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1978 lines
62 KiB
C++
1978 lines
62 KiB
C++
/**************************************************************************/
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/* jolt_physics_server_3d.cpp */
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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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#include "jolt_physics_server_3d.h"
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#include "joints/jolt_cone_twist_joint_3d.h"
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#include "joints/jolt_generic_6dof_joint_3d.h"
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#include "joints/jolt_hinge_joint_3d.h"
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#include "joints/jolt_joint_3d.h"
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#include "joints/jolt_pin_joint_3d.h"
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#include "joints/jolt_slider_joint_3d.h"
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#include "objects/jolt_area_3d.h"
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#include "objects/jolt_body_3d.h"
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#include "objects/jolt_soft_body_3d.h"
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#include "servers/physics_server_3d_wrap_mt.h"
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#include "shapes/jolt_box_shape_3d.h"
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#include "shapes/jolt_capsule_shape_3d.h"
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#include "shapes/jolt_concave_polygon_shape_3d.h"
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#include "shapes/jolt_convex_polygon_shape_3d.h"
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#include "shapes/jolt_cylinder_shape_3d.h"
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#include "shapes/jolt_height_map_shape_3d.h"
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#include "shapes/jolt_separation_ray_shape_3d.h"
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#include "shapes/jolt_sphere_shape_3d.h"
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#include "shapes/jolt_world_boundary_shape_3d.h"
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#include "spaces/jolt_job_system.h"
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#include "spaces/jolt_physics_direct_space_state_3d.h"
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#include "spaces/jolt_space_3d.h"
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JoltPhysicsServer3D::JoltPhysicsServer3D(bool p_on_separate_thread) :
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on_separate_thread(p_on_separate_thread) {
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singleton = this;
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}
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JoltPhysicsServer3D::~JoltPhysicsServer3D() {
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if (singleton == this) {
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singleton = nullptr;
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}
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}
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RID JoltPhysicsServer3D::world_boundary_shape_create() {
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JoltShape3D *shape = memnew(JoltWorldBoundaryShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::separation_ray_shape_create() {
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JoltShape3D *shape = memnew(JoltSeparationRayShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::sphere_shape_create() {
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JoltShape3D *shape = memnew(JoltSphereShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::box_shape_create() {
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JoltShape3D *shape = memnew(JoltBoxShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::capsule_shape_create() {
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JoltShape3D *shape = memnew(JoltCapsuleShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::cylinder_shape_create() {
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JoltShape3D *shape = memnew(JoltCylinderShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::convex_polygon_shape_create() {
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JoltShape3D *shape = memnew(JoltConvexPolygonShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::concave_polygon_shape_create() {
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JoltShape3D *shape = memnew(JoltConcavePolygonShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::heightmap_shape_create() {
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JoltShape3D *shape = memnew(JoltHeightMapShape3D);
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RID rid = shape_owner.make_rid(shape);
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shape->set_rid(rid);
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return rid;
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}
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RID JoltPhysicsServer3D::custom_shape_create() {
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ERR_FAIL_V_MSG(RID(), "Custom shapes are not supported.");
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}
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void JoltPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) {
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JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL(shape);
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shape->set_data(p_data);
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}
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Variant JoltPhysicsServer3D::shape_get_data(RID p_shape) const {
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const JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL_V(shape, Variant());
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return shape->get_data();
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}
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void JoltPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
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JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL(shape);
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shape->set_solver_bias((float)p_bias);
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}
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PhysicsServer3D::ShapeType JoltPhysicsServer3D::shape_get_type(RID p_shape) const {
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const JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL_V(shape, SHAPE_CUSTOM);
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return shape->get_type();
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}
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void JoltPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) {
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JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL(shape);
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shape->set_margin((float)p_margin);
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}
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real_t JoltPhysicsServer3D::shape_get_margin(RID p_shape) const {
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const JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL_V(shape, 0.0);
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return (real_t)shape->get_margin();
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}
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real_t JoltPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const {
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const JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL_V(shape, 0.0);
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return (real_t)shape->get_solver_bias();
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}
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RID JoltPhysicsServer3D::space_create() {
