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82ea2a7045
godot/servers/physics_server_3d.cpp
PouleyKetchoupp 82ea2a7045 Proper support for custom mass properties in 2D/3D physics bodies 
Changes:
-Added support for custom inertia and center of mass in 3D
-Added support for custom center of mass in 2D
-Calculated center of mass from shapes in 2D (same as in 3D)
-Fixed mass properties calculation with disabled shapes in 2D/3D
-Removed first_integration which is not used in 2D and doesn't seem to
make a lot of sense (prevents omit_force_integration to work during the
first frame)
-Support for custom inertia on different axes for RigidBody3D
2021-09-06 10:20:16 -07:00

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/*************************************************************************/
/* physics_server_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 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. */
/*************************************************************************/
#include "physics_server_3d.h"
#include "core/config/project_settings.h"
#include "core/string/print_string.h"
PhysicsServer3D *PhysicsServer3D::singleton = nullptr;
void PhysicsDirectBodyState3D::integrate_forces() {
real_t step = get_step();
Vector3 lv = get_linear_velocity();
lv += get_total_gravity() * step;
Vector3 av = get_angular_velocity();
real_t linear_damp = 1.0 - step * get_total_linear_damp();
if (linear_damp < 0) { // reached zero in the given time
linear_damp = 0;
}
real_t angular_damp = 1.0 - step * get_total_angular_damp();
if (angular_damp < 0) { // reached zero in the given time
angular_damp = 0;
}
lv *= linear_damp;
av *= angular_damp;
set_linear_velocity(lv);
set_angular_velocity(av);
}
Object *PhysicsDirectBodyState3D::get_contact_collider_object(int p_contact_idx) const {
ObjectID objid = get_contact_collider_id(p_contact_idx);
Object *obj = ObjectDB::get_instance(objid);
return obj;
}
PhysicsServer3D *PhysicsServer3D::get_singleton() {
return singleton;
}
void PhysicsDirectBodyState3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_total_gravity"), &PhysicsDirectBodyState3D::get_total_gravity);
ClassDB::bind_method(D_METHOD("get_total_linear_damp"), &PhysicsDirectBodyState3D::get_total_linear_damp);
ClassDB::bind_method(D_METHOD("get_total_angular_damp"), &PhysicsDirectBodyState3D::get_total_angular_damp);
ClassDB::bind_method(D_METHOD("get_center_of_mass"), &PhysicsDirectBodyState3D::get_center_of_mass);
ClassDB::bind_method(D_METHOD("get_principal_inertia_axes"), &PhysicsDirectBodyState3D::get_principal_inertia_axes);
ClassDB::bind_method(D_METHOD("get_inverse_mass"), &PhysicsDirectBodyState3D::get_inverse_mass);
ClassDB::bind_method(D_METHOD("get_inverse_inertia"), &PhysicsDirectBodyState3D::get_inverse_inertia);
ClassDB::bind_method(D_METHOD("set_linear_velocity", "velocity"), &PhysicsDirectBodyState3D::set_linear_velocity);
ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicsDirectBodyState3D::get_linear_velocity);
ClassDB::bind_method(D_METHOD("set_angular_velocity", "velocity"), &PhysicsDirectBodyState3D::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicsDirectBodyState3D::get_angular_velocity);
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState3D::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState3D::get_transform);
ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState3D::get_velocity_at_local_position);
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force, Vector3());
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force, Vector3());
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState3D::add_torque);
ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_central_impulse, Vector3());
ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState3D::apply_impulse, Vector3());
ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_torque_impulse);
ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState3D::set_sleep_state);
ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState3D::is_sleeping);
ClassDB::bind_method(D_METHOD("get_contact_count"), &PhysicsDirectBodyState3D::get_contact_count);
ClassDB::bind_method(D_METHOD("get_contact_local_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_position);
ClassDB::bind_method(D_METHOD("get_contact_local_normal", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_normal);
ClassDB::bind_method(D_METHOD("get_contact_impulse", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_impulse);
ClassDB::bind_method(D_METHOD("get_contact_local_shape", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_shape);
ClassDB::bind_method(D_METHOD("get_contact_collider", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider);
ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_position);
ClassDB::bind_method(D_METHOD("get_contact_collider_id", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_id);
ClassDB::bind_method(D_METHOD("get_contact_collider_object", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_object);
