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int platform_layer = 0;
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RID platform_rid;
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ObjectID platform_object_id;
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uint32_t platform_floor_layers = UINT32_MAX;
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uint32_t platform_wall_layers = 0;
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real_t floor_snap_length = 0.1;
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real_t floor_max_angle = Math::deg_to_rad((real_t)45.0);
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real_t wall_min_slide_angle = Math::deg_to_rad((real_t)15.0);
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Vector3 up_direction = Vector3(0.0, 1.0, 0.0);
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Vector3 velocity;
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Vector3 floor_normal;
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Vector3 wall_normal;
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Vector3 ceiling_normal;
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Vector3 last_motion;
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Vector3 platform_velocity;
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Vector3 platform_angular_velocity;
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Vector3 platform_ceiling_velocity;
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Vector3 previous_position;
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Vector3 real_velocity;
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Vector<PhysicsServer3D::MotionResult> motion_results;
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Vector<Ref<KinematicCollision3D>> slide_colliders;
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void set_safe_margin(real_t p_margin);
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real_t get_safe_margin() const;
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bool is_floor_stop_on_slope_enabled() const;
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void set_floor_stop_on_slope_enabled(bool p_enabled);
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bool is_floor_constant_speed_enabled() const;
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void set_floor_constant_speed_enabled(bool p_enabled);
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bool is_floor_block_on_wall_enabled() const;
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void set_floor_block_on_wall_enabled(bool p_enabled);
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bool is_slide_on_ceiling_enabled() const;
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void set_slide_on_ceiling_enabled(bool p_enabled);
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int get_max_slides() const;
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void set_max_slides(int p_max_slides);
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real_t get_floor_max_angle() const;
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void set_floor_max_angle(real_t p_radians);
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real_t get_floor_snap_length();
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void set_floor_snap_length(real_t p_floor_snap_length);
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real_t get_wall_min_slide_angle() const;
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void set_wall_min_slide_angle(real_t p_radians);
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uint32_t get_platform_floor_layers() const;
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void set_platform_floor_layers(const uint32_t p_exclude_layer);
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uint32_t get_platform_wall_layers() const;
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void set_platform_wall_layers(const uint32_t p_exclude_layer);
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void set_motion_mode(MotionMode p_mode);
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MotionMode get_motion_mode() const;
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void set_platform_on_leave(PlatformOnLeave p_on_leave_velocity);
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PlatformOnLeave get_platform_on_leave() const;
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void _move_and_slide_floating(double p_delta);
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void _move_and_slide_grounded(double p_delta, bool p_was_on_floor);