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JoltSpace3D *space = memnew(JoltSpace3D(job_system));
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RID rid = space_owner.make_rid(space);
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space->set_rid(rid);
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const RID default_area_rid = area_create();
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JoltArea3D *default_area = area_owner.get_or_null(default_area_rid);
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ERR_FAIL_NULL_V(default_area, RID());
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space->set_default_area(default_area);
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default_area->set_space(space);
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return rid;
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}
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void JoltPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
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JoltSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL(space);
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if (p_active) {
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space->set_active(true);
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active_spaces.insert(space);
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} else {
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space->set_active(false);
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active_spaces.erase(space);
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}
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}
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bool JoltPhysicsServer3D::space_is_active(RID p_space) const {
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JoltSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL_V(space, false);
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return active_spaces.has(space);
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}
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void JoltPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
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JoltSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL(space);
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space->set_param(p_param, (double)p_value);
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}
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real_t JoltPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const {
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const JoltSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL_V(space, 0.0);
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return (real_t)space->get_param(p_param);
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}
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PhysicsDirectSpaceState3D *JoltPhysicsServer3D::space_get_direct_state(RID p_space) {
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JoltSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL_V(space, nullptr);
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ERR_FAIL_COND_V_MSG((on_separate_thread && !doing_sync) || space->is_stepping(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
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return space->get_direct_state();
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}
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void JoltPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
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#ifdef DEBUG_ENABLED
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JoltSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL(space);
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space->set_max_debug_contacts(p_max_contacts);
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#endif
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}
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PackedVector3Array JoltPhysicsServer3D::space_get_contacts(RID p_space) const {
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#ifdef DEBUG_ENABLED
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JoltSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL_V(space, PackedVector3Array());
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return space->get_debug_contacts();
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#else
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return PackedVector3Array();
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#endif
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}
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int JoltPhysicsServer3D::space_get_contact_count(RID p_space) const {
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#ifdef DEBUG_ENABLED
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JoltSpace3D *space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL_V(space, 0);
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return space->get_debug_contact_count();
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#else
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return 0;
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#endif
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}
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RID JoltPhysicsServer3D::area_create() {
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JoltArea3D *area = memnew(JoltArea3D);
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RID rid = area_owner.make_rid(area);
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area->set_rid(rid);
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return rid;
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}
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void JoltPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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JoltSpace3D *space = nullptr;
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if (p_space.is_valid()) {
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space = space_owner.get_or_null(p_space);
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ERR_FAIL_NULL(space);
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}
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area->set_space(space);
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}
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RID JoltPhysicsServer3D::area_get_space(RID p_area) const {
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const JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL_V(area, RID());
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const JoltSpace3D *space = area->get_space();
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if (space == nullptr) {
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return RID();
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}
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return space->get_rid();
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}
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void JoltPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL(shape);
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area->add_shape(shape, p_transform, p_disabled);
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}
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void JoltPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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JoltShape3D *shape = shape_owner.get_or_null(p_shape);
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ERR_FAIL_NULL(shape);
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area->set_shape(p_shape_idx, shape);
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}
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RID JoltPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const {
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const JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL_V(area, RID());
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const JoltShape3D *shape = area->get_shape(p_shape_idx);
