virtualx-engine/scene/3d/physics_body.cpp

/*************************************************************************/
/*  physics_body.cpp                                                     */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md)    */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
/*                                                                       */
/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
/*************************************************************************/
#include "physics_body.h"
#include "method_bind_ext.gen.inc"
#include "scene/scene_string_names.h"

void PhysicsBody::_notification(int p_what) {

	/*
	switch(p_what) {

		case NOTIFICATION_TRANSFORM_CHANGED: {

			PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_TRANSFORM,get_global_transform());

		} break;
	}
	*/
}

Vector3 PhysicsBody::get_linear_velocity() const {

	return Vector3();
}
Vector3 PhysicsBody::get_angular_velocity() const {

	return Vector3();
}

float PhysicsBody::get_inverse_mass() const {

	return 0;
}

void PhysicsBody::set_collision_layer(uint32_t p_layer) {

	collision_layer = p_layer;
	PhysicsServer::get_singleton()->body_set_collision_layer(get_rid(), p_layer);
}

uint32_t PhysicsBody::get_collision_layer() const {

	return collision_layer;
}

void PhysicsBody::set_collision_mask(uint32_t p_mask) {

	collision_mask = p_mask;
	PhysicsServer::get_singleton()->body_set_collision_mask(get_rid(), p_mask);
}

uint32_t PhysicsBody::get_collision_mask() const {

	return collision_mask;
}

void PhysicsBody::set_collision_mask_bit(int p_bit, bool p_value) {

	uint32_t mask = get_collision_mask();
	if (p_value)
		mask |= 1 << p_bit;
	else
		mask &= ~(1 << p_bit);
	set_collision_mask(mask);
}

bool PhysicsBody::get_collision_mask_bit(int p_bit) const {

	return get_collision_mask() & (1 << p_bit);
}

void PhysicsBody::set_collision_layer_bit(int p_bit, bool p_value) {

	uint32_t mask = get_collision_layer();
	if (p_value)
		mask |= 1 << p_bit;
	else
		mask &= ~(1 << p_bit);
	set_collision_layer(mask);
}

bool PhysicsBody::get_collision_layer_bit(int p_bit) const {

	return get_collision_layer() & (1 << p_bit);
}

void PhysicsBody::add_collision_exception_with(Node *p_node) {

	ERR_FAIL_NULL(p_node);
	PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
	if (!physics_body) {
		ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
	}
	ERR_FAIL_COND(!physics_body);
	PhysicsServer::get_singleton()->body_add_collision_exception(get_rid(), physics_body->get_rid());
}

void PhysicsBody::remove_collision_exception_with(Node *p_node) {

	ERR_FAIL_NULL(p_node);
	PhysicsBody *physics_body = p_node->cast_to<PhysicsBody>();
	if (!physics_body) {
		ERR_EXPLAIN("Collision exception only works between two objects of PhysicsBody type");
	}
	ERR_FAIL_COND(!physics_body);
	PhysicsServer::get_singleton()->body_remove_collision_exception(get_rid(), physics_body->get_rid());
}

void PhysicsBody::_set_layers(uint32_t p_mask) {
	set_collision_layer(p_mask);
	set_collision_mask(p_mask);
}

uint32_t PhysicsBody::_get_layers() const {

	return get_collision_layer();
}

void PhysicsBody::_bind_methods() {
	ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody::set_collision_layer);
	ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody::get_collision_layer);

	ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsBody::set_collision_mask);
	ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsBody::get_collision_mask);

	ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &PhysicsBody::set_collision_mask_bit);
	ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &PhysicsBody::get_collision_mask_bit);

	ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody::set_collision_layer_bit);
	ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody::get_collision_layer_bit);

	ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody::_set_layers);
	ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody::_get_layers);

	ADD_GROUP("Collision", "collision_");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
}

PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode)
	: CollisionObject(PhysicsServer::get_singleton()->body_create(p_mode), false) {

	collision_layer = 1;
	collision_mask = 1;
}

void StaticBody::set_friction(real_t p_friction) {

	ERR_FAIL_COND(p_friction < 0 || p_friction > 1);

	friction = p_friction;
	PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction);
}
real_t StaticBody::get_friction() const {

	return friction;
}

void StaticBody::set_bounce(real_t p_bounce) {

	ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1);

	bounce = p_bounce;
	PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, bounce);
}
real_t StaticBody::get_bounce() const {

	return bounce;
}

void StaticBody::set_constant_linear_velocity(const Vector3 &p_vel) {

	constant_linear_velocity = p_vel;
	PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
}

void StaticBody::set_constant_angular_velocity(const Vector3 &p_vel) {

	constant_angular_velocity = p_vel;
	PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
}