ClassDB::bind_method(D_METHOD("get_contact_collider_shape", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_shape);
ClassDB::bind_method(D_METHOD("get_contact_collider_velocity_at_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_velocity_at_position);
ClassDB::bind_method(D_METHOD("get_step"), &PhysicsDirectBodyState3D::get_step);
ClassDB::bind_method(D_METHOD("integrate_forces"), &PhysicsDirectBodyState3D::integrate_forces);
ClassDB::bind_method(D_METHOD("get_space_state"), &PhysicsDirectBodyState3D::get_space_state);
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "step"), "", "get_step");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "inverse_mass"), "", "get_inverse_mass");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "total_angular_damp"), "", "get_total_angular_damp");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "total_linear_damp"), "", "get_total_linear_damp");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inverse_inertia"), "", "get_inverse_inertia");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "total_gravity"), "", "get_total_gravity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass"), "", "get_center_of_mass");
ADD_PROPERTY(PropertyInfo(Variant::BASIS, "principal_inertia_axes"), "", "get_principal_inertia_axes");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleep_state", "is_sleeping");
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "transform"), "set_transform", "get_transform");
}
PhysicsDirectBodyState3D::PhysicsDirectBodyState3D() {}
///////////////////////////////////////////////////////
void PhysicsShapeQueryParameters3D::set_shape(const RES &p_shape_ref) {
ERR_FAIL_COND(p_shape_ref.is_null());
shape_ref = p_shape_ref;
shape = p_shape_ref->get_rid();
}
RES PhysicsShapeQueryParameters3D::get_shape() const {
return shape_ref;
}
void PhysicsShapeQueryParameters3D::set_shape_rid(const RID &p_shape) {
if (shape != p_shape) {
shape_ref = RES();
shape = p_shape;
}
}
RID PhysicsShapeQueryParameters3D::get_shape_rid() const {
return shape;
}
void PhysicsShapeQueryParameters3D::set_transform(const Transform3D &p_transform) {
transform = p_transform;
}
Transform3D PhysicsShapeQueryParameters3D::get_transform() const {
return transform;
}
void PhysicsShapeQueryParameters3D::set_margin(real_t p_margin) {
margin = p_margin;
}
real_t PhysicsShapeQueryParameters3D::get_margin() const {
return margin;
}
void PhysicsShapeQueryParameters3D::set_collision_mask(uint32_t p_collision_mask) {
collision_mask = p_collision_mask;
}
uint32_t PhysicsShapeQueryParameters3D::get_collision_mask() const {
return collision_mask;
}
void PhysicsShapeQueryParameters3D::set_exclude(const Vector<RID> &p_exclude) {
exclude.clear();
for (int i = 0; i < p_exclude.size(); i++) {
exclude.insert(p_exclude[i]);
}
}
Vector<RID> PhysicsShapeQueryParameters3D::get_exclude() const {
Vector<RID> ret;
ret.resize(exclude.size());
int idx = 0;
for (Set<RID>::Element *E = exclude.front(); E; E = E->next()) {
ret.write[idx] = E->get();
}
return ret;
}
void PhysicsShapeQueryParameters3D::set_collide_with_bodies(bool p_enable) {
collide_with_bodies = p_enable;
}
bool PhysicsShapeQueryParameters3D::is_collide_with_bodies_enabled() const {
return collide_with_bodies;
}
void PhysicsShapeQueryParameters3D::set_collide_with_areas(bool p_enable) {
collide_with_areas = p_enable;
}
bool PhysicsShapeQueryParameters3D::is_collide_with_areas_enabled() const {
return collide_with_areas;
}
void PhysicsShapeQueryParameters3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_shape", "shape"), &PhysicsShapeQueryParameters3D::set_shape);
ClassDB::bind_method(D_METHOD("get_shape"), &PhysicsShapeQueryParameters3D::get_shape);
ClassDB::bind_method(D_METHOD("set_shape_rid", "shape"), &PhysicsShapeQueryParameters3D::set_shape_rid);
ClassDB::bind_method(D_METHOD("get_shape_rid"), &PhysicsShapeQueryParameters3D::get_shape_rid);
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsShapeQueryParameters3D::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsShapeQueryParameters3D::get_transform);
ClassDB::bind_method(D_METHOD("set_margin", "margin"), &PhysicsShapeQueryParameters3D::set_margin);
ClassDB::bind_method(D_METHOD("get_margin"), &PhysicsShapeQueryParameters3D::get_margin);
ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &PhysicsShapeQueryParameters3D::set_collision_mask);
ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsShapeQueryParameters3D::get_collision_mask);
ClassDB::bind_method(D_METHOD("set_exclude", "exclude"), &PhysicsShapeQueryParameters3D::set_exclude);
ClassDB::bind_method(D_METHOD("get_exclude"), &PhysicsShapeQueryParameters3D::get_exclude);
ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &PhysicsShapeQueryParameters3D::set_collide_with_bodies);
ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &PhysicsShapeQueryParameters3D::is_collide_with_bodies_enabled);
ClassDB::bind_method(D_METHOD("set_collide_with_areas", "enable"), &PhysicsShapeQueryParameters3D::set_collide_with_areas);
ClassDB::bind_method(D_METHOD("is_collide_with_areas_enabled"), &PhysicsShapeQueryParameters3D::is_collide_with_areas_enabled);
