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586 lines
18 KiB
C++
586 lines
18 KiB
C++
/*************************************************************************/
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/* physics_body_3d.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef PHYSICS_BODY_3D_H
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#define PHYSICS_BODY_3D_H
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#include "core/templates/vset.h"
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#include "scene/3d/collision_object_3d.h"
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#include "scene/resources/physics_material.h"
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#include "servers/physics_server_3d.h"
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#include "skeleton_3d.h"
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class PhysicsBody3D : public CollisionObject3D {
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GDCLASS(PhysicsBody3D, CollisionObject3D);
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protected:
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static void _bind_methods();
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PhysicsBody3D(PhysicsServer3D::BodyMode p_mode);
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public:
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virtual Vector3 get_linear_velocity() const;
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virtual Vector3 get_angular_velocity() const;
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virtual real_t get_inverse_mass() const;
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TypedArray<PhysicsBody3D> get_collision_exceptions();
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void add_collision_exception_with(Node *p_node); //must be physicsbody
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void remove_collision_exception_with(Node *p_node);
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PhysicsBody3D();
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};
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class StaticBody3D : public PhysicsBody3D {
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GDCLASS(StaticBody3D, PhysicsBody3D);
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Vector3 constant_linear_velocity;
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Vector3 constant_angular_velocity;
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Ref<PhysicsMaterial> physics_material_override;
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protected:
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static void _bind_methods();
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public:
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void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
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Ref<PhysicsMaterial> get_physics_material_override() const;
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void set_constant_linear_velocity(const Vector3 &p_vel);
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void set_constant_angular_velocity(const Vector3 &p_vel);
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Vector3 get_constant_linear_velocity() const;
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Vector3 get_constant_angular_velocity() const;
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StaticBody3D();
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~StaticBody3D();
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private:
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void _reload_physics_characteristics();
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};
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class RigidBody3D : public PhysicsBody3D {
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GDCLASS(RigidBody3D, PhysicsBody3D);
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public:
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enum Mode {
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MODE_RIGID,
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MODE_STATIC,
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MODE_CHARACTER,
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MODE_KINEMATIC,
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};
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protected:
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bool can_sleep = true;
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PhysicsDirectBodyState3D *state = nullptr;
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Mode mode = MODE_RIGID;
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real_t mass = 1.0;
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Ref<PhysicsMaterial> physics_material_override;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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Basis inverse_inertia_tensor;
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real_t gravity_scale = 1.0;
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real_t linear_damp = -1.0;
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real_t angular_damp = -1.0;
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bool sleeping = false;
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bool ccd = false;
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int max_contacts_reported = 0;
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bool custom_integrator = false;
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struct ShapePair {
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int body_shape = 0;
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int local_shape = 0;
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bool tagged = false;
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bool operator<(const ShapePair &p_sp) const {
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if (body_shape == p_sp.body_shape) {
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return local_shape < p_sp.local_shape;
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} else {
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return body_shape < p_sp.body_shape;
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}
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}
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ShapePair() {}
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ShapePair(int p_bs, int p_ls) {
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body_shape = p_bs;
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local_shape = p_ls;
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tagged = false;
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}
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};
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struct RigidBody3D_RemoveAction {
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RID rid;
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ObjectID body_id;
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ShapePair pair;
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};
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struct BodyState {
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RID rid;
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//int rc;
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bool in_tree = false;
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VSet<ShapePair> shapes;
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};
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struct ContactMonitor {
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bool locked = false;
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Map<ObjectID, BodyState> body_map;
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};
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ContactMonitor *contact_monitor = nullptr;
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void _body_enter_tree(ObjectID p_id);
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void _body_exit_tree(ObjectID p_id);
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void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
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virtual void _direct_state_changed(Object *p_state);
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void _notification(int p_what);
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static void _bind_methods();
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public:
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void set_mode(Mode p_mode);
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Mode get_mode() const;
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
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void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
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Ref<PhysicsMaterial> get_physics_material_override() const;
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void set_linear_velocity(const Vector3 &p_velocity);
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Vector3 get_linear_velocity() const override;
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void set_axis_velocity(const Vector3 &p_axis);
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void set_angular_velocity(const Vector3 &p_velocity);
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Vector3 get_angular_velocity() const override;
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Basis get_inverse_inertia_tensor() const;
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void set_gravity_scale(real_t p_gravity_scale);
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real_t get_gravity_scale() const;
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void set_linear_damp(real_t p_linear_damp);
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real_t get_linear_damp() const;
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void set_angular_damp(real_t p_angular_damp);
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real_t get_angular_damp() const;
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void set_use_custom_integrator(bool p_enable);
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bool is_using_custom_integrator();
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void set_sleeping(bool p_sleeping);
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bool is_sleeping() const;
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void set_can_sleep(bool p_active);
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bool is_able_to_sleep() const;
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void set_contact_monitor(bool p_enabled);
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bool is_contact_monitor_enabled() const;
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void set_max_contacts_reported(int p_amount);
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int get_max_contacts_reported() const;