Vector3 StaticBody::get_constant_linear_velocity() const {

	return constant_linear_velocity;
}
Vector3 StaticBody::get_constant_angular_velocity() const {

	return constant_angular_velocity;
}

void StaticBody::_bind_methods() {

	ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody::set_constant_linear_velocity);
	ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody::set_constant_angular_velocity);
	ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody::get_constant_linear_velocity);
	ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody::get_constant_angular_velocity);

	ClassDB::bind_method(D_METHOD("set_friction", "friction"), &StaticBody::set_friction);
	ClassDB::bind_method(D_METHOD("get_friction"), &StaticBody::get_friction);

	ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &StaticBody::set_bounce);
	ClassDB::bind_method(D_METHOD("get_bounce"), &StaticBody::get_bounce);

	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody::add_collision_exception_with);
	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody::remove_collision_exception_with);

	ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");

	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
}

StaticBody::StaticBody()
	: PhysicsBody(PhysicsServer::BODY_MODE_STATIC) {

	bounce = 0;
	friction = 1;
}

StaticBody::~StaticBody() {
}

void RigidBody::_body_enter_tree(ObjectID p_id) {

	Object *obj = ObjectDB::get_instance(p_id);
	Node *node = obj ? obj->cast_to<Node>() : NULL;
	ERR_FAIL_COND(!node);

	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
	ERR_FAIL_COND(!E);
	ERR_FAIL_COND(E->get().in_tree);

	E->get().in_tree = true;

	contact_monitor->locked = true;

	emit_signal(SceneStringNames::get_singleton()->body_entered, node);

	for (int i = 0; i < E->get().shapes.size(); i++) {

		emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
	}

	contact_monitor->locked = false;
}

void RigidBody::_body_exit_tree(ObjectID p_id) {

	Object *obj = ObjectDB::get_instance(p_id);
	Node *node = obj ? obj->cast_to<Node>() : NULL;
	ERR_FAIL_COND(!node);
	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
	ERR_FAIL_COND(!E);
	ERR_FAIL_COND(!E->get().in_tree);
	E->get().in_tree = false;

	contact_monitor->locked = true;

	emit_signal(SceneStringNames::get_singleton()->body_exited, node);

	for (int i = 0; i < E->get().shapes.size(); i++) {

		emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
	}

	contact_monitor->locked = false;
}

void RigidBody::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape) {

	bool body_in = p_status == 1;
	ObjectID objid = p_instance;

	Object *obj = ObjectDB::get_instance(objid);
	Node *node = obj ? obj->cast_to<Node>() : NULL;

	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(objid);

	ERR_FAIL_COND(!body_in && !E);

	if (body_in) {
		if (!E) {

			E = contact_monitor->body_map.insert(objid, BodyState());
			//E->get().rc=0;
			E->get().in_tree = node && node->is_inside_tree();
			if (node) {
				node->connect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree, make_binds(objid));
				node->connect(SceneStringNames::get_singleton()->tree_exited, this, SceneStringNames::get_singleton()->_body_exit_tree, make_binds(objid));
				if (E->get().in_tree) {
					emit_signal(SceneStringNames::get_singleton()->body_entered, node);
				}
			}
		}
		//E->get().rc++;
		if (node)
			E->get().shapes.insert(ShapePair(p_body_shape, p_local_shape));

		if (E->get().in_tree) {
			emit_signal(SceneStringNames::get_singleton()->body_shape_entered, objid, node, p_body_shape, p_local_shape);
		}

	} else {

		//E->get().rc--;

		if (node)
			E->get().shapes.erase(ShapePair(p_body_shape, p_local_shape));

		bool in_tree = E->get().in_tree;

		if (E->get().shapes.empty()) {

			if (node) {
				node->disconnect(SceneStringNames::get_singleton()->tree_entered, this, SceneStringNames::get_singleton()->_body_enter_tree);
				node->disconnect(SceneStringNames::get_singleton()->tree_exited, this, SceneStringNames::get_singleton()->_body_exit_tree);
				if (in_tree)
					emit_signal(SceneStringNames::get_singleton()->body_exited, obj);
			}