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude", PROPERTY_HINT_NONE, itos(Variant::RID) + ":"), "set_exclude", "get_exclude");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin", PROPERTY_HINT_RANGE, "0,100,0.01"), "set_margin", "get_margin");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "shape", PROPERTY_HINT_RESOURCE_TYPE, "Shape3D"), "set_shape", "get_shape");
ADD_PROPERTY(PropertyInfo(Variant::RID, "shape_rid"), "set_shape_rid", "get_shape_rid");
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "transform"), "set_transform", "get_transform");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_bodies"), "set_collide_with_bodies", "is_collide_with_bodies_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas"), "set_collide_with_areas", "is_collide_with_areas_enabled");
}
/////////////////////////////////////
Dictionary PhysicsDirectSpaceState3D::_intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
RayResult inters;
Set<RID> exclude;
for (int i = 0; i < p_exclude.size(); i++) {
exclude.insert(p_exclude[i]);
}
bool res = intersect_ray(p_from, p_to, inters, exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas);
if (!res) {
return Dictionary();
}
Dictionary d;
d["position"] = inters.position;
d["normal"] = inters.normal;
d["collider_id"] = inters.collider_id;
d["collider"] = inters.collider;
d["shape"] = inters.shape;
d["rid"] = inters.rid;
return d;
}
Array PhysicsDirectSpaceState3D::_intersect_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results) {
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
Vector<ShapeResult> sr;
sr.resize(p_max_results);
int rc = intersect_shape(p_shape_query->shape, p_shape_query->transform, p_shape_query->margin, sr.ptrw(), sr.size(), p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
Array ret;
ret.resize(rc);
for (int i = 0; i < rc; i++) {
Dictionary d;
d["rid"] = sr[i].rid;
d["collider_id"] = sr[i].collider_id;
d["collider"] = sr[i].collider;
d["shape"] = sr[i].shape;
ret[i] = d;
}
return ret;
}
Array PhysicsDirectSpaceState3D::_cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, const Vector3 &p_motion) {
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
real_t closest_safe = 1.0f, closest_unsafe = 1.0f;
bool res = cast_motion(p_shape_query->shape, p_shape_query->transform, p_motion, p_shape_query->margin, closest_safe, closest_unsafe, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
if (!res) {
return Array();
}
Array ret;
ret.resize(2);
ret[0] = closest_safe;
ret[1] = closest_unsafe;
return ret;
}
Array PhysicsDirectSpaceState3D::_collide_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results) {
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
Vector<Vector3> ret;
ret.resize(p_max_results * 2);
int rc = 0;
bool res = collide_shape(p_shape_query->shape, p_shape_query->transform, p_shape_query->margin, ret.ptrw(), p_max_results, rc, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
if (!res) {
return Array();
}
Array r;
r.resize(rc * 2);
for (int i = 0; i < rc * 2; i++) {
r[i] = ret[i];
}
return r;
}
Dictionary PhysicsDirectSpaceState3D::_get_rest_info(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query) {
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Dictionary());
ShapeRestInfo sri;
bool res = rest_info(p_shape_query->shape, p_shape_query->transform, p_shape_query->margin, &sri, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
Dictionary r;
if (!res) {
return r;
}
r["point"] = sri.point;
r["normal"] = sri.normal;
r["rid"] = sri.rid;
r["collider_id"] = sri.collider_id;
r["shape"] = sri.shape;
r["linear_velocity"] = sri.linear_velocity;
return r;
}
PhysicsDirectSpaceState3D::PhysicsDirectSpaceState3D() {
}
void PhysicsDirectSpaceState3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("intersect_ray", "from", "to", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState3D::_intersect_ray, DEFVAL(Array()), DEFVAL(UINT32_MAX), DEFVAL(true), DEFVAL(false));
ClassDB::bind_method(D_METHOD("intersect_shape", "shape", "max_results"), &PhysicsDirectSpaceState3D::_intersect_shape, DEFVAL(32));
ClassDB::bind_method(D_METHOD("cast_motion", "shape", "motion"), &PhysicsDirectSpaceState3D::_cast_motion);
ClassDB::bind_method(D_METHOD("collide_shape", "shape", "max_results"), &PhysicsDirectSpaceState3D::_collide_shape, DEFVAL(32));
ClassDB::bind_method(D_METHOD("get_rest_info", "shape"), &PhysicsDirectSpaceState3D::_get_rest_info);
}
///////////////////////////////
Vector3 PhysicsTestMotionResult3D::get_travel() const {
return result.travel;
}
Vector3 PhysicsTestMotionResult3D::get_remainder() const {
return result.remainder;
}
Vector3 PhysicsTestMotionResult3D::get_collision_point() const {
return result.collision_point;
}
Vector3 PhysicsTestMotionResult3D::get_collision_normal() const {
return result.collision_normal;
}
Vector3 PhysicsTestMotionResult3D::get_collider_velocity() const {
return result.collider_velocity;
}
ObjectID PhysicsTestMotionResult3D::get_collider_id() const {