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ERR_FAIL_NULL_V(shape, RID());
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return shape->get_rid();
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}
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void JoltPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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area->set_shape_transform(p_shape_idx, p_transform);
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}
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Transform3D JoltPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
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const JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL_V(area, Transform3D());
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return area->get_shape_transform_scaled(p_shape_idx);
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}
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int JoltPhysicsServer3D::area_get_shape_count(RID p_area) const {
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const JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL_V(area, 0);
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return area->get_shape_count();
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}
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void JoltPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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area->remove_shape(p_shape_idx);
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}
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void JoltPhysicsServer3D::area_clear_shapes(RID p_area) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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area->clear_shapes();
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}
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void JoltPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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area->set_shape_disabled(p_shape_idx, p_disabled);
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}
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void JoltPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
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RID area_rid = p_area;
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if (space_owner.owns(area_rid)) {
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const JoltSpace3D *space = space_owner.get_or_null(area_rid);
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area_rid = space->get_default_area()->get_rid();
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}
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JoltArea3D *area = area_owner.get_or_null(area_rid);
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ERR_FAIL_NULL(area);
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area->set_instance_id(p_id);
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}
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ObjectID JoltPhysicsServer3D::area_get_object_instance_id(RID p_area) const {
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RID area_rid = p_area;
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if (space_owner.owns(area_rid)) {
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const JoltSpace3D *space = space_owner.get_or_null(area_rid);
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area_rid = space->get_default_area()->get_rid();
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}
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JoltArea3D *area = area_owner.get_or_null(area_rid);
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ERR_FAIL_NULL_V(area, ObjectID());
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return area->get_instance_id();
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}
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void JoltPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
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RID area_rid = p_area;
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if (space_owner.owns(area_rid)) {
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const JoltSpace3D *space = space_owner.get_or_null(area_rid);
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area_rid = space->get_default_area()->get_rid();
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}
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JoltArea3D *area = area_owner.get_or_null(area_rid);
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ERR_FAIL_NULL(area);
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area->set_param(p_param, p_value);
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}
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Variant JoltPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const {
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RID area_rid = p_area;
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if (space_owner.owns(area_rid)) {
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const JoltSpace3D *space = space_owner.get_or_null(area_rid);
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area_rid = space->get_default_area()->get_rid();
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}
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JoltArea3D *area = area_owner.get_or_null(area_rid);
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ERR_FAIL_NULL_V(area, Variant());
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return area->get_param(p_param);
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}
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void JoltPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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return area->set_transform(p_transform);
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}
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Transform3D JoltPhysicsServer3D::area_get_transform(RID p_area) const {
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const JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL_V(area, Transform3D());
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return area->get_transform_scaled();
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}
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void JoltPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
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JoltArea3D *area = area_owner.get_or_null(p_area);
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ERR_FAIL_NULL(area);
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area->set_collision_mask(p_mask);
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}
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|
|
uint32_t JoltPhysicsServer3D::area_get_collision_mask(RID p_area) const {
|
|
const JoltArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_NULL_V(area, 0);
|
|
|
|
return area->get_collision_mask();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
|
|
JoltArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_NULL(area);
|
|
|
|
area->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t JoltPhysicsServer3D::area_get_collision_layer(RID p_area) const {
|
|
const JoltArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_NULL_V(area, 0);
|
|
|
|
return area->get_collision_layer();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) {
|
|
JoltArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_NULL(area);
|
|
|
|
area->set_monitorable(p_monitorable);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::area_set_monitor_callback(RID p_area, const Callable &p_callback) {
|
|
JoltArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_NULL(area);
|
|
|
|
area->set_body_monitor_callback(p_callback);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) {
|
|
JoltArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_NULL(area);
|
|
|
|
area->set_area_monitor_callback(p_callback);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
|
|
JoltArea3D *area = area_owner.get_or_null(p_area);
|
|
ERR_FAIL_NULL(area);
|
|
|
|
area->set_pickable(p_enable);
|
|
}
|
|
|
|
RID JoltPhysicsServer3D::body_create() {