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void set_use_continuous_collision_detection(bool p_enable);
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bool is_using_continuous_collision_detection() const;
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void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
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bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
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Array get_colliding_bodies() const;
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void add_central_force(const Vector3 &p_force);
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void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
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void add_torque(const Vector3 &p_torque);
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
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void apply_torque_impulse(const Vector3 &p_impulse);
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TypedArray<String> get_configuration_warnings() const override;
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RigidBody3D();
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~RigidBody3D();
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private:
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void _reload_physics_characteristics();
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};
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VARIANT_ENUM_CAST(RigidBody3D::Mode);
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class KinematicCollision3D;
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class KinematicBody3D : public PhysicsBody3D {
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GDCLASS(KinematicBody3D, PhysicsBody3D);
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public:
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struct Collision {
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Vector3 collision;
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Vector3 normal;
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Vector3 collider_vel;
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ObjectID collider;
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RID collider_rid;
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int collider_shape = 0;
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Variant collider_metadata;
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Vector3 remainder;
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Vector3 travel;
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int local_shape = 0;
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};
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private:
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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uint16_t locked_axis = 0;
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real_t margin;
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Vector3 floor_normal;
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Vector3 floor_velocity;
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RID on_floor_body;
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bool on_floor = false;
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bool on_ceiling = false;
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bool on_wall = false;
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Vector<Collision> colliders;
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Vector<Ref<KinematicCollision3D>> slide_colliders;
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Ref<KinematicCollision3D> motion_cache;
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_FORCE_INLINE_ bool _ignores_mode(PhysicsServer3D::BodyMode) const;
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Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_infinite_inertia = true, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
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Ref<KinematicCollision3D> _get_slide_collision(int p_bounce);
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protected:
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void _notification(int p_what);
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static void _bind_methods();
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virtual void _direct_state_changed(Object *p_state);
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public:
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virtual Vector3 get_linear_velocity() const override;
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virtual Vector3 get_angular_velocity() const override;
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bool move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes = true, bool p_test_only = false);
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bool test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia);
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bool separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision);
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void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
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bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
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void set_safe_margin(real_t p_margin);
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real_t get_safe_margin() const;
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Vector3 move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, real_t p_floor_max_angle = Math::deg2rad((real_t)45.0), bool p_infinite_inertia = true);
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Vector3 move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction = Vector3(0, 0, 0), bool p_stop_on_slope = false, int p_max_slides = 4, real_t p_floor_max_angle = Math::deg2rad((real_t)45.0), bool p_infinite_inertia = true);
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bool is_on_floor() const;
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bool is_on_wall() const;
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bool is_on_ceiling() const;
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Vector3 get_floor_normal() const;
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Vector3 get_floor_velocity() const;
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int get_slide_count() const;
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Collision get_slide_collision(int p_bounce) const;
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KinematicBody3D();
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~KinematicBody3D();
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};
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class KinematicCollision3D : public Reference {
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GDCLASS(KinematicCollision3D, Reference);
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KinematicBody3D *owner;
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friend class KinematicBody3D;
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KinematicBody3D::Collision collision;
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protected:
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static void _bind_methods();
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public:
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Vector3 get_position() const;
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Vector3 get_normal() const;
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Vector3 get_travel() const;
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Vector3 get_remainder() const;
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Object *get_local_shape() const;
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Object *get_collider() const;
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ObjectID get_collider_id() const;
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Object *get_collider_shape() const;
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int get_collider_shape_index() const;
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Vector3 get_collider_velocity() const;
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Variant get_collider_metadata() const;
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KinematicCollision3D();
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};
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class PhysicalBone3D : public PhysicsBody3D {
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GDCLASS(PhysicalBone3D, PhysicsBody3D);
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public:
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enum JointType {
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JOINT_TYPE_NONE,
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JOINT_TYPE_PIN,
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JOINT_TYPE_CONE,
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JOINT_TYPE_HINGE,
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JOINT_TYPE_SLIDER,
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JOINT_TYPE_6DOF
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};
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struct JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
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/// "j" is used to set the parameter inside the PhysicsServer3D
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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virtual ~JointData() {}
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};
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struct PinJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t bias = 0.3;
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real_t damping = 1.0;
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real_t impulse_clamp = 0.0;
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};
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struct ConeJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t swing_span = Math_PI * 0.25;
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real_t twist_span = Math_PI;
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real_t bias = 0.3;
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real_t softness = 0.8;
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real_t relaxation = 1.;
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};
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struct HingeJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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bool angular_limit_enabled = false;
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real_t angular_limit_upper = Math_PI * 0.5;
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real_t angular_limit_lower = -Math_PI * 0.5;
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real_t angular_limit_bias = 0.3;