			contact_monitor->body_map.erase(E);
		}
		if (node && in_tree) {
			emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape);
		}
	}
}

struct _RigidBodyInOut {

	ObjectID id;
	int shape;
	int local_shape;
};

void RigidBody::_direct_state_changed(Object *p_state) {

//eh.. fuck
#ifdef DEBUG_ENABLED

	state = p_state->cast_to<PhysicsDirectBodyState>();
#else
	state = (PhysicsDirectBodyState *)p_state; //trust it
#endif

	set_ignore_transform_notification(true);
	set_global_transform(state->get_transform());
	linear_velocity = state->get_linear_velocity();
	angular_velocity = state->get_angular_velocity();
	if (sleeping != state->is_sleeping()) {
		sleeping = state->is_sleeping();
		emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
	}
	if (get_script_instance())
		get_script_instance()->call("_integrate_forces", state);
	set_ignore_transform_notification(false);

	if (contact_monitor) {

		contact_monitor->locked = true;

		//untag all
		int rc = 0;
		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {

			for (int i = 0; i < E->get().shapes.size(); i++) {

				E->get().shapes[i].tagged = false;
				rc++;
			}
		}

		_RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut));
		int toadd_count = 0; //state->get_contact_count();
		RigidBody_RemoveAction *toremove = (RigidBody_RemoveAction *)alloca(rc * sizeof(RigidBody_RemoveAction));
		int toremove_count = 0;

		//put the ones to add

		for (int i = 0; i < state->get_contact_count(); i++) {

			ObjectID obj = state->get_contact_collider_id(i);
			int local_shape = state->get_contact_local_shape(i);
			int shape = state->get_contact_collider_shape(i);

			//bool found=false;

			Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(obj);
			if (!E) {
				toadd[toadd_count].local_shape = local_shape;
				toadd[toadd_count].id = obj;
				toadd[toadd_count].shape = shape;
				toadd_count++;
				continue;
			}

			ShapePair sp(shape, local_shape);
			int idx = E->get().shapes.find(sp);
			if (idx == -1) {

				toadd[toadd_count].local_shape = local_shape;
				toadd[toadd_count].id = obj;
				toadd[toadd_count].shape = shape;
				toadd_count++;
				continue;
			}

			E->get().shapes[idx].tagged = true;
		}

		//put the ones to remove

		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {

			for (int i = 0; i < E->get().shapes.size(); i++) {

				if (!E->get().shapes[i].tagged) {

					toremove[toremove_count].body_id = E->key();
					toremove[toremove_count].pair = E->get().shapes[i];
					toremove_count++;
				}
			}
		}

		//process remotions

		for (int i = 0; i < toremove_count; i++) {

			_body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape);
		}

		//process aditions

		for (int i = 0; i < toadd_count; i++) {

			_body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape);
		}

		contact_monitor->locked = false;
	}

	state = NULL;
}

void RigidBody::_notification(int p_what) {

#ifdef TOOLS_ENABLED
	if (p_what == NOTIFICATION_ENTER_TREE) {
		if (get_tree()->is_editor_hint()) {
			set_notify_local_transform(true); //used for warnings and only in editor
		}
	}

	if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) {
		if (get_tree()->is_editor_hint()) {
			update_configuration_warning();
		}
	}

#endif
}

void RigidBody::set_mode(Mode p_mode) {

	mode = p_mode;
	switch (p_mode) {

		case MODE_RIGID: {

			PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_RIGID);
		} break;
		case MODE_STATIC: {

			PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_STATIC);

		} break;
		case MODE_CHARACTER: {
			PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_CHARACTER);

		} break;
		case MODE_KINEMATIC: {

			PhysicsServer::get_singleton()->body_set_mode(get_rid(), PhysicsServer::BODY_MODE_KINEMATIC);
		} break;
	}
}

