From 35dafc9fa8ac26cca9ca1da606cbfe782468d05f Mon Sep 17 00:00:00 2001 From: smix8 <52464204+smix8@users.noreply.github.com> Date: Mon, 26 Feb 2024 07:15:31 +0100 Subject: [PATCH] Split monolithic physics class files Splits monolithic physics class files. --- editor/import/3d/resource_importer_scene.cpp | 9 +- editor/plugins/cast_2d_editor_plugin.cpp | 4 +- .../collision_polygon_2d_editor_plugin.h | 2 +- .../collision_shape_2d_editor_plugin.h | 2 +- .../plugins/cpu_particles_2d_editor_plugin.h | 2 +- .../collision_object_3d_gizmo_plugin.cpp | 6 +- .../collision_polygon_3d_gizmo_plugin.cpp | 2 +- .../collision_shape_3d_gizmo_plugin.cpp | 2 +- .../plugins/gizmos/joint_3d_gizmo_plugin.cpp | 6 +- .../gizmos/physics_bone_3d_gizmo_plugin.cpp | 3 +- .../gizmos/ray_cast_3d_gizmo_plugin.cpp | 2 +- .../gizmos/shape_cast_3d_gizmo_plugin.cpp | 2 +- .../gizmos/spring_arm_3d_gizmo_plugin.cpp | 2 +- .../gizmos/vehicle_body_3d_gizmo_plugin.cpp | 2 +- .../plugins/gpu_particles_2d_editor_plugin.h | 2 +- .../mesh_instance_3d_editor_plugin.cpp | 5 +- editor/plugins/mesh_library_editor_plugin.cpp | 3 +- .../navigation_obstacle_3d_editor_plugin.h | 2 +- editor/plugins/node_3d_editor_plugin.cpp | 4 +- .../physical_bone_3d_editor_plugin.cpp | 1 + .../plugins/physical_bone_3d_editor_plugin.h | 3 +- editor/plugins/polygon_3d_editor_plugin.h | 2 +- editor/plugins/skeleton_3d_editor_plugin.cpp | 7 +- editor/plugins/sprite_2d_editor_plugin.cpp | 2 +- .../gltf_document_extension_physics.cpp | 3 +- .../extensions/physics/gltf_physics_body.cpp | 7 +- .../extensions/physics/gltf_physics_body.h | 2 +- .../extensions/physics/gltf_physics_shape.cpp | 2 +- .../extensions/physics/gltf_physics_shape.h | 2 +- .../navigation/2d/nav_mesh_generator_2d.cpp | 2 +- .../navigation/3d/nav_mesh_generator_3d.cpp | 2 +- scene/2d/SCsub | 3 + scene/2d/audio_stream_player_2d.cpp | 2 +- scene/2d/joint_2d.cpp | 564 --- scene/2d/physics/SCsub | 8 + scene/2d/physics/animatable_body_2d.cpp | 111 + scene/2d/physics/animatable_body_2d.h | 61 + scene/2d/{ => physics}/area_2d.cpp | 0 scene/2d/{ => physics}/area_2d.h | 2 +- scene/2d/physics/character_body_2d.cpp | 755 ++++ scene/2d/physics/character_body_2d.h | 173 + .../2d/{ => physics}/collision_object_2d.cpp | 0 scene/2d/{ => physics}/collision_object_2d.h | 0 .../2d/{ => physics}/collision_polygon_2d.cpp | 4 +- scene/2d/{ => physics}/collision_polygon_2d.h | 0 scene/2d/{ => physics}/collision_shape_2d.cpp | 4 +- scene/2d/{ => physics}/collision_shape_2d.h | 0 scene/2d/physics/joints/SCsub | 5 + .../physics/joints/damped_spring_joint_2d.cpp | 128 + .../physics/joints/damped_spring_joint_2d.h | 67 + scene/2d/physics/joints/groove_joint_2d.cpp | 92 + scene/2d/physics/joints/groove_joint_2d.h | 59 + scene/2d/physics/joints/joint_2d.cpp | 254 ++ scene/2d/{ => physics/joints}/joint_2d.h | 85 +- scene/2d/physics/joints/pin_joint_2d.cpp | 177 + scene/2d/physics/joints/pin_joint_2d.h | 71 + scene/2d/physics/kinematic_collision_2d.cpp | 120 + scene/2d/physics/kinematic_collision_2d.h | 67 + scene/2d/{ => physics}/physical_bone_2d.cpp | 2 +- scene/2d/{ => physics}/physical_bone_2d.h | 2 +- scene/2d/physics/physics_body_2d.cpp | 180 + scene/2d/physics/physics_body_2d.h | 63 + scene/2d/{ => physics}/ray_cast_2d.cpp | 2 +- scene/2d/{ => physics}/ray_cast_2d.h | 0 scene/2d/physics/rigid_body_2d.cpp | 817 ++++ scene/2d/physics/rigid_body_2d.h | 249 ++ scene/2d/{ => physics}/shape_cast_2d.cpp | 4 +- scene/2d/{ => physics}/shape_cast_2d.h | 0 scene/2d/physics/static_body_2d.cpp | 96 + scene/2d/physics/static_body_2d.h | 64 + scene/2d/physics_body_2d.cpp | 1923 --------- scene/2d/physics_body_2d.h | 493 --- scene/3d/SCsub | 3 + scene/3d/audio_stream_player_3d.cpp | 2 +- scene/3d/camera_3d.cpp | 1 - scene/3d/joint_3d.h | 301 -- scene/3d/mesh_instance_3d.cpp | 5 +- scene/3d/navigation_obstacle_3d.cpp | 2 - scene/3d/physics/SCsub | 8 + scene/3d/physics/animatable_body_3d.cpp | 128 + scene/3d/physics/animatable_body_3d.h | 67 + scene/3d/{ => physics}/area_3d.cpp | 0 scene/3d/{ => physics}/area_3d.h | 2 +- scene/3d/physics/character_body_3d.cpp | 939 +++++ scene/3d/physics/character_body_3d.h | 190 + .../3d/{ => physics}/collision_object_3d.cpp | 0 scene/3d/{ => physics}/collision_object_3d.h | 0 .../3d/{ => physics}/collision_polygon_3d.cpp | 2 +- scene/3d/{ => physics}/collision_polygon_3d.h | 0 scene/3d/{ => physics}/collision_shape_3d.cpp | 7 +- scene/3d/{ => physics}/collision_shape_3d.h | 0 scene/3d/physics/joints/SCsub | 5 + .../3d/physics/joints/cone_twist_joint_3d.cpp | 97 + scene/3d/physics/joints/cone_twist_joint_3d.h | 63 + .../joints/generic_6dof_joint_3d.cpp} | 559 +-- .../3d/physics/joints/generic_6dof_joint_3d.h | 112 + scene/3d/physics/joints/hinge_joint_3d.cpp | 135 + scene/3d/physics/joints/hinge_joint_3d.h | 77 + scene/3d/physics/joints/joint_3d.cpp | 241 ++ scene/3d/physics/joints/joint_3d.h | 85 + scene/3d/physics/joints/pin_joint_3d.cpp | 80 + scene/3d/physics/joints/pin_joint_3d.h | 60 + scene/3d/physics/joints/slider_joint_3d.cpp | 149 + scene/3d/physics/joints/slider_joint_3d.h | 82 + scene/3d/physics/kinematic_collision_3d.cpp | 134 + scene/3d/physics/kinematic_collision_3d.h | 68 + scene/3d/physics/physical_bone_3d.cpp | 1346 +++++++ scene/3d/physics/physical_bone_3d.h | 306 ++ scene/3d/physics/physics_body_3d.cpp | 228 ++ scene/3d/physics/physics_body_3d.h | 72 + scene/3d/{ => physics}/ray_cast_3d.cpp | 4 +- scene/3d/{ => physics}/ray_cast_3d.h | 0 scene/3d/physics/rigid_body_3d.cpp | 825 ++++ scene/3d/physics/rigid_body_3d.h | 248 ++ scene/3d/{ => physics}/shape_cast_3d.cpp | 2 +- scene/3d/{ => physics}/shape_cast_3d.h | 0 scene/3d/{ => physics}/spring_arm_3d.cpp | 0 scene/3d/{ => physics}/spring_arm_3d.h | 0 scene/3d/physics/static_body_3d.cpp | 96 + scene/3d/physics/static_body_3d.h | 64 + scene/3d/{ => physics}/vehicle_body_3d.cpp | 0 scene/3d/{ => physics}/vehicle_body_3d.h | 3 +- scene/3d/physics_body_3d.cpp | 3503 ----------------- scene/3d/physics_body_3d.h | 797 ---- scene/3d/skeleton_3d.cpp | 3 +- scene/3d/soft_body_3d.cpp | 2 +- scene/main/viewport.cpp | 4 +- scene/register_scene_types.cpp | 53 +- .../2d/skeleton/skeleton_modification_2d.cpp | 6 +- ...skeleton_modification_2d_physicalbones.cpp | 2 +- scu_builders.py | 4 + tests/scene/test_viewport.h | 4 +- 132 files changed, 9664 insertions(+), 8316 deletions(-) delete mode 100644 scene/2d/joint_2d.cpp create mode 100644 scene/2d/physics/SCsub create mode 100644 scene/2d/physics/animatable_body_2d.cpp create mode 100644 scene/2d/physics/animatable_body_2d.h rename scene/2d/{ => physics}/area_2d.cpp (100%) rename scene/2d/{ => physics}/area_2d.h (99%) create mode 100644 scene/2d/physics/character_body_2d.cpp create mode 100644 scene/2d/physics/character_body_2d.h rename scene/2d/{ => physics}/collision_object_2d.cpp (100%) rename scene/2d/{ => physics}/collision_object_2d.h (100%) rename scene/2d/{ => physics}/collision_polygon_2d.cpp (99%) rename scene/2d/{ => physics}/collision_polygon_2d.h (100%) rename scene/2d/{ => physics}/collision_shape_2d.cpp (99%) rename scene/2d/{ => physics}/collision_shape_2d.h (100%) create mode 100644 scene/2d/physics/joints/SCsub create mode 100644 scene/2d/physics/joints/damped_spring_joint_2d.cpp create mode 100644 scene/2d/physics/joints/damped_spring_joint_2d.h create mode 100644 scene/2d/physics/joints/groove_joint_2d.cpp create mode 100644 scene/2d/physics/joints/groove_joint_2d.h create mode 100644 scene/2d/physics/joints/joint_2d.cpp rename scene/2d/{ => physics/joints}/joint_2d.h (60%) create mode 100644 scene/2d/physics/joints/pin_joint_2d.cpp create mode 100644 scene/2d/physics/joints/pin_joint_2d.h create mode 100644 scene/2d/physics/kinematic_collision_2d.cpp create mode 100644 scene/2d/physics/kinematic_collision_2d.h rename scene/2d/{ => physics}/physical_bone_2d.cpp (99%) rename scene/2d/{ => physics}/physical_bone_2d.h (98%) create mode 100644 scene/2d/physics/physics_body_2d.cpp create mode 100644 scene/2d/physics/physics_body_2d.h rename scene/2d/{ => physics}/ray_cast_2d.cpp (99%) rename scene/2d/{ => physics}/ray_cast_2d.h (100%) create mode 100644 scene/2d/physics/rigid_body_2d.cpp create mode 100644 scene/2d/physics/rigid_body_2d.h rename scene/2d/{ => physics}/shape_cast_2d.cpp (99%) rename scene/2d/{ => physics}/shape_cast_2d.h (100%) create mode 100644 scene/2d/physics/static_body_2d.cpp create mode 100644 scene/2d/physics/static_body_2d.h delete mode 100644 scene/2d/physics_body_2d.cpp delete mode 100644 scene/2d/physics_body_2d.h delete mode 100644 scene/3d/joint_3d.h create mode 100644 scene/3d/physics/SCsub create mode 100644 scene/3d/physics/animatable_body_3d.cpp create mode 100644 scene/3d/physics/animatable_body_3d.h rename scene/3d/{ => physics}/area_3d.cpp (100%) rename scene/3d/{ => physics}/area_3d.h (99%) create mode 100644 scene/3d/physics/character_body_3d.cpp create mode 100644 scene/3d/physics/character_body_3d.h rename scene/3d/{ => physics}/collision_object_3d.cpp (100%) rename scene/3d/{ => physics}/collision_object_3d.h (100%) rename scene/3d/{ => physics}/collision_polygon_3d.cpp (99%) rename scene/3d/{ => physics}/collision_polygon_3d.h (100%) rename scene/3d/{ => physics}/collision_shape_3d.cpp (97%) rename scene/3d/{ => physics}/collision_shape_3d.h (100%) create mode 100644 scene/3d/physics/joints/SCsub create mode 100644 scene/3d/physics/joints/cone_twist_joint_3d.cpp create mode 100644 scene/3d/physics/joints/cone_twist_joint_3d.h rename scene/3d/{joint_3d.cpp => physics/joints/generic_6dof_joint_3d.cpp} (54%) create mode 100644 scene/3d/physics/joints/generic_6dof_joint_3d.h create mode 100644 scene/3d/physics/joints/hinge_joint_3d.cpp create mode 100644 scene/3d/physics/joints/hinge_joint_3d.h create mode 100644 scene/3d/physics/joints/joint_3d.cpp create mode 100644 scene/3d/physics/joints/joint_3d.h create mode 100644 scene/3d/physics/joints/pin_joint_3d.cpp create mode 100644 scene/3d/physics/joints/pin_joint_3d.h create mode 100644 scene/3d/physics/joints/slider_joint_3d.cpp create mode 100644 scene/3d/physics/joints/slider_joint_3d.h create mode 100644 scene/3d/physics/kinematic_collision_3d.cpp create mode 100644 scene/3d/physics/kinematic_collision_3d.h create mode 100644 scene/3d/physics/physical_bone_3d.cpp create mode 100644 scene/3d/physics/physical_bone_3d.h create mode 100644 scene/3d/physics/physics_body_3d.cpp create mode 100644 scene/3d/physics/physics_body_3d.h rename scene/3d/{ => physics}/ray_cast_3d.cpp (99%) rename scene/3d/{ => physics}/ray_cast_3d.h (100%) create mode 100644 scene/3d/physics/rigid_body_3d.cpp create mode 100644 scene/3d/physics/rigid_body_3d.h rename scene/3d/{ => physics}/shape_cast_3d.cpp (99%) rename scene/3d/{ => physics}/shape_cast_3d.h (100%) rename scene/3d/{ => physics}/spring_arm_3d.cpp (100%) rename scene/3d/{ => physics}/spring_arm_3d.h (100%) create mode 100644 scene/3d/physics/static_body_3d.cpp create mode 100644 scene/3d/physics/static_body_3d.h rename scene/3d/{ => physics}/vehicle_body_3d.cpp (100%) rename scene/3d/{ => physics}/vehicle_body_3d.h (98%) delete mode 100644 scene/3d/physics_body_3d.cpp delete mode 100644 scene/3d/physics_body_3d.h diff --git a/editor/import/3d/resource_importer_scene.cpp b/editor/import/3d/resource_importer_scene.cpp index 3310d6f298f..9af6810b418 100644 --- a/editor/import/3d/resource_importer_scene.cpp +++ b/editor/import/3d/resource_importer_scene.cpp @@ -37,14 +37,15 @@ #include "editor/editor_node.h" #include "editor/editor_settings.h" #include "editor/import/3d/scene_import_settings.h" -#include "scene/3d/area_3d.h" -#include "scene/3d/collision_shape_3d.h" #include "scene/3d/importer_mesh_instance_3d.h" #include "scene/3d/mesh_instance_3d.h" #include "scene/3d/navigation_region_3d.h" #include "scene/3d/occluder_instance_3d.h" -#include "scene/3d/physics_body_3d.h" -#include "scene/3d/vehicle_body_3d.h" +#include "scene/3d/physics/area_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/physics/static_body_3d.h" +#include "scene/3d/physics/vehicle_body_3d.h" #include "scene/animation/animation_player.h" #include "scene/resources/3d/box_shape_3d.h" #include "scene/resources/3d/importer_mesh.h" diff --git a/editor/plugins/cast_2d_editor_plugin.cpp b/editor/plugins/cast_2d_editor_plugin.cpp index a6457e38a79..64db19d85ed 100644 --- a/editor/plugins/cast_2d_editor_plugin.cpp +++ b/editor/plugins/cast_2d_editor_plugin.cpp @@ -33,8 +33,8 @@ #include "canvas_item_editor_plugin.h" #include "editor/editor_node.h" #include "editor/editor_undo_redo_manager.h" -#include "scene/2d/ray_cast_2d.h" -#include "scene/2d/shape_cast_2d.h" +#include "scene/2d/physics/ray_cast_2d.h" +#include "scene/2d/physics/shape_cast_2d.h" void Cast2DEditor::_notification(int p_what) { switch (p_what) { diff --git a/editor/plugins/collision_polygon_2d_editor_plugin.h b/editor/plugins/collision_polygon_2d_editor_plugin.h index 070a01f6517..61e6cc3ddaa 100644 --- a/editor/plugins/collision_polygon_2d_editor_plugin.h +++ b/editor/plugins/collision_polygon_2d_editor_plugin.h @@ -32,7 +32,7 @@ #define COLLISION_POLYGON_2D_EDITOR_PLUGIN_H #include "editor/plugins/abstract_polygon_2d_editor.h" -#include "scene/2d/collision_polygon_2d.h" +#include "scene/2d/physics/collision_polygon_2d.h" class CollisionPolygon2DEditor : public AbstractPolygon2DEditor { GDCLASS(CollisionPolygon2DEditor, AbstractPolygon2DEditor); diff --git a/editor/plugins/collision_shape_2d_editor_plugin.h b/editor/plugins/collision_shape_2d_editor_plugin.h index d58f5d511f0..0e454799d62 100644 --- a/editor/plugins/collision_shape_2d_editor_plugin.h +++ b/editor/plugins/collision_shape_2d_editor_plugin.h @@ -32,7 +32,7 @@ #define COLLISION_SHAPE_2D_EDITOR_PLUGIN_H #include "editor/editor_plugin.h" -#include "scene/2d/collision_shape_2d.h" +#include "scene/2d/physics/collision_shape_2d.h" class CanvasItemEditor; diff --git a/editor/plugins/cpu_particles_2d_editor_plugin.h b/editor/plugins/cpu_particles_2d_editor_plugin.h index 5077827ce8f..ffcf53af664 100644 --- a/editor/plugins/cpu_particles_2d_editor_plugin.h +++ b/editor/plugins/cpu_particles_2d_editor_plugin.h @@ -32,8 +32,8 @@ #define CPU_PARTICLES_2D_EDITOR_PLUGIN_H #include "editor/editor_plugin.h" -#include "scene/2d/collision_polygon_2d.h" #include "scene/2d/cpu_particles_2d.h" +#include "scene/2d/physics/collision_polygon_2d.h" #include "scene/gui/box_container.h" class CheckBox; diff --git a/editor/plugins/gizmos/collision_object_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/collision_object_3d_gizmo_plugin.cpp index 63f2883ed76..caac143f237 100644 --- a/editor/plugins/gizmos/collision_object_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/collision_object_3d_gizmo_plugin.cpp @@ -32,9 +32,9 @@ #include "editor/editor_settings.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/collision_object_3d.h" -#include "scene/3d/collision_polygon_3d.h" -#include "scene/3d/collision_shape_3d.h" +#include "scene/3d/physics/collision_object_3d.h" +#include "scene/3d/physics/collision_polygon_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" #include "scene/resources/surface_tool.h" CollisionObject3DGizmoPlugin::CollisionObject3DGizmoPlugin() { diff --git a/editor/plugins/gizmos/collision_polygon_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/collision_polygon_3d_gizmo_plugin.cpp index 50c10be11d7..7d19e8f677c 100644 --- a/editor/plugins/gizmos/collision_polygon_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/collision_polygon_3d_gizmo_plugin.cpp @@ -32,7 +32,7 @@ #include "editor/editor_settings.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/collision_polygon_3d.h" +#include "scene/3d/physics/collision_polygon_3d.h" CollisionPolygon3DGizmoPlugin::CollisionPolygon3DGizmoPlugin() { const Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape"); diff --git a/editor/plugins/gizmos/collision_shape_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/collision_shape_3d_gizmo_plugin.cpp index 3cf91644607..9d4c08ed571 100644 --- a/editor/plugins/gizmos/collision_shape_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/collision_shape_3d_gizmo_plugin.cpp @@ -36,7 +36,7 @@ #include "editor/editor_undo_redo_manager.h" #include "editor/plugins/gizmos/gizmo_3d_helper.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/collision_shape_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" #include "scene/resources/3d/box_shape_3d.h" #include "scene/resources/3d/capsule_shape_3d.h" #include "scene/resources/3d/concave_polygon_shape_3d.h" diff --git a/editor/plugins/gizmos/joint_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/joint_3d_gizmo_plugin.cpp index 3a8a0cff962..c15ddef933f 100644 --- a/editor/plugins/gizmos/joint_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/joint_3d_gizmo_plugin.cpp @@ -33,7 +33,11 @@ #include "editor/editor_node.h" #include "editor/editor_settings.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/joint_3d.h" +#include "scene/3d/physics/joints/cone_twist_joint_3d.h" +#include "scene/3d/physics/joints/generic_6dof_joint_3d.h" +#include "scene/3d/physics/joints/hinge_joint_3d.h" +#include "scene/3d/physics/joints/pin_joint_3d.h" +#include "scene/3d/physics/joints/slider_joint_3d.h" #define BODY_A_RADIUS 0.25 #define BODY_B_RADIUS 0.27 diff --git a/editor/plugins/gizmos/physics_bone_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/physics_bone_3d_gizmo_plugin.cpp index d1511a5f76d..b15f9bec3f9 100644 --- a/editor/plugins/gizmos/physics_bone_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/physics_bone_3d_gizmo_plugin.cpp @@ -33,7 +33,8 @@ #include "editor/editor_settings.h" #include "editor/plugins/gizmos/joint_3d_gizmo_plugin.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/physical_bone_3d.h" +#include "scene/3d/physics/physics_body_3d.h" PhysicalBone3DGizmoPlugin::PhysicalBone3DGizmoPlugin() { create_material("joint_material", EDITOR_GET("editors/3d_gizmos/gizmo_colors/joint")); diff --git a/editor/plugins/gizmos/ray_cast_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/ray_cast_3d_gizmo_plugin.cpp index eb9e54fe1d6..d783c4e4a7a 100644 --- a/editor/plugins/gizmos/ray_cast_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/ray_cast_3d_gizmo_plugin.cpp @@ -32,7 +32,7 @@ #include "editor/editor_settings.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/ray_cast_3d.h" +#include "scene/3d/physics/ray_cast_3d.h" RayCast3DGizmoPlugin::RayCast3DGizmoPlugin() { const Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape"); diff --git a/editor/plugins/gizmos/shape_cast_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/shape_cast_3d_gizmo_plugin.cpp index 23a224fc014..909f5b5f9aa 100644 --- a/editor/plugins/gizmos/shape_cast_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/shape_cast_3d_gizmo_plugin.cpp @@ -32,7 +32,7 @@ #include "editor/editor_settings.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/shape_cast_3d.h" +#include "scene/3d/physics/shape_cast_3d.h" ShapeCast3DGizmoPlugin::ShapeCast3DGizmoPlugin() { const Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape"); diff --git a/editor/plugins/gizmos/spring_arm_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/spring_arm_3d_gizmo_plugin.cpp index 69acac5a891..85e2c869471 100644 --- a/editor/plugins/gizmos/spring_arm_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/spring_arm_3d_gizmo_plugin.cpp @@ -32,7 +32,7 @@ #include "editor/editor_settings.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/spring_arm_3d.h" +#include "scene/3d/physics/spring_arm_3d.h" #include "scene/resources/3d/shape_3d.h" void SpringArm3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { diff --git a/editor/plugins/gizmos/vehicle_body_3d_gizmo_plugin.cpp b/editor/plugins/gizmos/vehicle_body_3d_gizmo_plugin.cpp index ef6cd88868f..69e87a55c0f 100644 --- a/editor/plugins/gizmos/vehicle_body_3d_gizmo_plugin.cpp +++ b/editor/plugins/gizmos/vehicle_body_3d_gizmo_plugin.cpp @@ -32,7 +32,7 @@ #include "editor/editor_settings.h" #include "editor/plugins/node_3d_editor_plugin.h" -#include "scene/3d/vehicle_body_3d.h" +#include "scene/3d/physics/vehicle_body_3d.h" VehicleWheel3DGizmoPlugin::VehicleWheel3DGizmoPlugin() { Color gizmo_color = EDITOR_GET("editors/3d_gizmos/gizmo_colors/shape"); diff --git a/editor/plugins/gpu_particles_2d_editor_plugin.h b/editor/plugins/gpu_particles_2d_editor_plugin.h index 237a005ab7e..f202179effd 100644 --- a/editor/plugins/gpu_particles_2d_editor_plugin.h +++ b/editor/plugins/gpu_particles_2d_editor_plugin.h @@ -32,8 +32,8 @@ #define GPU_PARTICLES_2D_EDITOR_PLUGIN_H #include "editor/editor_plugin.h" -#include "scene/2d/collision_polygon_2d.h" #include "scene/2d/gpu_particles_2d.h" +#include "scene/2d/physics/collision_polygon_2d.h" #include "scene/gui/box_container.h" #include "scene/gui/spin_box.h" diff --git a/editor/plugins/mesh_instance_3d_editor_plugin.cpp b/editor/plugins/mesh_instance_3d_editor_plugin.cpp index 061b839ee36..d62eddeeea1 100644 --- a/editor/plugins/mesh_instance_3d_editor_plugin.cpp +++ b/editor/plugins/mesh_instance_3d_editor_plugin.cpp @@ -35,9 +35,10 @@ #include "editor/editor_undo_redo_manager.h" #include "editor/plugins/node_3d_editor_plugin.h" #include "editor/themes/editor_scale.h" -#include "scene/3d/collision_shape_3d.h" #include "scene/3d/navigation_region_3d.h" -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/physics/static_body_3d.h" #include "scene/gui/box_container.h" #include "scene/gui/dialogs.h" #include "scene/gui/menu_button.h" diff --git a/editor/plugins/mesh_library_editor_plugin.cpp b/editor/plugins/mesh_library_editor_plugin.cpp index 4e457141740..8bfd3d0957d 100644 --- a/editor/plugins/mesh_library_editor_plugin.cpp +++ b/editor/plugins/mesh_library_editor_plugin.cpp @@ -40,7 +40,8 @@ #include "main/main.h" #include "scene/3d/mesh_instance_3d.h" #include "scene/3d/navigation_region_3d.h" -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/physics/static_body_3d.h" #include "scene/gui/menu_button.h" #include "scene/main/window.h" #include "scene/resources/packed_scene.h" diff --git a/editor/plugins/navigation_obstacle_3d_editor_plugin.h b/editor/plugins/navigation_obstacle_3d_editor_plugin.h index 1b125873d11..393f526da98 100644 --- a/editor/plugins/navigation_obstacle_3d_editor_plugin.h +++ b/editor/plugins/navigation_obstacle_3d_editor_plugin.h @@ -32,8 +32,8 @@ #define NAVIGATION_OBSTACLE_3D_EDITOR_PLUGIN_H #include "editor/editor_plugin.h" -#include "scene/3d/collision_polygon_3d.h" #include "scene/3d/mesh_instance_3d.h" +#include "scene/3d/physics/collision_polygon_3d.h" #include "scene/gui/box_container.h" #include "scene/resources/immediate_mesh.h" diff --git a/editor/plugins/node_3d_editor_plugin.cpp b/editor/plugins/node_3d_editor_plugin.cpp index 4e462cfe34b..ac1efa550fc 100644 --- a/editor/plugins/node_3d_editor_plugin.cpp +++ b/editor/plugins/node_3d_editor_plugin.cpp @@ -78,11 +78,11 @@ #include "editor/plugins/node_3d_editor_gizmos.h" #include "editor/scene_tree_dock.h" #include "scene/3d/camera_3d.h" -#include "scene/3d/collision_shape_3d.h" #include "scene/3d/decal.h" #include "scene/3d/light_3d.h" #include "scene/3d/mesh_instance_3d.h" -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" +#include "scene/3d/physics/physics_body_3d.h" #include "scene/3d/visual_instance_3d.h" #include "scene/3d/world_environment.h" #include "scene/gui/center_container.h" diff --git a/editor/plugins/physical_bone_3d_editor_plugin.cpp b/editor/plugins/physical_bone_3d_editor_plugin.cpp index 37092f924e6..b7c12ab5c03 100644 --- a/editor/plugins/physical_bone_3d_editor_plugin.cpp +++ b/editor/plugins/physical_bone_3d_editor_plugin.cpp @@ -33,6 +33,7 @@ #include "editor/editor_node.h" #include "editor/editor_string_names.h" #include "editor/plugins/node_3d_editor_plugin.h" +#include "scene/3d/physics/physical_bone_3d.h" #include "scene/gui/separator.h" void PhysicalBone3DEditor::_bind_methods() { diff --git a/editor/plugins/physical_bone_3d_editor_plugin.h b/editor/plugins/physical_bone_3d_editor_plugin.h index c9799d3faab..5c49e641a5f 100644 --- a/editor/plugins/physical_bone_3d_editor_plugin.h +++ b/editor/plugins/physical_bone_3d_editor_plugin.h @@ -32,10 +32,11 @@ #define PHYSICAL_BONE_3D_EDITOR_PLUGIN_H #include "editor/editor_plugin.h" -#include "scene/3d/physics_body_3d.h" #include "scene/gui/box_container.h" #include "scene/gui/button.h" +class PhysicalBone3D; + class PhysicalBone3DEditor : public Object { GDCLASS(PhysicalBone3DEditor, Object); diff --git a/editor/plugins/polygon_3d_editor_plugin.h b/editor/plugins/polygon_3d_editor_plugin.h index 6cb9275dd69..77c9b2218bd 100644 --- a/editor/plugins/polygon_3d_editor_plugin.h +++ b/editor/plugins/polygon_3d_editor_plugin.h @@ -32,8 +32,8 @@ #define POLYGON_3D_EDITOR_PLUGIN_H #include "editor/editor_plugin.h" -#include "scene/3d/collision_polygon_3d.h" #include "scene/3d/mesh_instance_3d.h" +#include "scene/3d/physics/collision_polygon_3d.h" #include "scene/gui/box_container.h" #include "scene/resources/immediate_mesh.h" diff --git a/editor/plugins/skeleton_3d_editor_plugin.cpp b/editor/plugins/skeleton_3d_editor_plugin.cpp index b6a6c8968ee..f23bbab863f 100644 --- a/editor/plugins/skeleton_3d_editor_plugin.cpp +++ b/editor/plugins/skeleton_3d_editor_plugin.cpp @@ -40,10 +40,11 @@ #include "editor/plugins/animation_player_editor_plugin.h" #include "editor/plugins/node_3d_editor_plugin.h" #include "editor/themes/editor_scale.h" -#include "scene/3d/collision_shape_3d.h" -#include "scene/3d/joint_3d.h" #include "scene/3d/mesh_instance_3d.h" -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" +#include "scene/3d/physics/joints/joint_3d.h" +#include "scene/3d/physics/physical_bone_3d.h" +#include "scene/3d/physics/physics_body_3d.h" #include "scene/gui/separator.h" #include "scene/gui/texture_rect.h" #include "scene/resources/3d/capsule_shape_3d.h" diff --git a/editor/plugins/sprite_2d_editor_plugin.cpp b/editor/plugins/sprite_2d_editor_plugin.cpp index 3e98f3d64fb..de81264f13a 100644 --- a/editor/plugins/sprite_2d_editor_plugin.cpp +++ b/editor/plugins/sprite_2d_editor_plugin.cpp @@ -38,9 +38,9 @@ #include "editor/gui/editor_zoom_widget.h" #include "editor/scene_tree_dock.h" #include "editor/themes/editor_scale.h" -#include "scene/2d/collision_polygon_2d.h" #include "scene/2d/light_occluder_2d.h" #include "scene/2d/mesh_instance_2d.h" +#include "scene/2d/physics/collision_polygon_2d.h" #include "scene/2d/polygon_2d.h" #include "scene/gui/box_container.h" #include "scene/gui/menu_button.h" diff --git a/modules/gltf/extensions/physics/gltf_document_extension_physics.cpp b/modules/gltf/extensions/physics/gltf_document_extension_physics.cpp index a9033de7aea..c6e34cc0235 100644 --- a/modules/gltf/extensions/physics/gltf_document_extension_physics.cpp +++ b/modules/gltf/extensions/physics/gltf_document_extension_physics.cpp @@ -30,7 +30,8 @@ #include "gltf_document_extension_physics.h" -#include "scene/3d/area_3d.h" +#include "scene/3d/physics/area_3d.h" +#include "scene/3d/physics/static_body_3d.h" // Import process. Error GLTFDocumentExtensionPhysics::import_preflight(Ref p_state, Vector p_extensions) { diff --git a/modules/gltf/extensions/physics/gltf_physics_body.cpp b/modules/gltf/extensions/physics/gltf_physics_body.cpp index 271bb9b3329..7929b46542b 100644 --- a/modules/gltf/extensions/physics/gltf_physics_body.cpp +++ b/modules/gltf/extensions/physics/gltf_physics_body.cpp @@ -30,8 +30,11 @@ #include "gltf_physics_body.h" -#include "scene/3d/area_3d.h" -#include "scene/3d/vehicle_body_3d.h" +#include "scene/3d/physics/animatable_body_3d.h" +#include "scene/3d/physics/area_3d.h" +#include "scene/3d/physics/character_body_3d.h" +#include "scene/3d/physics/static_body_3d.h" +#include "scene/3d/physics/vehicle_body_3d.h" void GLTFPhysicsBody::_bind_methods() { ClassDB::bind_static_method("GLTFPhysicsBody", D_METHOD("from_node", "body_node"), &GLTFPhysicsBody::from_node); diff --git a/modules/gltf/extensions/physics/gltf_physics_body.h b/modules/gltf/extensions/physics/gltf_physics_body.h index 6b21639a7b9..ec139054ff6 100644 --- a/modules/gltf/extensions/physics/gltf_physics_body.h +++ b/modules/gltf/extensions/physics/gltf_physics_body.h @@ -31,7 +31,7 @@ #ifndef GLTF_PHYSICS_BODY_H #define GLTF_PHYSICS_BODY_H -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/physics_body_3d.h" // GLTFPhysicsBody is an intermediary between Godot's physics body nodes // and the OMI_physics_body extension. diff --git a/modules/gltf/extensions/physics/gltf_physics_shape.cpp b/modules/gltf/extensions/physics/gltf_physics_shape.cpp index 467499a03f7..35c99adbe53 100644 --- a/modules/gltf/extensions/physics/gltf_physics_shape.cpp +++ b/modules/gltf/extensions/physics/gltf_physics_shape.cpp @@ -33,7 +33,7 @@ #include "../../gltf_state.h" #include "core/math/convex_hull.h" -#include "scene/3d/area_3d.h" +#include "scene/3d/physics/area_3d.h" #include "scene/resources/3d/box_shape_3d.h" #include "scene/resources/3d/capsule_shape_3d.h" #include "scene/resources/3d/concave_polygon_shape_3d.h" diff --git a/modules/gltf/extensions/physics/gltf_physics_shape.h b/modules/gltf/extensions/physics/gltf_physics_shape.h index 4f7ac392924..ec0a8931f19 100644 --- a/modules/gltf/extensions/physics/gltf_physics_shape.h +++ b/modules/gltf/extensions/physics/gltf_physics_shape.h @@ -33,7 +33,7 @@ #include "../../gltf_defines.h" -#include "scene/3d/collision_shape_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" class ImporterMesh; diff --git a/modules/navigation/2d/nav_mesh_generator_2d.cpp b/modules/navigation/2d/nav_mesh_generator_2d.cpp index 9fdfb208423..d1ac784103d 100644 --- a/modules/navigation/2d/nav_mesh_generator_2d.cpp +++ b/modules/navigation/2d/nav_mesh_generator_2d.cpp @@ -35,7 +35,7 @@ #include "core/config/project_settings.h" #include "scene/2d/mesh_instance_2d.h" #include "scene/2d/multimesh_instance_2d.h" -#include "scene/2d/physics_body_2d.h" +#include "scene/2d/physics/static_body_2d.h" #include "scene/2d/polygon_2d.h" #include "scene/2d/tile_map.h" #include "scene/resources/2d/capsule_shape_2d.h" diff --git a/modules/navigation/3d/nav_mesh_generator_3d.cpp b/modules/navigation/3d/nav_mesh_generator_3d.cpp index 4cd4f60edc7..e1ed9c51aae 100644 --- a/modules/navigation/3d/nav_mesh_generator_3d.cpp +++ b/modules/navigation/3d/nav_mesh_generator_3d.cpp @@ -37,7 +37,7 @@ #include "core/os/thread.h" #include "scene/3d/mesh_instance_3d.h" #include "scene/3d/multimesh_instance_3d.h" -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/static_body_3d.h" #include "scene/resources/3d/box_shape_3d.h" #include "scene/resources/3d/capsule_shape_3d.h" #include "scene/resources/3d/concave_polygon_shape_3d.h" diff --git a/scene/2d/SCsub b/scene/2d/SCsub index fc61250247d..94e1ab6c967 100644 --- a/scene/2d/SCsub +++ b/scene/2d/SCsub @@ -3,3 +3,6 @@ Import("env") env.add_source_files(env.scene_sources, "*.cpp") + +# Chain load SCsubs +SConscript("physics/SCsub") diff --git a/scene/2d/audio_stream_player_2d.cpp b/scene/2d/audio_stream_player_2d.cpp index 4762ae28f88..cbd3c244d95 100644 --- a/scene/2d/audio_stream_player_2d.cpp +++ b/scene/2d/audio_stream_player_2d.cpp @@ -32,8 +32,8 @@ #include "audio_stream_player_2d.compat.inc" #include "core/config/project_settings.h" -#include "scene/2d/area_2d.h" #include "scene/2d/audio_listener_2d.h" +#include "scene/2d/physics/area_2d.h" #include "scene/audio/audio_stream_player_internal.h" #include "scene/main/viewport.h" #include "scene/resources/world_2d.h" diff --git a/scene/2d/joint_2d.cpp b/scene/2d/joint_2d.cpp deleted file mode 100644 index 41b121a482a..00000000000 --- a/scene/2d/joint_2d.cpp +++ /dev/null @@ -1,564 +0,0 @@ -/**************************************************************************/ -/* joint_2d.cpp */ -/**************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/**************************************************************************/ -/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ -/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/**************************************************************************/ - -#include "joint_2d.h" - -#include "physics_body_2d.h" -#include "scene/scene_string_names.h" - -void Joint2D::_disconnect_signals() { - Node *node_a = get_node_or_null(a); - PhysicsBody2D *body_a = Object::cast_to(node_a); - if (body_a) { - body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); - } - - Node *node_b = get_node_or_null(b); - PhysicsBody2D *body_b = Object::cast_to(node_b); - if (body_b) { - body_b->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); - } -} - -void Joint2D::_body_exit_tree() { - _disconnect_signals(); - _update_joint(true); - update_configuration_warnings(); -} - -void Joint2D::_update_joint(bool p_only_free) { - if (ba.is_valid() && bb.is_valid() && exclude_from_collision) { - PhysicsServer2D::get_singleton()->joint_disable_collisions_between_bodies(joint, false); - } - - ba = RID(); - bb = RID(); - configured = false; - - if (p_only_free || !is_inside_tree()) { - PhysicsServer2D::get_singleton()->joint_clear(joint); - warning = String(); - return; - } - - Node *node_a = get_node_or_null(a); - Node *node_b = get_node_or_null(b); - - PhysicsBody2D *body_a = Object::cast_to(node_a); - PhysicsBody2D *body_b = Object::cast_to(node_b); - - bool valid = false; - - if (node_a && !body_a && node_b && !body_b) { - warning = RTR("Node A and Node B must be PhysicsBody2Ds"); - } else if (node_a && !body_a) { - warning = RTR("Node A must be a PhysicsBody2D"); - } else if (node_b && !body_b) { - warning = RTR("Node B must be a PhysicsBody2D"); - } else if (!body_a || !body_b) { - warning = RTR("Joint is not connected to two PhysicsBody2Ds"); - } else if (body_a == body_b) { - warning = RTR("Node A and Node B must be different PhysicsBody2Ds"); - } else { - warning = String(); - valid = true; - } - - update_configuration_warnings(); - - if (!valid) { - PhysicsServer2D::get_singleton()->joint_clear(joint); - return; - } - - if (body_a) { - body_a->force_update_transform(); - } - - if (body_b) { - body_b->force_update_transform(); - } - - configured = true; - - _configure_joint(joint, body_a, body_b); - - ERR_FAIL_COND_MSG(!joint.is_valid(), "Failed to configure the joint."); - - PhysicsServer2D::get_singleton()->joint_set_param(joint, PhysicsServer2D::JOINT_PARAM_BIAS, bias); - - ba = body_a->get_rid(); - bb = body_b->get_rid(); - - body_a->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); - body_b->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); - - PhysicsServer2D::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); -} - -void Joint2D::set_node_a(const NodePath &p_node_a) { - if (a == p_node_a) { - return; - } - - if (is_configured()) { - _disconnect_signals(); - } - - a = p_node_a; - if (Engine::get_singleton()->is_editor_hint()) { - // When in editor, the setter may be called as a result of node rename. - // It happens before the node actually changes its name, which triggers false warning. - callable_mp(this, &Joint2D::_update_joint).call_deferred(); - } else { - _update_joint(); - } -} - -NodePath Joint2D::get_node_a() const { - return a; -} - -void Joint2D::set_node_b(const NodePath &p_node_b) { - if (b == p_node_b) { - return; - } - - if (is_configured()) { - _disconnect_signals(); - } - - b = p_node_b; - if (Engine::get_singleton()->is_editor_hint()) { - callable_mp(this, &Joint2D::_update_joint).call_deferred(); - } else { - _update_joint(); - } -} - -NodePath Joint2D::get_node_b() const { - return b; -} - -void Joint2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_POST_ENTER_TREE: { - if (is_configured()) { - _disconnect_signals(); - } - _update_joint(); - } break; - - case NOTIFICATION_EXIT_TREE: { - if (is_configured()) { - _disconnect_signals(); - } - _update_joint(true); - } break; - } -} - -void Joint2D::set_bias(real_t p_bias) { - bias = p_bias; - if (joint.is_valid()) { - PhysicsServer2D::get_singleton()->joint_set_param(joint, PhysicsServer2D::JOINT_PARAM_BIAS, bias); - } -} - -real_t Joint2D::get_bias() const { - return bias; -} - -void Joint2D::set_exclude_nodes_from_collision(bool p_enable) { - if (exclude_from_collision == p_enable) { - return; - } - if (is_configured()) { - _disconnect_signals(); - } - _update_joint(true); - exclude_from_collision = p_enable; - _update_joint(); -} - -bool Joint2D::get_exclude_nodes_from_collision() const { - return exclude_from_collision; -} - -PackedStringArray Joint2D::get_configuration_warnings() const { - PackedStringArray warnings = Node2D::get_configuration_warnings(); - - if (!warning.is_empty()) { - warnings.push_back(warning); - } - - return warnings; -} - -void Joint2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint2D::set_node_a); - ClassDB::bind_method(D_METHOD("get_node_a"), &Joint2D::get_node_a); - - ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint2D::set_node_b); - ClassDB::bind_method(D_METHOD("get_node_b"), &Joint2D::get_node_b); - - ClassDB::bind_method(D_METHOD("set_bias", "bias"), &Joint2D::set_bias); - ClassDB::bind_method(D_METHOD("get_bias"), &Joint2D::get_bias); - - ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint2D::set_exclude_nodes_from_collision); - ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint2D::get_exclude_nodes_from_collision); - - ClassDB::bind_method(D_METHOD("get_rid"), &Joint2D::get_rid); - - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody2D"), "set_node_a", "get_node_a"); - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody2D"), "set_node_b", "get_node_b"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0,0.9,0.001"), "set_bias", "get_bias"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "disable_collision"), "set_exclude_nodes_from_collision", "get_exclude_nodes_from_collision"); -} - -Joint2D::Joint2D() { - joint = PhysicsServer2D::get_singleton()->joint_create(); - set_hide_clip_children(true); -} - -Joint2D::~Joint2D() { - ERR_FAIL_NULL(PhysicsServer2D::get_singleton()); - PhysicsServer2D::get_singleton()->free(joint); -} - -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// - -void PinJoint2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_DRAW: { - if (!is_inside_tree()) { - break; - } - - if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { - break; - } - - draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(0, -10), Point2(0, +10), Color(0.7, 0.6, 0.0, 0.5), 3); - } break; - } -} - -void PinJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { - PhysicsServer2D::get_singleton()->joint_make_pin(p_joint, get_global_position(), body_a->get_rid(), body_b ? body_b->get_rid() : RID()); - PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_SOFTNESS, softness); - PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_LIMIT_UPPER, angular_limit_upper); - PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_LIMIT_LOWER, angular_limit_lower); - PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_MOTOR_TARGET_VELOCITY, motor_target_velocity); - PhysicsServer2D::get_singleton()->pin_joint_set_flag(p_joint, PhysicsServer2D::PIN_JOINT_FLAG_MOTOR_ENABLED, motor_enabled); - PhysicsServer2D::get_singleton()->pin_joint_set_flag(p_joint, PhysicsServer2D::PIN_JOINT_FLAG_ANGULAR_LIMIT_ENABLED, angular_limit_enabled); -} - -void PinJoint2D::set_softness(real_t p_softness) { - if (softness == p_softness) { - return; - } - softness = p_softness; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_SOFTNESS, p_softness); - } -} - -real_t PinJoint2D::get_softness() const { - return softness; -} - -void PinJoint2D::set_angular_limit_lower(real_t p_angular_limit_lower) { - if (angular_limit_lower == p_angular_limit_lower) { - return; - } - angular_limit_lower = p_angular_limit_lower; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_LIMIT_LOWER, p_angular_limit_lower); - } -} - -real_t PinJoint2D::get_angular_limit_lower() const { - return angular_limit_lower; -} - -void PinJoint2D::set_angular_limit_upper(real_t p_angular_limit_upper) { - if (angular_limit_upper == p_angular_limit_upper) { - return; - } - angular_limit_upper = p_angular_limit_upper; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_LIMIT_UPPER, p_angular_limit_upper); - } -} - -real_t PinJoint2D::get_angular_limit_upper() const { - return angular_limit_upper; -} - -void PinJoint2D::set_motor_target_velocity(real_t p_motor_target_velocity) { - if (motor_target_velocity == p_motor_target_velocity) { - return; - } - motor_target_velocity = p_motor_target_velocity; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_MOTOR_TARGET_VELOCITY, motor_target_velocity); - } -} - -real_t PinJoint2D::get_motor_target_velocity() const { - return motor_target_velocity; -} - -void PinJoint2D::set_motor_enabled(bool p_motor_enabled) { - if (motor_enabled == p_motor_enabled) { - return; - } - motor_enabled = p_motor_enabled; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->pin_joint_set_flag(get_rid(), PhysicsServer2D::PIN_JOINT_FLAG_MOTOR_ENABLED, motor_enabled); - } -} - -bool PinJoint2D::is_motor_enabled() const { - return motor_enabled; -} - -void PinJoint2D::set_angular_limit_enabled(bool p_angular_limit_enabled) { - if (angular_limit_enabled == p_angular_limit_enabled) { - return; - } - angular_limit_enabled = p_angular_limit_enabled; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->pin_joint_set_flag(get_rid(), PhysicsServer2D::PIN_JOINT_FLAG_ANGULAR_LIMIT_ENABLED, angular_limit_enabled); - } -} - -bool PinJoint2D::is_angular_limit_enabled() const { - return angular_limit_enabled; -} - -void PinJoint2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_softness", "softness"), &PinJoint2D::set_softness); - ClassDB::bind_method(D_METHOD("get_softness"), &PinJoint2D::get_softness); - ClassDB::bind_method(D_METHOD("set_angular_limit_lower", "angular_limit_lower"), &PinJoint2D::set_angular_limit_lower); - ClassDB::bind_method(D_METHOD("get_angular_limit_lower"), &PinJoint2D::get_angular_limit_lower); - ClassDB::bind_method(D_METHOD("set_angular_limit_upper", "angular_limit_upper"), &PinJoint2D::set_angular_limit_upper); - ClassDB::bind_method(D_METHOD("get_angular_limit_upper"), &PinJoint2D::get_angular_limit_upper); - ClassDB::bind_method(D_METHOD("set_motor_target_velocity", "motor_target_velocity"), &PinJoint2D::set_motor_target_velocity); - ClassDB::bind_method(D_METHOD("get_motor_target_velocity"), &PinJoint2D::get_motor_target_velocity); - ClassDB::bind_method(D_METHOD("set_motor_enabled", "enabled"), &PinJoint2D::set_motor_enabled); - ClassDB::bind_method(D_METHOD("is_motor_enabled"), &PinJoint2D::is_motor_enabled); - ClassDB::bind_method(D_METHOD("set_angular_limit_enabled", "enabled"), &PinJoint2D::set_angular_limit_enabled); - ClassDB::bind_method(D_METHOD("is_angular_limit_enabled"), &PinJoint2D::is_angular_limit_enabled); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.00,16,0.01,exp"), "set_softness", "get_softness"); - ADD_GROUP("Angular Limit", "angular_limit_"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "angular_limit_enabled"), "set_angular_limit_enabled", "is_angular_limit_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_angular_limit_lower", "get_angular_limit_lower"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_angular_limit_upper", "get_angular_limit_upper"); - ADD_GROUP("Motor", "motor_"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "motor_enabled"), "set_motor_enabled", "is_motor_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "motor_target_velocity", PROPERTY_HINT_RANGE, U"-200,200,0.01,or_greater,or_less,radians_as_degrees,suffix:\u00B0/s"), "set_motor_target_velocity", "get_motor_target_velocity"); -} - -PinJoint2D::PinJoint2D() { -} - -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// - -void GrooveJoint2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_DRAW: { - if (!is_inside_tree()) { - break; - } - - if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { - break; - } - - draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(-10, length), Point2(+10, length), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(0, 0), Point2(0, length), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(-10, initial_offset), Point2(+10, initial_offset), Color(0.8, 0.8, 0.9, 0.5), 5); - } break; - } -} - -void GrooveJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { - Transform2D gt = get_global_transform(); - Vector2 groove_A1 = gt.get_origin(); - Vector2 groove_A2 = gt.xform(Vector2(0, length)); - Vector2 anchor_B = gt.xform(Vector2(0, initial_offset)); - - PhysicsServer2D::get_singleton()->joint_make_groove(p_joint, groove_A1, groove_A2, anchor_B, body_a->get_rid(), body_b->get_rid()); -} - -void GrooveJoint2D::set_length(real_t p_length) { - length = p_length; - queue_redraw(); -} - -real_t GrooveJoint2D::get_length() const { - return length; -} - -void GrooveJoint2D::set_initial_offset(real_t p_initial_offset) { - initial_offset = p_initial_offset; - queue_redraw(); -} - -real_t GrooveJoint2D::get_initial_offset() const { - return initial_offset; -} - -void GrooveJoint2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_length", "length"), &GrooveJoint2D::set_length); - ClassDB::bind_method(D_METHOD("get_length"), &GrooveJoint2D::get_length); - ClassDB::bind_method(D_METHOD("set_initial_offset", "offset"), &GrooveJoint2D::set_initial_offset); - ClassDB::bind_method(D_METHOD("get_initial_offset"), &GrooveJoint2D::get_initial_offset); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "1,65535,1,exp,suffix:px"), "set_length", "get_length"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "initial_offset", PROPERTY_HINT_RANGE, "1,65535,1,exp,suffix:px"), "set_initial_offset", "get_initial_offset"); -} - -GrooveJoint2D::GrooveJoint2D() { -} - -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// -/////////////////////////////////////////////////////////////////////////////// - -void DampedSpringJoint2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_DRAW: { - if (!is_inside_tree()) { - break; - } - - if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { - break; - } - - draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(-10, length), Point2(+10, length), Color(0.7, 0.6, 0.0, 0.5), 3); - draw_line(Point2(0, 0), Point2(0, length), Color(0.7, 0.6, 0.0, 0.5), 3); - } break; - } -} - -void DampedSpringJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { - Transform2D gt = get_global_transform(); - Vector2 anchor_A = gt.get_origin(); - Vector2 anchor_B = gt.xform(Vector2(0, length)); - - PhysicsServer2D::get_singleton()->joint_make_damped_spring(p_joint, anchor_A, anchor_B, body_a->get_rid(), body_b->get_rid()); - if (rest_length) { - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_REST_LENGTH, rest_length); - } - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_STIFFNESS, stiffness); - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_DAMPING, damping); -} - -void DampedSpringJoint2D::set_length(real_t p_length) { - length = p_length; - queue_redraw(); -} - -real_t DampedSpringJoint2D::get_length() const { - return length; -} - -void DampedSpringJoint2D::set_rest_length(real_t p_rest_length) { - rest_length = p_rest_length; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_rid(), PhysicsServer2D::DAMPED_SPRING_REST_LENGTH, p_rest_length ? p_rest_length : length); - } -} - -real_t DampedSpringJoint2D::get_rest_length() const { - return rest_length; -} - -void DampedSpringJoint2D::set_stiffness(real_t p_stiffness) { - stiffness = p_stiffness; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_rid(), PhysicsServer2D::DAMPED_SPRING_STIFFNESS, p_stiffness); - } -} - -real_t DampedSpringJoint2D::get_stiffness() const { - return stiffness; -} - -void DampedSpringJoint2D::set_damping(real_t p_damping) { - damping = p_damping; - queue_redraw(); - if (is_configured()) { - PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_rid(), PhysicsServer2D::DAMPED_SPRING_DAMPING, p_damping); - } -} - -real_t DampedSpringJoint2D::get_damping() const { - return damping; -} - -void DampedSpringJoint2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_length", "length"), &DampedSpringJoint2D::set_length); - ClassDB::bind_method(D_METHOD("get_length"), &DampedSpringJoint2D::get_length); - ClassDB::bind_method(D_METHOD("set_rest_length", "rest_length"), &DampedSpringJoint2D::set_rest_length); - ClassDB::bind_method(D_METHOD("get_rest_length"), &DampedSpringJoint2D::get_rest_length); - ClassDB::bind_method(D_METHOD("set_stiffness", "stiffness"), &DampedSpringJoint2D::set_stiffness); - ClassDB::bind_method(D_METHOD("get_stiffness"), &DampedSpringJoint2D::get_stiffness); - ClassDB::bind_method(D_METHOD("set_damping", "damping"), &DampedSpringJoint2D::set_damping); - ClassDB::bind_method(D_METHOD("get_damping"), &DampedSpringJoint2D::get_damping); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "1,65535,1,exp,suffix:px"), "set_length", "get_length"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "rest_length", PROPERTY_HINT_RANGE, "0,65535,1,exp,suffix:px"), "set_rest_length", "get_rest_length"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "stiffness", PROPERTY_HINT_RANGE, "0.1,64,0.1,exp"), "set_stiffness", "get_stiffness"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "damping", PROPERTY_HINT_RANGE, "0.01,16,0.01,exp"), "set_damping", "get_damping"); -} - -DampedSpringJoint2D::DampedSpringJoint2D() { -} diff --git a/scene/2d/physics/SCsub b/scene/2d/physics/SCsub new file mode 100644 index 00000000000..e7fd3fe6435 --- /dev/null +++ b/scene/2d/physics/SCsub @@ -0,0 +1,8 @@ +#!/usr/bin/env python + +Import("env") + +env.add_source_files(env.scene_sources, "*.cpp") + +# Chain load SCsubs +SConscript("joints/SCsub") diff --git a/scene/2d/physics/animatable_body_2d.cpp b/scene/2d/physics/animatable_body_2d.cpp new file mode 100644 index 00000000000..10e90e708b0 --- /dev/null +++ b/scene/2d/physics/animatable_body_2d.cpp @@ -0,0 +1,111 @@ +/**************************************************************************/ +/* animatable_body_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "animatable_body_2d.h" + +void AnimatableBody2D::set_sync_to_physics(bool p_enable) { + if (sync_to_physics == p_enable) { + return; + } + + sync_to_physics = p_enable; + + _update_kinematic_motion(); +} + +bool AnimatableBody2D::is_sync_to_physics_enabled() const { + return sync_to_physics; +} + +void AnimatableBody2D::_update_kinematic_motion() { +#ifdef TOOLS_ENABLED + if (Engine::get_singleton()->is_editor_hint()) { + return; + } +#endif + + if (sync_to_physics) { + PhysicsServer2D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &AnimatableBody2D::_body_state_changed)); + set_only_update_transform_changes(true); + set_notify_local_transform(true); + } else { + PhysicsServer2D::get_singleton()->body_set_state_sync_callback(get_rid(), Callable()); + set_only_update_transform_changes(false); + set_notify_local_transform(false); + } +} + +void AnimatableBody2D::_body_state_changed(PhysicsDirectBodyState2D *p_state) { + if (!sync_to_physics) { + return; + } + + last_valid_transform = p_state->get_transform(); + set_notify_local_transform(false); + set_global_transform(last_valid_transform); + set_notify_local_transform(true); +} + +void AnimatableBody2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + last_valid_transform = get_global_transform(); + _update_kinematic_motion(); + } break; + + case NOTIFICATION_EXIT_TREE: { + set_only_update_transform_changes(false); + set_notify_local_transform(false); + } break; + + case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { + // Used by sync to physics, send the new transform to the physics... + Transform2D new_transform = get_global_transform(); + + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_TRANSFORM, new_transform); + + // ... but then revert changes. + set_notify_local_transform(false); + set_global_transform(last_valid_transform); + set_notify_local_transform(true); + } break; + } +} + +void AnimatableBody2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &AnimatableBody2D::set_sync_to_physics); + ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &AnimatableBody2D::is_sync_to_physics_enabled); + + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled"); +} + +AnimatableBody2D::AnimatableBody2D() : + StaticBody2D(PhysicsServer2D::BODY_MODE_KINEMATIC) { +} diff --git a/scene/2d/physics/animatable_body_2d.h b/scene/2d/physics/animatable_body_2d.h new file mode 100644 index 00000000000..e510d5cc9c3 --- /dev/null +++ b/scene/2d/physics/animatable_body_2d.h @@ -0,0 +1,61 @@ +/**************************************************************************/ +/* animatable_body_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef ANIMATABLE_BODY_2D_H +#define ANIMATABLE_BODY_2D_H + +#include "scene/2d/physics/static_body_2d.h" + +class AnimatableBody2D : public StaticBody2D { + GDCLASS(AnimatableBody2D, StaticBody2D); + +private: + bool sync_to_physics = true; + + Transform2D last_valid_transform; + + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState2D *p_state); + void _body_state_changed(PhysicsDirectBodyState2D *p_state); + +protected: + void _notification(int p_what); + static void _bind_methods(); + +public: + AnimatableBody2D(); + +private: + void _update_kinematic_motion(); + + void set_sync_to_physics(bool p_enable); + bool is_sync_to_physics_enabled() const; +}; + +#endif // ANIMATABLE_BODY_2D_H diff --git a/scene/2d/area_2d.cpp b/scene/2d/physics/area_2d.cpp similarity index 100% rename from scene/2d/area_2d.cpp rename to scene/2d/physics/area_2d.cpp diff --git a/scene/2d/area_2d.h b/scene/2d/physics/area_2d.h similarity index 99% rename from scene/2d/area_2d.h rename to scene/2d/physics/area_2d.h index 9d6e04b706e..7c59d76e00b 100644 --- a/scene/2d/area_2d.h +++ b/scene/2d/physics/area_2d.h @@ -32,7 +32,7 @@ #define AREA_2D_H #include "core/templates/vset.h" -#include "scene/2d/collision_object_2d.h" +#include "scene/2d/physics/collision_object_2d.h" class Area2D : public CollisionObject2D { GDCLASS(Area2D, CollisionObject2D); diff --git a/scene/2d/physics/character_body_2d.cpp b/scene/2d/physics/character_body_2d.cpp new file mode 100644 index 00000000000..e5d575a1590 --- /dev/null +++ b/scene/2d/physics/character_body_2d.cpp @@ -0,0 +1,755 @@ +/**************************************************************************/ +/* character_body_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "character_body_2d.h" + +// So, if you pass 45 as limit, avoid numerical precision errors when angle is 45. +#define FLOOR_ANGLE_THRESHOLD 0.01 + +bool CharacterBody2D::move_and_slide() { + // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky. + double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time(); + + Vector2 current_platform_velocity = platform_velocity; + Transform2D gt = get_global_transform(); + previous_position = gt.columns[2]; + + if ((on_floor || on_wall) && platform_rid.is_valid()) { + bool excluded = false; + if (on_floor) { + excluded = (platform_floor_layers & platform_layer) == 0; + } else if (on_wall) { + excluded = (platform_wall_layers & platform_layer) == 0; + } + if (!excluded) { + //this approach makes sure there is less delay between the actual body velocity and the one we saved + PhysicsDirectBodyState2D *bs = PhysicsServer2D::get_singleton()->body_get_direct_state(platform_rid); + if (bs) { + Vector2 local_position = gt.columns[2] - bs->get_transform().columns[2]; + current_platform_velocity = bs->get_velocity_at_local_position(local_position); + } else { + // Body is removed or destroyed, invalidate floor. + current_platform_velocity = Vector2(); + platform_rid = RID(); + } + } else { + current_platform_velocity = Vector2(); + } + } + + motion_results.clear(); + last_motion = Vector2(); + + bool was_on_floor = on_floor; + on_floor = false; + on_ceiling = false; + on_wall = false; + + if (!current_platform_velocity.is_zero_approx()) { + PhysicsServer2D::MotionParameters parameters(get_global_transform(), current_platform_velocity * delta, margin); + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + parameters.exclude_bodies.insert(platform_rid); + if (platform_object_id.is_valid()) { + parameters.exclude_objects.insert(platform_object_id); + } + + PhysicsServer2D::MotionResult floor_result; + if (move_and_collide(parameters, floor_result, false, false)) { + motion_results.push_back(floor_result); + _set_collision_direction(floor_result); + } + } + + if (motion_mode == MOTION_MODE_GROUNDED) { + _move_and_slide_grounded(delta, was_on_floor); + } else { + _move_and_slide_floating(delta); + } + + // Compute real velocity. + real_velocity = get_position_delta() / delta; + + if (platform_on_leave != PLATFORM_ON_LEAVE_DO_NOTHING) { + // Add last platform velocity when just left a moving platform. + if (!on_floor && !on_wall) { + if (platform_on_leave == PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY && current_platform_velocity.dot(up_direction) < 0) { + current_platform_velocity = current_platform_velocity.slide(up_direction); + } + velocity += current_platform_velocity; + } + } + + return motion_results.size() > 0; +} + +void CharacterBody2D::_move_and_slide_grounded(double p_delta, bool p_was_on_floor) { + Vector2 motion = velocity * p_delta; + Vector2 motion_slide_up = motion.slide(up_direction); + + Vector2 prev_floor_normal = floor_normal; + + platform_rid = RID(); + platform_object_id = ObjectID(); + floor_normal = Vector2(); + platform_velocity = Vector2(); + + // No sliding on first attempt to keep floor motion stable when possible, + // When stop on slope is enabled or when there is no up direction. + bool sliding_enabled = !floor_stop_on_slope; + // Constant speed can be applied only the first time sliding is enabled. + bool can_apply_constant_speed = sliding_enabled; + // If the platform's ceiling push down the body. + bool apply_ceiling_velocity = false; + bool first_slide = true; + bool vel_dir_facing_up = velocity.dot(up_direction) > 0; + Vector2 last_travel; + + for (int iteration = 0; iteration < max_slides; ++iteration) { + PhysicsServer2D::MotionParameters parameters(get_global_transform(), motion, margin); + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + + Vector2 prev_position = parameters.from.columns[2]; + + PhysicsServer2D::MotionResult result; + bool collided = move_and_collide(parameters, result, false, !sliding_enabled); + + last_motion = result.travel; + + if (collided) { + motion_results.push_back(result); + _set_collision_direction(result); + + // If we hit a ceiling platform, we set the vertical velocity to at least the platform one. + if (on_ceiling && result.collider_velocity != Vector2() && result.collider_velocity.dot(up_direction) < 0) { + // If ceiling sliding is on, only apply when the ceiling is flat or when the motion is upward. + if (!slide_on_ceiling || motion.dot(up_direction) < 0 || (result.collision_normal + up_direction).length() < 0.01) { + apply_ceiling_velocity = true; + Vector2 ceiling_vertical_velocity = up_direction * up_direction.dot(result.collider_velocity); + Vector2 motion_vertical_velocity = up_direction * up_direction.dot(velocity); + if (motion_vertical_velocity.dot(up_direction) > 0 || ceiling_vertical_velocity.length_squared() > motion_vertical_velocity.length_squared()) { + velocity = ceiling_vertical_velocity + velocity.slide(up_direction); + } + } + } + + if (on_floor && floor_stop_on_slope && (velocity.normalized() + up_direction).length() < 0.01) { + Transform2D gt = get_global_transform(); + if (result.travel.length() <= margin + CMP_EPSILON) { + gt.columns[2] -= result.travel; + } + set_global_transform(gt); + velocity = Vector2(); + last_motion = Vector2(); + motion = Vector2(); + break; + } + + if (result.remainder.is_zero_approx()) { + motion = Vector2(); + break; + } + + // Move on floor only checks. + if (floor_block_on_wall && on_wall && motion_slide_up.dot(result.collision_normal) <= 0) { + // Avoid to move forward on a wall if floor_block_on_wall is true. + if (p_was_on_floor && !on_floor && !vel_dir_facing_up) { + // If the movement is large the body can be prevented from reaching the walls. + if (result.travel.length() <= margin + CMP_EPSILON) { + // Cancels the motion. + Transform2D gt = get_global_transform(); + gt.columns[2] -= result.travel; + set_global_transform(gt); + } + // Determines if you are on the ground. + _snap_on_floor(true, false, true); + velocity = Vector2(); + last_motion = Vector2(); + motion = Vector2(); + break; + } + // Prevents the body from being able to climb a slope when it moves forward against the wall. + else if (!on_floor) { + motion = up_direction * up_direction.dot(result.remainder); + motion = motion.slide(result.collision_normal); + } else { + motion = result.remainder; + } + } + // Constant Speed when the slope is upward. + else if (floor_constant_speed && is_on_floor_only() && can_apply_constant_speed && p_was_on_floor && motion.dot(result.collision_normal) < 0) { + can_apply_constant_speed = false; + Vector2 motion_slide_norm = result.remainder.slide(result.collision_normal).normalized(); + motion = motion_slide_norm * (motion_slide_up.length() - result.travel.slide(up_direction).length() - last_travel.slide(up_direction).length()); + } + // Regular sliding, the last part of the test handle the case when you don't want to slide on the ceiling. + else if ((sliding_enabled || !on_floor) && (!on_ceiling || slide_on_ceiling || !vel_dir_facing_up) && !apply_ceiling_velocity) { + Vector2 slide_motion = result.remainder.slide(result.collision_normal); + if (slide_motion.dot(velocity) > 0.0) { + motion = slide_motion; + } else { + motion = Vector2(); + } + if (slide_on_ceiling && on_ceiling) { + // Apply slide only in the direction of the input motion, otherwise just stop to avoid jittering when moving against a wall. + if (vel_dir_facing_up) { + velocity = velocity.slide(result.collision_normal); + } else { + // Avoid acceleration in slope when falling. + velocity = up_direction * up_direction.dot(velocity); + } + } + } + // No sliding on first attempt to keep floor motion stable when possible. + else { + motion = result.remainder; + if (on_ceiling && !slide_on_ceiling && vel_dir_facing_up) { + velocity = velocity.slide(up_direction); + motion = motion.slide(up_direction); + } + } + + last_travel = result.travel; + } + // When you move forward in a downward slope you don’t collide because you will be in the air. + // This test ensures that constant speed is applied, only if the player is still on the ground after the snap is applied. + else if (floor_constant_speed && first_slide && _on_floor_if_snapped(p_was_on_floor, vel_dir_facing_up)) { + can_apply_constant_speed = false; + sliding_enabled = true; + Transform2D gt = get_global_transform(); + gt.columns[2] = prev_position; + set_global_transform(gt); + + Vector2 motion_slide_norm = motion.slide(prev_floor_normal).normalized(); + motion = motion_slide_norm * (motion_slide_up.length()); + collided = true; + } + + can_apply_constant_speed = !can_apply_constant_speed && !sliding_enabled; + sliding_enabled = true; + first_slide = false; + + if (!collided || motion.is_zero_approx()) { + break; + } + } + + _snap_on_floor(p_was_on_floor, vel_dir_facing_up); + + // Scales the horizontal velocity according to the wall slope. + if (is_on_wall_only() && motion_slide_up.dot(motion_results.get(0).collision_normal) < 0) { + Vector2 slide_motion = velocity.slide(motion_results.get(0).collision_normal); + if (motion_slide_up.dot(slide_motion) < 0) { + velocity = up_direction * up_direction.dot(velocity); + } else { + // Keeps the vertical motion from velocity and add the horizontal motion of the projection. + velocity = up_direction * up_direction.dot(velocity) + slide_motion.slide(up_direction); + } + } + + // Reset the gravity accumulation when touching the ground. + if (on_floor && !vel_dir_facing_up) { + velocity = velocity.slide(up_direction); + } +} + +void CharacterBody2D::_move_and_slide_floating(double p_delta) { + Vector2 motion = velocity * p_delta; + + platform_rid = RID(); + platform_object_id = ObjectID(); + floor_normal = Vector2(); + platform_velocity = Vector2(); + + bool first_slide = true; + for (int iteration = 0; iteration < max_slides; ++iteration) { + PhysicsServer2D::MotionParameters parameters(get_global_transform(), motion, margin); + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + + PhysicsServer2D::MotionResult result; + bool collided = move_and_collide(parameters, result, false, false); + + last_motion = result.travel; + + if (collided) { + motion_results.push_back(result); + _set_collision_direction(result); + + if (result.remainder.is_zero_approx()) { + motion = Vector2(); + break; + } + + if (wall_min_slide_angle != 0 && result.get_angle(-velocity.normalized()) < wall_min_slide_angle + FLOOR_ANGLE_THRESHOLD) { + motion = Vector2(); + } else if (first_slide) { + Vector2 motion_slide_norm = result.remainder.slide(result.collision_normal).normalized(); + motion = motion_slide_norm * (motion.length() - result.travel.length()); + } else { + motion = result.remainder.slide(result.collision_normal); + } + + if (motion.dot(velocity) <= 0.0) { + motion = Vector2(); + } + } + + if (!collided || motion.is_zero_approx()) { + break; + } + + first_slide = false; + } +} +void CharacterBody2D::apply_floor_snap() { + _apply_floor_snap(); +} + +// Method that avoids the p_wall_as_floor parameter for the public method. +void CharacterBody2D::_apply_floor_snap(bool p_wall_as_floor) { + if (on_floor) { + return; + } + + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); + + PhysicsServer2D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + parameters.collide_separation_ray = true; + + PhysicsServer2D::MotionResult result; + if (move_and_collide(parameters, result, true, false)) { + if ((result.get_angle(up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) || + (p_wall_as_floor && result.get_angle(-up_direction) > floor_max_angle + FLOOR_ANGLE_THRESHOLD)) { + on_floor = true; + floor_normal = result.collision_normal; + _set_platform_data(result); + + if (floor_stop_on_slope) { + // move and collide may stray the object a bit because of pre un-stucking, + // so only ensure that motion happens on floor direction in this case. + if (result.travel.length() > margin) { + result.travel = up_direction * up_direction.dot(result.travel); + } else { + result.travel = Vector2(); + } + } + + parameters.from.columns[2] += result.travel; + set_global_transform(parameters.from); + } + } +} + +void CharacterBody2D::_snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up, bool p_wall_as_floor) { + if (on_floor || !p_was_on_floor || p_vel_dir_facing_up) { + return; + } + + _apply_floor_snap(p_wall_as_floor); +} + +bool CharacterBody2D::_on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up) { + if (up_direction == Vector2() || on_floor || !p_was_on_floor || p_vel_dir_facing_up) { + return false; + } + + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); + + PhysicsServer2D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + parameters.collide_separation_ray = true; + + PhysicsServer2D::MotionResult result; + if (move_and_collide(parameters, result, true, false)) { + if (result.get_angle(up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { + return true; + } + } + + return false; +} + +void CharacterBody2D::_set_collision_direction(const PhysicsServer2D::MotionResult &p_result) { + if (motion_mode == MOTION_MODE_GROUNDED && p_result.get_angle(up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor + on_floor = true; + floor_normal = p_result.collision_normal; + _set_platform_data(p_result); + } else if (motion_mode == MOTION_MODE_GROUNDED && p_result.get_angle(-up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling + on_ceiling = true; + } else { + on_wall = true; + wall_normal = p_result.collision_normal; + // Don't apply wall velocity when the collider is a CharacterBody2D. + if (Object::cast_to(ObjectDB::get_instance(p_result.collider_id)) == nullptr) { + _set_platform_data(p_result); + } + } +} + +void CharacterBody2D::_set_platform_data(const PhysicsServer2D::MotionResult &p_result) { + platform_rid = p_result.collider; + platform_object_id = p_result.collider_id; + platform_velocity = p_result.collider_velocity; + platform_layer = PhysicsServer2D::get_singleton()->body_get_collision_layer(platform_rid); +} + +const Vector2 &CharacterBody2D::get_velocity() const { + return velocity; +} + +void CharacterBody2D::set_velocity(const Vector2 &p_velocity) { + velocity = p_velocity; +} + +bool CharacterBody2D::is_on_floor() const { + return on_floor; +} + +bool CharacterBody2D::is_on_floor_only() const { + return on_floor && !on_wall && !on_ceiling; +} + +bool CharacterBody2D::is_on_wall() const { + return on_wall; +} + +bool CharacterBody2D::is_on_wall_only() const { + return on_wall && !on_floor && !on_ceiling; +} + +bool CharacterBody2D::is_on_ceiling() const { + return on_ceiling; +} + +bool CharacterBody2D::is_on_ceiling_only() const { + return on_ceiling && !on_floor && !on_wall; +} + +const Vector2 &CharacterBody2D::get_floor_normal() const { + return floor_normal; +} + +const Vector2 &CharacterBody2D::get_wall_normal() const { + return wall_normal; +} + +const Vector2 &CharacterBody2D::get_last_motion() const { + return last_motion; +} + +Vector2 CharacterBody2D::get_position_delta() const { + return get_global_transform().columns[2] - previous_position; +} + +const Vector2 &CharacterBody2D::get_real_velocity() const { + return real_velocity; +} + +real_t CharacterBody2D::get_floor_angle(const Vector2 &p_up_direction) const { + ERR_FAIL_COND_V(p_up_direction == Vector2(), 0); + return Math::acos(floor_normal.dot(p_up_direction)); +} + +const Vector2 &CharacterBody2D::get_platform_velocity() const { + return platform_velocity; +} + +int CharacterBody2D::get_slide_collision_count() const { + return motion_results.size(); +} + +PhysicsServer2D::MotionResult CharacterBody2D::get_slide_collision(int p_bounce) const { + ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), PhysicsServer2D::MotionResult()); + return motion_results[p_bounce]; +} + +Ref CharacterBody2D::_get_slide_collision(int p_bounce) { + ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), Ref()); + if (p_bounce >= slide_colliders.size()) { + slide_colliders.resize(p_bounce + 1); + } + + // Create a new instance when the cached reference is invalid or still in use in script. + if (slide_colliders[p_bounce].is_null() || slide_colliders[p_bounce]->get_reference_count() > 1) { + slide_colliders.write[p_bounce].instantiate(); + slide_colliders.write[p_bounce]->owner = this; + } + + slide_colliders.write[p_bounce]->result = motion_results[p_bounce]; + return slide_colliders[p_bounce]; +} + +Ref CharacterBody2D::_get_last_slide_collision() { + if (motion_results.size() == 0) { + return Ref(); + } + return _get_slide_collision(motion_results.size() - 1); +} + +void CharacterBody2D::set_safe_margin(real_t p_margin) { + margin = p_margin; +} + +real_t CharacterBody2D::get_safe_margin() const { + return margin; +} + +bool CharacterBody2D::is_floor_stop_on_slope_enabled() const { + return floor_stop_on_slope; +} + +void CharacterBody2D::set_floor_stop_on_slope_enabled(bool p_enabled) { + floor_stop_on_slope = p_enabled; +} + +bool CharacterBody2D::is_floor_constant_speed_enabled() const { + return floor_constant_speed; +} + +void CharacterBody2D::set_floor_constant_speed_enabled(bool p_enabled) { + floor_constant_speed = p_enabled; +} + +bool CharacterBody2D::is_floor_block_on_wall_enabled() const { + return floor_block_on_wall; +} + +void CharacterBody2D::set_floor_block_on_wall_enabled(bool p_enabled) { + floor_block_on_wall = p_enabled; +} + +bool CharacterBody2D::is_slide_on_ceiling_enabled() const { + return slide_on_ceiling; +} + +void CharacterBody2D::set_slide_on_ceiling_enabled(bool p_enabled) { + slide_on_ceiling = p_enabled; +} + +uint32_t CharacterBody2D::get_platform_floor_layers() const { + return platform_floor_layers; +} + +void CharacterBody2D::set_platform_floor_layers(uint32_t p_exclude_layers) { + platform_floor_layers = p_exclude_layers; +} + +uint32_t CharacterBody2D::get_platform_wall_layers() const { + return platform_wall_layers; +} + +void CharacterBody2D::set_platform_wall_layers(uint32_t p_exclude_layers) { + platform_wall_layers = p_exclude_layers; +} + +void CharacterBody2D::set_motion_mode(MotionMode p_mode) { + motion_mode = p_mode; +} + +CharacterBody2D::MotionMode CharacterBody2D::get_motion_mode() const { + return motion_mode; +} + +void CharacterBody2D::set_platform_on_leave(PlatformOnLeave p_on_leave_apply_velocity) { + platform_on_leave = p_on_leave_apply_velocity; +} + +CharacterBody2D::PlatformOnLeave CharacterBody2D::get_platform_on_leave() const { + return platform_on_leave; +} + +int CharacterBody2D::get_max_slides() const { + return max_slides; +} + +void CharacterBody2D::set_max_slides(int p_max_slides) { + ERR_FAIL_COND(p_max_slides < 1); + max_slides = p_max_slides; +} + +real_t CharacterBody2D::get_floor_max_angle() const { + return floor_max_angle; +} + +void CharacterBody2D::set_floor_max_angle(real_t p_radians) { + floor_max_angle = p_radians; +} + +real_t CharacterBody2D::get_floor_snap_length() { + return floor_snap_length; +} + +void CharacterBody2D::set_floor_snap_length(real_t p_floor_snap_length) { + ERR_FAIL_COND(p_floor_snap_length < 0); + floor_snap_length = p_floor_snap_length; +} + +real_t CharacterBody2D::get_wall_min_slide_angle() const { + return wall_min_slide_angle; +} + +void CharacterBody2D::set_wall_min_slide_angle(real_t p_radians) { + wall_min_slide_angle = p_radians; +} + +const Vector2 &CharacterBody2D::get_up_direction() const { + return up_direction; +} + +void CharacterBody2D::set_up_direction(const Vector2 &p_up_direction) { + ERR_FAIL_COND_MSG(p_up_direction == Vector2(), "up_direction can't be equal to Vector2.ZERO, consider using Floating motion mode instead."); + up_direction = p_up_direction.normalized(); +} + +void CharacterBody2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + // Reset move_and_slide() data. + on_floor = false; + platform_rid = RID(); + platform_object_id = ObjectID(); + on_ceiling = false; + on_wall = false; + motion_results.clear(); + platform_velocity = Vector2(); + } break; + } +} + +void CharacterBody2D::_validate_property(PropertyInfo &p_property) const { + if (motion_mode == MOTION_MODE_FLOATING) { + if (p_property.name.begins_with("floor_") || p_property.name == "up_direction" || p_property.name == "slide_on_ceiling") { + p_property.usage = PROPERTY_USAGE_NO_EDITOR; + } + } else { + if (p_property.name == "wall_min_slide_angle") { + p_property.usage = PROPERTY_USAGE_NO_EDITOR; + } + } +} + +void CharacterBody2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody2D::move_and_slide); + ClassDB::bind_method(D_METHOD("apply_floor_snap"), &CharacterBody2D::apply_floor_snap); + + ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &CharacterBody2D::set_velocity); + ClassDB::bind_method(D_METHOD("get_velocity"), &CharacterBody2D::get_velocity); + + ClassDB::bind_method(D_METHOD("set_safe_margin", "margin"), &CharacterBody2D::set_safe_margin); + ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody2D::get_safe_margin); + ClassDB::bind_method(D_METHOD("is_floor_stop_on_slope_enabled"), &CharacterBody2D::is_floor_stop_on_slope_enabled); + ClassDB::bind_method(D_METHOD("set_floor_stop_on_slope_enabled", "enabled"), &CharacterBody2D::set_floor_stop_on_slope_enabled); + ClassDB::bind_method(D_METHOD("set_floor_constant_speed_enabled", "enabled"), &CharacterBody2D::set_floor_constant_speed_enabled); + ClassDB::bind_method(D_METHOD("is_floor_constant_speed_enabled"), &CharacterBody2D::is_floor_constant_speed_enabled); + ClassDB::bind_method(D_METHOD("set_floor_block_on_wall_enabled", "enabled"), &CharacterBody2D::set_floor_block_on_wall_enabled); + ClassDB::bind_method(D_METHOD("is_floor_block_on_wall_enabled"), &CharacterBody2D::is_floor_block_on_wall_enabled); + ClassDB::bind_method(D_METHOD("set_slide_on_ceiling_enabled", "enabled"), &CharacterBody2D::set_slide_on_ceiling_enabled); + ClassDB::bind_method(D_METHOD("is_slide_on_ceiling_enabled"), &CharacterBody2D::is_slide_on_ceiling_enabled); + + ClassDB::bind_method(D_METHOD("set_platform_floor_layers", "exclude_layer"), &CharacterBody2D::set_platform_floor_layers); + ClassDB::bind_method(D_METHOD("get_platform_floor_layers"), &CharacterBody2D::get_platform_floor_layers); + ClassDB::bind_method(D_METHOD("set_platform_wall_layers", "exclude_layer"), &CharacterBody2D::set_platform_wall_layers); + ClassDB::bind_method(D_METHOD("get_platform_wall_layers"), &CharacterBody2D::get_platform_wall_layers); + + ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody2D::get_max_slides); + ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody2D::set_max_slides); + ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody2D::get_floor_max_angle); + ClassDB::bind_method(D_METHOD("set_floor_max_angle", "radians"), &CharacterBody2D::set_floor_max_angle); + ClassDB::bind_method(D_METHOD("get_floor_snap_length"), &CharacterBody2D::get_floor_snap_length); + ClassDB::bind_method(D_METHOD("set_floor_snap_length", "floor_snap_length"), &CharacterBody2D::set_floor_snap_length); + ClassDB::bind_method(D_METHOD("get_wall_min_slide_angle"), &CharacterBody2D::get_wall_min_slide_angle); + ClassDB::bind_method(D_METHOD("set_wall_min_slide_angle", "radians"), &CharacterBody2D::set_wall_min_slide_angle); + ClassDB::bind_method(D_METHOD("get_up_direction"), &CharacterBody2D::get_up_direction); + ClassDB::bind_method(D_METHOD("set_up_direction", "up_direction"), &CharacterBody2D::set_up_direction); + ClassDB::bind_method(D_METHOD("set_motion_mode", "mode"), &CharacterBody2D::set_motion_mode); + ClassDB::bind_method(D_METHOD("get_motion_mode"), &CharacterBody2D::get_motion_mode); + ClassDB::bind_method(D_METHOD("set_platform_on_leave", "on_leave_apply_velocity"), &CharacterBody2D::set_platform_on_leave); + ClassDB::bind_method(D_METHOD("get_platform_on_leave"), &CharacterBody2D::get_platform_on_leave); + + ClassDB::bind_method(D_METHOD("is_on_floor"), &CharacterBody2D::is_on_floor); + ClassDB::bind_method(D_METHOD("is_on_floor_only"), &CharacterBody2D::is_on_floor_only); + ClassDB::bind_method(D_METHOD("is_on_ceiling"), &CharacterBody2D::is_on_ceiling); + ClassDB::bind_method(D_METHOD("is_on_ceiling_only"), &CharacterBody2D::is_on_ceiling_only); + ClassDB::bind_method(D_METHOD("is_on_wall"), &CharacterBody2D::is_on_wall); + ClassDB::bind_method(D_METHOD("is_on_wall_only"), &CharacterBody2D::is_on_wall_only); + ClassDB::bind_method(D_METHOD("get_floor_normal"), &CharacterBody2D::get_floor_normal); + ClassDB::bind_method(D_METHOD("get_wall_normal"), &CharacterBody2D::get_wall_normal); + ClassDB::bind_method(D_METHOD("get_last_motion"), &CharacterBody2D::get_last_motion); + ClassDB::bind_method(D_METHOD("get_position_delta"), &CharacterBody2D::get_position_delta); + ClassDB::bind_method(D_METHOD("get_real_velocity"), &CharacterBody2D::get_real_velocity); + ClassDB::bind_method(D_METHOD("get_floor_angle", "up_direction"), &CharacterBody2D::get_floor_angle, DEFVAL(Vector2(0.0, -1.0))); + ClassDB::bind_method(D_METHOD("get_platform_velocity"), &CharacterBody2D::get_platform_velocity); + ClassDB::bind_method(D_METHOD("get_slide_collision_count"), &CharacterBody2D::get_slide_collision_count); + ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &CharacterBody2D::_get_slide_collision); + ClassDB::bind_method(D_METHOD("get_last_slide_collision"), &CharacterBody2D::_get_last_slide_collision); + + ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_mode", PROPERTY_HINT_ENUM, "Grounded,Floating", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_motion_mode", "get_motion_mode"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "up_direction"), "set_up_direction", "get_up_direction"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "velocity", PROPERTY_HINT_NONE, "suffix:px/s", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slide_on_ceiling"), "set_slide_on_ceiling_enabled", "is_slide_on_ceiling_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_max_slides", "get_max_slides"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wall_min_slide_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians_as_degrees", PROPERTY_USAGE_DEFAULT), "set_wall_min_slide_angle", "get_wall_min_slide_angle"); + + ADD_GROUP("Floor", "floor_"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_stop_on_slope"), "set_floor_stop_on_slope_enabled", "is_floor_stop_on_slope_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_constant_speed"), "set_floor_constant_speed_enabled", "is_floor_constant_speed_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_block_on_wall"), "set_floor_block_on_wall_enabled", "is_floor_block_on_wall_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians_as_degrees"), "set_floor_max_angle", "get_floor_max_angle"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_snap_length", PROPERTY_HINT_RANGE, "0,32,0.1,or_greater,suffix:px"), "set_floor_snap_length", "get_floor_snap_length"); + + ADD_GROUP("Moving Platform", "platform_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_on_leave", PROPERTY_HINT_ENUM, "Add Velocity,Add Upward Velocity,Do Nothing", PROPERTY_USAGE_DEFAULT), "set_platform_on_leave", "get_platform_on_leave"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_floor_layers", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_platform_floor_layers", "get_platform_floor_layers"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_wall_layers", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_platform_wall_layers", "get_platform_wall_layers"); + + ADD_GROUP("Collision", ""); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001,suffix:px"), "set_safe_margin", "get_safe_margin"); + + BIND_ENUM_CONSTANT(MOTION_MODE_GROUNDED); + BIND_ENUM_CONSTANT(MOTION_MODE_FLOATING); + + BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_ADD_VELOCITY); + BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY); + BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_DO_NOTHING); +} + +CharacterBody2D::CharacterBody2D() : + PhysicsBody2D(PhysicsServer2D::BODY_MODE_KINEMATIC) { +} + +CharacterBody2D::~CharacterBody2D() { + for (int i = 0; i < slide_colliders.size(); i++) { + if (slide_colliders[i].is_valid()) { + slide_colliders.write[i]->owner = nullptr; + } + } +} diff --git a/scene/2d/physics/character_body_2d.h b/scene/2d/physics/character_body_2d.h new file mode 100644 index 00000000000..395438a1f1b --- /dev/null +++ b/scene/2d/physics/character_body_2d.h @@ -0,0 +1,173 @@ +/**************************************************************************/ +/* character_body_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef CHARACTER_BODY_2D_H +#define CHARACTER_BODY_2D_H + +#include "scene/2d/physics/kinematic_collision_2d.h" +#include "scene/2d/physics/physics_body_2d.h" + +class CharacterBody2D : public PhysicsBody2D { + GDCLASS(CharacterBody2D, PhysicsBody2D); + +public: + enum MotionMode { + MOTION_MODE_GROUNDED, + MOTION_MODE_FLOATING, + }; + enum PlatformOnLeave { + PLATFORM_ON_LEAVE_ADD_VELOCITY, + PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY, + PLATFORM_ON_LEAVE_DO_NOTHING, + }; + bool move_and_slide(); + void apply_floor_snap(); + + const Vector2 &get_velocity() const; + void set_velocity(const Vector2 &p_velocity); + + bool is_on_floor() const; + bool is_on_floor_only() const; + bool is_on_wall() const; + bool is_on_wall_only() const; + bool is_on_ceiling() const; + bool is_on_ceiling_only() const; + const Vector2 &get_last_motion() const; + Vector2 get_position_delta() const; + const Vector2 &get_floor_normal() const; + const Vector2 &get_wall_normal() const; + const Vector2 &get_real_velocity() const; + + real_t get_floor_angle(const Vector2 &p_up_direction = Vector2(0.0, -1.0)) const; + const Vector2 &get_platform_velocity() const; + + int get_slide_collision_count() const; + PhysicsServer2D::MotionResult get_slide_collision(int p_bounce) const; + + void set_safe_margin(real_t p_margin); + real_t get_safe_margin() const; + + bool is_floor_stop_on_slope_enabled() const; + void set_floor_stop_on_slope_enabled(bool p_enabled); + + bool is_floor_constant_speed_enabled() const; + void set_floor_constant_speed_enabled(bool p_enabled); + + bool is_floor_block_on_wall_enabled() const; + void set_floor_block_on_wall_enabled(bool p_enabled); + + bool is_slide_on_ceiling_enabled() const; + void set_slide_on_ceiling_enabled(bool p_enabled); + + int get_max_slides() const; + void set_max_slides(int p_max_slides); + + real_t get_floor_max_angle() const; + void set_floor_max_angle(real_t p_radians); + + real_t get_floor_snap_length(); + void set_floor_snap_length(real_t p_floor_snap_length); + + real_t get_wall_min_slide_angle() const; + void set_wall_min_slide_angle(real_t p_radians); + + uint32_t get_platform_floor_layers() const; + void set_platform_floor_layers(const uint32_t p_exclude_layer); + + uint32_t get_platform_wall_layers() const; + void set_platform_wall_layers(const uint32_t p_exclude_layer); + + void set_motion_mode(MotionMode p_mode); + MotionMode get_motion_mode() const; + + void set_platform_on_leave(PlatformOnLeave p_on_leave_velocity); + PlatformOnLeave get_platform_on_leave() const; + + CharacterBody2D(); + ~CharacterBody2D(); + +private: + real_t margin = 0.08; + MotionMode motion_mode = MOTION_MODE_GROUNDED; + PlatformOnLeave platform_on_leave = PLATFORM_ON_LEAVE_ADD_VELOCITY; + + bool floor_constant_speed = false; + bool floor_stop_on_slope = true; + bool floor_block_on_wall = true; + bool slide_on_ceiling = true; + int max_slides = 4; + int platform_layer = 0; + real_t floor_max_angle = Math::deg_to_rad((real_t)45.0); + real_t floor_snap_length = 1; + real_t wall_min_slide_angle = Math::deg_to_rad((real_t)15.0); + Vector2 up_direction = Vector2(0.0, -1.0); + uint32_t platform_floor_layers = UINT32_MAX; + uint32_t platform_wall_layers = 0; + Vector2 velocity; + + Vector2 floor_normal; + Vector2 platform_velocity; + Vector2 wall_normal; + Vector2 last_motion; + Vector2 previous_position; + Vector2 real_velocity; + + RID platform_rid; + ObjectID platform_object_id; + bool on_floor = false; + bool on_ceiling = false; + bool on_wall = false; + + Vector motion_results; + Vector> slide_colliders; + + void _move_and_slide_floating(double p_delta); + void _move_and_slide_grounded(double p_delta, bool p_was_on_floor); + + Ref _get_slide_collision(int p_bounce); + Ref _get_last_slide_collision(); + const Vector2 &get_up_direction() const; + bool _on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up); + void set_up_direction(const Vector2 &p_up_direction); + void _set_collision_direction(const PhysicsServer2D::MotionResult &p_result); + void _set_platform_data(const PhysicsServer2D::MotionResult &p_result); + void _apply_floor_snap(bool p_wall_as_floor = false); + void _snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up, bool p_wall_as_floor = false); + +protected: + void _notification(int p_what); + static void _bind_methods(); + void _validate_property(PropertyInfo &p_property) const; +}; + +VARIANT_ENUM_CAST(CharacterBody2D::MotionMode); +VARIANT_ENUM_CAST(CharacterBody2D::PlatformOnLeave); + +#endif // CHARACTER_BODY_2D_H diff --git a/scene/2d/collision_object_2d.cpp b/scene/2d/physics/collision_object_2d.cpp similarity index 100% rename from scene/2d/collision_object_2d.cpp rename to scene/2d/physics/collision_object_2d.cpp diff --git a/scene/2d/collision_object_2d.h b/scene/2d/physics/collision_object_2d.h similarity index 100% rename from scene/2d/collision_object_2d.h rename to scene/2d/physics/collision_object_2d.h diff --git a/scene/2d/collision_polygon_2d.cpp b/scene/2d/physics/collision_polygon_2d.cpp similarity index 99% rename from scene/2d/collision_polygon_2d.cpp rename to scene/2d/physics/collision_polygon_2d.cpp index 3bc5bce8f0d..96ef346d231 100644 --- a/scene/2d/collision_polygon_2d.cpp +++ b/scene/2d/physics/collision_polygon_2d.cpp @@ -30,9 +30,9 @@ #include "collision_polygon_2d.h" -#include "collision_object_2d.h" #include "core/math/geometry_2d.h" -#include "scene/2d/area_2d.h" +#include "scene/2d/physics/area_2d.h" +#include "scene/2d/physics/collision_object_2d.h" #include "scene/resources/2d/concave_polygon_shape_2d.h" #include "scene/resources/2d/convex_polygon_shape_2d.h" diff --git a/scene/2d/collision_polygon_2d.h b/scene/2d/physics/collision_polygon_2d.h similarity index 100% rename from scene/2d/collision_polygon_2d.h rename to scene/2d/physics/collision_polygon_2d.h diff --git a/scene/2d/collision_shape_2d.cpp b/scene/2d/physics/collision_shape_2d.cpp similarity index 99% rename from scene/2d/collision_shape_2d.cpp rename to scene/2d/physics/collision_shape_2d.cpp index 5539e491354..6fc29ffe63a 100644 --- a/scene/2d/collision_shape_2d.cpp +++ b/scene/2d/physics/collision_shape_2d.cpp @@ -30,8 +30,8 @@ #include "collision_shape_2d.h" -#include "collision_object_2d.h" -#include "scene/2d/area_2d.h" +#include "scene/2d/physics/area_2d.h" +#include "scene/2d/physics/collision_object_2d.h" #include "scene/resources/2d/concave_polygon_shape_2d.h" #include "scene/resources/2d/convex_polygon_shape_2d.h" diff --git a/scene/2d/collision_shape_2d.h b/scene/2d/physics/collision_shape_2d.h similarity index 100% rename from scene/2d/collision_shape_2d.h rename to scene/2d/physics/collision_shape_2d.h diff --git a/scene/2d/physics/joints/SCsub b/scene/2d/physics/joints/SCsub new file mode 100644 index 00000000000..fc61250247d --- /dev/null +++ b/scene/2d/physics/joints/SCsub @@ -0,0 +1,5 @@ +#!