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real_t angular_limit_softness = 0.9;
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real_t angular_limit_relaxation = 1.;
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};
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struct SliderJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t linear_limit_upper = 1.0;
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real_t linear_limit_lower = -1.0;
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real_t linear_limit_softness = 1.0;
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real_t linear_limit_restitution = 0.7;
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real_t linear_limit_damping = 1.0;
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real_t angular_limit_upper = 0.0;
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real_t angular_limit_lower = 0.0;
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real_t angular_limit_softness = 1.0;
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real_t angular_limit_restitution = 0.7;
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real_t angular_limit_damping = 1.0;
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};
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struct SixDOFJointData : public JointData {
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struct SixDOFAxisData {
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bool linear_limit_enabled = true;
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real_t linear_limit_upper = 0.0;
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real_t linear_limit_lower = 0.0;
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real_t linear_limit_softness = 0.7;
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real_t linear_restitution = 0.5;
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real_t linear_damping = 1.0;
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bool linear_spring_enabled = false;
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real_t linear_spring_stiffness = 0.0;
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real_t linear_spring_damping = 0.0;
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real_t linear_equilibrium_point = 0.0;
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bool angular_limit_enabled = true;
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real_t angular_limit_upper = 0.0;
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real_t angular_limit_lower = 0.0;
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real_t angular_limit_softness = 0.5;
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real_t angular_restitution = 0.0;
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real_t angular_damping = 1.0;
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real_t erp = 0.5;
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bool angular_spring_enabled = false;
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real_t angular_spring_stiffness = 0.0;
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real_t angular_spring_damping = 0.0;
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real_t angular_equilibrium_point = 0.0;
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};
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virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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SixDOFAxisData axis_data[3];
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SixDOFJointData() {}
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};
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private:
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#ifdef TOOLS_ENABLED
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// if false gizmo move body
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bool gizmo_move_joint = false;
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#endif
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JointData *joint_data = nullptr;
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Transform joint_offset;
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RID joint;
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Skeleton3D *parent_skeleton = nullptr;
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Transform body_offset;
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Transform body_offset_inverse;
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bool simulate_physics = false;
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bool _internal_simulate_physics = false;
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int bone_id = -1;
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String bone_name;
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real_t bounce = 0.0;
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real_t mass = 1.0;
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real_t friction = 1.0;
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real_t gravity_scale = 1.0;
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real_t linear_damp = -1.0;
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real_t angular_damp = -1.0;
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bool can_sleep = true;
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protected:
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bool _set(const StringName &p_name, const Variant &p_value);
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bool _get(const StringName &p_name, Variant &r_ret) const;
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void _get_property_list(List<PropertyInfo> *p_list) const;
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void _notification(int p_what);
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void _direct_state_changed(Object *p_state);
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static void _bind_methods();
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private:
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static Skeleton3D *find_skeleton_parent(Node *p_parent);
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void _update_joint_offset();
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void _fix_joint_offset();
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void _reload_joint();
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public:
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void _on_bone_parent_changed();
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void _set_gizmo_move_joint(bool p_move_joint);
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public:
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#ifdef TOOLS_ENABLED
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virtual Transform get_global_gizmo_transform() const override;
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virtual Transform get_local_gizmo_transform() const override;
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#endif
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const JointData *get_joint_data() const;
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Skeleton3D *find_skeleton_parent();
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int get_bone_id() const { return bone_id; }
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void set_joint_type(JointType p_joint_type);
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JointType get_joint_type() const;
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void set_joint_offset(const Transform &p_offset);
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const Transform &get_joint_offset() const;
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void set_joint_rotation(const Vector3 &p_euler_rad);
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Vector3 get_joint_rotation() const;
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void set_joint_rotation_degrees(const Vector3 &p_euler_deg);
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Vector3 get_joint_rotation_degrees() const;
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void set_body_offset(const Transform &p_offset);
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const Transform &get_body_offset() const;
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void set_simulate_physics(bool p_simulate);
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bool get_simulate_physics();
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bool is_simulating_physics();
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void set_bone_name(const String &p_name);
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const String &get_bone_name() const;
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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void set_friction(real_t p_friction);
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real_t get_friction() const;
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void set_bounce(real_t p_bounce);
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real_t get_bounce() const;
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void set_gravity_scale(real_t p_gravity_scale);
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real_t get_gravity_scale() const;
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void set_linear_damp(real_t p_linear_damp);
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real_t get_linear_damp() const;
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void set_angular_damp(real_t p_angular_damp);
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real_t get_angular_damp() const;
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void set_can_sleep(bool p_active);
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bool is_able_to_sleep() const;
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void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
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bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
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void reset_physics_simulation_state();
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void reset_to_rest_position();
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PhysicalBone3D();
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~PhysicalBone3D();
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private:
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void update_bone_id();
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void update_offset();
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void _start_physics_simulation();
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void _stop_physics_simulation();
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};
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VARIANT_ENUM_CAST(PhysicalBone3D::JointType);
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#endif // PHYSICS_BODY__H
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