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Ref<KinematicCollision3D> _get_slide_collision(int p_bounce);
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Ref<KinematicCollision3D> _get_last_slide_collision();
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const Vector3 &get_up_direction() const;
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bool _on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up);
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void set_up_direction(const Vector3 &p_up_direction);
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void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state = CollisionState(true, true, true));
|
|
void _set_platform_data(const PhysicsServer3D::MotionCollision &p_collision);
|
|
void _snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up);
|
|
|
|
protected:
|
|
void _notification(int p_what);
|
|
static void _bind_methods();
|
|
void _validate_property(PropertyInfo &p_property) const;
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(CharacterBody3D::MotionMode);
|
|
VARIANT_ENUM_CAST(CharacterBody3D::PlatformOnLeave);
|
|
|
|
class KinematicCollision3D : public RefCounted {
|
|
GDCLASS(KinematicCollision3D, RefCounted);
|
|
|
|
PhysicsBody3D *owner = nullptr;
|
|
friend class PhysicsBody3D;
|
|
friend class CharacterBody3D;
|
|
PhysicsServer3D::MotionResult result;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
Vector3 get_travel() const;
|
|
Vector3 get_remainder() const;
|
|
int get_collision_count() const;
|
|
real_t get_depth() const;
|
|
Vector3 get_position(int p_collision_index = 0) const;
|
|
Vector3 get_normal(int p_collision_index = 0) const;
|
|
real_t get_angle(int p_collision_index = 0, const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
|
|
Object *get_local_shape(int p_collision_index = 0) const;
|
|
Object *get_collider(int p_collision_index = 0) const;
|
|
ObjectID get_collider_id(int p_collision_index = 0) const;
|
|
RID get_collider_rid(int p_collision_index = 0) const;
|
|
Object *get_collider_shape(int p_collision_index = 0) const;
|
|
int get_collider_shape_index(int p_collision_index = 0) const;
|
|
Vector3 get_collider_velocity(int p_collision_index = 0) const;
|
|
};
|
|
|
|
class PhysicalBone3D : public PhysicsBody3D {
|
|
GDCLASS(PhysicalBone3D, PhysicsBody3D);
|
|
|
|
public:
|
|
enum DampMode {
|
|
DAMP_MODE_COMBINE,
|
|
DAMP_MODE_REPLACE,
|
|
};
|
|
|
|
enum JointType {
|
|
JOINT_TYPE_NONE,
|
|
JOINT_TYPE_PIN,
|
|
JOINT_TYPE_CONE,
|
|
JOINT_TYPE_HINGE,
|
|
JOINT_TYPE_SLIDER,
|
|
JOINT_TYPE_6DOF
|
|
};
|
|
|
|
struct JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
|
|
|
|
/// "j" is used to set the parameter inside the PhysicsServer3D
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
virtual ~JointData() {}
|
|
};
|
|
|
|
struct PinJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t bias = 0.3;
|
|
real_t damping = 1.0;
|
|
real_t impulse_clamp = 0.0;
|
|
};
|
|
|
|
struct ConeJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t swing_span = Math_PI * 0.25;
|
|
real_t twist_span = Math_PI;
|
|
real_t bias = 0.3;
|
|
real_t softness = 0.8;
|
|
real_t relaxation = 1.;
|
|
};
|
|
|
|
struct HingeJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
bool angular_limit_enabled = false;
|
|
real_t angular_limit_upper = Math_PI * 0.5;
|
|
real_t angular_limit_lower = -Math_PI * 0.5;
|
|
real_t angular_limit_bias = 0.3;
|
|
real_t angular_limit_softness = 0.9;
|
|
real_t angular_limit_relaxation = 1.;
|
|
};
|
|
|
|
struct SliderJointData : public JointData {
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
real_t linear_limit_upper = 1.0;
|
|
real_t linear_limit_lower = -1.0;
|
|
real_t linear_limit_softness = 1.0;
|
|
real_t linear_limit_restitution = 0.7;
|
|
real_t linear_limit_damping = 1.0;
|
|
real_t angular_limit_upper = 0.0;
|
|
real_t angular_limit_lower = 0.0;
|
|
real_t angular_limit_softness = 1.0;
|
|
real_t angular_limit_restitution = 0.7;
|
|
real_t angular_limit_damping = 1.0;
|
|
};
|
|
|
|
struct SixDOFJointData : public JointData {
|
|
struct SixDOFAxisData {
|
|
bool linear_limit_enabled = true;
|
|
real_t linear_limit_upper = 0.0;
|
|
real_t linear_limit_lower = 0.0;
|
|
real_t linear_limit_softness = 0.7;
|
|
real_t linear_restitution = 0.5;
|
|
real_t linear_damping = 1.0;
|
|
bool linear_spring_enabled = false;
|
|
real_t linear_spring_stiffness = 0.0;
|
|
real_t linear_spring_damping = 0.0;
|
|
real_t linear_equilibrium_point = 0.0;
|
|
bool angular_limit_enabled = true;
|
|
real_t angular_limit_upper = 0.0;
