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godot/scene/3d/physics_body.cpp
Rémi Verschelde c7bc44d5ad Welcome in 2017, dear changelog reader! 
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!
2017-01-01 22:03:33 +01:00

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/*************************************************************************/
/* physics_body.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* */
/* 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_body.h"
#include "scene/scene_string_names.h"
void PhysicsBody::_notification(int p_what) {
/*
switch(p_what) {
case NOTIFICATION_TRANSFORM_CHANGED: {
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_TRANSFORM,get_global_transform());
} break;
}
*/
}
Vector3 PhysicsBody::get_linear_velocity() const {
return Vector3();
}
Vector3 PhysicsBody::get_angular_velocity() const {
return Vector3();
}
float PhysicsBody::get_inverse_mass() const {
return 0;
}
void PhysicsBody::set_layer_mask(uint32_t p_mask) {
layer_mask=p_mask;
PhysicsServer::get_singleton()->body_set_layer_mask(get_rid(),p_mask);
}
uint32_t PhysicsBody::get_layer_mask() const {
return layer_mask;
}
void PhysicsBody::set_collision_mask(uint32_t p_mask) {
collision_mask=p_mask;
PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(),p_mask);
}
uint32_t PhysicsBody::get_collision_mask() const {
return collision_mask;
}
void PhysicsBody::set_collision_mask_bit(int p_bit, bool p_value) {
uint32_t mask = get_collision_mask();
if (p_value)
mask|=1<<p_bit;
else
mask&=~(1<<p_bit);
set_collision_mask(mask);
}
bool PhysicsBody::get_collision_mask_bit(int p_bit) const{
return get_collision_mask()&(1<<p_bit);
}
void PhysicsBody::set_layer_mask_bit(int p_bit, bool p_value) {
uint32_t mask = get_layer_mask();
if (p_value)
mask|=1<<p_bit;
else
mask&=~(1<<p_bit);
set_layer_mask(mask);
}
bool PhysicsBody::get_layer_mask_bit(int p_bit) const{
return get_layer_mask()&(1<<p_bit);
}
void PhysicsBody::add_collision_exception_with(Node* p_node) {
ERR_FAIL_NULL(p_node);
PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
if (!physics_body) {
ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
}
ERR_FAIL_COND(!physics_body);
PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(),physics_body->get_rid());
}
void PhysicsBody::remove_collision_exception_with(Node* p_node) {
ERR_FAIL_NULL(p_node);
PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
if (!physics_body) {
ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
}
ERR_FAIL_COND(!physics_body);
PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(),physics_body->get_rid());
}
void PhysicsBody::_set_layers(uint32_t p_mask) {
set_layer_mask(p_mask);
set_collision_mask(p_mask);
}
uint32_t PhysicsBody::_get_layers() const{
return get_layer_mask();
}
void PhysicsBody::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_layer_mask","mask"),&PhysicsBody::set_layer_mask);
ObjectTypeDB::bind_method(_MD("get_layer_mask"),&PhysicsBody::get_layer_mask);
ObjectTypeDB::bind_method(_MD("set_collision_mask","mask"),&PhysicsBody::set_collision_mask);
ObjectTypeDB::bind_method(_MD("get_collision_mask"),&PhysicsBody::get_collision_mask);
ObjectTypeDB::bind_method(_MD("set_collision_mask_bit","bit","value"),&PhysicsBody::set_collision_mask_bit);
ObjectTypeDB::bind_method(_MD("get_collision_mask_bit","bit"),&PhysicsBody::get_collision_mask_bit);
ObjectTypeDB::bind_method(_MD("set_layer_mask_bit","bit","value"),&PhysicsBody::set_layer_mask_bit);
ObjectTypeDB::bind_method(_MD("get_layer_mask_bit","bit"),&PhysicsBody::get_layer_mask_bit);
ObjectTypeDB::bind_method(_MD("_set_layers","mask"),&PhysicsBody::_set_layers);
ObjectTypeDB::bind_method(_MD("_get_layers"),&PhysicsBody::_get_layers);
ADD_PROPERTY(PropertyInfo(Variant::INT,"layers",PROPERTY_HINT_ALL_FLAGS,"",0),_SCS("_set_layers"),_SCS("_get_layers")); //for backwards compat
ADD_PROPERTY(PropertyInfo(Variant::INT,"collision/layers",PROPERTY_HINT_ALL_FLAGS),_SCS("set_layer_mask"),_SCS("get_layer_mask"));
ADD_PROPERTY(PropertyInfo(Variant::INT,"collision/mask",PROPERTY_HINT_ALL_FLAGS),_SCS("set_collision_mask"),_SCS("get_collision_mask"));
}
PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode) : CollisionObject( PhysicsServer::get_singleton()->body_create(p_mode), false) {
layer_mask=1;
collision_mask=1;
}
void StaticBody::set_friction(real_t p_friction){
ERR_FAIL_COND(p_friction<0 || p_friction>1);