return result.collider_id;
}
RID PhysicsTestMotionResult3D::get_collider_rid() const {
return result.collider;
}
Object *PhysicsTestMotionResult3D::get_collider() const {
return ObjectDB::get_instance(result.collider_id);
}
int PhysicsTestMotionResult3D::get_collider_shape() const {
return result.collider_shape;
}
real_t PhysicsTestMotionResult3D::get_collision_depth() const {
return result.collision_depth;
}
real_t PhysicsTestMotionResult3D::get_collision_safe_fraction() const {
return result.collision_safe_fraction;
}
real_t PhysicsTestMotionResult3D::get_collision_unsafe_fraction() const {
return result.collision_unsafe_fraction;
}
void PhysicsTestMotionResult3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_travel"), &PhysicsTestMotionResult3D::get_travel);
ClassDB::bind_method(D_METHOD("get_remainder"), &PhysicsTestMotionResult3D::get_remainder);
ClassDB::bind_method(D_METHOD("get_collision_point"), &PhysicsTestMotionResult3D::get_collision_point);
ClassDB::bind_method(D_METHOD("get_collision_normal"), &PhysicsTestMotionResult3D::get_collision_normal);
ClassDB::bind_method(D_METHOD("get_collider_velocity"), &PhysicsTestMotionResult3D::get_collider_velocity);
ClassDB::bind_method(D_METHOD("get_collider_id"), &PhysicsTestMotionResult3D::get_collider_id);
ClassDB::bind_method(D_METHOD("get_collider_rid"), &PhysicsTestMotionResult3D::get_collider_rid);
ClassDB::bind_method(D_METHOD("get_collider"), &PhysicsTestMotionResult3D::get_collider);
ClassDB::bind_method(D_METHOD("get_collider_shape"), &PhysicsTestMotionResult3D::get_collider_shape);
ClassDB::bind_method(D_METHOD("get_collision_depth"), &PhysicsTestMotionResult3D::get_collision_depth);
ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult3D::get_collision_safe_fraction);
ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult3D::get_collision_unsafe_fraction);
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "travel"), "", "get_travel");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "remainder"), "", "get_remainder");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collision_point"), "", "get_collision_point");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collision_normal"), "", "get_collision_normal");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collider_velocity"), "", "get_collider_velocity");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id", PROPERTY_HINT_OBJECT_ID), "", "get_collider_id");
ADD_PROPERTY(PropertyInfo(Variant::RID, "collider_rid"), "", "get_collider_rid");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape"), "", "get_collider_shape");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_depth"), "", "get_collision_depth");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_safe_fraction"), "", "get_collision_safe_fraction");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_unsafe_fraction"), "", "get_collision_unsafe_fraction");
}
///////////////////////////////////////
bool PhysicsServer3D::_body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, const Ref<PhysicsTestMotionResult3D> &p_result, bool p_collide_separation_ray, const Vector<RID> &p_exclude) {
MotionResult *r = nullptr;
if (p_result.is_valid()) {
r = p_result->get_result_ptr();
}
Set<RID> exclude;
for (int i = 0; i < p_exclude.size(); i++) {
exclude.insert(p_exclude[i]);
}
return body_test_motion(p_body, p_from, p_motion, p_margin, r, p_collide_separation_ray, exclude);
}
RID PhysicsServer3D::shape_create(ShapeType p_shape) {
switch (p_shape) {
case SHAPE_PLANE:
return plane_shape_create();
case SHAPE_SEPARATION_RAY:
return separation_ray_shape_create();
case SHAPE_SPHERE:
return sphere_shape_create();
case SHAPE_BOX:
return box_shape_create();
case SHAPE_CAPSULE:
return capsule_shape_create();
case SHAPE_CYLINDER:
return cylinder_shape_create();
case SHAPE_CONVEX_POLYGON:
return convex_polygon_shape_create();
case SHAPE_CONCAVE_POLYGON:
return concave_polygon_shape_create();
case SHAPE_HEIGHTMAP:
return heightmap_shape_create();
case SHAPE_CUSTOM:
return custom_shape_create();
default:
return RID();
}
}
void PhysicsServer3D::_bind_methods() {
#ifndef _3D_DISABLED
ClassDB::bind_method(D_METHOD("plane_shape_create"), &PhysicsServer3D::plane_shape_create);
ClassDB::bind_method(D_METHOD("separation_ray_shape_create"), &PhysicsServer3D::separation_ray_shape_create);
ClassDB::bind_method(D_METHOD("sphere_shape_create"), &PhysicsServer3D::sphere_shape_create);
ClassDB::bind_method(D_METHOD("box_shape_create"), &PhysicsServer3D::box_shape_create);
ClassDB::bind_method(D_METHOD("capsule_shape_create"), &PhysicsServer3D::capsule_shape_create);
ClassDB::bind_method(D_METHOD("cylinder_shape_create"), &PhysicsServer3D::cylinder_shape_create);
ClassDB::bind_method(D_METHOD("convex_polygon_shape_create"), &PhysicsServer3D::convex_polygon_shape_create);
ClassDB::bind_method(D_METHOD("concave_polygon_shape_create"), &PhysicsServer3D::concave_polygon_shape_create);
ClassDB::bind_method(D_METHOD("heightmap_shape_create"), &PhysicsServer3D::heightmap_shape_create);