|
|
real_t angular_limit_lower = 0.0;
|
|
real_t angular_limit_softness = 0.5;
|
|
real_t angular_restitution = 0.0;
|
|
real_t angular_damping = 1.0;
|
|
real_t erp = 0.5;
|
|
bool angular_spring_enabled = false;
|
|
real_t angular_spring_stiffness = 0.0;
|
|
real_t angular_spring_damping = 0.0;
|
|
real_t angular_equilibrium_point = 0.0;
|
|
};
|
|
|
|
virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
|
|
|
|
virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
|
|
virtual bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
virtual void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
|
|
SixDOFAxisData axis_data[3];
|
|
|
|
SixDOFJointData() {}
|
|
};
|
|
|
|
private:
|
|
#ifdef TOOLS_ENABLED
|
|
// if false gizmo move body
|
|
bool gizmo_move_joint = false;
|
|
#endif
|
|
|
|
JointData *joint_data = nullptr;
|
|
Transform3D joint_offset;
|
|
RID joint;
|
|
|
|
Skeleton3D *parent_skeleton = nullptr;
|
|
Transform3D body_offset;
|
|
Transform3D body_offset_inverse;
|
|
bool simulate_physics = false;
|
|
bool _internal_simulate_physics = false;
|
|
int bone_id = -1;
|
|
|
|
String bone_name;
|
|
real_t bounce = 0.0;
|
|
real_t mass = 1.0;
|
|
real_t friction = 1.0;
|
|
Vector3 linear_velocity;
|
|
Vector3 angular_velocity;
|
|
real_t gravity_scale = 1.0;
|
|
bool can_sleep = true;
|
|
|
|
bool custom_integrator = false;
|
|
|
|
DampMode linear_damp_mode = DAMP_MODE_COMBINE;
|
|
DampMode angular_damp_mode = DAMP_MODE_COMBINE;
|
|
|
|
real_t linear_damp = 0.0;
|
|
real_t angular_damp = 0.0;
|
|
|
|
protected:
|
|
bool _set(const StringName &p_name, const Variant &p_value);
|
|
bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
void _get_property_list(List<PropertyInfo> *p_list) const;
|
|
void _notification(int p_what);
|
|
GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
|
|
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
|
|
void _body_state_changed(PhysicsDirectBodyState3D *p_state);
|
|
|
|
static void _bind_methods();
|
|
|
|
private:
|
|
static Skeleton3D *find_skeleton_parent(Node *p_parent);
|
|
|
|
void _update_joint_offset();
|
|
void _fix_joint_offset();
|
|
void _reload_joint();
|
|
|
|
public:
|
|
void _on_bone_parent_changed();
|
|
|
|
void set_linear_velocity(const Vector3 &p_velocity);
|
|
Vector3 get_linear_velocity() const override;
|
|
|
|
void set_angular_velocity(const Vector3 &p_velocity);
|
|
Vector3 get_angular_velocity() const override;
|
|
|
|
void set_use_custom_integrator(bool p_enable);
|
|
bool is_using_custom_integrator();
|
|
|
|
#ifdef TOOLS_ENABLED
|
|
void _set_gizmo_move_joint(bool p_move_joint);
|
|
virtual Transform3D get_global_gizmo_transform() const override;
|
|
virtual Transform3D get_local_gizmo_transform() const override;
|
|
#endif
|
|
|
|
const JointData *get_joint_data() const;
|
|
Skeleton3D *find_skeleton_parent();
|
|
|
|
int get_bone_id() const {
|
|
return bone_id;
|
|
}
|
|
|
|
void set_joint_type(JointType p_joint_type);
|
|
JointType get_joint_type() const;
|
|
|
|
void set_joint_offset(const Transform3D &p_offset);
|
|
const Transform3D &get_joint_offset() const;
|
|
|
|
void set_joint_rotation(const Vector3 &p_euler_rad);
|
|
Vector3 get_joint_rotation() const;
|
|
|
|
void set_body_offset(const Transform3D &p_offset);
|
|
const Transform3D &get_body_offset() const;
|
|
|
|
void set_simulate_physics(bool p_simulate);
|
|
bool get_simulate_physics();
|
|
bool is_simulating_physics();
|
|
|
|
void set_bone_name(const String &p_name);
|
|
const String &get_bone_name() const;
|
|
|
|
void set_mass(real_t p_mass);
|
|
real_t get_mass() 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_gravity_scale(real_t p_gravity_scale);
|
|
real_t get_gravity_scale() const;
|
|
|
|
void set_linear_damp_mode(DampMode p_mode);
|
|
DampMode get_linear_damp_mode() const;
|
|
|
|
void set_angular_damp_mode(DampMode p_mode);
|
|
DampMode get_angular_damp_mode() 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_can_sleep(bool p_active);
|
|
bool is_able_to_sleep() const;
|
|
|
|
void apply_central_impulse(const Vector3 &p_impulse);
|
|
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
|
|
|
|
void reset_physics_simulation_state();
|
|
void reset_to_rest_position();
|
|
|
|
PhysicalBone3D();
|
|
~PhysicalBone3D();
|
|
|
|
private:
|
|
void update_bone_id();
|
|
void update_offset();
|
|
|
|
void _start_physics_simulation();
|
|
void _stop_physics_simulation();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(PhysicalBone3D::JointType);
|
|
VARIANT_ENUM_CAST(PhysicalBone3D::DampMode);
|
|
|
|
#endif // PHYSICS_BODY_3D_H
|