/usr/bin/env python + +Import("env") + +env.add_source_files(env.scene_sources, "*.cpp") diff --git a/scene/2d/physics/joints/damped_spring_joint_2d.cpp b/scene/2d/physics/joints/damped_spring_joint_2d.cpp new file mode 100644 index 00000000000..4b210ec0c74 --- /dev/null +++ b/scene/2d/physics/joints/damped_spring_joint_2d.cpp @@ -0,0 +1,128 @@ +/**************************************************************************/ +/* damped_spring_joint_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "damped_spring_joint_2d.h" + +#include "scene/2d/physics/physics_body_2d.h" + +void DampedSpringJoint2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_DRAW: { + if (!is_inside_tree()) { + break; + } + + if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { + break; + } + + draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(-10, length), Point2(+10, length), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(0, 0), Point2(0, length), Color(0.7, 0.6, 0.0, 0.5), 3); + } break; + } +} + +void DampedSpringJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { + Transform2D gt = get_global_transform(); + Vector2 anchor_A = gt.get_origin(); + Vector2 anchor_B = gt.xform(Vector2(0, length)); + + PhysicsServer2D::get_singleton()->joint_make_damped_spring(p_joint, anchor_A, anchor_B, body_a->get_rid(), body_b->get_rid()); + if (rest_length) { + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_REST_LENGTH, rest_length); + } + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_STIFFNESS, stiffness); + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(p_joint, PhysicsServer2D::DAMPED_SPRING_DAMPING, damping); +} + +void DampedSpringJoint2D::set_length(real_t p_length) { + length = p_length; + queue_redraw(); +} + +real_t DampedSpringJoint2D::get_length() const { + return length; +} + +void DampedSpringJoint2D::set_rest_length(real_t p_rest_length) { + rest_length = p_rest_length; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_rid(), PhysicsServer2D::DAMPED_SPRING_REST_LENGTH, p_rest_length ? p_rest_length : length); + } +} + +real_t DampedSpringJoint2D::get_rest_length() const { + return rest_length; +} + +void DampedSpringJoint2D::set_stiffness(real_t p_stiffness) { + stiffness = p_stiffness; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_rid(), PhysicsServer2D::DAMPED_SPRING_STIFFNESS, p_stiffness); + } +} + +real_t DampedSpringJoint2D::get_stiffness() const { + return stiffness; +} + +void DampedSpringJoint2D::set_damping(real_t p_damping) { + damping = p_damping; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->damped_spring_joint_set_param(get_rid(), PhysicsServer2D::DAMPED_SPRING_DAMPING, p_damping); + } +} + +real_t DampedSpringJoint2D::get_damping() const { + return damping; +} + +void DampedSpringJoint2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_length", "length"), &DampedSpringJoint2D::set_length); + ClassDB::bind_method(D_METHOD("get_length"), &DampedSpringJoint2D::get_length); + ClassDB::bind_method(D_METHOD("set_rest_length", "rest_length"), &DampedSpringJoint2D::set_rest_length); + ClassDB::bind_method(D_METHOD("get_rest_length"), &DampedSpringJoint2D::get_rest_length); + ClassDB::bind_method(D_METHOD("set_stiffness", "stiffness"), &DampedSpringJoint2D::set_stiffness); + ClassDB::bind_method(D_METHOD("get_stiffness"), &DampedSpringJoint2D::get_stiffness); + ClassDB::bind_method(D_METHOD("set_damping", "damping"), &DampedSpringJoint2D::set_damping); + ClassDB::bind_method(D_METHOD("get_damping"), &DampedSpringJoint2D::get_damping); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "1,65535,1,exp,suffix:px"), "set_length", "get_length"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "rest_length", PROPERTY_HINT_RANGE, "0,65535,1,exp,suffix:px"), "set_rest_length", "get_rest_length"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "stiffness", PROPERTY_HINT_RANGE, "0.1,64,0.1,exp"), "set_stiffness", "get_stiffness"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "damping", PROPERTY_HINT_RANGE, "0.01,16,0.01,exp"), "set_damping", "get_damping"); +} + +DampedSpringJoint2D::DampedSpringJoint2D() { +} diff --git a/scene/2d/physics/joints/damped_spring_joint_2d.h b/scene/2d/physics/joints/damped_spring_joint_2d.h new file mode 100644 index 00000000000..de9fda80b98 --- /dev/null +++ b/scene/2d/physics/joints/damped_spring_joint_2d.h @@ -0,0 +1,67 @@ +/**************************************************************************/ +/* damped_spring_joint_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef DAMPED_SPRING_JOINT_2D_H +#define DAMPED_SPRING_JOINT_2D_H + +#include "scene/2d/physics/joints/joint_2d.h" + +class PhysicsBody2D; + +class DampedSpringJoint2D : public Joint2D { + GDCLASS(DampedSpringJoint2D, Joint2D); + + real_t stiffness = 20.0; + real_t damping = 1.0; + real_t rest_length = 0.0; + real_t length = 50.0; + +protected: + void _notification(int p_what); + virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; + static void _bind_methods(); + +public: + void set_length(real_t p_length); + real_t get_length() const; + + void set_rest_length(real_t p_rest_length); + real_t get_rest_length() const; + + void set_damping(real_t p_damping); + real_t get_damping() const; + + void set_stiffness(real_t p_stiffness); + real_t get_stiffness() const; + + DampedSpringJoint2D(); +}; + +#endif // DAMPED_SPRING_JOINT_2D_H diff --git a/scene/2d/physics/joints/groove_joint_2d.cpp b/scene/2d/physics/joints/groove_joint_2d.cpp new file mode 100644 index 00000000000..415a49d8bd5 --- /dev/null +++ b/scene/2d/physics/joints/groove_joint_2d.cpp @@ -0,0 +1,92 @@ +/**************************************************************************/ +/* groove_joint_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "groove_joint_2d.h" + +#include "scene/2d/physics/physics_body_2d.h" + +void GrooveJoint2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_DRAW: { + if (!is_inside_tree()) { + break; + } + + if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { + break; + } + + draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(-10, length), Point2(+10, length), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(0, 0), Point2(0, length), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(-10, initial_offset), Point2(+10, initial_offset), Color(0.8, 0.8, 0.9, 0.5), 5); + } break; + } +} + +void GrooveJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { + Transform2D gt = get_global_transform(); + Vector2 groove_A1 = gt.get_origin(); + Vector2 groove_A2 = gt.xform(Vector2(0, length)); + Vector2 anchor_B = gt.xform(Vector2(0, initial_offset)); + + PhysicsServer2D::get_singleton()->joint_make_groove(p_joint, groove_A1, groove_A2, anchor_B, body_a->get_rid(), body_b->get_rid()); +} + +void GrooveJoint2D::set_length(real_t p_length) { + length = p_length; + queue_redraw(); +} + +real_t GrooveJoint2D::get_length() const { + return length; +} + +void GrooveJoint2D::set_initial_offset(real_t p_initial_offset) { + initial_offset = p_initial_offset; + queue_redraw(); +} + +real_t GrooveJoint2D::get_initial_offset() const { + return initial_offset; +} + +void GrooveJoint2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_length", "length"), &GrooveJoint2D::set_length); + ClassDB::bind_method(D_METHOD("get_length"), &GrooveJoint2D::get_length); + ClassDB::bind_method(D_METHOD("set_initial_offset", "offset"), &GrooveJoint2D::set_initial_offset); + ClassDB::bind_method(D_METHOD("get_initial_offset"), &GrooveJoint2D::get_initial_offset); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "length", PROPERTY_HINT_RANGE, "1,65535,1,exp,suffix:px"), "set_length", "get_length"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "initial_offset", PROPERTY_HINT_RANGE, "1,65535,1,exp,suffix:px"), "set_initial_offset", "get_initial_offset"); +} + +GrooveJoint2D::GrooveJoint2D() { +} diff --git a/scene/2d/physics/joints/groove_joint_2d.h b/scene/2d/physics/joints/groove_joint_2d.h new file mode 100644 index 00000000000..b04692fbff2 --- /dev/null +++ b/scene/2d/physics/joints/groove_joint_2d.h @@ -0,0 +1,59 @@ +/**************************************************************************/ +/* groove_joint_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef GROOVE_JOINT_2D_H +#define GROOVE_JOINT_2D_H + +#include "scene/2d/physics/joints/joint_2d.h" + +class PhysicsBody2D; + +class GrooveJoint2D : public Joint2D { + GDCLASS(GrooveJoint2D, Joint2D); + + real_t length = 50.0; + real_t initial_offset = 25.0; + +protected: + void _notification(int p_what); + virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; + static void _bind_methods(); + +public: + void set_length(real_t p_length); + real_t get_length() const; + + void set_initial_offset(real_t p_initial_offset); + real_t get_initial_offset() const; + + GrooveJoint2D(); +}; + +#endif // GROOVE_JOINT_2D_H diff --git a/scene/2d/physics/joints/joint_2d.cpp b/scene/2d/physics/joints/joint_2d.cpp new file mode 100644 index 00000000000..dd1697a29cd --- /dev/null +++ b/scene/2d/physics/joints/joint_2d.cpp @@ -0,0 +1,254 @@ +/**************************************************************************/ +/* joint_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "joint_2d.h" + +#include "scene/2d/physics/physics_body_2d.h" +#include "scene/scene_string_names.h" + +void Joint2D::_disconnect_signals() { + Node *node_a = get_node_or_null(a); + PhysicsBody2D *body_a = Object::cast_to(node_a); + if (body_a) { + body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); + } + + Node *node_b = get_node_or_null(b); + PhysicsBody2D *body_b = Object::cast_to(node_b); + if (body_b) { + body_b->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); + } +} + +void Joint2D::_body_exit_tree() { + _disconnect_signals(); + _update_joint(true); + update_configuration_warnings(); +} + +void Joint2D::_update_joint(bool p_only_free) { + if (ba.is_valid() && bb.is_valid() && exclude_from_collision) { + PhysicsServer2D::get_singleton()->joint_disable_collisions_between_bodies(joint, false); + } + + ba = RID(); + bb = RID(); + configured = false; + + if (p_only_free || !is_inside_tree()) { + PhysicsServer2D::get_singleton()->joint_clear(joint); + warning = String(); + return; + } + + Node *node_a = get_node_or_null(a); + Node *node_b = get_node_or_null(b); + + PhysicsBody2D *body_a = Object::cast_to(node_a); + PhysicsBody2D *body_b = Object::cast_to(node_b); + + bool valid = false; + + if (node_a && !body_a && node_b && !body_b) { + warning = RTR("Node A and Node B must be PhysicsBody2Ds"); + } else if (node_a && !body_a) { + warning = RTR("Node A must be a PhysicsBody2D"); + } else if (node_b && !body_b) { + warning = RTR("Node B must be a PhysicsBody2D"); + } else if (!body_a || !body_b) { + warning = RTR("Joint is not connected to two PhysicsBody2Ds"); + } else if (body_a == body_b) { + warning = RTR("Node A and Node B must be different PhysicsBody2Ds"); + } else { + warning = String(); + valid = true; + } + + update_configuration_warnings(); + + if (!valid) { + PhysicsServer2D::get_singleton()->joint_clear(joint); + return; + } + + if (body_a) { + body_a->force_update_transform(); + } + + if (body_b) { + body_b->force_update_transform(); + } + + configured = true; + + _configure_joint(joint, body_a, body_b); + + ERR_FAIL_COND_MSG(!joint.is_valid(), "Failed to configure the joint."); + + PhysicsServer2D::get_singleton()->joint_set_param(joint, PhysicsServer2D::JOINT_PARAM_BIAS, bias); + + ba = body_a->get_rid(); + bb = body_b->get_rid(); + + body_a->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); + body_b->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint2D::_body_exit_tree)); + + PhysicsServer2D::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); +} + +void Joint2D::set_node_a(const NodePath &p_node_a) { + if (a == p_node_a) { + return; + } + + if (is_configured()) { + _disconnect_signals(); + } + + a = p_node_a; + if (Engine::get_singleton()->is_editor_hint()) { + // When in editor, the setter may be called as a result of node rename. + // It happens before the node actually changes its name, which triggers false warning. + callable_mp(this, &Joint2D::_update_joint).call_deferred(); + } else { + _update_joint(); + } +} + +NodePath Joint2D::get_node_a() const { + return a; +} + +void Joint2D::set_node_b(const NodePath &p_node_b) { + if (b == p_node_b) { + return; + } + + if (is_configured()) { + _disconnect_signals(); + } + + b = p_node_b; + if (Engine::get_singleton()->is_editor_hint()) { + callable_mp(this, &Joint2D::_update_joint).call_deferred(); + } else { + _update_joint(); + } +} + +NodePath Joint2D::get_node_b() const { + return b; +} + +void Joint2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_POST_ENTER_TREE: { + if (is_configured()) { + _disconnect_signals(); + } + _update_joint(); + } break; + + case NOTIFICATION_EXIT_TREE: { + if (is_configured()) { + _disconnect_signals(); + } + _update_joint(true); + } break; + } +} + +void Joint2D::set_bias(real_t p_bias) { + bias = p_bias; + if (joint.is_valid()) { + PhysicsServer2D::get_singleton()->joint_set_param(joint, PhysicsServer2D::JOINT_PARAM_BIAS, bias); + } +} + +real_t Joint2D::get_bias() const { + return bias; +} + +void Joint2D::set_exclude_nodes_from_collision(bool p_enable) { + if (exclude_from_collision == p_enable) { + return; + } + if (is_configured()) { + _disconnect_signals(); + } + _update_joint(true); + exclude_from_collision = p_enable; + _update_joint(); +} + +bool Joint2D::get_exclude_nodes_from_collision() const { + return exclude_from_collision; +} + +PackedStringArray Joint2D::get_configuration_warnings() const { + PackedStringArray warnings = Node2D::get_configuration_warnings(); + + if (!warning.is_empty()) { + warnings.push_back(warning); + } + + return warnings; +} + +void Joint2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint2D::set_node_a); + ClassDB::bind_method(D_METHOD("get_node_a"), &Joint2D::get_node_a); + + ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint2D::set_node_b); + ClassDB::bind_method(D_METHOD("get_node_b"), &Joint2D::get_node_b); + + ClassDB::bind_method(D_METHOD("set_bias", "bias"), &Joint2D::set_bias); + ClassDB::bind_method(D_METHOD("get_bias"), &Joint2D::get_bias); + + ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint2D::set_exclude_nodes_from_collision); + ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint2D::get_exclude_nodes_from_collision); + + ClassDB::bind_method(D_METHOD("get_rid"), &Joint2D::get_rid); + + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody2D"), "set_node_a", "get_node_a"); + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody2D"), "set_node_b", "get_node_b"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0,0.9,0.001"), "set_bias", "get_bias"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "disable_collision"), "set_exclude_nodes_from_collision", "get_exclude_nodes_from_collision"); +} + +Joint2D::Joint2D() { + joint = PhysicsServer2D::get_singleton()->joint_create(); + set_hide_clip_children(true); +} + +Joint2D::~Joint2D() { + ERR_FAIL_NULL(PhysicsServer2D::get_singleton()); + PhysicsServer2D::get_singleton()->free(joint); +} diff --git a/scene/2d/joint_2d.h b/scene/2d/physics/joints/joint_2d.h similarity index 60% rename from scene/2d/joint_2d.h rename to scene/2d/physics/joints/joint_2d.h index 5ff75a77a12..bdd2730bfaf 100644 --- a/scene/2d/joint_2d.h +++ b/scene/2d/physics/joints/joint_2d.h @@ -31,7 +31,7 @@ #ifndef JOINT_2D_H #define JOINT_2D_H -#include "node_2d.h" +#include "scene/2d/node_2d.h" class PhysicsBody2D; @@ -81,87 +81,4 @@ public: ~Joint2D(); }; -class PinJoint2D : public Joint2D { - GDCLASS(PinJoint2D, Joint2D); - - real_t softness = 0.0; - real_t angular_limit_lower = 0.0; - real_t angular_limit_upper = 0.0; - real_t motor_target_velocity = 0.0; - bool motor_enabled = false; - bool angular_limit_enabled = false; - -protected: - void _notification(int p_what); - virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; - static void _bind_methods(); - -public: - void set_softness(real_t p_softness); - real_t get_softness() const; - void set_angular_limit_lower(real_t p_angular_limit_lower); - real_t get_angular_limit_lower() const; - void set_angular_limit_upper(real_t p_angular_limit_upper); - real_t get_angular_limit_upper() const; - void set_motor_target_velocity(real_t p_motor_target_velocity); - real_t get_motor_target_velocity() const; - - void set_motor_enabled(bool p_motor_enabled); - bool is_motor_enabled() const; - void set_angular_limit_enabled(bool p_angular_limit_enabled); - bool is_angular_limit_enabled() const; - - PinJoint2D(); -}; - -class GrooveJoint2D : public Joint2D { - GDCLASS(GrooveJoint2D, Joint2D); - - real_t length = 50.0; - real_t initial_offset = 25.0; - -protected: - void _notification(int p_what); - virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; - static void _bind_methods(); - -public: - void set_length(real_t p_length); - real_t get_length() const; - - void set_initial_offset(real_t p_initial_offset); - real_t get_initial_offset() const; - - GrooveJoint2D(); -}; - -class DampedSpringJoint2D : public Joint2D { - GDCLASS(DampedSpringJoint2D, Joint2D); - - real_t stiffness = 20.0; - real_t damping = 1.0; - real_t rest_length = 0.0; - real_t length = 50.0; - -protected: - void _notification(int p_what); - virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; - static void _bind_methods(); - -public: - void set_length(real_t p_length); - real_t get_length() const; - - void set_rest_length(real_t p_rest_length); - real_t get_rest_length() const; - - void set_damping(real_t p_damping); - real_t get_damping() const; - - void set_stiffness(real_t p_stiffness); - real_t get_stiffness() const; - - DampedSpringJoint2D(); -}; - #endif // JOINT_2D_H diff --git a/scene/2d/physics/joints/pin_joint_2d.cpp b/scene/2d/physics/joints/pin_joint_2d.cpp new file mode 100644 index 00000000000..6ff0c485f57 --- /dev/null +++ b/scene/2d/physics/joints/pin_joint_2d.cpp @@ -0,0 +1,177 @@ +/**************************************************************************/ +/* pin_joint_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "pin_joint_2d.h" + +#include "scene/2d/physics/physics_body_2d.h" + +void PinJoint2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_DRAW: { + if (!is_inside_tree()) { + break; + } + + if (!Engine::get_singleton()->is_editor_hint() && !get_tree()->is_debugging_collisions_hint()) { + break; + } + + draw_line(Point2(-10, 0), Point2(+10, 0), Color(0.7, 0.6, 0.0, 0.5), 3); + draw_line(Point2(0, -10), Point2(0, +10), Color(0.7, 0.6, 0.0, 0.5), 3); + } break; + } +} + +void PinJoint2D::_configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) { + PhysicsServer2D::get_singleton()->joint_make_pin(p_joint, get_global_position(), body_a->get_rid(), body_b ? body_b->get_rid() : RID()); + PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_SOFTNESS, softness); + PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_LIMIT_UPPER, angular_limit_upper); + PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_LIMIT_LOWER, angular_limit_lower); + PhysicsServer2D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer2D::PIN_JOINT_MOTOR_TARGET_VELOCITY, motor_target_velocity); + PhysicsServer2D::get_singleton()->pin_joint_set_flag(p_joint, PhysicsServer2D::PIN_JOINT_FLAG_MOTOR_ENABLED, motor_enabled); + PhysicsServer2D::get_singleton()->pin_joint_set_flag(p_joint, PhysicsServer2D::PIN_JOINT_FLAG_ANGULAR_LIMIT_ENABLED, angular_limit_enabled); +} + +void PinJoint2D::set_softness(real_t p_softness) { + if (softness == p_softness) { + return; + } + softness = p_softness; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_SOFTNESS, p_softness); + } +} + +real_t PinJoint2D::get_softness() const { + return softness; +} + +void PinJoint2D::set_angular_limit_lower(real_t p_angular_limit_lower) { + if (angular_limit_lower == p_angular_limit_lower) { + return; + } + angular_limit_lower = p_angular_limit_lower; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_LIMIT_LOWER, p_angular_limit_lower); + } +} + +real_t PinJoint2D::get_angular_limit_lower() const { + return angular_limit_lower; +} + +void PinJoint2D::set_angular_limit_upper(real_t p_angular_limit_upper) { + if (angular_limit_upper == p_angular_limit_upper) { + return; + } + angular_limit_upper = p_angular_limit_upper; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_LIMIT_UPPER, p_angular_limit_upper); + } +} + +real_t PinJoint2D::get_angular_limit_upper() const { + return angular_limit_upper; +} + +void PinJoint2D::set_motor_target_velocity(real_t p_motor_target_velocity) { + if (motor_target_velocity == p_motor_target_velocity) { + return; + } + motor_target_velocity = p_motor_target_velocity; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer2D::PIN_JOINT_MOTOR_TARGET_VELOCITY, motor_target_velocity); + } +} + +real_t PinJoint2D::get_motor_target_velocity() const { + return motor_target_velocity; +} + +void PinJoint2D::set_motor_enabled(bool p_motor_enabled) { + if (motor_enabled == p_motor_enabled) { + return; + } + motor_enabled = p_motor_enabled; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->pin_joint_set_flag(get_rid(), PhysicsServer2D::PIN_JOINT_FLAG_MOTOR_ENABLED, motor_enabled); + } +} + +bool PinJoint2D::is_motor_enabled() const { + return motor_enabled; +} + +void PinJoint2D::set_angular_limit_enabled(bool p_angular_limit_enabled) { + if (angular_limit_enabled == p_angular_limit_enabled) { + return; + } + angular_limit_enabled = p_angular_limit_enabled; + queue_redraw(); + if (is_configured()) { + PhysicsServer2D::get_singleton()->pin_joint_set_flag(get_rid(), PhysicsServer2D::PIN_JOINT_FLAG_ANGULAR_LIMIT_ENABLED, angular_limit_enabled); + } +} + +bool PinJoint2D::is_angular_limit_enabled() const { + return angular_limit_enabled; +} + +void PinJoint2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_softness", "softness"), &PinJoint2D::set_softness); + ClassDB::bind_method(D_METHOD("get_softness"), &PinJoint2D::get_softness); + ClassDB::bind_method(D_METHOD("set_angular_limit_lower", "angular_limit_lower"), &PinJoint2D::set_angular_limit_lower); + ClassDB::bind_method(D_METHOD("get_angular_limit_lower"), &PinJoint2D::get_angular_limit_lower); + ClassDB::bind_method(D_METHOD("set_angular_limit_upper", "angular_limit_upper"), &PinJoint2D::set_angular_limit_upper); + ClassDB::bind_method(D_METHOD("get_angular_limit_upper"), &PinJoint2D::get_angular_limit_upper); + ClassDB::bind_method(D_METHOD("set_motor_target_velocity", "motor_target_velocity"), &PinJoint2D::set_motor_target_velocity); + ClassDB::bind_method(D_METHOD("get_motor_target_velocity"), &PinJoint2D::get_motor_target_velocity); + ClassDB::bind_method(D_METHOD("set_motor_enabled", "enabled"), &PinJoint2D::set_motor_enabled); + ClassDB::bind_method(D_METHOD("is_motor_enabled"), &PinJoint2D::is_motor_enabled); + ClassDB::bind_method(D_METHOD("set_angular_limit_enabled", "enabled"), &PinJoint2D::set_angular_limit_enabled); + ClassDB::bind_method(D_METHOD("is_angular_limit_enabled"), &PinJoint2D::is_angular_limit_enabled); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.00,16,0.01,exp"), "set_softness", "get_softness"); + ADD_GROUP("Angular Limit", "angular_limit_"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "angular_limit_enabled"), "set_angular_limit_enabled", "is_angular_limit_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_angular_limit_lower", "get_angular_limit_lower"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_angular_limit_upper", "get_angular_limit_upper"); + ADD_GROUP("Motor", "motor_"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "motor_enabled"), "set_motor_enabled", "is_motor_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "motor_target_velocity", PROPERTY_HINT_RANGE, U"-200,200,0.01,or_greater,or_less,radians_as_degrees,suffix:\u00B0/s"), "set_motor_target_velocity", "get_motor_target_velocity"); +} + +PinJoint2D::PinJoint2D() { +} diff --git a/scene/2d/physics/joints/pin_joint_2d.h b/scene/2d/physics/joints/pin_joint_2d.h new file mode 100644 index 00000000000..c2d78ba324a --- /dev/null +++ b/scene/2d/physics/joints/pin_joint_2d.h @@ -0,0 +1,71 @@ +/**************************************************************************/ +/* pin_joint_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef PIN_JOINT_2D_H +#define PIN_JOINT_2D_H + +#include "scene/2d/physics/joints/joint_2d.h" + +class PhysicsBody2D; + +class PinJoint2D : public Joint2D { + GDCLASS(PinJoint2D, Joint2D); + + real_t softness = 0.0; + real_t angular_limit_lower = 0.0; + real_t angular_limit_upper = 0.0; + real_t motor_target_velocity = 0.0; + bool motor_enabled = false; + bool angular_limit_enabled = false; + +protected: + void _notification(int p_what); + virtual void _configure_joint(RID p_joint, PhysicsBody2D *body_a, PhysicsBody2D *body_b) override; + static void _bind_methods(); + +public: + void set_softness(real_t p_softness); + real_t get_softness() const; + void set_angular_limit_lower(real_t p_angular_limit_lower); + real_t get_angular_limit_lower() const; + void set_angular_limit_upper(real_t p_angular_limit_upper); + real_t get_angular_limit_upper() const; + void set_motor_target_velocity(real_t p_motor_target_velocity); + real_t get_motor_target_velocity() const; + + void set_motor_enabled(bool p_motor_enabled); + bool is_motor_enabled() const; + void set_angular_limit_enabled(bool p_angular_limit_enabled); + bool is_angular_limit_enabled() const; + + PinJoint2D(); +}; + +#endif // PIN_JOINT_2D_H diff --git a/scene/2d/physics/kinematic_collision_2d.cpp b/scene/2d/physics/kinematic_collision_2d.cpp new file mode 100644 index 00000000000..7e7c33b2597 --- /dev/null +++ b/scene/2d/physics/kinematic_collision_2d.cpp @@ -0,0 +1,120 @@ +/**************************************************************************/ +/* kinematic_collision_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "kinematic_collision_2d.h" + +#include "scene/2d/physics/character_body_2d.h" +#include "scene/2d/physics/physics_body_2d.h" + +Vector2 KinematicCollision2D::get_position() const { + return result.collision_point; +} + +Vector2 KinematicCollision2D::get_normal() const { + return result.collision_normal; +} + +Vector2 KinematicCollision2D::get_travel() const { + return result.travel; +} + +Vector2 KinematicCollision2D::get_remainder() const { + return result.remainder; +} + +real_t KinematicCollision2D::get_angle(const Vector2 &p_up_direction) const { + ERR_FAIL_COND_V(p_up_direction == Vector2(), 0); + return result.get_angle(p_up_direction); +} + +real_t KinematicCollision2D::get_depth() const { + return result.collision_depth; +} + +Object *KinematicCollision2D::get_local_shape() const { + if (!owner) { + return nullptr; + } + uint32_t ownerid = owner->shape_find_owner(result.collision_local_shape); + return owner->shape_owner_get_owner(ownerid); +} + +Object *KinematicCollision2D::get_collider() const { + if (result.collider_id.is_valid()) { + return ObjectDB::get_instance(result.collider_id); + } + + return nullptr; +} + +ObjectID KinematicCollision2D::get_collider_id() const { + return result.collider_id; +} + +RID KinematicCollision2D::get_collider_rid() const { + return result.collider; +} + +Object *KinematicCollision2D::get_collider_shape() const { + Object *collider = get_collider(); + if (collider) { + CollisionObject2D *obj2d = Object::cast_to(collider); + if (obj2d) { + uint32_t ownerid = obj2d->shape_find_owner(result.collider_shape); + return obj2d->shape_owner_get_owner(ownerid); + } + } + + return nullptr; +} + +int KinematicCollision2D::get_collider_shape_index() const { + return result.collider_shape; +} + +Vector2 KinematicCollision2D::get_collider_velocity() const { + return result.collider_velocity; +} + +void KinematicCollision2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("get_position"), &KinematicCollision2D::get_position); + ClassDB::bind_method(D_METHOD("get_normal"), &KinematicCollision2D::get_normal); + ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision2D::get_travel); + ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision2D::get_remainder); + ClassDB::bind_method(D_METHOD("get_angle", "up_direction"), &KinematicCollision2D::get_angle, DEFVAL(Vector2(0.0, -1.0))); + ClassDB::bind_method(D_METHOD("get_depth"), &KinematicCollision2D::get_depth); + ClassDB::bind_method(D_METHOD("get_local_shape"), &KinematicCollision2D::get_local_shape); + ClassDB::bind_method(D_METHOD("get_collider"), &KinematicCollision2D::get_collider); + ClassDB::bind_method(D_METHOD("get_collider_id"), &KinematicCollision2D::get_collider_id); + ClassDB::bind_method(D_METHOD("get_collider_rid"), &KinematicCollision2D::get_collider_rid); + ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicCollision2D::get_collider_shape); + ClassDB::bind_method(D_METHOD("get_collider_shape_index"), &KinematicCollision2D::get_collider_shape_index); + ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicCollision2D::get_collider_velocity); +} diff --git a/scene/2d/physics/kinematic_collision_2d.h b/scene/2d/physics/kinematic_collision_2d.h new file mode 100644 index 00000000000..0d187b87a50 --- /dev/null +++ b/scene/2d/physics/kinematic_collision_2d.h @@ -0,0 +1,67 @@ +/**************************************************************************/ +/* kinematic_collision_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef KINEMATIC_COLLISION_2D_H +#define KINEMATIC_COLLISION_2D_H + +#include "core/object/ref_counted.h" +#include "servers/physics_server_2d.h" + +class CharacterBody2D; +class PhysicsBody2D; + +class KinematicCollision2D : public RefCounted { + GDCLASS(KinematicCollision2D, RefCounted); + + PhysicsBody2D *owner = nullptr; + friend class PhysicsBody2D; + friend class CharacterBody2D; + PhysicsServer2D::MotionResult result; + +protected: + static void _bind_methods(); + +public: + Vector2 get_position() const; + Vector2 get_normal() const; + Vector2 get_travel() const; + Vector2 get_remainder() const; + real_t get_angle(const Vector2 &p_up_direction = Vector2(0.0, -1.0)) const; + real_t get_depth() const; + Object *get_local_shape() const; + Object *get_collider() const; + ObjectID get_collider_id() const; + RID get_collider_rid() const; + Object *get_collider_shape() const; + int get_collider_shape_index() const; + Vector2 get_collider_velocity() const; +}; + +#endif // KINEMATIC_COLLISION_2D_H diff --git a/scene/2d/physical_bone_2d.cpp b/scene/2d/physics/physical_bone_2d.cpp similarity index 99% rename from scene/2d/physical_bone_2d.cpp rename to scene/2d/physics/physical_bone_2d.cpp index 64cf56fa85d..77bb8c24b81 100644 --- a/scene/2d/physical_bone_2d.cpp +++ b/scene/2d/physics/physical_bone_2d.cpp @@ -30,7 +30,7 @@ #include "physical_bone_2d.h" -#include "scene/2d/joint_2d.h" +#include "scene/2d/physics/joints/joint_2d.h" void PhysicalBone2D::_notification(int p_what) { switch (p_what) { diff --git a/scene/2d/physical_bone_2d.h b/scene/2d/physics/physical_bone_2d.h similarity index 98% rename from scene/2d/physical_bone_2d.h rename to scene/2d/physics/physical_bone_2d.h index e585f2c0ede..0547469b5e6 100644 --- a/scene/2d/physical_bone_2d.h +++ b/scene/2d/physics/physical_bone_2d.h @@ -31,7 +31,7 @@ #ifndef PHYSICAL_BONE_2D_H #define PHYSICAL_BONE_2D_H -#include "scene/2d/physics_body_2d.h" +#include "scene/2d/physics/rigid_body_2d.h" #include "scene/2d/skeleton_2d.h" class Joint2D; diff --git a/scene/2d/physics/physics_body_2d.cpp b/scene/2d/physics/physics_body_2d.cpp new file mode 100644 index 00000000000..81120d0b01f --- /dev/null +++ b/scene/2d/physics/physics_body_2d.cpp @@ -0,0 +1,180 @@ +/**************************************************************************/ +/* physics_body_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "physics_body_2d.h" + +#include "scene/scene_string_names.h" + +void PhysicsBody2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("move_and_collide", "motion", "test_only", "safe_margin", "recovery_as_collision"), &PhysicsBody2D::_move, DEFVAL(false), DEFVAL(0.08), DEFVAL(false)); + ClassDB::bind_method(D_METHOD("test_move", "from", "motion", "collision", "safe_margin", "recovery_as_collision"), &PhysicsBody2D::test_move, DEFVAL(Variant()), DEFVAL(0.08), DEFVAL(false)); + ClassDB::bind_method(D_METHOD("get_gravity"), &PhysicsBody2D::get_gravity); + + ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody2D::get_collision_exceptions); + ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody2D::add_collision_exception_with); + ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody2D::remove_collision_exception_with); +} + +PhysicsBody2D::PhysicsBody2D(PhysicsServer2D::BodyMode p_mode) : + CollisionObject2D(PhysicsServer2D::get_singleton()->body_create(), false) { + set_body_mode(p_mode); + set_pickable(false); +} + +PhysicsBody2D::~PhysicsBody2D() { + if (motion_cache.is_valid()) { + motion_cache->owner = nullptr; + } +} + +Ref PhysicsBody2D::_move(const Vector2 &p_motion, bool p_test_only, real_t p_margin, bool p_recovery_as_collision) { + PhysicsServer2D::MotionParameters parameters(get_global_transform(), p_motion, p_margin); + parameters.recovery_as_collision = p_recovery_as_collision; + + PhysicsServer2D::MotionResult result; + + if (move_and_collide(parameters, result, p_test_only)) { + // Create a new instance when the cached reference is invalid or still in use in script. + if (motion_cache.is_null() || motion_cache->get_reference_count() > 1) { + motion_cache.instantiate(); + motion_cache->owner = this; + } + + motion_cache->result = result; + return motion_cache; + } + + return Ref(); +} + +bool PhysicsBody2D::move_and_collide(const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult &r_result, bool p_test_only, bool p_cancel_sliding) { + if (is_only_update_transform_changes_enabled()) { + ERR_PRINT("Move functions do not work together with 'sync to physics' option. See the documentation for details."); + } + + bool colliding = PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), p_parameters, &r_result); + + // Restore direction of motion to be along original motion, + // in order to avoid sliding due to recovery, + // but only if collision depth is low enough to avoid tunneling. + if (p_cancel_sliding) { + real_t motion_length = p_parameters.motion.length(); + real_t precision = 0.001; + + if (colliding) { + // Can't just use margin as a threshold because collision depth is calculated on unsafe motion, + // so even in normal resting cases the depth can be a bit more than the margin. + precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction); + + if (r_result.collision_depth > p_parameters.margin + precision) { + p_cancel_sliding = false; + } + } + + if (p_cancel_sliding) { + // When motion is null, recovery is the resulting motion. + Vector2 motion_normal; + if (motion_length > CMP_EPSILON) { + motion_normal = p_parameters.motion / motion_length; + } + + // Check depth of recovery. + real_t projected_length = r_result.travel.dot(motion_normal); + Vector2 recovery = r_result.travel - motion_normal * projected_length; + real_t recovery_length = recovery.length(); + // Fixes cases where canceling slide causes the motion to go too deep into the ground, + // because we're only taking rest information into account and not general recovery. + if (recovery_length < p_parameters.margin + precision) { + // Apply adjustment to motion. + r_result.travel = motion_normal * projected_length; + r_result.remainder = p_parameters.motion - r_result.travel; + } + } + } + + if (!p_test_only) { + Transform2D gt = p_parameters.from; + gt.columns[2] += r_result.travel; + set_global_transform(gt); + } + + return colliding; +} + +bool PhysicsBody2D::test_move(const Transform2D &p_from, const Vector2 &p_motion, const Ref &r_collision, real_t p_margin, bool p_recovery_as_collision) { + ERR_FAIL_COND_V(!is_inside_tree(), false); + + PhysicsServer2D::MotionResult *r = nullptr; + PhysicsServer2D::MotionResult temp_result; + if (r_collision.is_valid()) { + // Needs const_cast because method bindings don't support non-const Ref. + r = const_cast(&r_collision->result); + } else { + r = &temp_result; + } + + PhysicsServer2D::MotionParameters parameters(p_from, p_motion, p_margin); + parameters.recovery_as_collision = p_recovery_as_collision; + + return PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), parameters, r); +} + +Vector2 PhysicsBody2D::get_gravity() const { + PhysicsDirectBodyState2D *state = PhysicsServer2D::get_singleton()->body_get_direct_state(get_rid()); + ERR_FAIL_NULL_V(state, Vector2()); + return state->get_total_gravity(); +} + +TypedArray PhysicsBody2D::get_collision_exceptions() { + List exceptions; + PhysicsServer2D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions); + Array ret; + for (const RID &body : exceptions) { + ObjectID instance_id = PhysicsServer2D::get_singleton()->body_get_object_instance_id(body); + Object *obj = ObjectDB::get_instance(instance_id); + PhysicsBody2D *physics_body = Object::cast_to(obj); + ret.append(physics_body); + } + return ret; +} + +void PhysicsBody2D::add_collision_exception_with(Node *p_node) { + ERR_FAIL_NULL(p_node); + PhysicsBody2D *physics_body = Object::cast_to(p_node); + ERR_FAIL_NULL_MSG(physics_body, "Collision exception only works between two nodes that inherit from PhysicsBody2D."); + PhysicsServer2D::get_singleton()->body_add_collision_exception(get_rid(), physics_body->get_rid()); +} + +void PhysicsBody2D::remove_collision_exception_with(Node *p_node) { + ERR_FAIL_NULL(p_node); + PhysicsBody2D *physics_body = Object::cast_to(p_node); + ERR_FAIL_NULL_MSG(physics_body, "Collision exception only works between two nodes that inherit from PhysicsBody2D."); + PhysicsServer2D::get_singleton()->body_remove_collision_exception(get_rid(), physics_body->get_rid()); +} diff --git a/scene/2d/physics/physics_body_2d.h b/scene/2d/physics/physics_body_2d.h new file mode 100644 index 00000000000..43bc4798810 --- /dev/null +++ b/scene/2d/physics/physics_body_2d.h @@ -0,0 +1,63 @@ +/**************************************************************************/ +/* physics_body_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef PHYSICS_BODY_2D_H +#define PHYSICS_BODY_2D_H + +#include "core/templates/vset.h" +#include "scene/2d/physics/collision_object_2d.h" +#include "scene/2d/physics/kinematic_collision_2d.h" +#include "scene/resources/physics_material.h" +#include "servers/physics_server_2d.h" + +class PhysicsBody2D : public CollisionObject2D { + GDCLASS(PhysicsBody2D, CollisionObject2D); + +protected: + static void _bind_methods(); + PhysicsBody2D(PhysicsServer2D::BodyMode p_mode); + + Ref motion_cache; + + Ref _move(const Vector2 &p_motion, bool p_test_only = false, real_t p_margin = 0.08, bool p_recovery_as_collision = false); + +public: + bool move_and_collide(const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult &r_result, bool p_test_only = false, bool p_cancel_sliding = true); + bool test_move(const Transform2D &p_from, const Vector2 &p_motion, const Ref &r_collision = Ref(), real_t p_margin = 0.08, bool p_recovery_as_collision = false); + Vector2 get_gravity() const; + + TypedArray get_collision_exceptions(); + void add_collision_exception_with(Node *p_node); //must be physicsbody + void remove_collision_exception_with(Node *p_node); + + virtual ~PhysicsBody2D(); +}; + +#endif // PHYSICS_BODY_2D_H diff --git a/scene/2d/ray_cast_2d.cpp b/scene/2d/physics/ray_cast_2d.cpp similarity index 99% rename from scene/2d/ray_cast_2d.cpp rename to scene/2d/physics/ray_cast_2d.cpp index f27ac169b67..cb9497c14ed 100644 --- a/scene/2d/ray_cast_2d.cpp +++ b/scene/2d/physics/ray_cast_2d.cpp @@ -30,7 +30,7 @@ #include "ray_cast_2d.h" -#include "collision_object_2d.h" +#include "scene/2d/physics/collision_object_2d.h" #include "scene/resources/world_2d.h" void RayCast2D::set_target_position(const Vector2 &p_point) { diff --git a/scene/2d/ray_cast_2d.h b/scene/2d/physics/ray_cast_2d.h similarity index 100% rename from scene/2d/ray_cast_2d.h rename to scene/2d/physics/ray_cast_2d.h diff --git a/scene/2d/physics/rigid_body_2d.cpp b/scene/2d/physics/rigid_body_2d.cpp new file mode 100644 index 00000000000..12112510a84 --- /dev/null +++ b/scene/2d/physics/rigid_body_2d.cpp @@ -0,0 +1,817 @@ +/**************************************************************************/ +/* rigid_body_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "rigid_body_2d.h" + +#include "scene/scene_string_names.h" + +void RigidBody2D::_body_enter_tree(ObjectID p_id) { + Object *obj = ObjectDB::get_instance(p_id); + Node *node = Object::cast_to(obj); + ERR_FAIL_NULL(node); + ERR_FAIL_NULL(contact_monitor); + HashMap::Iterator E = contact_monitor->body_map.find(p_id); + ERR_FAIL_COND(!E); + ERR_FAIL_COND(E->value.in_scene); + + contact_monitor->locked = true; + + E->value.in_scene = true; + emit_signal(SceneStringNames::get_singleton()->body_entered, node); + + for (int i = 0; i < E->value.shapes.size(); i++) { + emit_signal(SceneStringNames::get_singleton()->body_shape_entered, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape); + } + + contact_monitor->locked = false; +} + +void RigidBody2D::_body_exit_tree(ObjectID p_id) { + Object *obj = ObjectDB::get_instance(p_id); + Node *node = Object::cast_to(obj); + ERR_FAIL_NULL(node); + ERR_FAIL_NULL(contact_monitor); + HashMap::Iterator E = contact_monitor->body_map.find(p_id); + ERR_FAIL_COND(!E); + ERR_FAIL_COND(!E->value.in_scene); + E->value.in_scene = false; + + contact_monitor->locked = true; + + emit_signal(SceneStringNames::get_singleton()->body_exited, node); + + for (int i = 0; i < E->value.shapes.size(); i++) { + emit_signal(SceneStringNames::get_singleton()->body_shape_exited, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape); + } + + contact_monitor->locked = false; +} + +void RigidBody2D::_body_inout(int p_status, const RID &p_body, 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 = Object::cast_to(obj); + + ERR_FAIL_NULL(contact_monitor); + HashMap::Iterator 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->value.rid = p_body; + //E->value.rc=0; + E->value.in_scene = node && node->is_inside_tree(); + if (node) { + node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree).bind(objid)); + node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree).bind(objid)); + if (E->value.in_scene) { + emit_signal(SceneStringNames::get_singleton()->body_entered, node); + } + } + + //E->value.rc++; + } + + if (node) { + E->value.shapes.insert(ShapePair(p_body_shape, p_local_shape)); + } + + if (E->value.in_scene) { + emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_body, node, p_body_shape, p_local_shape); + } + + } else { + //E->value.rc--; + + if (node) { + E->value.shapes.erase(ShapePair(p_body_shape, p_local_shape)); + } + + bool in_scene = E->value.in_scene; + + if (E->value.shapes.is_empty()) { + if (node) { + node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree)); + if (in_scene) { + emit_signal(SceneStringNames::get_singleton()->body_exited, node); + } + } + + contact_monitor->body_map.remove(E); + } + if (node && in_scene) { + emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_body, node, p_body_shape, p_local_shape); + } + } +} + +struct _RigidBody2DInOut { + RID rid; + ObjectID id; + int shape = 0; + int local_shape = 0; +}; + +void RigidBody2D::_sync_body_state(PhysicsDirectBodyState2D *p_state) { + if (!freeze || freeze_mode != FREEZE_MODE_KINEMATIC) { + set_block_transform_notify(true); + set_global_transform(p_state->get_transform()); + set_block_transform_notify(false); + } + + linear_velocity = p_state->get_linear_velocity(); + angular_velocity = p_state->get_angular_velocity(); + + contact_count = p_state->get_contact_count(); + + if (sleeping != p_state->is_sleeping()) { + sleeping = p_state->is_sleeping(); + emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); + } +} + +void RigidBody2D::_body_state_changed(PhysicsDirectBodyState2D *p_state) { + lock_callback(); + + if (GDVIRTUAL_IS_OVERRIDDEN(_integrate_forces)) { + _sync_body_state(p_state); + + Transform2D old_transform = get_global_transform(); + GDVIRTUAL_CALL(_integrate_forces, p_state); + Transform2D new_transform = get_global_transform(); + + if (new_transform != old_transform) { + // Update the physics server with the new transform, to prevent it from being overwritten at the sync below. + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_TRANSFORM, new_transform); + } + } + + _sync_body_state(p_state); + + if (contact_monitor) { + contact_monitor->locked = true; + + //untag all + int rc = 0; + for (KeyValue &E : contact_monitor->body_map) { + for (int i = 0; i < E.value.shapes.size(); i++) { + E.value.shapes[i].tagged = false; + rc++; + } + } + + _RigidBody2DInOut *toadd = (_RigidBody2DInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidBody2DInOut)); + int toadd_count = 0; //state->get_contact_count(); + RigidBody2D_RemoveAction *toremove = (RigidBody2D_RemoveAction *)alloca(rc * sizeof(RigidBody2D_RemoveAction)); + int toremove_count = 0; + + //put the ones to add + + for (int i = 0; i < p_state->get_contact_count(); i++) { + RID col_rid = p_state->get_contact_collider(i); + ObjectID col_obj = p_state->get_contact_collider_id(i); + int local_shape = p_state->get_contact_local_shape(i); + int col_shape = p_state->get_contact_collider_shape(i); + + HashMap::Iterator E = contact_monitor->body_map.find(col_obj); + if (!E) { + toadd[toadd_count].rid = col_rid; + toadd[toadd_count].local_shape = local_shape; + toadd[toadd_count].id = col_obj; + toadd[toadd_count].shape = col_shape; + toadd_count++; + continue; + } + + ShapePair sp(col_shape, local_shape); + int idx = E->value.shapes.find(sp); + if (idx == -1) { + toadd[toadd_count].rid = col_rid; + toadd[toadd_count].local_shape = local_shape; + toadd[toadd_count].id = col_obj; + toadd[toadd_count].shape = col_shape; + toadd_count++; + continue; + } + + E->value.shapes[idx].tagged = true; + } + + //put the ones to remove + + for (const KeyValue &E : contact_monitor->body_map) { + for (int i = 0; i < E.value.shapes.size(); i++) { + if (!E.value.shapes[i].tagged) { + toremove[toremove_count].rid = E.value.rid; + toremove[toremove_count].body_id = E.key; + toremove[toremove_count].pair = E.value.shapes[i]; + toremove_count++; + } + } + } + + //process removals + + for (int i = 0; i < toremove_count; i++) { + _body_inout(0, toremove[i].rid, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape); + } + + //process additions + + for (int i = 0; i < toadd_count; i++) { + _body_inout(1, toadd[i].rid, toadd[i].id, toadd[i].shape, toadd[i].local_shape); + } + + contact_monitor->locked = false; + } + + unlock_callback(); +} + +void RigidBody2D::_apply_body_mode() { + if (freeze) { + switch (freeze_mode) { + case FREEZE_MODE_STATIC: { + set_body_mode(PhysicsServer2D::BODY_MODE_STATIC); + } break; + case FREEZE_MODE_KINEMATIC: { + set_body_mode(PhysicsServer2D::BODY_MODE_KINEMATIC); + } break; + } + } else if (lock_rotation) { + set_body_mode(PhysicsServer2D::BODY_MODE_RIGID_LINEAR); + } else { + set_body_mode(PhysicsServer2D::BODY_MODE_RIGID); + } +} + +void RigidBody2D::set_lock_rotation_enabled(bool p_lock_rotation) { + if (p_lock_rotation == lock_rotation) { + return; + } + + lock_rotation = p_lock_rotation; + _apply_body_mode(); +} + +bool RigidBody2D::is_lock_rotation_enabled() const { + return lock_rotation; +} + +void RigidBody2D::set_freeze_enabled(bool p_freeze) { + if (p_freeze == freeze) { + return; + } + + freeze = p_freeze; + _apply_body_mode(); +} + +bool RigidBody2D::is_freeze_enabled() const { + return freeze; +} + +void RigidBody2D::set_freeze_mode(FreezeMode p_freeze_mode) { + if (p_freeze_mode == freeze_mode) { + return; + } + + freeze_mode = p_freeze_mode; + _apply_body_mode(); +} + +RigidBody2D::FreezeMode RigidBody2D::get_freeze_mode() const { + return freeze_mode; +} + +void RigidBody2D::set_mass(real_t p_mass) { + ERR_FAIL_COND(p_mass <= 0); + mass = p_mass; + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_MASS, mass); +} + +real_t RigidBody2D::get_mass() const { + return mass; +} + +void RigidBody2D::set_inertia(real_t p_inertia) { + ERR_FAIL_COND(p_inertia < 0); + inertia = p_inertia; + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_INERTIA, inertia); +} + +real_t RigidBody2D::get_inertia() const { + return inertia; +} + +void RigidBody2D::set_center_of_mass_mode(CenterOfMassMode p_mode) { + if (center_of_mass_mode == p_mode) { + return; + } + + center_of_mass_mode = p_mode; + + switch (center_of_mass_mode) { + case CENTER_OF_MASS_MODE_AUTO: { + center_of_mass = Vector2(); + PhysicsServer2D::get_singleton()->body_reset_mass_properties(get_rid()); + if (inertia != 0.0) { + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_INERTIA, inertia); + } + } break; + + case CENTER_OF_MASS_MODE_CUSTOM: { + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); + } break; + } +} + +RigidBody2D::CenterOfMassMode RigidBody2D::get_center_of_mass_mode() const { + return center_of_mass_mode; +} + +void RigidBody2D::set_center_of_mass(const Vector2 &p_center_of_mass) { + if (center_of_mass == p_center_of_mass) { + return; + } + + ERR_FAIL_COND(center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM); + center_of_mass = p_center_of_mass; + + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); +} + +const Vector2 &RigidBody2D::get_center_of_mass() const { + return center_of_mass; +} + +void RigidBody2D::set_physics_material_override(const Ref &p_physics_material_override) { + if (physics_material_override.is_valid()) { + physics_material_override->disconnect_changed(callable_mp(this, &RigidBody2D::_reload_physics_characteristics)); + } + + physics_material_override = p_physics_material_override; + + if (physics_material_override.is_valid()) { + physics_material_override->connect_changed(callable_mp(this, &RigidBody2D::_reload_physics_characteristics)); + } + _reload_physics_characteristics(); +} + +Ref RigidBody2D::get_physics_material_override() const { + return physics_material_override; +} + +void RigidBody2D::set_gravity_scale(real_t p_gravity_scale) { + gravity_scale = p_gravity_scale; + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); +} + +real_t RigidBody2D::get_gravity_scale() const { + return gravity_scale; +} + +void RigidBody2D::set_linear_damp_mode(DampMode p_mode) { + linear_damp_mode = p_mode; + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode); +} + +RigidBody2D::DampMode RigidBody2D::get_linear_damp_mode() const { + return linear_damp_mode; +} + +void RigidBody2D::set_angular_damp_mode(DampMode p_mode) { + angular_damp_mode = p_mode; + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode); +} + +RigidBody2D::DampMode RigidBody2D::get_angular_damp_mode() const { + return angular_damp_mode; +} + +void RigidBody2D::set_linear_damp(real_t p_linear_damp) { + ERR_FAIL_COND(p_linear_damp < -1); + linear_damp = p_linear_damp; + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_LINEAR_DAMP, linear_damp); +} + +real_t RigidBody2D::get_linear_damp() const { + return linear_damp; +} + +void RigidBody2D::set_angular_damp(real_t p_angular_damp) { + ERR_FAIL_COND(p_angular_damp < -1); + angular_damp = p_angular_damp; + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP, angular_damp); +} + +real_t RigidBody2D::get_angular_damp() const { + return angular_damp; +} + +void RigidBody2D::set_axis_velocity(const Vector2 &p_axis) { + Vector2 axis = p_axis.normalized(); + linear_velocity -= axis * axis.dot(linear_velocity); + linear_velocity += p_axis; + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); +} + +void RigidBody2D::set_linear_velocity(const Vector2 &p_velocity) { + linear_velocity = p_velocity; + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); +} + +Vector2 RigidBody2D::get_linear_velocity() const { + return linear_velocity; +} + +void RigidBody2D::set_angular_velocity(real_t p_velocity) { + angular_velocity = p_velocity; + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); +} + +real_t RigidBody2D::get_angular_velocity() const { + return angular_velocity; +} + +void RigidBody2D::set_use_custom_integrator(bool p_enable) { + if (custom_integrator == p_enable) { + return; + } + + custom_integrator = p_enable; + PhysicsServer2D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); +} + +bool RigidBody2D::is_using_custom_integrator() { + return custom_integrator; +} + +void RigidBody2D::set_sleeping(bool p_sleeping) { + sleeping = p_sleeping; + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_SLEEPING, sleeping); +} + +void RigidBody2D::set_can_sleep(bool p_active) { + can_sleep = p_active; + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_CAN_SLEEP, p_active); +} + +bool RigidBody2D::is_able_to_sleep() const { + return can_sleep; +} + +bool RigidBody2D::is_sleeping() const { + return sleeping; +} + +void RigidBody2D::set_max_contacts_reported(int p_amount) { + max_contacts_reported = p_amount; + PhysicsServer2D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount); +} + +int RigidBody2D::get_max_contacts_reported() const { + return max_contacts_reported; +} + +int RigidBody2D::get_contact_count() const { + return contact_count; +} + +void RigidBody2D::apply_central_impulse(const Vector2 &p_impulse) { + PhysicsServer2D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); +} + +void RigidBody2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) { + PhysicsServer2D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position); +} + +void RigidBody2D::apply_torque_impulse(real_t p_torque) { + PhysicsServer2D::get_singleton()->body_apply_torque_impulse(get_rid(), p_torque); +} + +void RigidBody2D::apply_central_force(const Vector2 &p_force) { + PhysicsServer2D::get_singleton()->body_apply_central_force(get_rid(), p_force); +} + +void RigidBody2D::apply_force(const Vector2 &p_force, const Vector2 &p_position) { + PhysicsServer2D::get_singleton()->body_apply_force(get_rid(), p_force, p_position); +} + +void RigidBody2D::apply_torque(real_t p_torque) { + PhysicsServer2D::get_singleton()->body_apply_torque(get_rid(), p_torque); +} + +void RigidBody2D::add_constant_central_force(const Vector2 &p_force) { + PhysicsServer2D::get_singleton()->body_add_constant_central_force(get_rid(), p_force); +} + +void RigidBody2D::add_constant_force(const Vector2 &p_force, const Vector2 &p_position) { + PhysicsServer2D::get_singleton()->body_add_constant_force(get_rid(), p_force, p_position); +} + +void RigidBody2D::add_constant_torque(const real_t p_torque) { + PhysicsServer2D::get_singleton()->body_add_constant_torque(get_rid(), p_torque); +} + +void RigidBody2D::set_constant_force(const Vector2 &p_force) { + PhysicsServer2D::get_singleton()->body_set_constant_force(get_rid(), p_force); +} + +Vector2 RigidBody2D::get_constant_force() const { + return PhysicsServer2D::get_singleton()->body_get_constant_force(get_rid()); +} + +void RigidBody2D::set_constant_torque(real_t p_torque) { + PhysicsServer2D::get_singleton()->body_set_constant_torque(get_rid(), p_torque); +} + +real_t RigidBody2D::get_constant_torque() const { + return PhysicsServer2D::get_singleton()->body_get_constant_torque(get_rid()); +} + +void RigidBody2D::set_continuous_collision_detection_mode(CCDMode p_mode) { + ccd_mode = p_mode; + PhysicsServer2D::get_singleton()->body_set_continuous_collision_detection_mode(get_rid(), PhysicsServer2D::CCDMode(p_mode)); +} + +RigidBody2D::CCDMode RigidBody2D::get_continuous_collision_detection_mode() const { + return ccd_mode; +} + +TypedArray RigidBody2D::get_colliding_bodies() const { + ERR_FAIL_NULL_V(contact_monitor, TypedArray()); + + TypedArray ret; + ret.resize(contact_monitor->body_map.size()); + int idx = 0; + for (const KeyValue &E : contact_monitor->body_map) { + Object *obj = ObjectDB::get_instance(E.key); + if (!obj) { + ret.resize(ret.size() - 1); //ops + } else { + ret[idx++] = obj; + } + } + + return ret; +} + +void RigidBody2D::set_contact_monitor(bool p_enabled) { + if (p_enabled == is_contact_monitor_enabled()) { + return; + } + + if (!p_enabled) { + ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead."); + + for (const KeyValue &E : contact_monitor->body_map) { + //clean up mess + Object *obj = ObjectDB::get_instance(E.key); + Node *node = Object::cast_to(obj); + + if (node) { + node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree)); + } + } + + memdelete(contact_monitor); + contact_monitor = nullptr; + } else { + contact_monitor = memnew(ContactMonitor); + contact_monitor->locked = false; + } +} + +bool RigidBody2D::is_contact_monitor_enabled() const { + return contact_monitor != nullptr; +} + +void RigidBody2D::_notification(int p_what) { +#ifdef TOOLS_ENABLED + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + if (Engine::get_singleton()->is_editor_hint()) { + set_notify_local_transform(true); // Used for warnings and only in editor. + } + } break; + + case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { + update_configuration_warnings(); + } break; + } +#endif +} + +PackedStringArray RigidBody2D::get_configuration_warnings() const { + Transform2D t = get_transform(); + + PackedStringArray warnings = CollisionObject2D::get_configuration_warnings(); + + if (ABS(t.columns[0].length() - 1.0) > 0.05 || ABS(t.columns[1].length() - 1.0) > 0.05) { + warnings.push_back(RTR("Size changes to RigidBody2D will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.")); + } + + return warnings; +} + +void RigidBody2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody2D::set_mass); + ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody2D::get_mass); + + ClassDB::bind_method(D_METHOD("get_inertia"), &RigidBody2D::get_inertia); + ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidBody2D::set_inertia); + + ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidBody2D::set_center_of_mass_mode); + ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidBody2D::get_center_of_mass_mode); + + ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidBody2D::set_center_of_mass); + ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidBody2D::get_center_of_mass); + + ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody2D::set_physics_material_override); + ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody2D::get_physics_material_override); + + ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody2D::set_gravity_scale); + ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody2D::get_gravity_scale); + + ClassDB::bind_method(D_METHOD("set_linear_damp_mode", "linear_damp_mode"), &RigidBody2D::set_linear_damp_mode); + ClassDB::bind_method(D_METHOD("get_linear_damp_mode"), &RigidBody2D::get_linear_damp_mode); + + ClassDB::bind_method(D_METHOD("set_angular_damp_mode", "angular_damp_mode"), &RigidBody2D::set_angular_damp_mode); + ClassDB::bind_method(D_METHOD("get_angular_damp_mode"), &RigidBody2D::get_angular_damp_mode); + + ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody2D::set_linear_damp); + ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody2D::get_linear_damp); + + ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody2D::set_angular_damp); + ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody2D::get_angular_damp); + + ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody2D::set_linear_velocity); + ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody2D::get_linear_velocity); + + ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody2D::set_angular_velocity); + ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody2D::get_angular_velocity); + + ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody2D::set_max_contacts_reported); + ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody2D::get_max_contacts_reported); + ClassDB::bind_method(D_METHOD("get_contact_count"), &RigidBody2D::get_contact_count); + + ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody2D::set_use_custom_integrator); + ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody2D::is_using_custom_integrator); + + ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody2D::set_contact_monitor); + ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody2D::is_contact_monitor_enabled); + + ClassDB::bind_method(D_METHOD("set_continuous_collision_detection_mode", "mode"), &RigidBody2D::set_continuous_collision_detection_mode); + ClassDB::bind_method(D_METHOD("get_continuous_collision_detection_mode"), &RigidBody2D::get_continuous_collision_detection_mode); + + ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody2D::set_axis_velocity); + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody2D::apply_central_impulse, Vector2()); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody2D::apply_impulse, Vector2()); + ClassDB::bind_method(D_METHOD("apply_torque_impulse", "torque"), &RigidBody2D::apply_torque_impulse); + + ClassDB::bind_method(D_METHOD("apply_central_force", "force"), &RigidBody2D::apply_central_force); + ClassDB::bind_method(D_METHOD("apply_force", "force", "position"), &RigidBody2D::apply_force, Vector2()); + ClassDB::bind_method(D_METHOD("apply_torque", "torque"), &RigidBody2D::apply_torque); + + ClassDB::bind_method(D_METHOD("add_constant_central_force", "force"), &RigidBody2D::add_constant_central_force); + ClassDB::bind_method(D_METHOD("add_constant_force", "force", "position"), &RigidBody2D::add_constant_force, Vector2()); + ClassDB::bind_method(D_METHOD("add_constant_torque", "torque"), &RigidBody2D::add_constant_torque); + + ClassDB::bind_method(D_METHOD("set_constant_force", "force"), &RigidBody2D::set_constant_force); + ClassDB::bind_method(D_METHOD("get_constant_force"), &RigidBody2D::get_constant_force); + + ClassDB::bind_method(D_METHOD("set_constant_torque", "torque"), &RigidBody2D::set_constant_torque); + ClassDB::bind_method(D_METHOD("get_constant_torque"), &RigidBody2D::get_constant_torque); + + ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody2D::set_sleeping); + ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody2D::is_sleeping); + + ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody2D::set_can_sleep); + ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody2D::is_able_to_sleep); + + ClassDB::bind_method(D_METHOD("set_lock_rotation_enabled", "lock_rotation"), &RigidBody2D::set_lock_rotation_enabled); + ClassDB::bind_method(D_METHOD("is_lock_rotation_enabled"), &RigidBody2D::is_lock_rotation_enabled); + + ClassDB::bind_method(D_METHOD("set_freeze_enabled", "freeze_mode"), &RigidBody2D::set_freeze_enabled); + ClassDB::bind_method(D_METHOD("is_freeze_enabled"), &RigidBody2D::is_freeze_enabled); + + ClassDB::bind_method(D_METHOD("set_freeze_mode", "freeze_mode"), &RigidBody2D::set_freeze_mode); + ClassDB::bind_method(D_METHOD("get_freeze_mode"), &RigidBody2D::get_freeze_mode); + + ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody2D::get_colliding_bodies); + + GDVIRTUAL_BIND(_integrate_forces, "state"); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp,suffix:kg"), "set_mass", "get_mass"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-8,8,0.001,or_less,or_greater"), "set_gravity_scale", "get_gravity_scale"); + ADD_GROUP("Mass Distribution", ""); + ADD_PROPERTY(PropertyInfo(Variant::INT, "center_of_mass_mode", PROPERTY_HINT_ENUM, "Auto,Custom", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_center_of_mass_mode", "get_center_of_mass_mode"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "center_of_mass", PROPERTY_HINT_RANGE, "-10,10,0.01,or_less,or_greater,suffix:px"), "set_center_of_mass", "get_center_of_mass"); + ADD_LINKED_PROPERTY("center_of_mass_mode", "center_of_mass"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "inertia", PROPERTY_HINT_RANGE, U"0,1000,0.01,or_greater,exp,suffix:kg\u22C5px\u00B2"), "set_inertia", "get_inertia"); + ADD_GROUP("Deactivation", ""); + 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::BOOL, "lock_rotation"), "set_lock_rotation_enabled", "is_lock_rotation_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "freeze"), "set_freeze_enabled", "is_freeze_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "freeze_mode", PROPERTY_HINT_ENUM, "Static,Kinematic"), "set_freeze_mode", "get_freeze_mode"); + ADD_GROUP("Solver", ""); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "continuous_cd", PROPERTY_HINT_ENUM, "Disabled,Cast Ray,Cast Shape"), "set_continuous_collision_detection_mode", "get_continuous_collision_detection_mode"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "max_contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled"); + ADD_GROUP("Linear", "linear_"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "linear_velocity", PROPERTY_HINT_NONE, "suffix:px/s"), "set_linear_velocity", "get_linear_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); + ADD_GROUP("Angular", "angular_"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_angular_velocity", "get_angular_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); + ADD_GROUP("Constant Forces", "constant_"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "constant_force", PROPERTY_HINT_NONE, U"suffix:kg\u22C5px/s\u00B2"), "set_constant_force", "get_constant_force"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "constant_torque", PROPERTY_HINT_NONE, U"suffix:kg\u22C5px\u00B2/s\u00B2/rad"), "set_constant_torque", "get_constant_torque"); + + ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::RID, "body_rid"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape_index"), PropertyInfo(Variant::INT, "local_shape_index"))); + ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::RID, "body_rid"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape_index"), PropertyInfo(Variant::INT, "local_shape_index"))); + ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("sleeping_state_changed")); + + BIND_ENUM_CONSTANT(FREEZE_MODE_STATIC); + BIND_ENUM_CONSTANT(FREEZE_MODE_KINEMATIC); + + BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_AUTO); + BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_CUSTOM); + + BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE); + BIND_ENUM_CONSTANT(DAMP_MODE_REPLACE); + + BIND_ENUM_CONSTANT(CCD_MODE_DISABLED); + BIND_ENUM_CONSTANT(CCD_MODE_CAST_RAY); + BIND_ENUM_CONSTANT(CCD_MODE_CAST_SHAPE); +} + +void RigidBody2D::_validate_property(PropertyInfo &p_property) const { + if (center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM) { + if (p_property.name == "center_of_mass") { + p_property.usage = PROPERTY_USAGE_NO_EDITOR; + } + } +} + +RigidBody2D::RigidBody2D() : + PhysicsBody2D(PhysicsServer2D::BODY_MODE_RIGID) { + PhysicsServer2D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &RigidBody2D::_body_state_changed)); +} + +RigidBody2D::~RigidBody2D() { + if (contact_monitor) { + memdelete(contact_monitor); + } +} + +void RigidBody2D::_reload_physics_characteristics() { + if (physics_material_override.is_null()) { + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, 0); + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, 1); + } else { + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); + } +} diff --git a/scene/2d/physics/rigid_body_2d.h b/scene/2d/physics/rigid_body_2d.h new file mode 100644 index 00000000000..40af66f28d6 --- /dev/null +++ b/scene/2d/physics/rigid_body_2d.h @@ -0,0 +1,249 @@ +/**************************************************************************/ +/* rigid_body_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef RIGID_BODY_2D_H +#define RIGID_BODY_2D_H + +#include "scene/2d/physics/static_body_2d.h" + +class RigidBody2D : public PhysicsBody2D { + GDCLASS(RigidBody2D, PhysicsBody2D); + +public: + enum FreezeMode { + FREEZE_MODE_STATIC, + FREEZE_MODE_KINEMATIC, + }; + + enum CenterOfMassMode { + CENTER_OF_MASS_MODE_AUTO, + CENTER_OF_MASS_MODE_CUSTOM, + }; + + enum DampMode { + DAMP_MODE_COMBINE, + DAMP_MODE_REPLACE, + }; + + enum CCDMode { + CCD_MODE_DISABLED, + CCD_MODE_CAST_RAY, + CCD_MODE_CAST_SHAPE, + }; + +private: + bool can_sleep = true; + bool lock_rotation = false; + bool freeze = false; + FreezeMode freeze_mode = FREEZE_MODE_STATIC; + + real_t mass = 1.0; + real_t inertia = 0.0; + CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO; + Vector2 center_of_mass; + + Ref physics_material_override; + real_t gravity_scale = 1.0; + + DampMode linear_damp_mode = DAMP_MODE_COMBINE; + DampMode angular_damp_mode = DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; + + Vector2 linear_velocity; + real_t angular_velocity = 0.0; + bool sleeping = false; + + int max_contacts_reported = 0; + int contact_count = 0; + + bool custom_integrator = false; + + CCDMode ccd_mode = CCD_MODE_DISABLED; + + struct ShapePair { + int body_shape = 0; + int local_shape = 0; + bool tagged = false; + bool operator<(const ShapePair &p_sp) const { + if (body_shape == p_sp.body_shape) { + return local_shape < p_sp.local_shape; + } + + return body_shape < p_sp.body_shape; + } + + ShapePair() {} + ShapePair(int p_bs, int p_ls) { + body_shape = p_bs; + local_shape = p_ls; + } + }; + struct RigidBody2D_RemoveAction { + RID rid; + ObjectID body_id; + ShapePair pair; + }; + struct BodyState { + RID rid; + //int rc; + bool in_scene = false; + VSet shapes; + }; + + struct ContactMonitor { + bool locked = false; + HashMap body_map; + }; + + ContactMonitor *contact_monitor = nullptr; + void _body_enter_tree(ObjectID p_id); + void _body_exit_tree(ObjectID p_id); + + void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape); + + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState2D *p_state); + void _body_state_changed(PhysicsDirectBodyState2D *p_state); + + void _sync_body_state(PhysicsDirectBodyState2D *p_state); + +protected: + void _notification(int p_what); + static void _bind_methods(); + + void _validate_property(PropertyInfo &p_property) const; + + GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState2D *) + + void _apply_body_mode(); + +public: + void set_lock_rotation_enabled(bool p_lock_rotation); + bool is_lock_rotation_enabled() const; + + void set_freeze_enabled(bool p_freeze); + bool is_freeze_enabled() const; + + void set_freeze_mode(FreezeMode p_freeze_mode); + FreezeMode get_freeze_mode() const; + + void set_mass(real_t p_mass); + real_t get_mass() const; + + void set_inertia(real_t p_inertia); + real_t get_inertia() const; + + void set_center_of_mass_mode(CenterOfMassMode p_mode); + CenterOfMassMode get_center_of_mass_mode() const; + + void set_center_of_mass(const Vector2 &p_center_of_mass); + const Vector2 &get_center_of_mass() const; + + void set_physics_material_override(const Ref &p_physics_material_override); + Ref get_physics_material_override() const; + + void set_gravity_scale(real_t p_gravity_scale); + real_t get_gravity_scale() const; + + void set_linear_damp_mode(DampMode p_mode); + DampMode get_linear_damp_mode() const; + + void set_angular_damp_mode(DampMode p_mode); + DampMode get_angular_damp_mode() const; + + void set_linear_damp(real_t p_linear_damp); + real_t get_linear_damp() const; + + void set_angular_damp(real_t p_angular_damp); + real_t get_angular_damp() const; + + void set_linear_velocity(const Vector2 &p_velocity); + Vector2 get_linear_velocity() const; + + void set_axis_velocity(const Vector2 &p_axis); + + void set_angular_velocity(real_t p_velocity); + real_t get_angular_velocity() const; + + void set_use_custom_integrator(bool p_enable); + bool is_using_custom_integrator(); + + void set_sleeping(bool p_sleeping); + bool is_sleeping() const; + + void set_can_sleep(bool p_active); + bool is_able_to_sleep() const; + + void set_contact_monitor(bool p_enabled); + bool is_contact_monitor_enabled() const; + + void set_max_contacts_reported(int p_amount); + int get_max_contacts_reported() const; + int get_contact_count() const; + + void set_continuous_collision_detection_mode(CCDMode p_mode); + CCDMode get_continuous_collision_detection_mode() const; + + void apply_central_impulse(const Vector2 &p_impulse); + void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()); + void apply_torque_impulse(real_t p_torque); + + void apply_central_force(const Vector2 &p_force); + void apply_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()); + void apply_torque(real_t p_torque); + + void add_constant_central_force(const Vector2 &p_force); + void add_constant_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()); + void add_constant_torque(real_t p_torque); + + void set_constant_force(const Vector2 &p_force); + Vector2 get_constant_force() const; + + void set_constant_torque(real_t p_torque); + real_t get_constant_torque() const; + + TypedArray get_colliding_bodies() const; //function for script + + virtual PackedStringArray get_configuration_warnings() const override; + + RigidBody2D(); + ~RigidBody2D(); + +private: + void _reload_physics_characteristics(); +}; + +VARIANT_ENUM_CAST(RigidBody2D::FreezeMode); +VARIANT_ENUM_CAST(RigidBody2D::CenterOfMassMode); +VARIANT_ENUM_CAST(RigidBody2D::DampMode); +VARIANT_ENUM_CAST(RigidBody2D::CCDMode); + +#endif // RIGID_BODY_2D_H diff --git a/scene/2d/shape_cast_2d.cpp b/scene/2d/physics/shape_cast_2d.cpp similarity index 99% rename from scene/2d/shape_cast_2d.cpp rename to scene/2d/physics/shape_cast_2d.cpp index 38e3b3180b8..00be84b622c 100644 --- a/scene/2d/shape_cast_2d.cpp +++ b/scene/2d/physics/shape_cast_2d.cpp @@ -31,8 +31,8 @@ #include "shape_cast_2d.h" #include "core/config/engine.h" -#include "scene/2d/collision_object_2d.h" -#include "scene/2d/physics_body_2d.h" +#include "scene/2d/physics/collision_object_2d.h" +#include "scene/2d/physics/physics_body_2d.h" #include "scene/resources/2d/circle_shape_2d.h" #include "servers/physics_2d/godot_physics_server_2d.h" diff --git a/scene/2d/shape_cast_2d.h b/scene/2d/physics/shape_cast_2d.h similarity index 100% rename from scene/2d/shape_cast_2d.h rename to scene/2d/physics/shape_cast_2d.h diff --git a/scene/2d/physics/static_body_2d.cpp b/scene/2d/physics/static_body_2d.cpp new file mode 100644 index 00000000000..3c5af73c1e8 --- /dev/null +++ b/scene/2d/physics/static_body_2d.cpp @@ -0,0 +1,96 @@ +/**************************************************************************/ +/* static_body_2d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "static_body_2d.h" + +void StaticBody2D::set_constant_linear_velocity(const Vector2 &p_vel) { + constant_linear_velocity = p_vel; + + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); +} + +void StaticBody2D::set_constant_angular_velocity(real_t p_vel) { + constant_angular_velocity = p_vel; + + PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); +} + +Vector2 StaticBody2D::get_constant_linear_velocity() const { + return constant_linear_velocity; +} + +real_t StaticBody2D::get_constant_angular_velocity() const { + return constant_angular_velocity; +} + +void StaticBody2D::set_physics_material_override(const Ref &p_physics_material_override) { + if (physics_material_override.is_valid()) { + physics_material_override->disconnect_changed(callable_mp(this, &StaticBody2D::_reload_physics_characteristics)); + } + + physics_material_override = p_physics_material_override; + + if (physics_material_override.is_valid()) { + physics_material_override->connect_changed(callable_mp(this, &StaticBody2D::_reload_physics_characteristics)); + } + _reload_physics_characteristics(); +} + +Ref StaticBody2D::get_physics_material_override() const { + return physics_material_override; +} + +void StaticBody2D::_reload_physics_characteristics() { + if (physics_material_override.is_null()) { + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, 0); + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, 1); + } else { + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); + PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); + } +} + +void StaticBody2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody2D::set_constant_linear_velocity); + ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody2D::set_constant_angular_velocity); + ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody2D::get_constant_linear_velocity); + ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody2D::get_constant_angular_velocity); + + ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody2D::set_physics_material_override); + ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody2D::get_physics_material_override); + + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "constant_linear_velocity", PROPERTY_HINT_NONE, "suffix:px/s"), "set_constant_linear_velocity", "get_constant_linear_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "constant_angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_constant_angular_velocity", "get_constant_angular_velocity"); +} + +StaticBody2D::StaticBody2D(PhysicsServer2D::BodyMode p_mode) : + PhysicsBody2D(p_mode) { +} diff --git a/scene/2d/physics/static_body_2d.h b/scene/2d/physics/static_body_2d.h new file mode 100644 index 00000000000..ce05596d948 --- /dev/null +++ b/scene/2d/physics/static_body_2d.h @@ -0,0 +1,64 @@ +/**************************************************************************/ +/* static_body_2d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef STATIC_BODY_2D_H +#define STATIC_BODY_2D_H + +#include "scene/2d/physics/physics_body_2d.h" + +class StaticBody2D : public PhysicsBody2D { + GDCLASS(StaticBody2D, PhysicsBody2D); + +private: + Vector2 constant_linear_velocity; + real_t constant_angular_velocity = 0.0; + + Ref physics_material_override; + +protected: + static void _bind_methods(); + +public: + void set_physics_material_override(const Ref &p_physics_material_override); + Ref get_physics_material_override() const; + + void set_constant_linear_velocity(const Vector2 &p_vel); + void set_constant_angular_velocity(real_t p_vel); + + Vector2 get_constant_linear_velocity() const; + real_t get_constant_angular_velocity() const; + + StaticBody2D(PhysicsServer2D::BodyMode p_mode = PhysicsServer2D::BODY_MODE_STATIC); + +private: + void _reload_physics_characteristics(); +}; + +#endif // STATIC_BODY_2D_H diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp deleted file mode 100644 index 92af3fa3f07..00000000000 --- a/scene/2d/physics_body_2d.cpp +++ /dev/null @@ -1,1923 +0,0 @@ -/**************************************************************************/ -/* physics_body_2d.cpp */ -/**************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/**************************************************************************/ -/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ -/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/**************************************************************************/ - -#include "physics_body_2d.h" - -#include "scene/scene_string_names.h" - -void PhysicsBody2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("move_and_collide", "motion", "test_only", "safe_margin", "recovery_as_collision"), &PhysicsBody2D::_move, DEFVAL(false), DEFVAL(0.08), DEFVAL(false)); - ClassDB::bind_method(D_METHOD("test_move", "from", "motion", "collision", "safe_margin", "recovery_as_collision"), &PhysicsBody2D::test_move, DEFVAL(Variant()), DEFVAL(0.08), DEFVAL(false)); - ClassDB::bind_method(D_METHOD("get_gravity"), &PhysicsBody2D::get_gravity); - - ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody2D::get_collision_exceptions); - ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody2D::add_collision_exception_with); - ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody2D::remove_collision_exception_with); -} - -PhysicsBody2D::PhysicsBody2D(PhysicsServer2D::BodyMode p_mode) : - CollisionObject2D(PhysicsServer2D::get_singleton()->body_create(), false) { - set_body_mode(p_mode); - set_pickable(false); -} - -PhysicsBody2D::~PhysicsBody2D() { - if (motion_cache.is_valid()) { - motion_cache->owner = nullptr; - } -} - -Ref PhysicsBody2D::_move(const Vector2 &p_motion, bool p_test_only, real_t p_margin, bool p_recovery_as_collision) { - PhysicsServer2D::MotionParameters parameters(get_global_transform(), p_motion, p_margin); - parameters.recovery_as_collision = p_recovery_as_collision; - - PhysicsServer2D::MotionResult result; - - if (move_and_collide(parameters, result, p_test_only)) { - // Create a new instance when the cached reference is invalid or still in use in script. - if (motion_cache.is_null() || motion_cache->get_reference_count() > 1) { - motion_cache.instantiate(); - motion_cache->owner = this; - } - - motion_cache->result = result; - return motion_cache; - } - - return Ref(); -} - -bool PhysicsBody2D::move_and_collide(const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult &r_result, bool p_test_only, bool p_cancel_sliding) { - if (is_only_update_transform_changes_enabled()) { - ERR_PRINT("Move functions do not work together with 'sync to physics' option. See the documentation for details."); - } - - bool colliding = PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), p_parameters, &r_result); - - // Restore direction of motion to be along original motion, - // in order to avoid sliding due to recovery, - // but only if collision depth is low enough to avoid tunneling. - if (p_cancel_sliding) { - real_t motion_length = p_parameters.motion.length(); - real_t precision = 0.001; - - if (colliding) { - // Can't just use margin as a threshold because collision depth is calculated on unsafe motion, - // so even in normal resting cases the depth can be a bit more than the margin. - precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction); - - if (r_result.collision_depth > p_parameters.margin + precision) { - p_cancel_sliding = false; - } - } - - if (p_cancel_sliding) { - // When motion is null, recovery is the resulting motion. - Vector2 motion_normal; - if (motion_length > CMP_EPSILON) { - motion_normal = p_parameters.motion / motion_length; - } - - // Check depth of recovery. - real_t projected_length = r_result.travel.dot(motion_normal); - Vector2 recovery = r_result.travel - motion_normal * projected_length; - real_t recovery_length = recovery.length(); - // Fixes cases where canceling slide causes the motion to go too deep into the ground, - // because we're only taking rest information into account and not general recovery. - if (recovery_length < p_parameters.margin + precision) { - // Apply adjustment to motion. - r_result.travel = motion_normal * projected_length; - r_result.remainder = p_parameters.motion - r_result.travel; - } - } - } - - if (!p_test_only) { - Transform2D gt = p_parameters.from; - gt.columns[2] += r_result.travel; - set_global_transform(gt); - } - - return colliding; -} - -bool PhysicsBody2D::test_move(const Transform2D &p_from, const Vector2 &p_motion, const Ref &r_collision, real_t p_margin, bool p_recovery_as_collision) { - ERR_FAIL_COND_V(!is_inside_tree(), false); - - PhysicsServer2D::MotionResult *r = nullptr; - PhysicsServer2D::MotionResult temp_result; - if (r_collision.is_valid()) { - // Needs const_cast because method bindings don't support non-const Ref. - r = const_cast(&r_collision->result); - } else { - r = &temp_result; - } - - PhysicsServer2D::MotionParameters parameters(p_from, p_motion, p_margin); - parameters.recovery_as_collision = p_recovery_as_collision; - - return PhysicsServer2D::get_singleton()->body_test_motion(get_rid(), parameters, r); -} - -Vector2 PhysicsBody2D::get_gravity() const { - PhysicsDirectBodyState2D *state = PhysicsServer2D::get_singleton()->body_get_direct_state(get_rid()); - ERR_FAIL_NULL_V(state, Vector2()); - return state->get_total_gravity(); -} - -TypedArray PhysicsBody2D::get_collision_exceptions() { - List exceptions; - PhysicsServer2D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions); - Array ret; - for (const RID &body : exceptions) { - ObjectID instance_id = PhysicsServer2D::get_singleton()->body_get_object_instance_id(body); - Object *obj = ObjectDB::get_instance(instance_id); - PhysicsBody2D *physics_body = Object::cast_to(obj); - ret.append(physics_body); - } - return ret; -} - -void PhysicsBody2D::add_collision_exception_with(Node *p_node) { - ERR_FAIL_NULL(p_node); - PhysicsBody2D *physics_body = Object::cast_to(p_node); - ERR_FAIL_NULL_MSG(physics_body, "Collision exception only works between two nodes that inherit from PhysicsBody2D."); - PhysicsServer2D::get_singleton()->body_add_collision_exception(get_rid(), physics_body->get_rid()); -} - -void PhysicsBody2D::remove_collision_exception_with(Node *p_node) { - ERR_FAIL_NULL(p_node); - PhysicsBody2D *physics_body = Object::cast_to(p_node); - ERR_FAIL_NULL_MSG(physics_body, "Collision exception only works between two nodes that inherit from PhysicsBody2D."); - PhysicsServer2D::get_singleton()->body_remove_collision_exception(get_rid(), physics_body->get_rid()); -} - -void StaticBody2D::set_constant_linear_velocity(const Vector2 &p_vel) { - constant_linear_velocity = p_vel; - - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); -} - -void StaticBody2D::set_constant_angular_velocity(real_t p_vel) { - constant_angular_velocity = p_vel; - - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); -} - -Vector2 StaticBody2D::get_constant_linear_velocity() const { - return constant_linear_velocity; -} - -real_t StaticBody2D::get_constant_angular_velocity() const { - return constant_angular_velocity; -} - -void StaticBody2D::set_physics_material_override(const Ref &p_physics_material_override) { - if (physics_material_override.is_valid()) { - physics_material_override->disconnect_changed(callable_mp(this, &StaticBody2D::_reload_physics_characteristics)); - } - - physics_material_override = p_physics_material_override; - - if (physics_material_override.is_valid()) { - physics_material_override->connect_changed(callable_mp(this, &StaticBody2D::_reload_physics_characteristics)); - } - _reload_physics_characteristics(); -} - -Ref StaticBody2D::get_physics_material_override() const { - return physics_material_override; -} - -void StaticBody2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody2D::set_constant_linear_velocity); - ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody2D::set_constant_angular_velocity); - ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody2D::get_constant_linear_velocity); - ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody2D::get_constant_angular_velocity); - - ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody2D::set_physics_material_override); - ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody2D::get_physics_material_override); - - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "constant_linear_velocity", PROPERTY_HINT_NONE, "suffix:px/s"), "set_constant_linear_velocity", "get_constant_linear_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "constant_angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_constant_angular_velocity", "get_constant_angular_velocity"); -} - -StaticBody2D::StaticBody2D(PhysicsServer2D::BodyMode p_mode) : - PhysicsBody2D(p_mode) { -} - -void StaticBody2D::_reload_physics_characteristics() { - if (physics_material_override.is_null()) { - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, 0); - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, 1); - } else { - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); - } -} - -void AnimatableBody2D::set_sync_to_physics(bool p_enable) { - if (sync_to_physics == p_enable) { - return; - } - - sync_to_physics = p_enable; - - _update_kinematic_motion(); -} - -bool AnimatableBody2D::is_sync_to_physics_enabled() const { - return sync_to_physics; -} - -void AnimatableBody2D::_update_kinematic_motion() { -#ifdef TOOLS_ENABLED - if (Engine::get_singleton()->is_editor_hint()) { - return; - } -#endif - - if (sync_to_physics) { - PhysicsServer2D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &AnimatableBody2D::_body_state_changed)); - set_only_update_transform_changes(true); - set_notify_local_transform(true); - } else { - PhysicsServer2D::get_singleton()->body_set_state_sync_callback(get_rid(), Callable()); - set_only_update_transform_changes(false); - set_notify_local_transform(false); - } -} - -void AnimatableBody2D::_body_state_changed(PhysicsDirectBodyState2D *p_state) { - if (!sync_to_physics) { - return; - } - - last_valid_transform = p_state->get_transform(); - set_notify_local_transform(false); - set_global_transform(last_valid_transform); - set_notify_local_transform(true); -} - -void AnimatableBody2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_ENTER_TREE: { - last_valid_transform = get_global_transform(); - _update_kinematic_motion(); - } break; - - case NOTIFICATION_EXIT_TREE: { - set_only_update_transform_changes(false); - set_notify_local_transform(false); - } break; - - case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { - // Used by sync to physics, send the new transform to the physics... - Transform2D new_transform = get_global_transform(); - - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_TRANSFORM, new_transform); - - // ... but then revert changes. - set_notify_local_transform(false); - set_global_transform(last_valid_transform); - set_notify_local_transform(true); - } break; - } -} - -void AnimatableBody2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &AnimatableBody2D::set_sync_to_physics); - ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &AnimatableBody2D::is_sync_to_physics_enabled); - - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled"); -} - -AnimatableBody2D::AnimatableBody2D() : - StaticBody2D(PhysicsServer2D::BODY_MODE_KINEMATIC) { -} - -void RigidBody2D::_body_enter_tree(ObjectID p_id) { - Object *obj = ObjectDB::get_instance(p_id); - Node *node = Object::cast_to(obj); - ERR_FAIL_NULL(node); - ERR_FAIL_NULL(contact_monitor); - HashMap::Iterator E = contact_monitor->body_map.find(p_id); - ERR_FAIL_COND(!E); - ERR_FAIL_COND(E->value.in_scene); - - contact_monitor->locked = true; - - E->value.in_scene = true; - emit_signal(SceneStringNames::get_singleton()->body_entered, node); - - for (int i = 0; i < E->value.shapes.size(); i++) { - emit_signal(SceneStringNames::get_singleton()->body_shape_entered, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape); - } - - contact_monitor->locked = false; -} - -void RigidBody2D::_body_exit_tree(ObjectID p_id) { - Object *obj = ObjectDB::get_instance(p_id); - Node *node = Object::cast_to(obj); - ERR_FAIL_NULL(node); - ERR_FAIL_NULL(contact_monitor); - HashMap::Iterator E = contact_monitor->body_map.find(p_id); - ERR_FAIL_COND(!E); - ERR_FAIL_COND(!E->value.in_scene); - E->value.in_scene = false; - - contact_monitor->locked = true; - - emit_signal(SceneStringNames::get_singleton()->body_exited, node); - - for (int i = 0; i < E->value.shapes.size(); i++) { - emit_signal(SceneStringNames::get_singleton()->body_shape_exited, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape); - } - - contact_monitor->locked = false; -} - -void RigidBody2D::_body_inout(int p_status, const RID &p_body, 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 = Object::cast_to(obj); - - ERR_FAIL_NULL(contact_monitor); - HashMap::Iterator 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->value.rid = p_body; - //E->value.rc=0; - E->value.in_scene = node && node->is_inside_tree(); - if (node) { - node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree).bind(objid)); - node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree).bind(objid)); - if (E->value.in_scene) { - emit_signal(SceneStringNames::get_singleton()->body_entered, node); - } - } - - //E->value.rc++; - } - - if (node) { - E->value.shapes.insert(ShapePair(p_body_shape, p_local_shape)); - } - - if (E->value.in_scene) { - emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_body, node, p_body_shape, p_local_shape); - } - - } else { - //E->value.rc--; - - if (node) { - E->value.shapes.erase(ShapePair(p_body_shape, p_local_shape)); - } - - bool in_scene = E->value.in_scene; - - if (E->value.shapes.is_empty()) { - if (node) { - node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree)); - node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree)); - if (in_scene) { - emit_signal(SceneStringNames::get_singleton()->body_exited, node); - } - } - - contact_monitor->body_map.remove(E); - } - if (node && in_scene) { - emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_body, node, p_body_shape, p_local_shape); - } - } -} - -struct _RigidBody2DInOut { - RID rid; - ObjectID id; - int shape = 0; - int local_shape = 0; -}; - -void RigidBody2D::_sync_body_state(PhysicsDirectBodyState2D *p_state) { - if (!freeze || freeze_mode != FREEZE_MODE_KINEMATIC) { - set_block_transform_notify(true); - set_global_transform(p_state->get_transform()); - set_block_transform_notify(false); - } - - linear_velocity = p_state->get_linear_velocity(); - angular_velocity = p_state->get_angular_velocity(); - - contact_count = p_state->get_contact_count(); - - if (sleeping != p_state->is_sleeping()) { - sleeping = p_state->is_sleeping(); - emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); - } -} - -void RigidBody2D::_body_state_changed(PhysicsDirectBodyState2D *p_state) { - lock_callback(); - - if (GDVIRTUAL_IS_OVERRIDDEN(_integrate_forces)) { - _sync_body_state(p_state); - - Transform2D old_transform = get_global_transform(); - GDVIRTUAL_CALL(_integrate_forces, p_state); - Transform2D new_transform = get_global_transform(); - - if (new_transform != old_transform) { - // Update the physics server with the new transform, to prevent it from being overwritten at the sync below. - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_TRANSFORM, new_transform); - } - } - - _sync_body_state(p_state); - - if (contact_monitor) { - contact_monitor->locked = true; - - //untag all - int rc = 0; - for (KeyValue &E : contact_monitor->body_map) { - for (int i = 0; i < E.value.shapes.size(); i++) { - E.value.shapes[i].tagged = false; - rc++; - } - } - - _RigidBody2DInOut *toadd = (_RigidBody2DInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidBody2DInOut)); - int toadd_count = 0; //state->get_contact_count(); - RigidBody2D_RemoveAction *toremove = (RigidBody2D_RemoveAction *)alloca(rc * sizeof(RigidBody2D_RemoveAction)); - int toremove_count = 0; - - //put the ones to add - - for (int i = 0; i < p_state->get_contact_count(); i++) { - RID col_rid = p_state->get_contact_collider(i); - ObjectID col_obj = p_state->get_contact_collider_id(i); - int local_shape = p_state->get_contact_local_shape(i); - int col_shape = p_state->get_contact_collider_shape(i); - - HashMap::Iterator E = contact_monitor->body_map.find(col_obj); - if (!E) { - toadd[toadd_count].rid = col_rid; - toadd[toadd_count].local_shape = local_shape; - toadd[toadd_count].id = col_obj; - toadd[toadd_count].shape = col_shape; - toadd_count++; - continue; - } - - ShapePair sp(col_shape, local_shape); - int idx = E->value.shapes.find(sp); - if (idx == -1) { - toadd[toadd_count].rid = col_rid; - toadd[toadd_count].local_shape = local_shape; - toadd[toadd_count].id = col_obj; - toadd[toadd_count].shape = col_shape; - toadd_count++; - continue; - } - - E->value.shapes[idx].tagged = true; - } - - //put the ones to remove - - for (const KeyValue &E : contact_monitor->body_map) { - for (int i = 0; i < E.value.shapes.size(); i++) { - if (!E.value.shapes[i].tagged) { - toremove[toremove_count].rid = E.value.rid; - toremove[toremove_count].body_id = E.key; - toremove[toremove_count].pair = E.value.shapes[i]; - toremove_count++; - } - } - } - - //process removals - - for (int i = 0; i < toremove_count; i++) { - _body_inout(0, toremove[i].rid, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape); - } - - //process additions - - for (int i = 0; i < toadd_count; i++) { - _body_inout(1, toadd[i].rid, toadd[i].id, toadd[i].shape, toadd[i].local_shape); - } - - contact_monitor->locked = false; - } - - unlock_callback(); -} - -void RigidBody2D::_apply_body_mode() { - if (freeze) { - switch (freeze_mode) { - case FREEZE_MODE_STATIC: { - set_body_mode(PhysicsServer2D::BODY_MODE_STATIC); - } break; - case FREEZE_MODE_KINEMATIC: { - set_body_mode(PhysicsServer2D::BODY_MODE_KINEMATIC); - } break; - } - } else if (lock_rotation) { - set_body_mode(PhysicsServer2D::BODY_MODE_RIGID_LINEAR); - } else { - set_body_mode(PhysicsServer2D::BODY_MODE_RIGID); - } -} - -void RigidBody2D::set_lock_rotation_enabled(bool p_lock_rotation) { - if (p_lock_rotation == lock_rotation) { - return; - } - - lock_rotation = p_lock_rotation; - _apply_body_mode(); -} - -bool RigidBody2D::is_lock_rotation_enabled() const { - return lock_rotation; -} - -void RigidBody2D::set_freeze_enabled(bool p_freeze) { - if (p_freeze == freeze) { - return; - } - - freeze = p_freeze; - _apply_body_mode(); -} - -bool RigidBody2D::is_freeze_enabled() const { - return freeze; -} - -void RigidBody2D::set_freeze_mode(FreezeMode p_freeze_mode) { - if (p_freeze_mode == freeze_mode) { - return; - } - - freeze_mode = p_freeze_mode; - _apply_body_mode(); -} - -RigidBody2D::FreezeMode RigidBody2D::get_freeze_mode() const { - return freeze_mode; -} - -void RigidBody2D::set_mass(real_t p_mass) { - ERR_FAIL_COND(p_mass <= 0); - mass = p_mass; - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_MASS, mass); -} - -real_t RigidBody2D::get_mass() const { - return mass; -} - -void RigidBody2D::set_inertia(real_t p_inertia) { - ERR_FAIL_COND(p_inertia < 0); - inertia = p_inertia; - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_INERTIA, inertia); -} - -real_t RigidBody2D::get_inertia() const { - return inertia; -} - -void RigidBody2D::set_center_of_mass_mode(CenterOfMassMode p_mode) { - if (center_of_mass_mode == p_mode) { - return; - } - - center_of_mass_mode = p_mode; - - switch (center_of_mass_mode) { - case CENTER_OF_MASS_MODE_AUTO: { - center_of_mass = Vector2(); - PhysicsServer2D::get_singleton()->body_reset_mass_properties(get_rid()); - if (inertia != 0.0) { - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_INERTIA, inertia); - } - } break; - - case CENTER_OF_MASS_MODE_CUSTOM: { - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); - } break; - } -} - -RigidBody2D::CenterOfMassMode RigidBody2D::get_center_of_mass_mode() const { - return center_of_mass_mode; -} - -void RigidBody2D::set_center_of_mass(const Vector2 &p_center_of_mass) { - if (center_of_mass == p_center_of_mass) { - return; - } - - ERR_FAIL_COND(center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM); - center_of_mass = p_center_of_mass; - - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); -} - -const Vector2 &RigidBody2D::get_center_of_mass() const { - return center_of_mass; -} - -void RigidBody2D::set_physics_material_override(const Ref &p_physics_material_override) { - if (physics_material_override.is_valid()) { - physics_material_override->disconnect_changed(callable_mp(this, &RigidBody2D::_reload_physics_characteristics)); - } - - physics_material_override = p_physics_material_override; - - if (physics_material_override.is_valid()) { - physics_material_override->connect_changed(callable_mp(this, &RigidBody2D::_reload_physics_characteristics)); - } - _reload_physics_characteristics(); -} - -Ref RigidBody2D::get_physics_material_override() const { - return physics_material_override; -} - -void RigidBody2D::set_gravity_scale(real_t p_gravity_scale) { - gravity_scale = p_gravity_scale; - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); -} - -real_t RigidBody2D::get_gravity_scale() const { - return gravity_scale; -} - -void RigidBody2D::set_linear_damp_mode(DampMode p_mode) { - linear_damp_mode = p_mode; - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode); -} - -RigidBody2D::DampMode RigidBody2D::get_linear_damp_mode() const { - return linear_damp_mode; -} - -void RigidBody2D::set_angular_damp_mode(DampMode p_mode) { - angular_damp_mode = p_mode; - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode); -} - -RigidBody2D::DampMode RigidBody2D::get_angular_damp_mode() const { - return angular_damp_mode; -} - -void RigidBody2D::set_linear_damp(real_t p_linear_damp) { - ERR_FAIL_COND(p_linear_damp < -1); - linear_damp = p_linear_damp; - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_LINEAR_DAMP, linear_damp); -} - -real_t RigidBody2D::get_linear_damp() const { - return linear_damp; -} - -void RigidBody2D::set_angular_damp(real_t p_angular_damp) { - ERR_FAIL_COND(p_angular_damp < -1); - angular_damp = p_angular_damp; - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP, angular_damp); -} - -real_t RigidBody2D::get_angular_damp() const { - return angular_damp; -} - -void RigidBody2D::set_axis_velocity(const Vector2 &p_axis) { - Vector2 axis = p_axis.normalized(); - linear_velocity -= axis * axis.dot(linear_velocity); - linear_velocity += p_axis; - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); -} - -void RigidBody2D::set_linear_velocity(const Vector2 &p_velocity) { - linear_velocity = p_velocity; - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); -} - -Vector2 RigidBody2D::get_linear_velocity() const { - return linear_velocity; -} - -void RigidBody2D::set_angular_velocity(real_t p_velocity) { - angular_velocity = p_velocity; - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); -} - -real_t RigidBody2D::get_angular_velocity() const { - return angular_velocity; -} - -void RigidBody2D::set_use_custom_integrator(bool p_enable) { - if (custom_integrator == p_enable) { - return; - } - - custom_integrator = p_enable; - PhysicsServer2D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); -} - -bool RigidBody2D::is_using_custom_integrator() { - return custom_integrator; -} - -void RigidBody2D::set_sleeping(bool p_sleeping) { - sleeping = p_sleeping; - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_SLEEPING, sleeping); -} - -void RigidBody2D::set_can_sleep(bool p_active) { - can_sleep = p_active; - PhysicsServer2D::get_singleton()->body_set_state(get_rid(), PhysicsServer2D::BODY_STATE_CAN_SLEEP, p_active); -} - -bool RigidBody2D::is_able_to_sleep() const { - return can_sleep; -} - -bool RigidBody2D::is_sleeping() const { - return sleeping; -} - -void RigidBody2D::set_max_contacts_reported(int p_amount) { - max_contacts_reported = p_amount; - PhysicsServer2D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount); -} - -int RigidBody2D::get_max_contacts_reported() const { - return max_contacts_reported; -} - -int RigidBody2D::get_contact_count() const { - return contact_count; -} - -void RigidBody2D::apply_central_impulse(const Vector2 &p_impulse) { - PhysicsServer2D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); -} - -void RigidBody2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) { - PhysicsServer2D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position); -} - -void RigidBody2D::apply_torque_impulse(real_t p_torque) { - PhysicsServer2D::get_singleton()->body_apply_torque_impulse(get_rid(), p_torque); -} - -void RigidBody2D::apply_central_force(const Vector2 &p_force) { - PhysicsServer2D::get_singleton()->body_apply_central_force(get_rid(), p_force); -} - -void RigidBody2D::apply_force(const Vector2 &p_force, const Vector2 &p_position) { - PhysicsServer2D::get_singleton()->body_apply_force(get_rid(), p_force, p_position); -} - -void RigidBody2D::apply_torque(real_t p_torque) { - PhysicsServer2D::get_singleton()->body_apply_torque(get_rid(), p_torque); -} - -void RigidBody2D::add_constant_central_force(const Vector2 &p_force) { - PhysicsServer2D::get_singleton()->body_add_constant_central_force(get_rid(), p_force); -} - -void RigidBody2D::add_constant_force(const Vector2 &p_force, const Vector2 &p_position) { - PhysicsServer2D::get_singleton()->body_add_constant_force(get_rid(), p_force, p_position); -} - -void RigidBody2D::add_constant_torque(const real_t p_torque) { - PhysicsServer2D::get_singleton()->body_add_constant_torque(get_rid(), p_torque); -} - -void RigidBody2D::set_constant_force(const Vector2 &p_force) { - PhysicsServer2D::get_singleton()->body_set_constant_force(get_rid(), p_force); -} - -Vector2 RigidBody2D::get_constant_force() const { - return PhysicsServer2D::get_singleton()->body_get_constant_force(get_rid()); -} - -void RigidBody2D::set_constant_torque(real_t p_torque) { - PhysicsServer2D::get_singleton()->body_set_constant_torque(get_rid(), p_torque); -} - -real_t RigidBody2D::get_constant_torque() const { - return PhysicsServer2D::get_singleton()->body_get_constant_torque(get_rid()); -} - -void RigidBody2D::set_continuous_collision_detection_mode(CCDMode p_mode) { - ccd_mode = p_mode; - PhysicsServer2D::get_singleton()->body_set_continuous_collision_detection_mode(get_rid(), PhysicsServer2D::CCDMode(p_mode)); -} - -RigidBody2D::CCDMode RigidBody2D::get_continuous_collision_detection_mode() const { - return ccd_mode; -} - -TypedArray RigidBody2D::get_colliding_bodies() const { - ERR_FAIL_NULL_V(contact_monitor, TypedArray()); - - TypedArray ret; - ret.resize(contact_monitor->body_map.size()); - int idx = 0; - for (const KeyValue &E : contact_monitor->body_map) { - Object *obj = ObjectDB::get_instance(E.key); - if (!obj) { - ret.resize(ret.size() - 1); //ops - } else { - ret[idx++] = obj; - } - } - - return ret; -} - -void RigidBody2D::set_contact_monitor(bool p_enabled) { - if (p_enabled == is_contact_monitor_enabled()) { - return; - } - - if (!p_enabled) { - ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead."); - - for (const KeyValue &E : contact_monitor->body_map) { - //clean up mess - Object *obj = ObjectDB::get_instance(E.key); - Node *node = Object::cast_to(obj); - - if (node) { - node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody2D::_body_enter_tree)); - node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody2D::_body_exit_tree)); - } - } - - memdelete(contact_monitor); - contact_monitor = nullptr; - } else { - contact_monitor = memnew(ContactMonitor); - contact_monitor->locked = false; - } -} - -bool RigidBody2D::is_contact_monitor_enabled() const { - return contact_monitor != nullptr; -} - -void RigidBody2D::_notification(int p_what) { -#ifdef TOOLS_ENABLED - switch (p_what) { - case NOTIFICATION_ENTER_TREE: { - if (Engine::get_singleton()->is_editor_hint()) { - set_notify_local_transform(true); // Used for warnings and only in editor. - } - } break; - - case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { - update_configuration_warnings(); - } break; - } -#endif -} - -PackedStringArray RigidBody2D::get_configuration_warnings() const { - Transform2D t = get_transform(); - - PackedStringArray warnings = CollisionObject2D::get_configuration_warnings(); - - if (ABS(t.columns[0].length() - 1.0) > 0.05 || ABS(t.columns[1].length() - 1.0) > 0.05) { - warnings.push_back(RTR("Size changes to RigidBody2D will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.")); - } - - return warnings; -} - -void RigidBody2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody2D::set_mass); - ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody2D::get_mass); - - ClassDB::bind_method(D_METHOD("get_inertia"), &RigidBody2D::get_inertia); - ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidBody2D::set_inertia); - - ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidBody2D::set_center_of_mass_mode); - ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidBody2D::get_center_of_mass_mode); - - ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidBody2D::set_center_of_mass); - ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidBody2D::get_center_of_mass); - - ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody2D::set_physics_material_override); - ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody2D::get_physics_material_override); - - ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody2D::set_gravity_scale); - ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody2D::get_gravity_scale); - - ClassDB::bind_method(D_METHOD("set_linear_damp_mode", "linear_damp_mode"), &RigidBody2D::set_linear_damp_mode); - ClassDB::bind_method(D_METHOD("get_linear_damp_mode"), &RigidBody2D::get_linear_damp_mode); - - ClassDB::bind_method(D_METHOD("set_angular_damp_mode", "angular_damp_mode"), &RigidBody2D::set_angular_damp_mode); - ClassDB::bind_method(D_METHOD("get_angular_damp_mode"), &RigidBody2D::get_angular_damp_mode); - - ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody2D::set_linear_damp); - ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody2D::get_linear_damp); - - ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody2D::set_angular_damp); - ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody2D::get_angular_damp); - - ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody2D::set_linear_velocity); - ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody2D::get_linear_velocity); - - ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody2D::set_angular_velocity); - ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody2D::get_angular_velocity); - - ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody2D::set_max_contacts_reported); - ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody2D::get_max_contacts_reported); - ClassDB::bind_method(D_METHOD("get_contact_count"), &RigidBody2D::get_contact_count); - - ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody2D::set_use_custom_integrator); - ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody2D::is_using_custom_integrator); - - ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody2D::set_contact_monitor); - ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody2D::is_contact_monitor_enabled); - - ClassDB::bind_method(D_METHOD("set_continuous_collision_detection_mode", "mode"), &RigidBody2D::set_continuous_collision_detection_mode); - ClassDB::bind_method(D_METHOD("get_continuous_collision_detection_mode"), &RigidBody2D::get_continuous_collision_detection_mode); - - ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody2D::set_axis_velocity); - ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody2D::apply_central_impulse, Vector2()); - ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody2D::apply_impulse, Vector2()); - ClassDB::bind_method(D_METHOD("apply_torque_impulse", "torque"), &RigidBody2D::apply_torque_impulse); - - ClassDB::bind_method(D_METHOD("apply_central_force", "force"), &RigidBody2D::apply_central_force); - ClassDB::bind_method(D_METHOD("apply_force", "force", "position"), &RigidBody2D::apply_force, Vector2()); - ClassDB::bind_method(D_METHOD("apply_torque", "torque"), &RigidBody2D::apply_torque); - - ClassDB::bind_method(D_METHOD("add_constant_central_force", "force"), &RigidBody2D::add_constant_central_force); - ClassDB::bind_method(D_METHOD("add_constant_force", "force", "position"), &RigidBody2D::add_constant_force, Vector2()); - ClassDB::bind_method(D_METHOD("add_constant_torque", "torque"), &RigidBody2D::add_constant_torque); - - ClassDB::bind_method(D_METHOD("set_constant_force", "force"), &RigidBody2D::set_constant_force); - ClassDB::bind_method(D_METHOD("get_constant_force"), &RigidBody2D::get_constant_force); - - ClassDB::bind_method(D_METHOD("set_constant_torque", "torque"), &RigidBody2D::set_constant_torque); - ClassDB::bind_method(D_METHOD("get_constant_torque"), &RigidBody2D::get_constant_torque); - - ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody2D::set_sleeping); - ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody2D::is_sleeping); - - ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody2D::set_can_sleep); - ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody2D::is_able_to_sleep); - - ClassDB::bind_method(D_METHOD("set_lock_rotation_enabled", "lock_rotation"), &RigidBody2D::set_lock_rotation_enabled); - ClassDB::bind_method(D_METHOD("is_lock_rotation_enabled"), &RigidBody2D::is_lock_rotation_enabled); - - ClassDB::bind_method(D_METHOD("set_freeze_enabled", "freeze_mode"), &RigidBody2D::set_freeze_enabled); - ClassDB::bind_method(D_METHOD("is_freeze_enabled"), &RigidBody2D::is_freeze_enabled); - - ClassDB::bind_method(D_METHOD("set_freeze_mode", "freeze_mode"), &RigidBody2D::set_freeze_mode); - ClassDB::bind_method(D_METHOD("get_freeze_mode"), &RigidBody2D::get_freeze_mode); - - ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody2D::get_colliding_bodies); - - GDVIRTUAL_BIND(_integrate_forces, "state"); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp,suffix:kg"), "set_mass", "get_mass"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-8,8,0.001,or_less,or_greater"), "set_gravity_scale", "get_gravity_scale"); - ADD_GROUP("Mass Distribution", ""); - ADD_PROPERTY(PropertyInfo(Variant::INT, "center_of_mass_mode", PROPERTY_HINT_ENUM, "Auto,Custom", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_center_of_mass_mode", "get_center_of_mass_mode"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "center_of_mass", PROPERTY_HINT_RANGE, "-10,10,0.01,or_less,or_greater,suffix:px"), "set_center_of_mass", "get_center_of_mass"); - ADD_LINKED_PROPERTY("center_of_mass_mode", "center_of_mass"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "inertia", PROPERTY_HINT_RANGE, U"0,1000,0.01,or_greater,exp,suffix:kg\u22C5px\u00B2"), "set_inertia", "get_inertia"); - ADD_GROUP("Deactivation", ""); - 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::BOOL, "lock_rotation"), "set_lock_rotation_enabled", "is_lock_rotation_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "freeze"), "set_freeze_enabled", "is_freeze_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "freeze_mode", PROPERTY_HINT_ENUM, "Static,Kinematic"), "set_freeze_mode", "get_freeze_mode"); - ADD_GROUP("Solver", ""); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "continuous_cd", PROPERTY_HINT_ENUM, "Disabled,Cast Ray,Cast Shape"), "set_continuous_collision_detection_mode", "get_continuous_collision_detection_mode"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "max_contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled"); - ADD_GROUP("Linear", "linear_"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "linear_velocity", PROPERTY_HINT_NONE, "suffix:px/s"), "set_linear_velocity", "get_linear_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); - ADD_GROUP("Angular", "angular_"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_angular_velocity", "get_angular_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); - ADD_GROUP("Constant Forces", "constant_"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "constant_force", PROPERTY_HINT_NONE, U"suffix:kg\u22C5px/s\u00B2"), "set_constant_force", "get_constant_force"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "constant_torque", PROPERTY_HINT_NONE, U"suffix:kg\u22C5px\u00B2/s\u00B2/rad"), "set_constant_torque", "get_constant_torque"); - - ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::RID, "body_rid"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape_index"), PropertyInfo(Variant::INT, "local_shape_index"))); - ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::RID, "body_rid"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape_index"), PropertyInfo(Variant::INT, "local_shape_index"))); - ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); - ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); - ADD_SIGNAL(MethodInfo("sleeping_state_changed")); - - BIND_ENUM_CONSTANT(FREEZE_MODE_STATIC); - BIND_ENUM_CONSTANT(FREEZE_MODE_KINEMATIC); - - BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_AUTO); - BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_CUSTOM); - - BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE); - BIND_ENUM_CONSTANT(DAMP_MODE_REPLACE); - - BIND_ENUM_CONSTANT(CCD_MODE_DISABLED); - BIND_ENUM_CONSTANT(CCD_MODE_CAST_RAY); - BIND_ENUM_CONSTANT(CCD_MODE_CAST_SHAPE); -} - -void RigidBody2D::_validate_property(PropertyInfo &p_property) const { - if (center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM) { - if (p_property.name == "center_of_mass") { - p_property.usage = PROPERTY_USAGE_NO_EDITOR; - } - } -} - -RigidBody2D::RigidBody2D() : - PhysicsBody2D(PhysicsServer2D::BODY_MODE_RIGID) { - PhysicsServer2D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &RigidBody2D::_body_state_changed)); -} - -RigidBody2D::~RigidBody2D() { - if (contact_monitor) { - memdelete(contact_monitor); - } -} - -void RigidBody2D::_reload_physics_characteristics() { - if (physics_material_override.is_null()) { - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, 0); - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, 1); - } else { - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); - PhysicsServer2D::get_singleton()->body_set_param(get_rid(), PhysicsServer2D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); - } -} - -////////////////////////// - -// So, if you pass 45 as limit, avoid numerical precision errors when angle is 45. -#define FLOOR_ANGLE_THRESHOLD 0.01 - -bool CharacterBody2D::move_and_slide() { - // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky. - double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time(); - - Vector2 current_platform_velocity = platform_velocity; - Transform2D gt = get_global_transform(); - previous_position = gt.columns[2]; - - if ((on_floor || on_wall) && platform_rid.is_valid()) { - bool excluded = false; - if (on_floor) { - excluded = (platform_floor_layers & platform_layer) == 0; - } else if (on_wall) { - excluded = (platform_wall_layers & platform_layer) == 0; - } - if (!excluded) { - //this