|
|
JoltBody3D *body = memnew(JoltBody3D);
|
|
RID rid = body_owner.make_rid(body);
|
|
body->set_rid(rid);
|
|
return rid;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
JoltSpace3D *space = nullptr;
|
|
|
|
if (p_space.is_valid()) {
|
|
space = space_owner.get_or_null(p_space);
|
|
ERR_FAIL_NULL(space);
|
|
}
|
|
|
|
body->set_space(space);
|
|
}
|
|
|
|
RID JoltPhysicsServer3D::body_get_space(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, RID());
|
|
|
|
const JoltSpace3D *space = body->get_space();
|
|
|
|
if (space == nullptr) {
|
|
return RID();
|
|
}
|
|
|
|
return space->get_rid();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_mode(RID p_body, BodyMode p_mode) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_mode(p_mode);
|
|
}
|
|
|
|
PhysicsServer3D::BodyMode JoltPhysicsServer3D::body_get_mode(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, BODY_MODE_STATIC);
|
|
|
|
return body->get_mode();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
JoltShape3D *shape = shape_owner.get_or_null(p_shape);
|
|
ERR_FAIL_NULL(shape);
|
|
|
|
body->add_shape(shape, p_transform, p_disabled);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
JoltShape3D *shape = shape_owner.get_or_null(p_shape);
|
|
ERR_FAIL_NULL(shape);
|
|
|
|
body->set_shape(p_shape_idx, shape);
|
|
}
|
|
|
|
RID JoltPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, RID());
|
|
|
|
const JoltShape3D *shape = body->get_shape(p_shape_idx);
|
|
ERR_FAIL_NULL_V(shape, RID());
|
|
|
|
return shape->get_rid();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_shape_transform(p_shape_idx, p_transform);
|
|
}
|
|
|
|
Transform3D JoltPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, Transform3D());
|
|
|
|
return body->get_shape_transform_scaled(p_shape_idx);
|
|
}
|
|
|
|
int JoltPhysicsServer3D::body_get_shape_count(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0);
|
|
|
|
return body->get_shape_count();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->remove_shape(p_shape_idx);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_clear_shapes(RID p_body) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->clear_shapes();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_shape_disabled(p_shape_idx, p_disabled);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
|
|
if (JoltBody3D *body = body_owner.get_or_null(p_body)) {
|
|
body->set_instance_id(p_id);
|
|
} else if (JoltSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body)) {
|
|
soft_body->set_instance_id(p_id);
|
|
} else {
|
|
ERR_FAIL();
|
|
}
|
|
}
|
|
|
|
ObjectID JoltPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, ObjectID());
|
|
|
|
return body->get_instance_id();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_ccd_enabled(p_enable);
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, false);
|
|
|
|
return body->is_ccd_enabled();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t JoltPhysicsServer3D::body_get_collision_layer(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t JoltPhysicsServer3D::body_get_collision_mask(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_collision_priority(RID p_body, real_t p_priority) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_collision_priority((float)p_priority);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::body_get_collision_priority(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0.0);
|
|
|
|
return (real_t)body->get_collision_priority();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
|
|
WARN_PRINT("Body user flags are not supported. Any such value will be ignored.");
|
|
}
|
|
|
|
uint32_t JoltPhysicsServer3D::body_get_user_flags(RID p_body) const {
|
|
return 0;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_param(p_param, p_value);
|
|
}
|
|
|
|
Variant JoltPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, Variant());
|
|
|
|
return body->get_param(p_param);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_reset_mass_properties(RID p_body) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->reset_mass_properties();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_value) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_state(p_state, p_value);
|
|
}
|
|
|
|
Variant JoltPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, Variant());
|
|
|
|
return body->get_state(p_state);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->apply_central_impulse(p_impulse);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->apply_impulse(p_impulse, p_position);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->apply_torque_impulse(p_impulse);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_apply_central_force(RID p_body, const Vector3 &p_force) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->apply_central_force(p_force);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->apply_force(p_force, p_position);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_apply_torque(RID p_body, const Vector3 &p_torque) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->apply_torque(p_torque);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_add_constant_central_force(RID p_body, const Vector3 &p_force) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->add_constant_central_force(p_force);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->add_constant_force(p_force, p_position);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_add_constant_torque(RID p_body, const Vector3 &p_torque) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->add_constant_torque(p_torque);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_constant_force(RID p_body, const Vector3 &p_force) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_constant_force(p_force);
|
|
}
|
|
|
|
Vector3 JoltPhysicsServer3D::body_get_constant_force(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, Vector3());
|
|
|
|
return body->get_constant_force();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_constant_torque(RID p_body, const Vector3 &p_torque) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_constant_torque(p_torque);
|
|
}
|
|
|
|
Vector3 JoltPhysicsServer3D::body_get_constant_torque(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, Vector3());
|
|
|
|
return body->get_constant_torque();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_axis_velocity(p_axis_velocity);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_axis_lock(p_axis, p_lock);
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, false);
|
|
|
|
return body->is_axis_locked(p_axis);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_excepted_body) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->add_collision_exception(p_excepted_body);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_excepted_body) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->remove_collision_exception(p_excepted_body);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
for (const RID &exception : body->get_collision_exceptions()) {
|
|
p_exceptions->push_back(exception);
|
|
}
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_amount) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_max_contacts_reported(p_amount);
|
|
}
|
|
|
|
int JoltPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
|
|
const JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0);
|
|
|
|
return body->get_max_contacts_reported();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
|
|
WARN_PRINT("Per-body contact depth threshold is not supported. Any such value will be ignored.");
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
|
|
return 0.0;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_enable) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_custom_integrator(p_enable);
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, false);
|
|
|
|
return body->has_custom_integrator();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_state_sync_callback(RID p_body, const Callable &p_callable) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_state_sync_callback(p_callable);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_userdata) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_custom_integration_callback(p_callable, p_userdata);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_pickable(p_enable);