ClassDB::bind_method(D_METHOD("custom_shape_create"), &PhysicsServer3D::custom_shape_create);
ClassDB::bind_method(D_METHOD("shape_set_data", "shape", "data"), &PhysicsServer3D::shape_set_data);
ClassDB::bind_method(D_METHOD("shape_get_type", "shape"), &PhysicsServer3D::shape_get_type);
ClassDB::bind_method(D_METHOD("shape_get_data", "shape"), &PhysicsServer3D::shape_get_data);
ClassDB::bind_method(D_METHOD("space_create"), &PhysicsServer3D::space_create);
ClassDB::bind_method(D_METHOD("space_set_active", "space", "active"), &PhysicsServer3D::space_set_active);
ClassDB::bind_method(D_METHOD("space_is_active", "space"), &PhysicsServer3D::space_is_active);
ClassDB::bind_method(D_METHOD("space_set_param", "space", "param", "value"), &PhysicsServer3D::space_set_param);
ClassDB::bind_method(D_METHOD("space_get_param", "space", "param"), &PhysicsServer3D::space_get_param);
ClassDB::bind_method(D_METHOD("space_get_direct_state", "space"), &PhysicsServer3D::space_get_direct_state);
ClassDB::bind_method(D_METHOD("area_create"), &PhysicsServer3D::area_create);
ClassDB::bind_method(D_METHOD("area_set_space", "area", "space"), &PhysicsServer3D::area_set_space);
ClassDB::bind_method(D_METHOD("area_get_space", "area"), &PhysicsServer3D::area_get_space);
ClassDB::bind_method(D_METHOD("area_set_space_override_mode", "area", "mode"), &PhysicsServer3D::area_set_space_override_mode);
ClassDB::bind_method(D_METHOD("area_get_space_override_mode", "area"), &PhysicsServer3D::area_get_space_override_mode);
ClassDB::bind_method(D_METHOD("area_add_shape", "area", "shape", "transform", "disabled"), &PhysicsServer3D::area_add_shape, DEFVAL(Transform3D()), DEFVAL(false));
ClassDB::bind_method(D_METHOD("area_set_shape", "area", "shape_idx", "shape"), &PhysicsServer3D::area_set_shape);
ClassDB::bind_method(D_METHOD("area_set_shape_transform", "area", "shape_idx", "transform"), &PhysicsServer3D::area_set_shape_transform);
ClassDB::bind_method(D_METHOD("area_set_shape_disabled", "area", "shape_idx", "disabled"), &PhysicsServer3D::area_set_shape_disabled);
ClassDB::bind_method(D_METHOD("area_get_shape_count", "area"), &PhysicsServer3D::area_get_shape_count);
ClassDB::bind_method(D_METHOD("area_get_shape", "area", "shape_idx"), &PhysicsServer3D::area_get_shape);
ClassDB::bind_method(D_METHOD("area_get_shape_transform", "area", "shape_idx"), &PhysicsServer3D::area_get_shape_transform);
ClassDB::bind_method(D_METHOD("area_remove_shape", "area", "shape_idx"), &PhysicsServer3D::area_remove_shape);
ClassDB::bind_method(D_METHOD("area_clear_shapes", "area"), &PhysicsServer3D::area_clear_shapes);
ClassDB::bind_method(D_METHOD("area_set_collision_layer", "area", "layer"), &PhysicsServer3D::area_set_collision_layer);
ClassDB::bind_method(D_METHOD("area_set_collision_mask", "area", "mask"), &PhysicsServer3D::area_set_collision_mask);
ClassDB::bind_method(D_METHOD("area_set_param", "area", "param", "value"), &PhysicsServer3D::area_set_param);
ClassDB::bind_method(D_METHOD("area_set_transform", "area", "transform"), &PhysicsServer3D::area_set_transform);
ClassDB::bind_method(D_METHOD("area_get_param", "area", "param"), &PhysicsServer3D::area_get_param);
ClassDB::bind_method(D_METHOD("area_get_transform", "area"), &PhysicsServer3D::area_get_transform);
ClassDB::bind_method(D_METHOD("area_attach_object_instance_id", "area", "id"), &PhysicsServer3D::area_attach_object_instance_id);
ClassDB::bind_method(D_METHOD("area_get_object_instance_id", "area"), &PhysicsServer3D::area_get_object_instance_id);
ClassDB::bind_method(D_METHOD("area_set_monitor_callback", "area", "receiver", "method"), &PhysicsServer3D::area_set_monitor_callback);
ClassDB::bind_method(D_METHOD("area_set_area_monitor_callback", "area", "receiver", "method"), &PhysicsServer3D::area_set_area_monitor_callback);
ClassDB::bind_method(D_METHOD("area_set_monitorable", "area", "monitorable"), &PhysicsServer3D::area_set_monitorable);
ClassDB::bind_method(D_METHOD("area_set_ray_pickable", "area", "enable"), &PhysicsServer3D::area_set_ray_pickable);
ClassDB::bind_method(D_METHOD("body_create"), &PhysicsServer3D::body_create);
ClassDB::bind_method(D_METHOD("body_set_space", "body", "space"), &PhysicsServer3D::body_set_space);
ClassDB::bind_method(D_METHOD("body_get_space", "body"), &PhysicsServer3D::body_get_space);
ClassDB::bind_method(D_METHOD("body_set_mode", "body", "mode"), &PhysicsServer3D::body_set_mode);
ClassDB::bind_method(D_METHOD("body_get_mode", "body"), &PhysicsServer3D::body_get_mode);
ClassDB::bind_method(D_METHOD("body_set_collision_layer", "body", "layer"), &PhysicsServer3D::body_set_collision_layer);
ClassDB::bind_method(D_METHOD("body_get_collision_layer", "body"), &PhysicsServer3D::body_get_collision_layer);
ClassDB::bind_method(D_METHOD("body_set_collision_mask", "body", "mask"), &PhysicsServer3D::body_set_collision_mask);
ClassDB::bind_method(D_METHOD("body_get_collision_mask", "body"), &PhysicsServer3D::body_get_collision_mask);
ClassDB::bind_method(D_METHOD("body_add_shape", "body", "shape", "transform", "disabled"), &PhysicsServer3D::body_add_shape, DEFVAL(Transform3D()), DEFVAL(false));