RigidBody::Mode RigidBody::get_mode() const {

	return mode;
}

void RigidBody::set_mass(real_t p_mass) {

	ERR_FAIL_COND(p_mass <= 0);
	mass = p_mass;
	_change_notify("mass");
	_change_notify("weight");
	PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_MASS, mass);
}
real_t RigidBody::get_mass() const {

	return mass;
}

void RigidBody::set_weight(real_t p_weight) {

	set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)));
}
real_t RigidBody::get_weight() const {

	return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8));
}

void RigidBody::set_friction(real_t p_friction) {

	ERR_FAIL_COND(p_friction < 0 || p_friction > 1);

	friction = p_friction;
	PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_FRICTION, friction);
}
real_t RigidBody::get_friction() const {

	return friction;
}

void RigidBody::set_bounce(real_t p_bounce) {

	ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1);

	bounce = p_bounce;
	PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_BOUNCE, bounce);
}
real_t RigidBody::get_bounce() const {

	return bounce;
}

void RigidBody::set_gravity_scale(real_t p_gravity_scale) {

	gravity_scale = p_gravity_scale;
	PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
}
real_t RigidBody::get_gravity_scale() const {

	return gravity_scale;
}

void RigidBody::set_linear_damp(real_t p_linear_damp) {

	ERR_FAIL_COND(p_linear_damp < -1);
	linear_damp = p_linear_damp;
	PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_LINEAR_DAMP, linear_damp);
}
real_t RigidBody::get_linear_damp() const {

	return linear_damp;
}

void RigidBody::set_angular_damp(real_t p_angular_damp) {

	ERR_FAIL_COND(p_angular_damp < -1);
	angular_damp = p_angular_damp;
	PhysicsServer::get_singleton()->body_set_param(get_rid(), PhysicsServer::BODY_PARAM_ANGULAR_DAMP, angular_damp);
}
real_t RigidBody::get_angular_damp() const {

	return angular_damp;
}

void RigidBody::set_axis_velocity(const Vector3 &p_axis) {

	Vector3 v = state ? state->get_linear_velocity() : linear_velocity;
	Vector3 axis = p_axis.normalized();
	v -= axis * axis.dot(v);
	v += p_axis;
	if (state) {
		set_linear_velocity(v);
	} else {
		PhysicsServer::get_singleton()->body_set_axis_velocity(get_rid(), p_axis);
		linear_velocity = v;
	}
}

void RigidBody::set_linear_velocity(const Vector3 &p_velocity) {

	linear_velocity = p_velocity;
	if (state)
		state->set_linear_velocity(linear_velocity);
	else
		PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
}

Vector3 RigidBody::get_linear_velocity() const {

	return linear_velocity;
}

void RigidBody::set_angular_velocity(const Vector3 &p_velocity) {

	angular_velocity = p_velocity;
	if (state)
		state->set_angular_velocity(angular_velocity);
	else
		PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
}
Vector3 RigidBody::get_angular_velocity() const {

	return angular_velocity;
}

void RigidBody::set_use_custom_integrator(bool p_enable) {

	if (custom_integrator == p_enable)
		return;

	custom_integrator = p_enable;
	PhysicsServer::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
}
bool RigidBody::is_using_custom_integrator() {

	return custom_integrator;
}

void RigidBody::set_sleeping(bool p_sleeping) {

	sleeping = p_sleeping;
	PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_SLEEPING, sleeping);
}

void RigidBody::set_can_sleep(bool p_active) {

	can_sleep = p_active;
	PhysicsServer::get_singleton()->body_set_state(get_rid(), PhysicsServer::BODY_STATE_CAN_SLEEP, p_active);
}

bool RigidBody::is_able_to_sleep() const {

	return can_sleep;
}

bool RigidBody::is_sleeping() const {

	return sleeping;
}

void RigidBody::set_max_contacts_reported(int p_amount) {

	max_contacts_reported = p_amount;
	PhysicsServer::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount);
}

int RigidBody::get_max_contacts_reported() const {

	return max_contacts_reported;
}

void RigidBody::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {

	PhysicsServer::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
}

void RigidBody::set_use_continuous_collision_detection(bool p_enable) {

	ccd = p_enable;
	PhysicsServer::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable);
}

bool RigidBody::is_using_continuous_collision_detection() const {

	return ccd;
}

void RigidBody::set_contact_monitor(bool p_enabled) {

	if (p_enabled == is_contact_monitor_enabled())
		return;

	if (!p_enabled) {

		if (contact_monitor->locked) {
			ERR_EXPLAIN("Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\",false) instead");
		}
		ERR_FAIL_COND(contact_monitor->locked);

		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {

			//clean up mess
		}

		memdelete(contact_monitor);
		contact_monitor = NULL;
	} else {

		contact_monitor = memnew(ContactMonitor);
		contact_monitor->locked = false;
	}
}

bool RigidBody::is_contact_monitor_enabled() const {

	return contact_monitor != NULL;
}

void RigidBody::set_axis_lock(AxisLock p_lock) {

	axis_lock = p_lock;
	PhysicsServer::get_singleton()->body_set_axis_lock(get_rid(), PhysicsServer::BodyAxisLock(axis_lock));
}