friction=p_friction;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_FRICTION,friction);
}
real_t StaticBody::get_friction() const{
return friction;
}
void StaticBody::set_bounce(real_t p_bounce){
ERR_FAIL_COND(p_bounce<0 || p_bounce>1);
bounce=p_bounce;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_BOUNCE,bounce);
}
real_t StaticBody::get_bounce() const{
return bounce;
}
void StaticBody::set_constant_linear_velocity(const Vector3& p_vel) {
constant_linear_velocity=p_vel;
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_LINEAR_VELOCITY,constant_linear_velocity);
}
void StaticBody::set_constant_angular_velocity(const Vector3& p_vel) {
constant_angular_velocity=p_vel;
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_ANGULAR_VELOCITY,constant_angular_velocity);
}
Vector3 StaticBody::get_constant_linear_velocity() const {
return constant_linear_velocity;
}
Vector3 StaticBody::get_constant_angular_velocity() const {
return constant_angular_velocity;
}
void StaticBody::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_constant_linear_velocity","vel"),&StaticBody::set_constant_linear_velocity);
ObjectTypeDB::bind_method(_MD("set_constant_angular_velocity","vel"),&StaticBody::set_constant_angular_velocity);
ObjectTypeDB::bind_method(_MD("get_constant_linear_velocity"),&StaticBody::get_constant_linear_velocity);
ObjectTypeDB::bind_method(_MD("get_constant_angular_velocity"),&StaticBody::get_constant_angular_velocity);
ObjectTypeDB::bind_method(_MD("set_friction","friction"),&StaticBody::set_friction);
ObjectTypeDB::bind_method(_MD("get_friction"),&StaticBody::get_friction);
ObjectTypeDB::bind_method(_MD("set_bounce","bounce"),&StaticBody::set_bounce);
ObjectTypeDB::bind_method(_MD("get_bounce"),&StaticBody::get_bounce);
ObjectTypeDB::bind_method(_MD("add_collision_exception_with","body:PhysicsBody"),&PhysicsBody::add_collision_exception_with);
ObjectTypeDB::bind_method(_MD("remove_collision_exception_with","body:PhysicsBody"),&PhysicsBody::remove_collision_exception_with);
ADD_PROPERTY( PropertyInfo(Variant::REAL,"friction",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"bounce",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_bounce"),_SCS("get_bounce"));
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3,"constant_linear_velocity"),_SCS("set_constant_linear_velocity"),_SCS("get_constant_linear_velocity"));
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3,"constant_angular_velocity"),_SCS("set_constant_angular_velocity"),_SCS("get_constant_angular_velocity"));
}
StaticBody::StaticBody() : PhysicsBody(PhysicsServer::BODY_MODE_STATIC) {
bounce=0;
friction=1;
}
StaticBody::~StaticBody() {
}
void RigidBody::_body_enter_tree(ObjectID p_id) {
Object *obj = ObjectDB::get_instance(p_id);
Node *node = obj ? obj->cast_to<Node>() : NULL;
ERR_FAIL_COND(!node);
Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(p_id);
ERR_FAIL_COND(!E);
ERR_FAIL_COND(E->get().in_tree);
E->get().in_tree=true;
contact_monitor->locked=true;
emit_signal(SceneStringNames::get_singleton()->body_enter,node);
for(int i=0;i<E->get().shapes.size();i++) {
emit_signal(SceneStringNames::get_singleton()->body_enter_shape,p_id,node,E->get().shapes[i].body_shape,E->get().shapes[i].local_shape);
}
contact_monitor->locked=false;
}
void RigidBody::_body_exit_tree(ObjectID p_id) {
Object *obj = ObjectDB::get_instance(p_id);
Node *node = obj ? obj->cast_to<Node>() : NULL;
ERR_FAIL_COND(!node);
Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(p_id);
ERR_FAIL_COND(!E);
ERR_FAIL_COND(!E->get().in_tree);
E->get().in_tree=false;
contact_monitor->locked=true;
emit_signal(SceneStringNames::get_singleton()->body_exit,node);
for(int i=0;i<E->get().shapes.size();i++) {
emit_signal(SceneStringNames::get_singleton()->body_exit_shape,p_id,node,E->get().shapes[i].body_shape,E->get().shapes[i].local_shape);
}
contact_monitor->locked=false;
}
void RigidBody::_body_inout(int p_status, ObjectID p_instance, int p_body_shape,int p_local_shape) {
bool body_in = p_status==1;
ObjectID objid=p_instance;
Object *obj = ObjectDB::get_instance(objid);
Node *node = obj ? obj->cast_to<Node>() : NULL;
Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(objid);
ERR_FAIL_COND(!body_in && !E);
if (body_in) {
if (!E) {
E = contact_monitor->body_map.insert(objid,BodyState());
//E->get().rc=0;
E->get().in_tree=node && node->is_inside_tree();