ClassDB::bind_method(D_METHOD("body_set_shape", "body", "shape_idx", "shape"), &PhysicsServer3D::body_set_shape);
ClassDB::bind_method(D_METHOD("body_set_shape_transform", "body", "shape_idx", "transform"), &PhysicsServer3D::body_set_shape_transform);
ClassDB::bind_method(D_METHOD("body_set_shape_disabled", "body", "shape_idx", "disabled"), &PhysicsServer3D::body_set_shape_disabled);
ClassDB::bind_method(D_METHOD("body_get_shape_count", "body"), &PhysicsServer3D::body_get_shape_count);
ClassDB::bind_method(D_METHOD("body_get_shape", "body", "shape_idx"), &PhysicsServer3D::body_get_shape);
ClassDB::bind_method(D_METHOD("body_get_shape_transform", "body", "shape_idx"), &PhysicsServer3D::body_get_shape_transform);
ClassDB::bind_method(D_METHOD("body_remove_shape", "body", "shape_idx"), &PhysicsServer3D::body_remove_shape);
ClassDB::bind_method(D_METHOD("body_clear_shapes", "body"), &PhysicsServer3D::body_clear_shapes);
ClassDB::bind_method(D_METHOD("body_attach_object_instance_id", "body", "id"), &PhysicsServer3D::body_attach_object_instance_id);
ClassDB::bind_method(D_METHOD("body_get_object_instance_id", "body"), &PhysicsServer3D::body_get_object_instance_id);
ClassDB::bind_method(D_METHOD("body_set_enable_continuous_collision_detection", "body", "enable"), &PhysicsServer3D::body_set_enable_continuous_collision_detection);
ClassDB::bind_method(D_METHOD("body_is_continuous_collision_detection_enabled", "body"), &PhysicsServer3D::body_is_continuous_collision_detection_enabled);
ClassDB::bind_method(D_METHOD("body_set_param", "body", "param", "value"), &PhysicsServer3D::body_set_param);
ClassDB::bind_method(D_METHOD("body_get_param", "body", "param"), &PhysicsServer3D::body_get_param);
ClassDB::bind_method(D_METHOD("body_reset_mass_properties", "body"), &PhysicsServer3D::body_reset_mass_properties);
ClassDB::bind_method(D_METHOD("body_set_state", "body", "state", "value"), &PhysicsServer3D::body_set_state);
ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer3D::body_get_state);
ClassDB::bind_method(D_METHOD("body_add_central_force", "body", "force"), &PhysicsServer3D::body_add_central_force);
ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer3D::body_add_force, Vector3());
ClassDB::bind_method(D_METHOD("body_add_torque", "body", "torque"), &PhysicsServer3D::body_add_torque);
ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_central_impulse);
ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer3D::body_apply_impulse, Vector3());
ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_torque_impulse);
ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer3D::body_set_axis_velocity);
ClassDB::bind_method(D_METHOD("body_set_axis_lock", "body", "axis", "lock"), &PhysicsServer3D::body_set_axis_lock);
ClassDB::bind_method(D_METHOD("body_is_axis_locked", "body", "axis"), &PhysicsServer3D::body_is_axis_locked);
ClassDB::bind_method(D_METHOD("body_add_collision_exception", "body", "excepted_body"), &PhysicsServer3D::body_add_collision_exception);
ClassDB::bind_method(D_METHOD("body_remove_collision_exception", "body", "excepted_body"), &PhysicsServer3D::body_remove_collision_exception);
ClassDB::bind_method(D_METHOD("body_set_max_contacts_reported", "body", "amount"), &PhysicsServer3D::body_set_max_contacts_reported);
ClassDB::bind_method(D_METHOD("body_get_max_contacts_reported", "body"), &PhysicsServer3D::body_get_max_contacts_reported);
ClassDB::bind_method(D_METHOD("body_set_omit_force_integration", "body", "enable"), &PhysicsServer3D::body_set_omit_force_integration);
ClassDB::bind_method(D_METHOD("body_is_omitting_force_integration", "body"), &PhysicsServer3D::body_is_omitting_force_integration);
ClassDB::bind_method(D_METHOD("body_set_force_integration_callback", "body", "callable", "userdata"), &PhysicsServer3D::body_set_force_integration_callback, DEFVAL(Variant()));
ClassDB::bind_method(D_METHOD("body_set_ray_pickable", "body", "enable"), &PhysicsServer3D::body_set_ray_pickable);
ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "margin", "result", "collide_separation_ray", "exclude"), &PhysicsServer3D::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()), DEFVAL(false), DEFVAL(Array()));
ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer3D::body_get_direct_state);
/* SOFT BODY API */
ClassDB::bind_method(D_METHOD("soft_body_get_bounds", "body"), &PhysicsServer3D::soft_body_get_bounds);
/* JOINT API */
ClassDB::bind_method(D_METHOD("joint_create"), &PhysicsServer3D::joint_create);
ClassDB::bind_method(D_METHOD("joint_clear", "joint"), &PhysicsServer3D::joint_clear);
BIND_ENUM_CONSTANT(JOINT_TYPE_PIN);
BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE);
BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER);
BIND_ENUM_CONSTANT(JOINT_TYPE_CONE_TWIST);
BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF);
BIND_ENUM_CONSTANT(JOINT_TYPE_MAX);
ClassDB::bind_method(D_METHOD("joint_make_pin", "joint", "body_A", "local_A", "body_B", "local_B"), &PhysicsServer3D::joint_make_pin);