RigidBody::AxisLock RigidBody::get_axis_lock() const {

	return axis_lock;
}

Array RigidBody::get_colliding_bodies() const {

	ERR_FAIL_COND_V(!contact_monitor, Array());

	Array ret;
	ret.resize(contact_monitor->body_map.size());
	int idx = 0;
	for (const Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
		Object *obj = ObjectDB::get_instance(E->key());
		if (!obj) {
			ret.resize(ret.size() - 1); //ops
		} else {
			ret[idx++] = obj;
		}
	}

	return ret;
}

String RigidBody::get_configuration_warning() const {

	Transform t = get_transform();

	String warning = CollisionObject::get_configuration_warning();

	if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(0).length() - 1.0) > 0.05)) {
		if (warning != String()) {
			warning += "\n";
		}
		warning += TTR("Size changes to RigidBody (in character or rigid modes) will be overriden by the physics engine when running.\nChange the size in children collision shapes instead.");
	}

	return warning;
}

void RigidBody::_bind_methods() {

	ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody::set_mode);
	ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody::get_mode);

	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody::set_mass);
	ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody::get_mass);

	ClassDB::bind_method(D_METHOD("set_weight", "weight"), &RigidBody::set_weight);
	ClassDB::bind_method(D_METHOD("get_weight"), &RigidBody::get_weight);

	ClassDB::bind_method(D_METHOD("set_friction", "friction"), &RigidBody::set_friction);
	ClassDB::bind_method(D_METHOD("get_friction"), &RigidBody::get_friction);

	ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &RigidBody::set_bounce);
	ClassDB::bind_method(D_METHOD("get_bounce"), &RigidBody::get_bounce);

	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody::set_linear_velocity);
	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody::get_linear_velocity);

	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody::set_angular_velocity);
	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody::get_angular_velocity);

	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody::set_gravity_scale);
	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody::get_gravity_scale);

	ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody::set_linear_damp);
	ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody::get_linear_damp);

	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody::set_angular_damp);
	ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody::get_angular_damp);

	ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody::set_max_contacts_reported);
	ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody::get_max_contacts_reported);

	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody::set_use_custom_integrator);
	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody::is_using_custom_integrator);

	ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody::set_contact_monitor);
	ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody::is_contact_monitor_enabled);

	ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody::set_use_continuous_collision_detection);
	ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody::is_using_continuous_collision_detection);

	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody::set_axis_velocity);
	ClassDB::bind_method(D_METHOD("apply_impulse", "pos", "impulse"), &RigidBody::apply_impulse);

	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody::set_sleeping);
	ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody::is_sleeping);

	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody::set_can_sleep);
	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody::is_able_to_sleep);

	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody::_direct_state_changed);
	ClassDB::bind_method(D_METHOD("_body_enter_tree"), &RigidBody::_body_enter_tree);
	ClassDB::bind_method(D_METHOD("_body_exit_tree"), &RigidBody::_body_exit_tree);

	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis_lock"), &RigidBody::set_axis_lock);
	ClassDB::bind_method(D_METHOD("get_axis_lock"), &RigidBody::get_axis_lock);

	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody::get_colliding_bodies);

	BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state:PhysicsDirectBodyState")));

	ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported"), "set_max_contacts_reported", "get_max_contacts_reported");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping");
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "axis_lock", PROPERTY_HINT_ENUM, "Disabled,Lock X,Lock Y,Lock Z"), "set_axis_lock", "get_axis_lock");
	ADD_GROUP("Linear", "linear_");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "linear_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "set_linear_damp", "get_linear_damp");
	ADD_GROUP("Angular", "angular_");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_damp", PROPERTY_HINT_RANGE, "-1,128,0.01"), "set_angular_damp", "get_angular_damp");

	ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
	ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
	ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body")));
	ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body")));
	ADD_SIGNAL(MethodInfo("sleeping_state_changed"));

	BIND_CONSTANT(MODE_STATIC);
	BIND_CONSTANT(MODE_KINEMATIC);
	BIND_CONSTANT(MODE_RIGID);
	BIND_CONSTANT(MODE_CHARACTER);
}

RigidBody::RigidBody()
	: PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {

	mode = MODE_RIGID;

	bounce = 0;
	mass = 1;
	friction = 1;
	max_contacts_reported = 0;
	state = NULL;

	gravity_scale = 1;
	linear_damp = -1;
	angular_damp = -1;