if (node) {
node->connect(SceneStringNames::get_singleton()->enter_tree,this,SceneStringNames::get_singleton()->_body_enter_tree,make_binds(objid));
node->connect(SceneStringNames::get_singleton()->exit_tree,this,SceneStringNames::get_singleton()->_body_exit_tree,make_binds(objid));
if (E->get().in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_enter,node);
}
}
}
//E->get().rc++;
if (node)
E->get().shapes.insert(ShapePair(p_body_shape,p_local_shape));
if (E->get().in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_enter_shape,objid,node,p_body_shape,p_local_shape);
}
} else {
//E->get().rc--;
if (node)
E->get().shapes.erase(ShapePair(p_body_shape,p_local_shape));
bool in_tree = E->get().in_tree;
if (E->get().shapes.empty()) {
if (node) {
node->disconnect(SceneStringNames::get_singleton()->enter_tree,this,SceneStringNames::get_singleton()->_body_enter_tree);
node->disconnect(SceneStringNames::get_singleton()->exit_tree,this,SceneStringNames::get_singleton()->_body_exit_tree);
if (in_tree)
emit_signal(SceneStringNames::get_singleton()->body_exit,obj);
}
contact_monitor->body_map.erase(E);
}
if (node && in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_exit_shape,objid,obj,p_body_shape,p_local_shape);
}
}
}
struct _RigidBodyInOut {
ObjectID id;
int shape;
int local_shape;
};
void RigidBody::_direct_state_changed(Object *p_state) {
//eh.. fuck
#ifdef DEBUG_ENABLED
state=p_state->cast_to<PhysicsDirectBodyState>();
#else
state=(PhysicsDirectBodyState*)p_state; //trust it
#endif
set_ignore_transform_notification(true);
set_global_transform(state->get_transform());
linear_velocity=state->get_linear_velocity();
angular_velocity=state->get_angular_velocity();
if(sleeping!=state->is_sleeping()) {
sleeping=state->is_sleeping();
emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
}
if (get_script_instance())
get_script_instance()->call("_integrate_forces",state);
set_ignore_transform_notification(false);
if (contact_monitor) {
contact_monitor->locked=true;
//untag all
int rc=0;
for( Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
for(int i=0;i<E->get().shapes.size();i++) {
E->get().shapes[i].tagged=false;
rc++;
}
}
_RigidBodyInOut *toadd=(_RigidBodyInOut*)alloca(state->get_contact_count()*sizeof(_RigidBodyInOut));
int toadd_count=0;//state->get_contact_count();
RigidBody_RemoveAction *toremove=(RigidBody_RemoveAction*)alloca(rc*sizeof(RigidBody_RemoveAction));
int toremove_count=0;
//put the ones to add
for(int i=0;i<state->get_contact_count();i++) {
ObjectID obj = state->get_contact_collider_id(i);
int local_shape = state->get_contact_local_shape(i);
int shape = state->get_contact_collider_shape(i);
// bool found=false;
Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(obj);
if (!E) {
toadd[toadd_count].local_shape=local_shape;
toadd[toadd_count].id=obj;
toadd[toadd_count].shape=shape;
toadd_count++;
continue;
}
ShapePair sp( shape,local_shape );
int idx = E->get().shapes.find(sp);
if (idx==-1) {
toadd[toadd_count].local_shape=local_shape;
toadd[toadd_count].id=obj;
toadd[toadd_count].shape=shape;
toadd_count++;
continue;
}
E->get().shapes[idx].tagged=true;
}
//put the ones to remove
for( Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
for(int i=0;i<E->get().shapes.size();i++) {
if (!E->get().shapes[i].tagged) {
toremove[toremove_count].body_id=E->key();
toremove[toremove_count].pair=E->get().shapes[i];
toremove_count++;
}
}
}
//process remotions
for(int i=0;i<toremove_count;i++) {
_body_inout(0,toremove[i].body_id,toremove[i].pair.body_shape,toremove[i].pair.local_shape);
}
//process aditions
for(int i=0;i<toadd_count;i++) {
_body_inout(1,toadd[i].id,toadd[i].shape,toadd[i].local_shape);
}
contact_monitor->locked=false;
}
state=NULL;
}
void RigidBody::_notification(int p_what) {
}
void RigidBody::set_mode(Mode p_mode) {
mode=p_mode;
switch(p_mode) {
case MODE_RIGID: {
PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_RIGID);
} break;
case MODE_STATIC: {
PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_STATIC);
} break;
case MODE_CHARACTER: {
PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_CHARACTER);
} break;
case MODE_KINEMATIC: {
PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_KINEMATIC);
} break;
}
}
RigidBody::Mode RigidBody::get_mode() const{
return mode;
}
void RigidBody::set_mass(real_t p_mass){
ERR_FAIL_COND(p_mass<=0);
mass=p_mass;
_change_notify("mass");