ClassDB::bind_method(D_METHOD("pin_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::pin_joint_set_param);
ClassDB::bind_method(D_METHOD("pin_joint_get_param", "joint", "param"), &PhysicsServer3D::pin_joint_get_param);
ClassDB::bind_method(D_METHOD("pin_joint_set_local_a", "joint", "local_A"), &PhysicsServer3D::pin_joint_set_local_a);
ClassDB::bind_method(D_METHOD("pin_joint_get_local_a", "joint"), &PhysicsServer3D::pin_joint_get_local_a);
ClassDB::bind_method(D_METHOD("pin_joint_set_local_b", "joint", "local_B"), &PhysicsServer3D::pin_joint_set_local_b);
ClassDB::bind_method(D_METHOD("pin_joint_get_local_b", "joint"), &PhysicsServer3D::pin_joint_get_local_b);
BIND_ENUM_CONSTANT(PIN_JOINT_BIAS);
BIND_ENUM_CONSTANT(PIN_JOINT_DAMPING);
BIND_ENUM_CONSTANT(PIN_JOINT_IMPULSE_CLAMP);
BIND_ENUM_CONSTANT(HINGE_JOINT_BIAS);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_UPPER);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_LOWER);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_BIAS);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_RELAXATION);
BIND_ENUM_CONSTANT(HINGE_JOINT_MOTOR_TARGET_VELOCITY);
BIND_ENUM_CONSTANT(HINGE_JOINT_MOTOR_MAX_IMPULSE);
BIND_ENUM_CONSTANT(HINGE_JOINT_FLAG_USE_LIMIT);
BIND_ENUM_CONSTANT(HINGE_JOINT_FLAG_ENABLE_MOTOR);
ClassDB::bind_method(D_METHOD("joint_make_hinge", "joint", "body_A", "hinge_A", "body_B", "hinge_B"), &PhysicsServer3D::joint_make_hinge);
ClassDB::bind_method(D_METHOD("hinge_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::hinge_joint_set_param);
ClassDB::bind_method(D_METHOD("hinge_joint_get_param", "joint", "param"), &PhysicsServer3D::hinge_joint_get_param);
ClassDB::bind_method(D_METHOD("hinge_joint_set_flag", "joint", "flag", "enabled"), &PhysicsServer3D::hinge_joint_set_flag);
ClassDB::bind_method(D_METHOD("hinge_joint_get_flag", "joint", "flag"), &PhysicsServer3D::hinge_joint_get_flag);
ClassDB::bind_method(D_METHOD("joint_make_slider", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_slider);
ClassDB::bind_method(D_METHOD("slider_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::slider_joint_set_param);
ClassDB::bind_method(D_METHOD("slider_joint_get_param", "joint", "param"), &PhysicsServer3D::slider_joint_get_param);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_UPPER);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_LOWER);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_UPPER);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_LOWER);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_MAX);
ClassDB::bind_method(D_METHOD("joint_make_cone_twist", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_cone_twist);
ClassDB::bind_method(D_METHOD("cone_twist_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::cone_twist_joint_set_param);
ClassDB::bind_method(D_METHOD("cone_twist_joint_get_param", "joint", "param"), &PhysicsServer3D::cone_twist_joint_get_param);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_SWING_SPAN);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_TWIST_SPAN);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_BIAS);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_SOFTNESS);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_RELAXATION);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LOWER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_UPPER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_RESTITUTION);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_DAMPING);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LOWER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_UPPER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_DAMPING);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_RESTITUTION);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_FORCE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_ERP);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_MOTOR);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR);
ClassDB::bind_method(D_METHOD("joint_get_type", "joint"), &PhysicsServer3D::joint_get_type);
ClassDB::bind_method(D_METHOD("joint_set_solver_priority", "joint", "priority"), &PhysicsServer3D::joint_set_solver_priority);
ClassDB::bind_method(D_METHOD("joint_get_solver_priority", "joint"), &PhysicsServer3D::joint_get_solver_priority);
ClassDB::bind_method(D_METHOD("joint_make_generic_6dof", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_generic_6dof);
ClassDB::bind_method(D_METHOD("generic_6dof_joint_set_param", "joint", "axis", "param", "value"), &PhysicsServer3D::generic_6dof_joint_set_param);
ClassDB::bind_method(D_METHOD("generic_6dof_joint_get_param", "joint", "axis", "param"), &PhysicsServer3D::generic_6dof_joint_get_param);
ClassDB::bind_method(D_METHOD("generic_6dof_joint_set_flag", "joint", "axis", "flag", "enable"), &PhysicsServer3D::generic_6dof_joint_set_flag);
ClassDB::bind_method(D_METHOD("generic_6dof_joint_get_flag", "joint", "axis", "flag"), &PhysicsServer3D::generic_6dof_joint_get_flag);
ClassDB::bind_method(D_METHOD("free_rid", "rid"), &PhysicsServer3D::free);