	//angular_velocity=0;
	sleeping = false;
	ccd = false;

	custom_integrator = false;
	contact_monitor = NULL;
	can_sleep = true;

	axis_lock = AXIS_LOCK_DISABLED;

	PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
}

RigidBody::~RigidBody() {

	if (contact_monitor)
		memdelete(contact_monitor);
}
//////////////////////////////////////////////////////
//////////////////////////

Dictionary KinematicBody::_move(const Vector3 &p_motion) {

	Collision col;
	if (move(p_motion, col)) {
		Dictionary d;
		d["position"] = col.collision;
		d["normal"] = col.collision;
		d["local_shape"] = col.local_shape;
		d["travel"] = col.travel;
		d["remainder"] = col.remainder;
		d["collider_id"] = col.collider;
		if (col.collider) {
			d["collider"] = ObjectDB::get_instance(col.collider);
		} else {
			d["collider"] = Variant();
		}

		d["collider_shape_index"] = col.collider_shape;
		d["collider_metadata"] = col.collider_metadata;

		return d;

	} else {
		return Dictionary();
	}
}

bool KinematicBody::move(const Vector3 &p_motion, Collision &r_collision) {

	Transform gt = get_global_transform();
	PhysicsServer::MotionResult result;
	bool colliding = PhysicsServer::get_singleton()->body_test_motion(get_rid(), gt, p_motion, margin, &result);

	if (colliding) {
		r_collision.collider_metadata = result.collider_metadata;
		r_collision.collider_shape = result.collider_shape;
		r_collision.collider_vel = result.collider_velocity;
		r_collision.collision = result.collision_point;
		r_collision.normal = result.collision_normal;
		r_collision.collider = result.collider_id;
		r_collision.travel = result.motion;
		r_collision.remainder = result.remainder;
		r_collision.local_shape = result.collision_local_shape;
	}

	gt.origin += result.motion;
	set_global_transform(gt);

	return colliding;
}

Vector3 KinematicBody::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_floor_direction, float p_slope_stop_min_velocity, int p_max_bounces, float p_floor_max_angle) {

	Vector3 motion = (floor_velocity + p_linear_velocity) * get_fixed_process_delta_time();
	Vector3 lv = p_linear_velocity;

	on_floor = false;
	on_ceiling = false;
	on_wall = false;
	colliders.clear();
	floor_velocity = Vector3();

	while (p_max_bounces) {

		Collision collision;

		bool collided = move(motion, collision);

		if (collided) {

			motion = collision.remainder;

			if (p_floor_direction == Vector3()) {
				//all is a wall
				on_wall = true;
			} else {
				if (collision.normal.dot(p_floor_direction) >= Math::cos(p_floor_max_angle)) { //floor

					on_floor = true;
					floor_velocity = collision.collider_vel;

					/*if (collision.travel.length() < 0.01 && ABS((lv.x - floor_velocity.x)) < p_slope_stop_min_velocity) {
						Transform gt = get_global_transform();
						gt.elements[2] -= collision.travel;
						set_global_transform(gt);
						return Vector3();
					}*/
				} else if (collision.normal.dot(-p_floor_direction) >= Math::cos(p_floor_max_angle)) { //ceiling
					on_ceiling = true;
				} else {
					on_wall = true;
				}
			}

			Vector3 n = collision.normal;
			motion = motion.slide(n);
			lv = lv.slide(n);

			colliders.push_back(collision);

		} else {
			break;
		}

		p_max_bounces--;
		if (motion == Vector3())
			break;
	}

	return lv;
}

bool KinematicBody::is_on_floor() const {

	return on_floor;
}
bool KinematicBody::is_on_wall() const {

	return on_wall;
}
bool KinematicBody::is_on_ceiling() const {

	return on_ceiling;
}

Vector3 KinematicBody::get_floor_velocity() const {

	return floor_velocity;
}

bool KinematicBody::test_move(const Transform &p_from, const Vector3 &p_motion) {

	ERR_FAIL_COND_V(!is_inside_tree(), false);

	return PhysicsServer::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, margin);
}

void KinematicBody::set_safe_margin(float p_margin) {

	margin = p_margin;
}

float KinematicBody::get_safe_margin() const {

	return margin;
}

int KinematicBody::get_collision_count() const {

	return colliders.size();
}
Vector3 KinematicBody::get_collision_position(int p_collision) const {