_change_notify("weight");
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_MASS,mass);
}
real_t RigidBody::get_mass() const{
return mass;
}
void RigidBody::set_weight(real_t p_weight){
set_mass(p_weight/9.8);
}
real_t RigidBody::get_weight() const{
return mass*9.8;
}
void RigidBody::set_friction(real_t p_friction){
ERR_FAIL_COND(p_friction<0 || p_friction>1);
friction=p_friction;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_FRICTION,friction);
}
real_t RigidBody::get_friction() const{
return friction;
}
void RigidBody::set_bounce(real_t p_bounce){
ERR_FAIL_COND(p_bounce<0 || p_bounce>1);
bounce=p_bounce;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_BOUNCE,bounce);
}
real_t RigidBody::get_bounce() const{
return bounce;
}
void RigidBody::set_gravity_scale(real_t p_gravity_scale){
gravity_scale=p_gravity_scale;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_GRAVITY_SCALE,gravity_scale);
}
real_t RigidBody::get_gravity_scale() const{
return gravity_scale;
}
void RigidBody::set_linear_damp(real_t p_linear_damp){
ERR_FAIL_COND(p_linear_damp<-1);
linear_damp=p_linear_damp;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_LINEAR_DAMP,linear_damp);
}
real_t RigidBody::get_linear_damp() const{
return linear_damp;
}
void RigidBody::set_angular_damp(real_t p_angular_damp){
ERR_FAIL_COND(p_angular_damp<-1);
angular_damp=p_angular_damp;
PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_ANGULAR_DAMP,angular_damp);
}
real_t RigidBody::get_angular_damp() const{
return angular_damp;
}
void RigidBody::set_axis_velocity(const Vector3& p_axis) {
Vector3 v = state? state->get_linear_velocity() : linear_velocity;
Vector3 axis = p_axis.normalized();
v-=axis*axis.dot(v);
v+=p_axis;
if (state) {
set_linear_velocity(v);
} else {
PhysicsServer::get_singleton()->body_set_axis_velocity(get_rid(),p_axis);
linear_velocity=v;
}
}
void RigidBody::set_linear_velocity(const Vector3& p_velocity){
linear_velocity=p_velocity;
if (state)
state->set_linear_velocity(linear_velocity);
else
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_LINEAR_VELOCITY,linear_velocity);
}
Vector3 RigidBody::get_linear_velocity() const{
return linear_velocity;
}
void RigidBody::set_angular_velocity(const Vector3& p_velocity){
angular_velocity=p_velocity;
if (state)
state->set_angular_velocity(angular_velocity);
else
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_ANGULAR_VELOCITY,angular_velocity);
}
Vector3 RigidBody::get_angular_velocity() const{
return angular_velocity;
}
void RigidBody::set_use_custom_integrator(bool p_enable){
if (custom_integrator==p_enable)
return;
custom_integrator=p_enable;
PhysicsServer::get_singleton()->body_set_omit_force_integration(get_rid(),p_enable);
}
bool RigidBody::is_using_custom_integrator(){
return custom_integrator;
}
void RigidBody::set_sleeping(bool p_sleeping) {
sleeping=p_sleeping;
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_SLEEPING,sleeping);
}
void RigidBody::set_can_sleep(bool p_active) {
can_sleep=p_active;
PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_CAN_SLEEP,p_active);
}
bool RigidBody::is_able_to_sleep() const {
return can_sleep;
}
bool RigidBody::is_sleeping() const {
return sleeping;
}
void RigidBody::set_max_contacts_reported(int p_amount) {
max_contacts_reported=p_amount;
PhysicsServer::get_singleton()->body_set_max_contacts_reported(get_rid(),p_amount);
}
int RigidBody::get_max_contacts_reported() const{
return max_contacts_reported;
}
void RigidBody::apply_impulse(const Vector3& p_pos, const Vector3& p_impulse) {
PhysicsServer::get_singleton()->body_apply_impulse(get_rid(),p_pos,p_impulse);
}
void RigidBody::set_use_continuous_collision_detection(bool p_enable) {
ccd=p_enable;
PhysicsServer::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(),p_enable);
}
bool RigidBody::is_using_continuous_collision_detection() const {
return ccd;
}
void RigidBody::set_contact_monitor(bool p_enabled) {
if (p_enabled==is_contact_monitor_enabled())
return;
if (!p_enabled) {
if (contact_monitor->locked) {
ERR_EXPLAIN("Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\",false) instead");
}
ERR_FAIL_COND(contact_monitor->locked);
for(Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
//clean up mess
}
memdelete( contact_monitor );
contact_monitor=NULL;
} else {
contact_monitor = memnew( ContactMonitor );
contact_monitor->locked=false;
}
}
bool RigidBody::is_contact_monitor_enabled() const {