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, false);
|
|
|
|
JoltSpace3D *space = body->get_space();
|
|
ERR_FAIL_NULL_V(space, false);
|
|
|
|
return space->get_direct_state()->body_test_motion(*body, p_parameters, r_result);
|
|
}
|
|
|
|
PhysicsDirectBodyState3D *JoltPhysicsServer3D::body_get_direct_state(RID p_body) {
|
|
ERR_FAIL_COND_V_MSG((on_separate_thread && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
|
|
|
|
JoltBody3D *body = body_owner.get_or_null(p_body);
|
|
if (unlikely(body == nullptr || body->get_space() == nullptr)) {
|
|
return nullptr;
|
|
}
|
|
|
|
ERR_FAIL_COND_V_MSG(body->get_space()->is_stepping(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
|
|
|
|
return body->get_direct_state();
|
|
}
|
|
|
|
RID JoltPhysicsServer3D::soft_body_create() {
|
|
JoltSoftBody3D *body = memnew(JoltSoftBody3D);
|
|
RID rid = soft_body_owner.make_rid(body);
|
|
body->set_rid(rid);
|
|
return rid;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_update_rendering_server(RID p_body, PhysicsServer3DRenderingServerHandler *p_rendering_server_handler) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->update_rendering_server(p_rendering_server_handler);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
JoltSpace3D *space = nullptr;
|
|
|
|
if (p_space.is_valid()) {
|
|
space = space_owner.get_or_null(p_space);
|
|
ERR_FAIL_NULL(space);
|
|
}
|
|
|
|
body->set_space(space);
|
|
}
|
|
|
|
RID JoltPhysicsServer3D::soft_body_get_space(RID p_body) const {
|
|
const JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, RID());
|
|
|
|
const JoltSpace3D *space = body->get_space();
|
|
|
|
if (space == nullptr) {
|
|
return RID();
|
|
}
|
|
|
|
return space->get_rid();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_mesh(p_mesh);
|
|
}
|
|
|
|
AABB JoltPhysicsServer3D::soft_body_get_bounds(RID p_body) const {
|
|
const JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, AABB());
|
|
|
|
return body->get_bounds();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
}
|
|
|
|
uint32_t JoltPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const {
|
|
const JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
}
|
|
|
|
uint32_t JoltPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const {
|
|
const JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0);
|
|
|
|
return body->get_collision_mask();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_excepted_body) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->add_collision_exception(p_excepted_body);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_excepted_body) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->remove_collision_exception(p_excepted_body);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
const JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
for (const RID &exception : body->get_collision_exceptions()) {
|
|
p_exceptions->push_back(exception);
|
|
}
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_value) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_state(p_state, p_value);
|
|
}
|
|
|
|
Variant JoltPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, Variant());
|
|
|
|
return body->get_state(p_state);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_transform(p_transform);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_pickable(p_enable);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_precision) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_simulation_precision(p_precision);
|
|
}
|
|
|
|
int JoltPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0);
|
|
|
|
return body->get_simulation_precision();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_mass((float)p_total_mass);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0.0);
|
|
|
|
return (real_t)body->get_mass();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_coefficient) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_stiffness_coefficient((float)p_coefficient);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0.0);
|
|
|
|
return (real_t)body->get_stiffness_coefficient();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_coefficient) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_pressure((float)p_coefficient);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0.0);
|
|
|
|
return (real_t)body->get_pressure();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_coefficient) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_linear_damping((float)p_coefficient);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0.0);
|
|
|
|
return (real_t)body->get_linear_damping();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_coefficient) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
return body->set_drag((float)p_coefficient);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, 0.0);
|
|
|
|
return (real_t)body->get_drag();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->set_vertex_position(p_point_index, p_global_position);
|
|
}
|
|
|
|
Vector3 JoltPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, Vector3());
|
|
|
|
return body->get_vertex_position(p_point_index);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
body->unpin_all_vertices();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL(body);
|
|
|
|
if (p_pin) {
|
|
body->pin_vertex(p_point_index);
|
|
} else {
|
|
body->unpin_vertex(p_point_index);
|
|
}
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
|
|
JoltSoftBody3D *body = soft_body_owner.get_or_null(p_body);
|
|
ERR_FAIL_NULL_V(body, false);
|
|
|
|
return body->is_vertex_pinned(p_point_index);
|
|
}
|
|
|
|
RID JoltPhysicsServer3D::joint_create() {
|
|
JoltJoint3D *joint = memnew(JoltJoint3D);
|
|
RID rid = joint_owner.make_rid(joint);
|
|
joint->set_rid(rid);
|
|
return rid;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_clear(RID p_joint) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
if (joint->get_type() != JOINT_TYPE_MAX) {
|
|
JoltJoint3D *empty_joint = memnew(JoltJoint3D);
|
|
empty_joint->set_rid(joint->get_rid());
|
|
|
|
memdelete(joint);
|
|
joint = nullptr;
|
|
|
|
joint_owner.replace(p_joint, empty_joint);
|
|
}
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_make_pin(RID p_joint, RID p_body_a, const Vector3 &p_local_a, RID p_body_b, const Vector3 &p_local_b) {
|
|
JoltJoint3D *old_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(old_joint);
|
|
|
|
JoltBody3D *body_a = body_owner.get_or_null(p_body_a);
|
|
ERR_FAIL_NULL(body_a);
|
|
|
|
JoltBody3D *body_b = body_owner.get_or_null(p_body_b);
|
|
ERR_FAIL_COND(body_a == body_b);
|
|
|
|
JoltJoint3D *new_joint = memnew(JoltPinJoint3D(*old_joint, body_a, body_b, p_local_a, p_local_b));
|
|
|
|
memdelete(old_joint);
|
|
old_joint = nullptr;
|
|
|
|
joint_owner.replace(p_joint, new_joint);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
|
|
JoltPinJoint3D *pin_joint = static_cast<JoltPinJoint3D *>(joint);
|
|
|
|
pin_joint->set_param(p_param, (double)p_value);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0.0);
|
|
const JoltPinJoint3D *pin_joint = static_cast<const JoltPinJoint3D *>(joint);
|
|
|
|
return (real_t)pin_joint->get_param(p_param);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_local_a) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
|
|
JoltPinJoint3D *pin_joint = static_cast<JoltPinJoint3D *>(joint);
|
|
|
|
pin_joint->set_local_a(p_local_a);
|
|
}
|
|
|
|
Vector3 JoltPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, Vector3());
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
|
|
const JoltPinJoint3D *pin_joint = static_cast<const JoltPinJoint3D *>(joint);
|
|
|
|
return pin_joint->get_local_a();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_local_b) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
|
|
JoltPinJoint3D *pin_joint = static_cast<JoltPinJoint3D *>(joint);
|
|
|
|
pin_joint->set_local_b(p_local_b);
|
|
}
|
|
|
|
Vector3 JoltPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, Vector3());
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
|
|
const JoltPinJoint3D *pin_joint = static_cast<const JoltPinJoint3D *>(joint);
|
|
|
|