ClassDB::bind_method(D_METHOD("set_active", "active"), &PhysicsServer3D::set_active);
ClassDB::bind_method(D_METHOD("set_collision_iterations", "iterations"), &PhysicsServer3D::set_collision_iterations);
ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer3D::get_process_info);
BIND_ENUM_CONSTANT(SHAPE_PLANE);
BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY);
BIND_ENUM_CONSTANT(SHAPE_SPHERE);
BIND_ENUM_CONSTANT(SHAPE_BOX);
BIND_ENUM_CONSTANT(SHAPE_CAPSULE);
BIND_ENUM_CONSTANT(SHAPE_CYLINDER);
BIND_ENUM_CONSTANT(SHAPE_CONVEX_POLYGON);
BIND_ENUM_CONSTANT(SHAPE_CONCAVE_POLYGON);
BIND_ENUM_CONSTANT(SHAPE_HEIGHTMAP);
BIND_ENUM_CONSTANT(SHAPE_SOFT_BODY);
BIND_ENUM_CONSTANT(SHAPE_CUSTOM);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_VECTOR);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_IS_POINT);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_DISTANCE_SCALE);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_POINT_ATTENUATION);
BIND_ENUM_CONSTANT(AREA_PARAM_LINEAR_DAMP);
BIND_ENUM_CONSTANT(AREA_PARAM_ANGULAR_DAMP);
BIND_ENUM_CONSTANT(AREA_PARAM_PRIORITY);
BIND_ENUM_CONSTANT(AREA_PARAM_WIND_FORCE_MAGNITUDE);
BIND_ENUM_CONSTANT(AREA_PARAM_WIND_SOURCE);
BIND_ENUM_CONSTANT(AREA_PARAM_WIND_DIRECTION);
BIND_ENUM_CONSTANT(AREA_PARAM_WIND_ATTENUATION_FACTOR);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_DISABLED);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_COMBINE);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_COMBINE_REPLACE);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_REPLACE);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_REPLACE_COMBINE);
BIND_ENUM_CONSTANT(BODY_MODE_STATIC);
BIND_ENUM_CONSTANT(BODY_MODE_KINEMATIC);
BIND_ENUM_CONSTANT(BODY_MODE_DYNAMIC);
BIND_ENUM_CONSTANT(BODY_MODE_DYNAMIC_LOCKED);
BIND_ENUM_CONSTANT(BODY_PARAM_BOUNCE);
BIND_ENUM_CONSTANT(BODY_PARAM_FRICTION);
BIND_ENUM_CONSTANT(BODY_PARAM_MASS);
BIND_ENUM_CONSTANT(BODY_PARAM_INERTIA);
BIND_ENUM_CONSTANT(BODY_PARAM_CENTER_OF_MASS);
BIND_ENUM_CONSTANT(BODY_PARAM_GRAVITY_SCALE);
BIND_ENUM_CONSTANT(BODY_PARAM_LINEAR_DAMP);
BIND_ENUM_CONSTANT(BODY_PARAM_ANGULAR_DAMP);
BIND_ENUM_CONSTANT(BODY_PARAM_MAX);
BIND_ENUM_CONSTANT(BODY_STATE_TRANSFORM);
BIND_ENUM_CONSTANT(BODY_STATE_LINEAR_VELOCITY);
BIND_ENUM_CONSTANT(BODY_STATE_ANGULAR_VELOCITY);
BIND_ENUM_CONSTANT(BODY_STATE_SLEEPING);
BIND_ENUM_CONSTANT(BODY_STATE_CAN_SLEEP);
BIND_ENUM_CONSTANT(AREA_BODY_ADDED);
BIND_ENUM_CONSTANT(AREA_BODY_REMOVED);
BIND_ENUM_CONSTANT(INFO_ACTIVE_OBJECTS);
BIND_ENUM_CONSTANT(INFO_COLLISION_PAIRS);
BIND_ENUM_CONSTANT(INFO_ISLAND_COUNT);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_RECYCLE_RADIUS);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_SEPARATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Z);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_Y);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_Z);
#endif
}
PhysicsServer3D::PhysicsServer3D() {
singleton = this;
}
PhysicsServer3D::~PhysicsServer3D() {
singleton = nullptr;
}
Vector<PhysicsServer3DManager::ClassInfo> PhysicsServer3DManager::physics_servers;
int PhysicsServer3DManager::default_server_id = -1;
int PhysicsServer3DManager::default_server_priority = -1;
const String PhysicsServer3DManager::setting_property_name("physics/3d/physics_engine");
void PhysicsServer3DManager::on_servers_changed() {
String physics_servers2("DEFAULT");
for (int i = get_servers_count() - 1; 0 <= i; --i) {
physics_servers2 += "," + get_server_name(i);
}
ProjectSettings::get_singleton()->set_custom_property_info(setting_property_name, PropertyInfo(Variant::STRING, setting_property_name, PROPERTY_HINT_ENUM, physics_servers2));
}
void PhysicsServer3DManager::register_server(const String &p_name, CreatePhysicsServer3DCallback p_creat_callback) {
ERR_FAIL_COND(!p_creat_callback);
ERR_FAIL_COND(find_server_id(p_name) != -1);
physics_servers.push_back(ClassInfo(p_name, p_creat_callback));
on_servers_changed();
}
void PhysicsServer3DManager::set_default_server(const String &p_name, int p_priority) {
const int id = find_server_id(p_name);
ERR_FAIL_COND(id == -1); // Not found
if (default_server_priority < p_priority) {
default_server_id = id;
default_server_priority = p_priority;
}
}
int PhysicsServer3DManager::find_server_id(const String &p_name) {
for (int i = physics_servers.size() - 1; 0 <= i; --i) {
if (p_name == physics_servers[i].name) {
return i;
}
}
return -1;
}
int PhysicsServer3DManager::get_servers_count() {
return physics_servers.size();
}
String PhysicsServer3DManager::get_server_name(int p_id) {
ERR_FAIL_INDEX_V(p_id, get_servers_count(), "");
return physics_servers[p_id].name;
}
PhysicsServer3D *PhysicsServer3DManager::new_default_server() {
ERR_FAIL_COND_V(default_server_id == -1, nullptr);
return physics_servers[default_server_id].create_callback();
}
PhysicsServer3D *PhysicsServer3DManager::new_server(const String &p_name) {
int id = find_server_id(p_name);
if (id == -1) {
return nullptr;
} else {
return physics_servers[id].create_callback();
}
}
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