return contact_monitor!=NULL;
}
void RigidBody::set_axis_lock(AxisLock p_lock) {
axis_lock=p_lock;
PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(),PhysicsServer::BodyAxisLock(axis_lock));
}
RigidBody::AxisLock RigidBody::get_axis_lock() const {
return axis_lock;
}
Array RigidBody::get_colliding_bodies() const {
ERR_FAIL_COND_V(!contact_monitor,Array());
Array ret;
ret.resize(contact_monitor->body_map.size());
int idx=0;
for (const Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
Object *obj = ObjectDB::get_instance(E->key());
if (!obj) {
ret.resize( ret.size() -1 ); //ops
} else {
ret[idx++]=obj;
}
}
return ret;
}
void RigidBody::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_mode","mode"),&RigidBody::set_mode);
ObjectTypeDB::bind_method(_MD("get_mode"),&RigidBody::get_mode);
ObjectTypeDB::bind_method(_MD("set_mass","mass"),&RigidBody::set_mass);
ObjectTypeDB::bind_method(_MD("get_mass"),&RigidBody::get_mass);
ObjectTypeDB::bind_method(_MD("set_weight","weight"),&RigidBody::set_weight);
ObjectTypeDB::bind_method(_MD("get_weight"),&RigidBody::get_weight);
ObjectTypeDB::bind_method(_MD("set_friction","friction"),&RigidBody::set_friction);
ObjectTypeDB::bind_method(_MD("get_friction"),&RigidBody::get_friction);
ObjectTypeDB::bind_method(_MD("set_bounce","bounce"),&RigidBody::set_bounce);
ObjectTypeDB::bind_method(_MD("get_bounce"),&RigidBody::get_bounce);
ObjectTypeDB::bind_method(_MD("set_linear_velocity","linear_velocity"),&RigidBody::set_linear_velocity);
ObjectTypeDB::bind_method(_MD("get_linear_velocity"),&RigidBody::get_linear_velocity);
ObjectTypeDB::bind_method(_MD("set_angular_velocity","angular_velocity"),&RigidBody::set_angular_velocity);
ObjectTypeDB::bind_method(_MD("get_angular_velocity"),&RigidBody::get_angular_velocity);
ObjectTypeDB::bind_method(_MD("set_gravity_scale","gravity_scale"),&RigidBody::set_gravity_scale);
ObjectTypeDB::bind_method(_MD("get_gravity_scale"),&RigidBody::get_gravity_scale);
ObjectTypeDB::bind_method(_MD("set_linear_damp","linear_damp"),&RigidBody::set_linear_damp);
ObjectTypeDB::bind_method(_MD("get_linear_damp"),&RigidBody::get_linear_damp);
ObjectTypeDB::bind_method(_MD("set_angular_damp","angular_damp"),&RigidBody::set_angular_damp);
ObjectTypeDB::bind_method(_MD("get_angular_damp"),&RigidBody::get_angular_damp);
ObjectTypeDB::bind_method(_MD("set_max_contacts_reported","amount"),&RigidBody::set_max_contacts_reported);
ObjectTypeDB::bind_method(_MD("get_max_contacts_reported"),&RigidBody::get_max_contacts_reported);
ObjectTypeDB::bind_method(_MD("set_use_custom_integrator","enable"),&RigidBody::set_use_custom_integrator);
ObjectTypeDB::bind_method(_MD("is_using_custom_integrator"),&RigidBody::is_using_custom_integrator);
ObjectTypeDB::bind_method(_MD("set_contact_monitor","enabled"),&RigidBody::set_contact_monitor);
ObjectTypeDB::bind_method(_MD("is_contact_monitor_enabled"),&RigidBody::is_contact_monitor_enabled);
ObjectTypeDB::bind_method(_MD("set_use_continuous_collision_detection","enable"),&RigidBody::set_use_continuous_collision_detection);
ObjectTypeDB::bind_method(_MD("is_using_continuous_collision_detection"),&RigidBody::is_using_continuous_collision_detection);
ObjectTypeDB::bind_method(_MD("set_axis_velocity","axis_velocity"),&RigidBody::set_axis_velocity);
ObjectTypeDB::bind_method(_MD("apply_impulse","pos","impulse"),&RigidBody::apply_impulse);
ObjectTypeDB::bind_method(_MD("set_sleeping","sleeping"),&RigidBody::set_sleeping);
ObjectTypeDB::bind_method(_MD("is_sleeping"),&RigidBody::is_sleeping);
ObjectTypeDB::bind_method(_MD("set_can_sleep","able_to_sleep"),&RigidBody::set_can_sleep);
ObjectTypeDB::bind_method(_MD("is_able_to_sleep"),&RigidBody::is_able_to_sleep);
ObjectTypeDB::bind_method(_MD("_direct_state_changed"),&RigidBody::_direct_state_changed);
ObjectTypeDB::bind_method(_MD("_body_enter_tree"),&RigidBody::_body_enter_tree);
ObjectTypeDB::bind_method(_MD("_body_exit_tree"),&RigidBody::_body_exit_tree);
ObjectTypeDB::bind_method(_MD("set_axis_lock","axis_lock"),&RigidBody::set_axis_lock);
ObjectTypeDB::bind_method(_MD("get_axis_lock"),&RigidBody::get_axis_lock);
ObjectTypeDB::bind_method(_MD("get_colliding_bodies"),&RigidBody::get_colliding_bodies);
BIND_VMETHOD(MethodInfo("_integrate_forces",PropertyInfo(Variant::OBJECT,"state:PhysicsDirectBodyState")));