return pin_joint->get_local_b();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_make_hinge(RID p_joint, RID p_body_a, const Transform3D &p_hinge_a, RID p_body_b, const Transform3D &p_hinge_b) {
|
|
JoltJoint3D *old_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(old_joint);
|
|
|
|
JoltBody3D *body_a = body_owner.get_or_null(p_body_a);
|
|
ERR_FAIL_NULL(body_a);
|
|
|
|
JoltBody3D *body_b = body_owner.get_or_null(p_body_b);
|
|
ERR_FAIL_COND(body_a == body_b);
|
|
|
|
JoltJoint3D *new_joint = memnew(JoltHingeJoint3D(*old_joint, body_a, body_b, p_hinge_a, p_hinge_b));
|
|
|
|
memdelete(old_joint);
|
|
old_joint = nullptr;
|
|
|
|
joint_owner.replace(p_joint, new_joint);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_make_hinge_simple(RID p_joint, RID p_body_a, const Vector3 &p_pivot_a, const Vector3 &p_axis_a, RID p_body_b, const Vector3 &p_pivot_b, const Vector3 &p_axis_b) {
|
|
ERR_FAIL_MSG("Simple hinge joints are not supported when using Jolt Physics.");
|
|
}
|
|
|
|
void JoltPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
|
|
JoltHingeJoint3D *hinge_joint = static_cast<JoltHingeJoint3D *>(joint);
|
|
|
|
return hinge_joint->set_param(p_param, (double)p_value);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0.0);
|
|
const JoltHingeJoint3D *hinge_joint = static_cast<const JoltHingeJoint3D *>(joint);
|
|
|
|
return (real_t)hinge_joint->get_param(p_param);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_enabled) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
|
|
JoltHingeJoint3D *hinge_joint = static_cast<JoltHingeJoint3D *>(joint);
|
|
|
|
return hinge_joint->set_flag(p_flag, p_enabled);
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, false);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, false);
|
|
const JoltHingeJoint3D *hinge_joint = static_cast<const JoltHingeJoint3D *>(joint);
|
|
|
|
return hinge_joint->get_flag(p_flag);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_make_slider(RID p_joint, RID p_body_a, const Transform3D &p_local_ref_a, RID p_body_b, const Transform3D &p_local_ref_b) {
|
|
JoltJoint3D *old_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(old_joint);
|
|
|
|
JoltBody3D *body_a = body_owner.get_or_null(p_body_a);
|
|
ERR_FAIL_NULL(body_a);
|
|
|
|
JoltBody3D *body_b = body_owner.get_or_null(p_body_b);
|
|
ERR_FAIL_COND(body_a == body_b);
|
|
|
|
JoltJoint3D *new_joint = memnew(JoltSliderJoint3D(*old_joint, body_a, body_b, p_local_ref_a, p_local_ref_b));
|
|
|
|
memdelete(old_joint);
|
|
old_joint = nullptr;
|
|
|
|
joint_owner.replace(p_joint, new_joint);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER);
|
|
JoltSliderJoint3D *slider_joint = static_cast<JoltSliderJoint3D *>(joint);
|
|
|
|
return slider_joint->set_param(p_param, (real_t)p_value);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_SLIDER, 0.0);
|
|
const JoltSliderJoint3D *slider_joint = static_cast<const JoltSliderJoint3D *>(joint);
|
|
|
|
return slider_joint->get_param(p_param);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_make_cone_twist(RID p_joint, RID p_body_a, const Transform3D &p_local_ref_a, RID p_body_b, const Transform3D &p_local_ref_b) {
|
|
JoltJoint3D *old_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(old_joint);
|
|
|
|
JoltBody3D *body_a = body_owner.get_or_null(p_body_a);
|
|
ERR_FAIL_NULL(body_a);
|
|
|
|
JoltBody3D *body_b = body_owner.get_or_null(p_body_b);
|
|
ERR_FAIL_COND(body_a == body_b);
|
|
|
|
JoltJoint3D *new_joint = memnew(JoltConeTwistJoint3D(*old_joint, body_a, body_b, p_local_ref_a, p_local_ref_b));
|
|
|
|
memdelete(old_joint);
|
|
old_joint = nullptr;
|
|
|
|
joint_owner.replace(p_joint, new_joint);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST);
|
|
JoltConeTwistJoint3D *cone_twist_joint = static_cast<JoltConeTwistJoint3D *>(joint);
|
|
|
|
return cone_twist_joint->set_param(p_param, (double)p_value);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0.0);
|
|
const JoltConeTwistJoint3D *cone_twist_joint = static_cast<const JoltConeTwistJoint3D *>(joint);
|
|
|
|
return (real_t)cone_twist_joint->get_param(p_param);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_make_generic_6dof(RID p_joint, RID p_body_a, const Transform3D &p_local_ref_a, RID p_body_b, const Transform3D &p_local_ref_b) {
|
|
JoltJoint3D *old_joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(old_joint);
|
|
|
|
JoltBody3D *body_a = body_owner.get_or_null(p_body_a);
|
|
ERR_FAIL_NULL(body_a);
|
|
|
|
JoltBody3D *body_b = body_owner.get_or_null(p_body_b);
|
|
ERR_FAIL_COND(body_a == body_b);
|
|
|
|
JoltJoint3D *new_joint = memnew(JoltGeneric6DOFJoint3D(*old_joint, body_a, body_b, p_local_ref_a, p_local_ref_b));
|
|
|
|
memdelete(old_joint);
|
|
old_joint = nullptr;
|
|
|
|
joint_owner.replace(p_joint, new_joint);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
|
|
JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->set_param(p_axis, p_param, (double)p_value);
|
|
}
|
|
|
|
real_t JoltPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0.0);
|
|
const JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<const JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return (real_t)g6dof_joint->get_param(p_axis, p_param);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_enable) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
|
|
JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->set_flag(p_axis, p_flag, p_enable);
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, false);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, false);
|
|
const JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<const JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->get_flag(p_axis, p_flag);
|
|
}
|
|
|
|
PhysicsServer3D::JointType JoltPhysicsServer3D::joint_get_type(RID p_joint) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, JOINT_TYPE_PIN);
|
|
|
|
return joint->get_type();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
joint->set_solver_priority(p_priority);
|
|
}
|
|
|
|
int JoltPhysicsServer3D::joint_get_solver_priority(RID p_joint) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0);
|
|
|
|
return joint->get_solver_priority();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, bool p_disable) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
joint->set_collision_disabled(p_disable);
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, false);
|
|
|
|
return joint->is_collision_disabled();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::free(RID p_rid) {
|
|
if (JoltShape3D *shape = shape_owner.get_or_null(p_rid)) {
|
|
free_shape(shape);
|
|
} else if (JoltBody3D *body = body_owner.get_or_null(p_rid)) {
|
|
free_body(body);
|
|
} else if (JoltJoint3D *joint = joint_owner.get_or_null(p_rid)) {
|
|
free_joint(joint);
|
|
} else if (JoltArea3D *area = area_owner.get_or_null(p_rid)) {
|
|
free_area(area);
|
|
} else if (JoltSoftBody3D *soft_body = soft_body_owner.get_or_null(p_rid)) {
|
|
free_soft_body(soft_body);
|
|
} else if (JoltSpace3D *space = space_owner.get_or_null(p_rid)) {
|
|
free_space(space);
|
|
} else {
|
|
ERR_FAIL_MSG("Failed to free RID: The specified RID has no owner.");
|
|
}
|
|
}
|
|
|
|
void JoltPhysicsServer3D::set_active(bool p_active) {
|
|
active = p_active;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::init() {
|
|
job_system = new JoltJobSystem();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::finish() {
|
|
if (job_system != nullptr) {
|
|
delete job_system;
|
|
job_system = nullptr;
|
|
}
|
|
}
|
|
|
|
void JoltPhysicsServer3D::step(real_t p_step) {
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
for (JoltSpace3D *active_space : active_spaces) {
|
|
job_system->pre_step();
|
|
|
|
active_space->step((float)p_step);
|
|
|
|
job_system->post_step();
|
|
}
|
|
}
|
|
|
|
void JoltPhysicsServer3D::sync() {
|
|
doing_sync = true;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::end_sync() {
|
|
doing_sync = false;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::flush_queries() {
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
flushing_queries = true;
|
|
|
|
for (JoltSpace3D *space : active_spaces) {
|
|
space->call_queries();
|
|
}
|
|
|
|
flushing_queries = false;
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