	ERR_FAIL_INDEX_V(p_collision, colliders.size(), Vector3());

	return colliders[p_collision].collision;
}
Vector3 KinematicBody::get_collision_normal(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), Vector3());
	return colliders[p_collision].normal;
}

Vector3 KinematicBody::get_collision_travel(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), Vector3());
	return colliders[p_collision].travel;
}
Vector3 KinematicBody::get_collision_remainder(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), Vector3());
	return colliders[p_collision].remainder;
}
Object *KinematicBody::get_collision_local_shape(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), NULL);
	uint32_t owner = shape_find_owner(colliders[p_collision].local_shape);
	return shape_owner_get_owner(owner);
}
Object *KinematicBody::get_collision_collider(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), NULL);

	if (colliders[p_collision].collider) {
		return ObjectDB::get_instance(colliders[p_collision].collider);
	}

	return NULL;
}
ObjectID KinematicBody::get_collision_collider_id(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), 0);

	return colliders[p_collision].collider;
}
Object *KinematicBody::get_collision_collider_shape(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), NULL);
	Object *collider = get_collision_collider(p_collision);
	if (collider) {
		CollisionObject *obj2d = collider->cast_to<CollisionObject>();
		if (obj2d) {
			uint32_t owner = shape_find_owner(colliders[p_collision].collider_shape);
			return obj2d->shape_owner_get_owner(owner);
		}
	}

	return NULL;
}
int KinematicBody::get_collision_collider_shape_index(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), -1);
	return colliders[p_collision].collider_shape;
}
Vector3 KinematicBody::get_collision_collider_velocity(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), Vector3());
	return colliders[p_collision].collider_vel;
}
Variant KinematicBody::get_collision_collider_metadata(int p_collision) const {
	ERR_FAIL_INDEX_V(p_collision, colliders.size(), Variant());
	return colliders[p_collision].collider_metadata;
}

void KinematicBody::_bind_methods() {

	ClassDB::bind_method(D_METHOD("move", "rel_vec"), &KinematicBody::_move);
	ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "floor_normal", "slope_stop_min_velocity", "max_bounces", "floor_max_angle"), &KinematicBody::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(0.05), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)));

	ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec"), &KinematicBody::test_move);

	ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody::is_on_floor);
	ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody::is_on_ceiling);
	ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody::is_on_wall);
	ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody::get_floor_velocity);

	ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody::set_safe_margin);
	ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody::get_safe_margin);

	ClassDB::bind_method(D_METHOD("get_collision_count"), &KinematicBody::get_collision_count);
	ClassDB::bind_method(D_METHOD("get_collision_position", "collision"), &KinematicBody::get_collision_position);
	ClassDB::bind_method(D_METHOD("get_collision_normal", "collision"), &KinematicBody::get_collision_normal);
	ClassDB::bind_method(D_METHOD("get_collision_travel", "collision"), &KinematicBody::get_collision_travel);
	ClassDB::bind_method(D_METHOD("get_collision_remainder", "collision"), &KinematicBody::get_collision_remainder);
	ClassDB::bind_method(D_METHOD("get_collision_local_shape", "collision"), &KinematicBody::get_collision_local_shape);
	ClassDB::bind_method(D_METHOD("get_collision_collider", "collision"), &KinematicBody::get_collision_collider);
	ClassDB::bind_method(D_METHOD("get_collision_collider_id", "collision"), &KinematicBody::get_collision_collider_id);
	ClassDB::bind_method(D_METHOD("get_collision_collider_shape", "collision"), &KinematicBody::get_collision_collider_shape);
	ClassDB::bind_method(D_METHOD("get_collision_collider_shape_index", "collision"), &KinematicBody::get_collision_collider_shape_index);
	ClassDB::bind_method(D_METHOD("get_collision_collider_velocity", "collision"), &KinematicBody::get_collision_collider_velocity);
	ClassDB::bind_method(D_METHOD("get_collision_collider_metadata", "collision"), &KinematicBody::get_collision_collider_metadata);

	ADD_PROPERTY(PropertyInfo(Variant::REAL, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin");
}

KinematicBody::KinematicBody()
	: PhysicsBody(PhysicsServer::BODY_MODE_KINEMATIC) {

	margin = 0.001;

	on_floor = false;
	on_ceiling = false;
	on_wall = false;
}
KinematicBody::~KinematicBody() {
}