ADD_PROPERTY( PropertyInfo(Variant::INT,"mode",PROPERTY_HINT_ENUM,"Rigid,Static,Character,Kinematic"),_SCS("set_mode"),_SCS("get_mode"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"mass",PROPERTY_HINT_EXP_RANGE,"0.01,65535,0.01"),_SCS("set_mass"),_SCS("get_mass"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"weight",PROPERTY_HINT_EXP_RANGE,"0.01,65535,0.01",PROPERTY_USAGE_EDITOR),_SCS("set_weight"),_SCS("get_weight"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"friction",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"bounce",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_bounce"),_SCS("get_bounce"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"gravity_scale",PROPERTY_HINT_RANGE,"-128,128,0.01"),_SCS("set_gravity_scale"),_SCS("get_gravity_scale"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"custom_integrator"),_SCS("set_use_custom_integrator"),_SCS("is_using_custom_integrator"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"continuous_cd"),_SCS("set_use_continuous_collision_detection"),_SCS("is_using_continuous_collision_detection"));
ADD_PROPERTY( PropertyInfo(Variant::INT,"contacts_reported"),_SCS("set_max_contacts_reported"),_SCS("get_max_contacts_reported"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"contact_monitor"),_SCS("set_contact_monitor"),_SCS("is_contact_monitor_enabled"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"sleeping"),_SCS("set_sleeping"),_SCS("is_sleeping"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"can_sleep"),_SCS("set_can_sleep"),_SCS("is_able_to_sleep"));
ADD_PROPERTY( PropertyInfo(Variant::INT,"axis_lock",PROPERTY_HINT_ENUM,"Disabled,Lock X,Lock Y,Lock Z"),_SCS("set_axis_lock"),_SCS("get_axis_lock"));
ADD_PROPERTY( PropertyInfo(Variant::VECTOR3,"velocity/linear"),_SCS("set_linear_velocity"),_SCS("get_linear_velocity"));
ADD_PROPERTY( PropertyInfo(Variant::VECTOR3,"velocity/angular"),_SCS("set_angular_velocity"),_SCS("get_angular_velocity"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"damp_override/linear",PROPERTY_HINT_RANGE,"-1,128,0.01"),_SCS("set_linear_damp"),_SCS("get_linear_damp"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"damp_override/angular",PROPERTY_HINT_RANGE,"-1,128,0.01"),_SCS("set_angular_damp"),_SCS("get_angular_damp"));
ADD_SIGNAL( MethodInfo("body_enter_shape",PropertyInfo(Variant::INT,"body_id"),PropertyInfo(Variant::OBJECT,"body"),PropertyInfo(Variant::INT,"body_shape"),PropertyInfo(Variant::INT,"local_shape")));
ADD_SIGNAL( MethodInfo("body_exit_shape",PropertyInfo(Variant::INT,"body_id"),PropertyInfo(Variant::OBJECT,"body"),PropertyInfo(Variant::INT,"body_shape"),PropertyInfo(Variant::INT,"local_shape")));
ADD_SIGNAL( MethodInfo("body_enter",PropertyInfo(Variant::OBJECT,"body")));
ADD_SIGNAL( MethodInfo("body_exit",PropertyInfo(Variant::OBJECT,"body")));
ADD_SIGNAL( MethodInfo("sleeping_state_changed"));
BIND_CONSTANT( MODE_STATIC );
BIND_CONSTANT( MODE_KINEMATIC );
BIND_CONSTANT( MODE_RIGID );
BIND_CONSTANT( MODE_CHARACTER );
}
RigidBody::RigidBody() : PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {
mode=MODE_RIGID;
bounce=0;
mass=1;
friction=1;
max_contacts_reported=0;
state=NULL;
gravity_scale=1;
linear_damp=-1;
angular_damp=-1;
//angular_velocity=0;
sleeping=false;
ccd=false;
custom_integrator=false;
contact_monitor=NULL;
can_sleep=true;
axis_lock = AXIS_LOCK_DISABLED;
PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),this,"_direct_state_changed");
}
RigidBody::~RigidBody() {
if (contact_monitor)
memdelete( contact_monitor );
}
//////////////////////////////////////////////////////
//////////////////////////
Variant KinematicBody::_get_collider() const {
ObjectID oid=get_collider();
if (oid==0)
return Variant();
Object *obj = ObjectDB::get_instance(oid);
if (!obj)
return Variant();
Reference *ref = obj->cast_to<Reference>();
if (ref) {
return Ref<Reference>(ref);
}
return obj;
}
bool KinematicBody::_ignores_mode(PhysicsServer::BodyMode p_mode) const {
switch(p_mode) {
case PhysicsServer::BODY_MODE_STATIC: return !collide_static;
case PhysicsServer::BODY_MODE_KINEMATIC: return !collide_kinematic;
case PhysicsServer::BODY_MODE_RIGID: return !collide_rigid;
case PhysicsServer::BODY_MODE_CHARACTER: return !collide_character;
}
return true;
}
Vector3 KinematicBody::move(const Vector3& p_motion) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
//what it does is simpler than using physics
//this took about a week to get right..