job_system->flush_timings();
|
|
#endif
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::is_flushing_queries() const {
|
|
return flushing_queries;
|
|
}
|
|
|
|
int JoltPhysicsServer3D::get_process_info(ProcessInfo p_process_info) {
|
|
return 0;
|
|
}
|
|
|
|
void JoltPhysicsServer3D::free_space(JoltSpace3D *p_space) {
|
|
ERR_FAIL_NULL(p_space);
|
|
|
|
free_area(p_space->get_default_area());
|
|
space_set_active(p_space->get_rid(), false);
|
|
space_owner.free(p_space->get_rid());
|
|
memdelete(p_space);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::free_area(JoltArea3D *p_area) {
|
|
ERR_FAIL_NULL(p_area);
|
|
|
|
p_area->set_space(nullptr);
|
|
area_owner.free(p_area->get_rid());
|
|
memdelete(p_area);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::free_body(JoltBody3D *p_body) {
|
|
ERR_FAIL_NULL(p_body);
|
|
|
|
p_body->set_space(nullptr);
|
|
body_owner.free(p_body->get_rid());
|
|
memdelete(p_body);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::free_soft_body(JoltSoftBody3D *p_body) {
|
|
ERR_FAIL_NULL(p_body);
|
|
|
|
p_body->set_space(nullptr);
|
|
soft_body_owner.free(p_body->get_rid());
|
|
memdelete(p_body);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::free_shape(JoltShape3D *p_shape) {
|
|
ERR_FAIL_NULL(p_shape);
|
|
|
|
p_shape->remove_self();
|
|
shape_owner.free(p_shape->get_rid());
|
|
memdelete(p_shape);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::free_joint(JoltJoint3D *p_joint) {
|
|
ERR_FAIL_NULL(p_joint);
|
|
|
|
joint_owner.free(p_joint->get_rid());
|
|
memdelete(p_joint);
|
|
}
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
|
|
void JoltPhysicsServer3D::dump_debug_snapshots(const String &p_dir) {
|
|
for (JoltSpace3D *space : active_spaces) {
|
|
space->dump_debug_snapshot(p_dir);
|
|
}
|
|
}
|
|
|
|
void JoltPhysicsServer3D::space_dump_debug_snapshot(RID p_space, const String &p_dir) {
|
|
JoltSpace3D *space = space_owner.get_or_null(p_space);
|
|
ERR_FAIL_NULL(space);
|
|
|
|
space->dump_debug_snapshot(p_dir);
|
|
}
|
|
|
|
#endif
|
|
|
|
bool JoltPhysicsServer3D::joint_get_enabled(RID p_joint) const {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, false);
|
|
|
|
return joint->is_enabled();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_set_enabled(RID p_joint, bool p_enabled) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
joint->set_enabled(p_enabled);
|
|
}
|
|
|
|
int JoltPhysicsServer3D::joint_get_solver_velocity_iterations(RID p_joint) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0);
|
|
|
|
return joint->get_solver_velocity_iterations();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_set_solver_velocity_iterations(RID p_joint, int p_value) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
return joint->set_solver_velocity_iterations(p_value);
|
|
}
|
|
|
|
int JoltPhysicsServer3D::joint_get_solver_position_iterations(RID p_joint) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0);
|
|
|
|
return joint->get_solver_position_iterations();
|
|
}
|
|
|
|
void JoltPhysicsServer3D::joint_set_solver_position_iterations(RID p_joint, int p_value) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
return joint->set_solver_position_iterations(p_value);
|
|
}
|
|
|
|
float JoltPhysicsServer3D::pin_joint_get_applied_force(RID p_joint) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0f);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0.0);
|
|
JoltPinJoint3D *pin_joint = static_cast<JoltPinJoint3D *>(joint);
|
|
|
|
return pin_joint->get_applied_force();
|
|
}
|
|
|
|
double JoltPhysicsServer3D::hinge_joint_get_jolt_param(RID p_joint, HingeJointParamJolt p_param) const {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0.0);
|
|
JoltHingeJoint3D *hinge_joint = static_cast<JoltHingeJoint3D *>(joint);
|
|
|
|
return hinge_joint->get_jolt_param(p_param);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::hinge_joint_set_jolt_param(RID p_joint, HingeJointParamJolt p_param, double p_value) {
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL(joint);
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ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
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JoltHingeJoint3D *hinge_joint = static_cast<JoltHingeJoint3D *>(joint);
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return hinge_joint->set_jolt_param(p_param, p_value);
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}
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bool JoltPhysicsServer3D::hinge_joint_get_jolt_flag(RID p_joint, HingeJointFlagJolt p_flag) const {
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const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL_V(joint, false);
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ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, false);
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const JoltHingeJoint3D *hinge_joint = static_cast<const JoltHingeJoint3D *>(joint);
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return hinge_joint->get_jolt_flag(p_flag);
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}
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void JoltPhysicsServer3D::hinge_joint_set_jolt_flag(RID p_joint, HingeJointFlagJolt p_flag, bool p_enabled) {
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL(joint);
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ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
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JoltHingeJoint3D *hinge_joint = static_cast<JoltHingeJoint3D *>(joint);
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return hinge_joint->set_jolt_flag(p_flag, p_enabled);
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}
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float JoltPhysicsServer3D::hinge_joint_get_applied_force(RID p_joint) {
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL_V(joint, 0.0f);
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ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0.0f);
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JoltHingeJoint3D *hinge_joint = static_cast<JoltHingeJoint3D *>(joint);
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return hinge_joint->get_applied_force();
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}
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float JoltPhysicsServer3D::hinge_joint_get_applied_torque(RID p_joint) {
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL_V(joint, 0.0f);
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ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0.0f);
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JoltHingeJoint3D *hinge_joint = static_cast<JoltHingeJoint3D *>(joint);
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return hinge_joint->get_applied_torque();
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}
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double JoltPhysicsServer3D::slider_joint_get_jolt_param(RID p_joint, SliderJointParamJolt p_param) const {
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL_V(joint, 0.0);
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ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_SLIDER, 0.0);
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JoltSliderJoint3D *slider_joint = static_cast<JoltSliderJoint3D *>(joint);
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return slider_joint->get_jolt_param(p_param);
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}
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void JoltPhysicsServer3D::slider_joint_set_jolt_param(RID p_joint, SliderJointParamJolt p_param, double p_value) {
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL(joint);
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ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER);
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JoltSliderJoint3D *slider_joint = static_cast<JoltSliderJoint3D *>(joint);
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return slider_joint->set_jolt_param(p_param, p_value);
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}