//but is it right? who knows at this point..
colliding=false;
ERR_FAIL_COND_V(!is_inside_tree(),Vector3());
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
ERR_FAIL_COND_V(!dss,Vector3());
const int max_shapes=32;
Vector3 sr[max_shapes*2];
int res_shapes;
Set<RID> exclude;
exclude.insert(get_rid());
//recover first
int recover_attempts=4;
bool collided=false;
uint32_t mask=0;
if (collide_static)
mask|=PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
mask|=PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
mask|=PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
mask|=PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
// print_line("motion: "+p_motion+" margin: "+rtos(margin));
//print_line("margin: "+rtos(margin));
float m = margin;
//m=0.001;
do {
//motion recover
for(int i=0;i<get_shape_count();i++) {
if (is_shape_set_as_trigger(i))
continue;
if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),m,sr,max_shapes,res_shapes,exclude,get_layer_mask(),mask)) {
collided=true;
}
}
if (!collided)
break;
//print_line("have to recover");
Vector3 recover_motion;
bool all_outside=true;
for(int j=0;j<8;j++) {
for(int i=0;i<res_shapes;i++) {
Vector3 a = sr[i*2+0];
Vector3 b = sr[i*2+1];
//print_line(String()+a+" -> "+b);
#if 0
float d = a.distance_to(b);
//if (d<margin)
/// continue;
///
///
recover_motion+=(b-a)*0.2;
#else
float dist = a.distance_to(b);
if (dist>CMP_EPSILON) {
Vector3 norm = (b-a).normalized();
if (dist>margin*0.5)
all_outside=false;
float adv = norm.dot(recover_motion);
//print_line(itos(i)+" dist: "+rtos(dist)+" adv: "+rtos(adv));
recover_motion+=norm*MAX(dist-adv,0)*0.4;
}
#endif
}
}
if (recover_motion==Vector3()) {
collided=false;
break;
}
//print_line("**** RECOVER: "+recover_motion);
Transform gt = get_global_transform();
gt.origin+=recover_motion;
set_global_transform(gt);
recover_attempts--;
if (all_outside)
break;
} while (recover_attempts);
//move second
float safe = 1.0;
float unsafe = 1.0;
int best_shape=-1;
PhysicsDirectSpaceState::ShapeRestInfo rest;
//print_line("pos: "+get_global_transform().origin);
//print_line("motion: "+p_motion);
for(int i=0;i<get_shape_count();i++) {
if (is_shape_set_as_trigger(i))
continue;
float lsafe,lunsafe;
PhysicsDirectSpaceState::ShapeRestInfo lrest;
bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion,0, lsafe,lunsafe,exclude,get_layer_mask(),mask,&lrest);
//print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
if (!valid) {
safe=0;
unsafe=0;
best_shape=i; //sadly it's the best
//print_line("initial stuck");
break;
}
if (lsafe==1.0) {
//print_line("initial free");
continue;
}
if (lsafe < safe) {
//print_line("initial at "+rtos(lsafe));
safe=lsafe;
safe=MAX(0,lsafe-0.01);
unsafe=lunsafe;
best_shape=i;
rest=lrest;
}
}
//print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
if (safe>=1) {
//not collided
colliding=false;
} else {
colliding=true;
if (true || (safe==0 && unsafe==0)) { //use it always because it's more precise than GJK
//no advance, use rest info from collision
Transform ugt = get_global_transform();
ugt.origin+=p_motion*unsafe;
PhysicsDirectSpaceState::ShapeRestInfo rest_info;
bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt*get_shape_transform(best_shape), m,&rest,exclude,get_layer_mask(),mask);
if (!c2) {
//should not happen, but floating point precision is so weird..
colliding=false;
}
// print_line("Rest Travel: "+rest.normal);
}
if (colliding) {
collision=rest.point;
normal=rest.normal;
collider=rest.collider_id;
collider_vel=rest.linear_velocity;
collider_shape=rest.shape;
}
}
Vector3 motion=p_motion*safe;
//if (colliding)
// motion+=normal*0.001;
Transform gt = get_global_transform();
gt.origin+=motion;
set_global_transform(gt);
return p_motion-motion;
}
Vector3 KinematicBody::move_to(const Vector3& p_position) {
return move(p_position-get_global_transform().origin);
}
bool KinematicBody::can_teleport_to(const Vector3& p_position) {
ERR_FAIL_COND_V(!is_inside_tree(),false);
PhysicsDirectSpaceState *dss = PhysicsServer::get_singleton()->space_get_direct_state(get_world()->get_space());
ERR_FAIL_COND_V(!dss,false);
uint32_t mask=0;
if (collide_static)
mask|=PhysicsDirectSpaceState::TYPE_MASK_STATIC_BODY;
if (collide_kinematic)
mask|=PhysicsDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
if (collide_rigid)
mask|=PhysicsDirectSpaceState::TYPE_MASK_RIGID_BODY;
if (collide_character)
mask|=PhysicsDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
Transform xform=get_global_transform();
xform.origin=p_position;
Set<RID> exclude;
exclude.insert(get_rid());
for(int i=0;i<get_shape_count();i++) {
if (is_shape_set_as_trigger(i))
continue;
bool col = dss->intersect_shape(get_shape(i)->get_rid(), xform * get_shape_transform(i),0,NULL,1,exclude,get_layer_mask(),mask);
if (col)
return false;
}
return true;
}
bool KinematicBody::is_colliding() const {
ERR_FAIL_COND_V(!is_inside_tree(),false);
return colliding;
}
Vector3 KinematicBody::get_collision_pos() const {
ERR_FAIL_COND_V(!colliding,Vector3());
return collision;
}
Vector3 KinematicBody::get_collision_normal() const {
ERR_FAIL_COND_V(!colliding,Vector3());
return normal;
}
Vector3 KinematicBody::get_collider_velocity() const {
return collider_vel;
}
ObjectID KinematicBody::get_collider() const {
ERR_FAIL_COND_V(!colliding,0);
return collider;
}
int KinematicBody::get_collider_shape() const {
ERR_FAIL_COND_V(!colliding,-1);
return collider_shape;
}
void KinematicBody::set_collide_with_static_bodies(bool p_enable) {
collide_static=p_enable;
}
bool KinematicBody::can_collide_with_static_bodies() const {
return collide_static;
}
void KinematicBody::set_collide_with_rigid_bodies(bool p_enable) {
collide_rigid=p_enable;
}
bool KinematicBody::can_collide_with_rigid_bodies() const {
return collide_rigid;
}
void KinematicBody::set_collide_with_kinematic_bodies(bool p_enable) {
collide_kinematic=p_enable;
}
bool KinematicBody::can_collide_with_kinematic_bodies() const {
return collide_kinematic;
}
void KinematicBody::set_collide_with_character_bodies(bool p_enable) {
collide_character=p_enable;
}
bool KinematicBody::can_collide_with_character_bodies() const {
return collide_character;
}
void KinematicBody::set_collision_margin(float p_margin) {
margin=p_margin;
}
float KinematicBody::get_collision_margin() const{
return margin;
}
void KinematicBody::_bind_methods() {
ObjectTypeDB::bind_method(_MD("move","rel_vec"),&KinematicBody::move);
ObjectTypeDB::bind_method(_MD("move_to","position"),&KinematicBody::move_to);
ObjectTypeDB::bind_method(_MD("can_teleport_to","position"),&KinematicBody::can_teleport_to);
ObjectTypeDB::bind_method(_MD("is_colliding"),&KinematicBody::is_colliding);
ObjectTypeDB::bind_method(_MD("get_collision_pos"),&KinematicBody::get_collision_pos);
ObjectTypeDB::bind_method(_MD("get_collision_normal"),&KinematicBody::get_collision_normal);
ObjectTypeDB::bind_method(_MD("get_collider_velocity"),&KinematicBody::get_collider_velocity);
ObjectTypeDB::bind_method(_MD("get_collider:Variant"),&KinematicBody::_get_collider);
ObjectTypeDB::bind_method(_MD("get_collider_shape"),&KinematicBody::get_collider_shape);
ObjectTypeDB::bind_method(_MD("set_collide_with_static_bodies","enable"),&KinematicBody::set_collide_with_static_bodies);
ObjectTypeDB::bind_method(_MD("can_collide_with_static_bodies"),&KinematicBody::can_collide_with_static_bodies);
ObjectTypeDB::bind_method(_MD("set_collide_with_kinematic_bodies","enable"),&KinematicBody::set_collide_with_kinematic_bodies);
ObjectTypeDB::bind_method(_MD("can_collide_with_kinematic_bodies"),&KinematicBody::can_collide_with_kinematic_bodies);
ObjectTypeDB::bind_method(_MD("set_collide_with_rigid_bodies","enable"),&KinematicBody::set_collide_with_rigid_bodies);
ObjectTypeDB::bind_method(_MD("can_collide_with_rigid_bodies"),&KinematicBody::can_collide_with_rigid_bodies);
ObjectTypeDB::bind_method(_MD("set_collide_with_character_bodies","enable"),&KinematicBody::set_collide_with_character_bodies);
ObjectTypeDB::bind_method(_MD("can_collide_with_character_bodies"),&KinematicBody::can_collide_with_character_bodies);
ObjectTypeDB::bind_method(_MD("set_collision_margin","pixels"),&KinematicBody::set_collision_margin);
ObjectTypeDB::bind_method(_MD("get_collision_margin","pixels"),&KinematicBody::get_collision_margin);
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/static"),_SCS("set_collide_with_static_bodies"),_SCS("can_collide_with_static_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/kinematic"),_SCS("set_collide_with_kinematic_bodies"),_SCS("can_collide_with_kinematic_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/rigid"),_SCS("set_collide_with_rigid_bodies"),_SCS("can_collide_with_rigid_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/character"),_SCS("set_collide_with_character_bodies"),_SCS("can_collide_with_character_bodies"));
ADD_PROPERTY( PropertyInfo(Variant::REAL,"collision/margin",PROPERTY_HINT_RANGE,"0.001,256,0.001"),_SCS("set_collision_margin"),_SCS("get_collision_margin"));
}
KinematicBody::KinematicBody() : PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC){
collide_static=true;
collide_rigid=true;
collide_kinematic=true;
collide_character=true;
colliding=false;
collider=0;
margin=0.001;
collider_shape=0;
}
KinematicBody::~KinematicBody() {
}
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