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bool JoltPhysicsServer3D::slider_joint_get_jolt_flag(RID p_joint, SliderJointFlagJolt p_flag) const {
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const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL_V(joint, false);
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ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_SLIDER, false);
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const JoltSliderJoint3D *slider_joint = static_cast<const JoltSliderJoint3D *>(joint);
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return slider_joint->get_jolt_flag(p_flag);
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}
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void JoltPhysicsServer3D::slider_joint_set_jolt_flag(RID p_joint, SliderJointFlagJolt p_flag, bool p_enabled) {
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL(joint);
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|
|
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ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER);
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JoltSliderJoint3D *slider_joint = static_cast<JoltSliderJoint3D *>(joint);
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|
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return slider_joint->set_jolt_flag(p_flag, p_enabled);
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}
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float JoltPhysicsServer3D::slider_joint_get_applied_force(RID p_joint) {
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL_V(joint, 0.0f);
|
|
|
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ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_SLIDER, 0.0f);
|
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JoltSliderJoint3D *slider_joint = static_cast<JoltSliderJoint3D *>(joint);
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|
|
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return slider_joint->get_applied_force();
|
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}
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float JoltPhysicsServer3D::slider_joint_get_applied_torque(RID p_joint) {
|
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
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ERR_FAIL_NULL_V(joint, 0.0f);
|
|
|
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ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_SLIDER, 0.0f);
|
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JoltSliderJoint3D *slider_joint = static_cast<JoltSliderJoint3D *>(joint);
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return slider_joint->get_applied_torque();
|
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}
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double JoltPhysicsServer3D::cone_twist_joint_get_jolt_param(RID p_joint, ConeTwistJointParamJolt p_param) const {
|
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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ERR_FAIL_NULL_V(joint, 0.0);
|
|
|
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ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0.0);
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JoltConeTwistJoint3D *cone_twist_joint = static_cast<JoltConeTwistJoint3D *>(joint);
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|
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return cone_twist_joint->get_jolt_param(p_param);
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}
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void JoltPhysicsServer3D::cone_twist_joint_set_jolt_param(RID p_joint, ConeTwistJointParamJolt p_param, double p_value) {
|
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
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|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST);
|
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JoltConeTwistJoint3D *cone_twist_joint = static_cast<JoltConeTwistJoint3D *>(joint);
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|
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return cone_twist_joint->set_jolt_param(p_param, p_value);
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}
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bool JoltPhysicsServer3D::cone_twist_joint_get_jolt_flag(RID p_joint, ConeTwistJointFlagJolt p_flag) const {
|
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const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
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ERR_FAIL_NULL_V(joint, false);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, false);
|
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const JoltConeTwistJoint3D *cone_twist_joint = static_cast<const JoltConeTwistJoint3D *>(joint);
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|
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return cone_twist_joint->get_jolt_flag(p_flag);
|
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}
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void JoltPhysicsServer3D::cone_twist_joint_set_jolt_flag(RID p_joint, ConeTwistJointFlagJolt p_flag, bool p_enabled) {
|
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JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST);
|
|
JoltConeTwistJoint3D *cone_twist_joint = static_cast<JoltConeTwistJoint3D *>(joint);
|
|
|
|
return cone_twist_joint->set_jolt_flag(p_flag, p_enabled);
|
|
}
|
|
|
|
float JoltPhysicsServer3D::cone_twist_joint_get_applied_force(RID p_joint) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0f);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0.0f);
|
|
JoltConeTwistJoint3D *cone_twist_joint = static_cast<JoltConeTwistJoint3D *>(joint);
|
|
|
|
return cone_twist_joint->get_applied_force();
|
|
}
|
|
|
|
float JoltPhysicsServer3D::cone_twist_joint_get_applied_torque(RID p_joint) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0f);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0.0f);
|
|
JoltConeTwistJoint3D *cone_twist_joint = static_cast<JoltConeTwistJoint3D *>(joint);
|
|
|
|
return cone_twist_joint->get_applied_torque();
|
|
}
|
|
|
|
double JoltPhysicsServer3D::generic_6dof_joint_get_jolt_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParamJolt p_param) const {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0.0);
|
|
JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->get_jolt_param(p_axis, p_param);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::generic_6dof_joint_set_jolt_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParamJolt p_param, double p_value) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
|
|
JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->set_jolt_param(p_axis, p_param, p_value);
|
|
}
|
|
|
|
bool JoltPhysicsServer3D::generic_6dof_joint_get_jolt_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlagJolt p_flag) const {
|
|
const JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, false);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, false);
|
|
const JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<const JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->get_jolt_flag(p_axis, p_flag);
|
|
}
|
|
|
|
void JoltPhysicsServer3D::generic_6dof_joint_set_jolt_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlagJolt p_flag, bool p_enabled) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL(joint);
|
|
|
|
ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
|
|
JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->set_jolt_flag(p_axis, p_flag, p_enabled);
|
|
}
|
|
|
|
float JoltPhysicsServer3D::generic_6dof_joint_get_applied_force(RID p_joint) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0f);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0.0f);
|
|
JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->get_applied_force();
|
|
}
|
|
|
|
float JoltPhysicsServer3D::generic_6dof_joint_get_applied_torque(RID p_joint) {
|
|
JoltJoint3D *joint = joint_owner.get_or_null(p_joint);
|
|
ERR_FAIL_NULL_V(joint, 0.0f);
|
|
|
|
ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0.0f);
|
|
JoltGeneric6DOFJoint3D *g6dof_joint = static_cast<JoltGeneric6DOFJoint3D *>(joint);
|
|
|
|
return g6dof_joint->get_applied_torque();
|
|
}
|