approach makes sure there is less delay between the actual body velocity and the one we saved - PhysicsDirectBodyState2D *bs = PhysicsServer2D::get_singleton()->body_get_direct_state(platform_rid); - if (bs) { - Vector2 local_position = gt.columns[2] - bs->get_transform().columns[2]; - current_platform_velocity = bs->get_velocity_at_local_position(local_position); - } else { - // Body is removed or destroyed, invalidate floor. - current_platform_velocity = Vector2(); - platform_rid = RID(); - } - } else { - current_platform_velocity = Vector2(); - } - } - - motion_results.clear(); - last_motion = Vector2(); - - bool was_on_floor = on_floor; - on_floor = false; - on_ceiling = false; - on_wall = false; - - if (!current_platform_velocity.is_zero_approx()) { - PhysicsServer2D::MotionParameters parameters(get_global_transform(), current_platform_velocity * delta, margin); - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - parameters.exclude_bodies.insert(platform_rid); - if (platform_object_id.is_valid()) { - parameters.exclude_objects.insert(platform_object_id); - } - - PhysicsServer2D::MotionResult floor_result; - if (move_and_collide(parameters, floor_result, false, false)) { - motion_results.push_back(floor_result); - _set_collision_direction(floor_result); - } - } - - if (motion_mode == MOTION_MODE_GROUNDED) { - _move_and_slide_grounded(delta, was_on_floor); - } else { - _move_and_slide_floating(delta); - } - - // Compute real velocity. - real_velocity = get_position_delta() / delta; - - if (platform_on_leave != PLATFORM_ON_LEAVE_DO_NOTHING) { - // Add last platform velocity when just left a moving platform. - if (!on_floor && !on_wall) { - if (platform_on_leave == PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY && current_platform_velocity.dot(up_direction) < 0) { - current_platform_velocity = current_platform_velocity.slide(up_direction); - } - velocity += current_platform_velocity; - } - } - - return motion_results.size() > 0; -} - -void CharacterBody2D::_move_and_slide_grounded(double p_delta, bool p_was_on_floor) { - Vector2 motion = velocity * p_delta; - Vector2 motion_slide_up = motion.slide(up_direction); - - Vector2 prev_floor_normal = floor_normal; - - platform_rid = RID(); - platform_object_id = ObjectID(); - floor_normal = Vector2(); - platform_velocity = Vector2(); - - // No sliding on first attempt to keep floor motion stable when possible, - // When stop on slope is enabled or when there is no up direction. - bool sliding_enabled = !floor_stop_on_slope; - // Constant speed can be applied only the first time sliding is enabled. - bool can_apply_constant_speed = sliding_enabled; - // If the platform's ceiling push down the body. - bool apply_ceiling_velocity = false; - bool first_slide = true; - bool vel_dir_facing_up = velocity.dot(up_direction) > 0; - Vector2 last_travel; - - for (int iteration = 0; iteration < max_slides; ++iteration) { - PhysicsServer2D::MotionParameters parameters(get_global_transform(), motion, margin); - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - - Vector2 prev_position = parameters.from.columns[2]; - - PhysicsServer2D::MotionResult result; - bool collided = move_and_collide(parameters, result, false, !sliding_enabled); - - last_motion = result.travel; - - if (collided) { - motion_results.push_back(result); - _set_collision_direction(result); - - // If we hit a ceiling platform, we set the vertical velocity to at least the platform one. - if (on_ceiling && result.collider_velocity != Vector2() && result.collider_velocity.dot(up_direction) < 0) { - // If ceiling sliding is on, only apply when the ceiling is flat or when the motion is upward. - if (!slide_on_ceiling || motion.dot(up_direction) < 0 || (result.collision_normal + up_direction).length() < 0.01) { - apply_ceiling_velocity = true; - Vector2 ceiling_vertical_velocity = up_direction * up_direction.dot(result.collider_velocity); - Vector2 motion_vertical_velocity = up_direction * up_direction.dot(velocity); - if (motion_vertical_velocity.dot(up_direction) > 0 || ceiling_vertical_velocity.length_squared() > motion_vertical_velocity.length_squared()) { - velocity = ceiling_vertical_velocity + velocity.slide(up_direction); - } - } - } - - if (on_floor && floor_stop_on_slope && (velocity.normalized() + up_direction).length() < 0.01) { - Transform2D gt = get_global_transform(); - if (result.travel.length() <= margin + CMP_EPSILON) { - gt.columns[2] -= result.travel; - } - set_global_transform(gt); - velocity = Vector2(); - last_motion = Vector2(); - motion = Vector2(); - break; - } - - if (result.remainder.is_zero_approx()) { - motion = Vector2(); - break; - } - - // Move on floor only checks. - if (floor_block_on_wall && on_wall && motion_slide_up.dot(result.collision_normal) <= 0) { - // Avoid to move forward on a wall if floor_block_on_wall is true. - if (p_was_on_floor && !on_floor && !vel_dir_facing_up) { - // If the movement is large the body can be prevented from reaching the walls. - if (result.travel.length() <= margin + CMP_EPSILON) { - // Cancels the motion. - Transform2D gt = get_global_transform(); - gt.columns[2] -= result.travel; - set_global_transform(gt); - } - // Determines if you are on the ground. - _snap_on_floor(true, false, true); - velocity = Vector2(); - last_motion = Vector2(); - motion = Vector2(); - break; - } - // Prevents the body from being able to climb a slope when it moves forward against the wall. - else if (!on_floor) { - motion = up_direction * up_direction.dot(result.remainder); - motion = motion.slide(result.collision_normal); - } else { - motion = result.remainder; - } - } - // Constant Speed when the slope is upward. - else if (floor_constant_speed && is_on_floor_only() && can_apply_constant_speed && p_was_on_floor && motion.dot(result.collision_normal) < 0) { - can_apply_constant_speed = false; - Vector2 motion_slide_norm = result.remainder.slide(result.collision_normal).normalized(); - motion = motion_slide_norm * (motion_slide_up.length() - result.travel.slide(up_direction).length() - last_travel.slide(up_direction).length()); - } - // Regular sliding, the last part of the test handle the case when you don't want to slide on the ceiling. - else if ((sliding_enabled || !on_floor) && (!on_ceiling || slide_on_ceiling || !vel_dir_facing_up) && !apply_ceiling_velocity) { - Vector2 slide_motion = result.remainder.slide(result.collision_normal); - if (slide_motion.dot(velocity) > 0.0) { - motion = slide_motion; - } else { - motion = Vector2(); - } - if (slide_on_ceiling && on_ceiling) { - // Apply slide only in the direction of the input motion, otherwise just stop to avoid jittering when moving against a wall. - if (vel_dir_facing_up) { - velocity = velocity.slide(result.collision_normal); - } else { - // Avoid acceleration in slope when falling. - velocity = up_direction * up_direction.dot(velocity); - } - } - } - // No sliding on first attempt to keep floor motion stable when possible. - else { - motion = result.remainder; - if (on_ceiling && !slide_on_ceiling && vel_dir_facing_up) { - velocity = velocity.slide(up_direction); - motion = motion.slide(up_direction); - } - } - - last_travel = result.travel; - } - // When you move forward in a downward slope you don’t collide because you will be in the air. - // This test ensures that constant speed is applied, only if the player is still on the ground after the snap is applied. - else if (floor_constant_speed && first_slide && _on_floor_if_snapped(p_was_on_floor, vel_dir_facing_up)) { - can_apply_constant_speed = false; - sliding_enabled = true; - Transform2D gt = get_global_transform(); - gt.columns[2] = prev_position; - set_global_transform(gt); - - Vector2 motion_slide_norm = motion.slide(prev_floor_normal).normalized(); - motion = motion_slide_norm * (motion_slide_up.length()); - collided = true; - } - - can_apply_constant_speed = !can_apply_constant_speed && !sliding_enabled; - sliding_enabled = true; - first_slide = false; - - if (!collided || motion.is_zero_approx()) { - break; - } - } - - _snap_on_floor(p_was_on_floor, vel_dir_facing_up); - - // Scales the horizontal velocity according to the wall slope. - if (is_on_wall_only() && motion_slide_up.dot(motion_results.get(0).collision_normal) < 0) { - Vector2 slide_motion = velocity.slide(motion_results.get(0).collision_normal); - if (motion_slide_up.dot(slide_motion) < 0) { - velocity = up_direction * up_direction.dot(velocity); - } else { - // Keeps the vertical motion from velocity and add the horizontal motion of the projection. - velocity = up_direction * up_direction.dot(velocity) + slide_motion.slide(up_direction); - } - } - - // Reset the gravity accumulation when touching the ground. - if (on_floor && !vel_dir_facing_up) { - velocity = velocity.slide(up_direction); - } -} - -void CharacterBody2D::_move_and_slide_floating(double p_delta) { - Vector2 motion = velocity * p_delta; - - platform_rid = RID(); - platform_object_id = ObjectID(); - floor_normal = Vector2(); - platform_velocity = Vector2(); - - bool first_slide = true; - for (int iteration = 0; iteration < max_slides; ++iteration) { - PhysicsServer2D::MotionParameters parameters(get_global_transform(), motion, margin); - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - - PhysicsServer2D::MotionResult result; - bool collided = move_and_collide(parameters, result, false, false); - - last_motion = result.travel; - - if (collided) { - motion_results.push_back(result); - _set_collision_direction(result); - - if (result.remainder.is_zero_approx()) { - motion = Vector2(); - break; - } - - if (wall_min_slide_angle != 0 && result.get_angle(-velocity.normalized()) < wall_min_slide_angle + FLOOR_ANGLE_THRESHOLD) { - motion = Vector2(); - } else if (first_slide) { - Vector2 motion_slide_norm = result.remainder.slide(result.collision_normal).normalized(); - motion = motion_slide_norm * (motion.length() - result.travel.length()); - } else { - motion = result.remainder.slide(result.collision_normal); - } - - if (motion.dot(velocity) <= 0.0) { - motion = Vector2(); - } - } - - if (!collided || motion.is_zero_approx()) { - break; - } - - first_slide = false; - } -} -void CharacterBody2D::apply_floor_snap() { - _apply_floor_snap(); -} - -// Method that avoids the p_wall_as_floor parameter for the public method. -void CharacterBody2D::_apply_floor_snap(bool p_wall_as_floor) { - if (on_floor) { - return; - } - - // Snap by at least collision margin to keep floor state consistent. - real_t length = MAX(floor_snap_length, margin); - - PhysicsServer2D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - parameters.collide_separation_ray = true; - - PhysicsServer2D::MotionResult result; - if (move_and_collide(parameters, result, true, false)) { - if ((result.get_angle(up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) || - (p_wall_as_floor && result.get_angle(-up_direction) > floor_max_angle + FLOOR_ANGLE_THRESHOLD)) { - on_floor = true; - floor_normal = result.collision_normal; - _set_platform_data(result); - - if (floor_stop_on_slope) { - // move and collide may stray the object a bit because of pre un-stucking, - // so only ensure that motion happens on floor direction in this case. - if (result.travel.length() > margin) { - result.travel = up_direction * up_direction.dot(result.travel); - } else { - result.travel = Vector2(); - } - } - - parameters.from.columns[2] += result.travel; - set_global_transform(parameters.from); - } - } -} - -void CharacterBody2D::_snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up, bool p_wall_as_floor) { - if (on_floor || !p_was_on_floor || p_vel_dir_facing_up) { - return; - } - - _apply_floor_snap(p_wall_as_floor); -} - -bool CharacterBody2D::_on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up) { - if (up_direction == Vector2() || on_floor || !p_was_on_floor || p_vel_dir_facing_up) { - return false; - } - - // Snap by at least collision margin to keep floor state consistent. - real_t length = MAX(floor_snap_length, margin); - - PhysicsServer2D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - parameters.collide_separation_ray = true; - - PhysicsServer2D::MotionResult result; - if (move_and_collide(parameters, result, true, false)) { - if (result.get_angle(up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { - return true; - } - } - - return false; -} - -void CharacterBody2D::_set_collision_direction(const PhysicsServer2D::MotionResult &p_result) { - if (motion_mode == MOTION_MODE_GROUNDED && p_result.get_angle(up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor - on_floor = true; - floor_normal = p_result.collision_normal; - _set_platform_data(p_result); - } else if (motion_mode == MOTION_MODE_GROUNDED && p_result.get_angle(-up_direction) <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling - on_ceiling = true; - } else { - on_wall = true; - wall_normal = p_result.collision_normal; - // Don't apply wall velocity when the collider is a CharacterBody2D. - if (Object::cast_to(ObjectDB::get_instance(p_result.collider_id)) == nullptr) { - _set_platform_data(p_result); - } - } -} - -void CharacterBody2D::_set_platform_data(const PhysicsServer2D::MotionResult &p_result) { - platform_rid = p_result.collider; - platform_object_id = p_result.collider_id; - platform_velocity = p_result.collider_velocity; - platform_layer = PhysicsServer2D::get_singleton()->body_get_collision_layer(platform_rid); -} - -const Vector2 &CharacterBody2D::get_velocity() const { - return velocity; -} - -void CharacterBody2D::set_velocity(const Vector2 &p_velocity) { - velocity = p_velocity; -} - -bool CharacterBody2D::is_on_floor() const { - return on_floor; -} - -bool CharacterBody2D::is_on_floor_only() const { - return on_floor && !on_wall && !on_ceiling; -} - -bool CharacterBody2D::is_on_wall() const { - return on_wall; -} - -bool CharacterBody2D::is_on_wall_only() const { - return on_wall && !on_floor && !on_ceiling; -} - -bool CharacterBody2D::is_on_ceiling() const { - return on_ceiling; -} - -bool CharacterBody2D::is_on_ceiling_only() const { - return on_ceiling && !on_floor && !on_wall; -} - -const Vector2 &CharacterBody2D::get_floor_normal() const { - return floor_normal; -} - -const Vector2 &CharacterBody2D::get_wall_normal() const { - return wall_normal; -} - -const Vector2 &CharacterBody2D::get_last_motion() const { - return last_motion; -} - -Vector2 CharacterBody2D::get_position_delta() const { - return get_global_transform().columns[2] - previous_position; -} - -const Vector2 &CharacterBody2D::get_real_velocity() const { - return real_velocity; -} - -real_t CharacterBody2D::get_floor_angle(const Vector2 &p_up_direction) const { - ERR_FAIL_COND_V(p_up_direction == Vector2(), 0); - return Math::acos(floor_normal.dot(p_up_direction)); -} - -const Vector2 &CharacterBody2D::get_platform_velocity() const { - return platform_velocity; -} - -int CharacterBody2D::get_slide_collision_count() const { - return motion_results.size(); -} - -PhysicsServer2D::MotionResult CharacterBody2D::get_slide_collision(int p_bounce) const { - ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), PhysicsServer2D::MotionResult()); - return motion_results[p_bounce]; -} - -Ref CharacterBody2D::_get_slide_collision(int p_bounce) { - ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), Ref()); - if (p_bounce >= slide_colliders.size()) { - slide_colliders.resize(p_bounce + 1); - } - - // Create a new instance when the cached reference is invalid or still in use in script. - if (slide_colliders[p_bounce].is_null() || slide_colliders[p_bounce]->get_reference_count() > 1) { - slide_colliders.write[p_bounce].instantiate(); - slide_colliders.write[p_bounce]->owner = this; - } - - slide_colliders.write[p_bounce]->result = motion_results[p_bounce]; - return slide_colliders[p_bounce]; -} - -Ref CharacterBody2D::_get_last_slide_collision() { - if (motion_results.size() == 0) { - return Ref(); - } - return _get_slide_collision(motion_results.size() - 1); -} - -void CharacterBody2D::set_safe_margin(real_t p_margin) { - margin = p_margin; -} - -real_t CharacterBody2D::get_safe_margin() const { - return margin; -} - -bool CharacterBody2D::is_floor_stop_on_slope_enabled() const { - return floor_stop_on_slope; -} - -void CharacterBody2D::set_floor_stop_on_slope_enabled(bool p_enabled) { - floor_stop_on_slope = p_enabled; -} - -bool CharacterBody2D::is_floor_constant_speed_enabled() const { - return floor_constant_speed; -} - -void CharacterBody2D::set_floor_constant_speed_enabled(bool p_enabled) { - floor_constant_speed = p_enabled; -} - -bool CharacterBody2D::is_floor_block_on_wall_enabled() const { - return floor_block_on_wall; -} - -void CharacterBody2D::set_floor_block_on_wall_enabled(bool p_enabled) { - floor_block_on_wall = p_enabled; -} - -bool CharacterBody2D::is_slide_on_ceiling_enabled() const { - return slide_on_ceiling; -} - -void CharacterBody2D::set_slide_on_ceiling_enabled(bool p_enabled) { - slide_on_ceiling = p_enabled; -} - -uint32_t CharacterBody2D::get_platform_floor_layers() const { - return platform_floor_layers; -} - -void CharacterBody2D::set_platform_floor_layers(uint32_t p_exclude_layers) { - platform_floor_layers = p_exclude_layers; -} - -uint32_t CharacterBody2D::get_platform_wall_layers() const { - return platform_wall_layers; -} - -void CharacterBody2D::set_platform_wall_layers(uint32_t p_exclude_layers) { - platform_wall_layers = p_exclude_layers; -} - -void CharacterBody2D::set_motion_mode(MotionMode p_mode) { - motion_mode = p_mode; -} - -CharacterBody2D::MotionMode CharacterBody2D::get_motion_mode() const { - return motion_mode; -} - -void CharacterBody2D::set_platform_on_leave(PlatformOnLeave p_on_leave_apply_velocity) { - platform_on_leave = p_on_leave_apply_velocity; -} - -CharacterBody2D::PlatformOnLeave CharacterBody2D::get_platform_on_leave() const { - return platform_on_leave; -} - -int CharacterBody2D::get_max_slides() const { - return max_slides; -} - -void CharacterBody2D::set_max_slides(int p_max_slides) { - ERR_FAIL_COND(p_max_slides < 1); - max_slides = p_max_slides; -} - -real_t CharacterBody2D::get_floor_max_angle() const { - return floor_max_angle; -} - -void CharacterBody2D::set_floor_max_angle(real_t p_radians) { - floor_max_angle = p_radians; -} - -real_t CharacterBody2D::get_floor_snap_length() { - return floor_snap_length; -} - -void CharacterBody2D::set_floor_snap_length(real_t p_floor_snap_length) { - ERR_FAIL_COND(p_floor_snap_length < 0); - floor_snap_length = p_floor_snap_length; -} - -real_t CharacterBody2D::get_wall_min_slide_angle() const { - return wall_min_slide_angle; -} - -void CharacterBody2D::set_wall_min_slide_angle(real_t p_radians) { - wall_min_slide_angle = p_radians; -} - -const Vector2 &CharacterBody2D::get_up_direction() const { - return up_direction; -} - -void CharacterBody2D::set_up_direction(const Vector2 &p_up_direction) { - ERR_FAIL_COND_MSG(p_up_direction == Vector2(), "up_direction can't be equal to Vector2.ZERO, consider using Floating motion mode instead."); - up_direction = p_up_direction.normalized(); -} - -void CharacterBody2D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_ENTER_TREE: { - // Reset move_and_slide() data. - on_floor = false; - platform_rid = RID(); - platform_object_id = ObjectID(); - on_ceiling = false; - on_wall = false; - motion_results.clear(); - platform_velocity = Vector2(); - } break; - } -} - -void CharacterBody2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody2D::move_and_slide); - ClassDB::bind_method(D_METHOD("apply_floor_snap"), &CharacterBody2D::apply_floor_snap); - - ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &CharacterBody2D::set_velocity); - ClassDB::bind_method(D_METHOD("get_velocity"), &CharacterBody2D::get_velocity); - - ClassDB::bind_method(D_METHOD("set_safe_margin", "margin"), &CharacterBody2D::set_safe_margin); - ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody2D::get_safe_margin); - ClassDB::bind_method(D_METHOD("is_floor_stop_on_slope_enabled"), &CharacterBody2D::is_floor_stop_on_slope_enabled); - ClassDB::bind_method(D_METHOD("set_floor_stop_on_slope_enabled", "enabled"), &CharacterBody2D::set_floor_stop_on_slope_enabled); - ClassDB::bind_method(D_METHOD("set_floor_constant_speed_enabled", "enabled"), &CharacterBody2D::set_floor_constant_speed_enabled); - ClassDB::bind_method(D_METHOD("is_floor_constant_speed_enabled"), &CharacterBody2D::is_floor_constant_speed_enabled); - ClassDB::bind_method(D_METHOD("set_floor_block_on_wall_enabled", "enabled"), &CharacterBody2D::set_floor_block_on_wall_enabled); - ClassDB::bind_method(D_METHOD("is_floor_block_on_wall_enabled"), &CharacterBody2D::is_floor_block_on_wall_enabled); - ClassDB::bind_method(D_METHOD("set_slide_on_ceiling_enabled", "enabled"), &CharacterBody2D::set_slide_on_ceiling_enabled); - ClassDB::bind_method(D_METHOD("is_slide_on_ceiling_enabled"), &CharacterBody2D::is_slide_on_ceiling_enabled); - - ClassDB::bind_method(D_METHOD("set_platform_floor_layers", "exclude_layer"), &CharacterBody2D::set_platform_floor_layers); - ClassDB::bind_method(D_METHOD("get_platform_floor_layers"), &CharacterBody2D::get_platform_floor_layers); - ClassDB::bind_method(D_METHOD("set_platform_wall_layers", "exclude_layer"), &CharacterBody2D::set_platform_wall_layers); - ClassDB::bind_method(D_METHOD("get_platform_wall_layers"), &CharacterBody2D::get_platform_wall_layers); - - ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody2D::get_max_slides); - ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody2D::set_max_slides); - ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody2D::get_floor_max_angle); - ClassDB::bind_method(D_METHOD("set_floor_max_angle", "radians"), &CharacterBody2D::set_floor_max_angle); - ClassDB::bind_method(D_METHOD("get_floor_snap_length"), &CharacterBody2D::get_floor_snap_length); - ClassDB::bind_method(D_METHOD("set_floor_snap_length", "floor_snap_length"), &CharacterBody2D::set_floor_snap_length); - ClassDB::bind_method(D_METHOD("get_wall_min_slide_angle"), &CharacterBody2D::get_wall_min_slide_angle); - ClassDB::bind_method(D_METHOD("set_wall_min_slide_angle", "radians"), &CharacterBody2D::set_wall_min_slide_angle); - ClassDB::bind_method(D_METHOD("get_up_direction"), &CharacterBody2D::get_up_direction); - ClassDB::bind_method(D_METHOD("set_up_direction", "up_direction"), &CharacterBody2D::set_up_direction); - ClassDB::bind_method(D_METHOD("set_motion_mode", "mode"), &CharacterBody2D::set_motion_mode); - ClassDB::bind_method(D_METHOD("get_motion_mode"), &CharacterBody2D::get_motion_mode); - ClassDB::bind_method(D_METHOD("set_platform_on_leave", "on_leave_apply_velocity"), &CharacterBody2D::set_platform_on_leave); - ClassDB::bind_method(D_METHOD("get_platform_on_leave"), &CharacterBody2D::get_platform_on_leave); - - ClassDB::bind_method(D_METHOD("is_on_floor"), &CharacterBody2D::is_on_floor); - ClassDB::bind_method(D_METHOD("is_on_floor_only"), &CharacterBody2D::is_on_floor_only); - ClassDB::bind_method(D_METHOD("is_on_ceiling"), &CharacterBody2D::is_on_ceiling); - ClassDB::bind_method(D_METHOD("is_on_ceiling_only"), &CharacterBody2D::is_on_ceiling_only); - ClassDB::bind_method(D_METHOD("is_on_wall"), &CharacterBody2D::is_on_wall); - ClassDB::bind_method(D_METHOD("is_on_wall_only"), &CharacterBody2D::is_on_wall_only); - ClassDB::bind_method(D_METHOD("get_floor_normal"), &CharacterBody2D::get_floor_normal); - ClassDB::bind_method(D_METHOD("get_wall_normal"), &CharacterBody2D::get_wall_normal); - ClassDB::bind_method(D_METHOD("get_last_motion"), &CharacterBody2D::get_last_motion); - ClassDB::bind_method(D_METHOD("get_position_delta"), &CharacterBody2D::get_position_delta); - ClassDB::bind_method(D_METHOD("get_real_velocity"), &CharacterBody2D::get_real_velocity); - ClassDB::bind_method(D_METHOD("get_floor_angle", "up_direction"), &CharacterBody2D::get_floor_angle, DEFVAL(Vector2(0.0, -1.0))); - ClassDB::bind_method(D_METHOD("get_platform_velocity"), &CharacterBody2D::get_platform_velocity); - ClassDB::bind_method(D_METHOD("get_slide_collision_count"), &CharacterBody2D::get_slide_collision_count); - ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &CharacterBody2D::_get_slide_collision); - ClassDB::bind_method(D_METHOD("get_last_slide_collision"), &CharacterBody2D::_get_last_slide_collision); - - ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_mode", PROPERTY_HINT_ENUM, "Grounded,Floating", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_motion_mode", "get_motion_mode"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "up_direction"), "set_up_direction", "get_up_direction"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "velocity", PROPERTY_HINT_NONE, "suffix:px/s", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slide_on_ceiling"), "set_slide_on_ceiling_enabled", "is_slide_on_ceiling_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_max_slides", "get_max_slides"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wall_min_slide_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians_as_degrees", PROPERTY_USAGE_DEFAULT), "set_wall_min_slide_angle", "get_wall_min_slide_angle"); - - ADD_GROUP("Floor", "floor_"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_stop_on_slope"), "set_floor_stop_on_slope_enabled", "is_floor_stop_on_slope_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_constant_speed"), "set_floor_constant_speed_enabled", "is_floor_constant_speed_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_block_on_wall"), "set_floor_block_on_wall_enabled", "is_floor_block_on_wall_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians_as_degrees"), "set_floor_max_angle", "get_floor_max_angle"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_snap_length", PROPERTY_HINT_RANGE, "0,32,0.1,or_greater,suffix:px"), "set_floor_snap_length", "get_floor_snap_length"); - - ADD_GROUP("Moving Platform", "platform_"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_on_leave", PROPERTY_HINT_ENUM, "Add Velocity,Add Upward Velocity,Do Nothing", PROPERTY_USAGE_DEFAULT), "set_platform_on_leave", "get_platform_on_leave"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_floor_layers", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_platform_floor_layers", "get_platform_floor_layers"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_wall_layers", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_platform_wall_layers", "get_platform_wall_layers"); - - ADD_GROUP("Collision", ""); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001,suffix:px"), "set_safe_margin", "get_safe_margin"); - - BIND_ENUM_CONSTANT(MOTION_MODE_GROUNDED); - BIND_ENUM_CONSTANT(MOTION_MODE_FLOATING); - - BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_ADD_VELOCITY); - BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY); - BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_DO_NOTHING); -} - -void CharacterBody2D::_validate_property(PropertyInfo &p_property) const { - if (motion_mode == MOTION_MODE_FLOATING) { - if (p_property.name.begins_with("floor_") || p_property.name == "up_direction" || p_property.name == "slide_on_ceiling") { - p_property.usage = PROPERTY_USAGE_NO_EDITOR; - } - } else { - if (p_property.name == "wall_min_slide_angle") { - p_property.usage = PROPERTY_USAGE_NO_EDITOR; - } - } -} - -CharacterBody2D::CharacterBody2D() : - PhysicsBody2D(PhysicsServer2D::BODY_MODE_KINEMATIC) { -} - -CharacterBody2D::~CharacterBody2D() { - for (int i = 0; i < slide_colliders.size(); i++) { - if (slide_colliders[i].is_valid()) { - slide_colliders.write[i]->owner = nullptr; - } - } -} - -//////////////////////// - -Vector2 KinematicCollision2D::get_position() const { - return result.collision_point; -} - -Vector2 KinematicCollision2D::get_normal() const { - return result.collision_normal; -} - -Vector2 KinematicCollision2D::get_travel() const { - return result.travel; -} - -Vector2 KinematicCollision2D::get_remainder() const { - return result.remainder; -} - -real_t KinematicCollision2D::get_angle(const Vector2 &p_up_direction) const { - ERR_FAIL_COND_V(p_up_direction == Vector2(), 0); - return result.get_angle(p_up_direction); -} - -real_t KinematicCollision2D::get_depth() const { - return result.collision_depth; -} - -Object *KinematicCollision2D::get_local_shape() const { - if (!owner) { - return nullptr; - } - uint32_t ownerid = owner->shape_find_owner(result.collision_local_shape); - return owner->shape_owner_get_owner(ownerid); -} - -Object *KinematicCollision2D::get_collider() const { - if (result.collider_id.is_valid()) { - return ObjectDB::get_instance(result.collider_id); - } - - return nullptr; -} - -ObjectID KinematicCollision2D::get_collider_id() const { - return result.collider_id; -} - -RID KinematicCollision2D::get_collider_rid() const { - return result.collider; -} - -Object *KinematicCollision2D::get_collider_shape() const { - Object *collider = get_collider(); - if (collider) { - CollisionObject2D *obj2d = Object::cast_to(collider); - if (obj2d) { - uint32_t ownerid = obj2d->shape_find_owner(result.collider_shape); - return obj2d->shape_owner_get_owner(ownerid); - } - } - - return nullptr; -} - -int KinematicCollision2D::get_collider_shape_index() const { - return result.collider_shape; -} - -Vector2 KinematicCollision2D::get_collider_velocity() const { - return result.collider_velocity; -} - -void KinematicCollision2D::_bind_methods() { - ClassDB::bind_method(D_METHOD("get_position"), &KinematicCollision2D::get_position); - ClassDB::bind_method(D_METHOD("get_normal"), &KinematicCollision2D::get_normal); - ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision2D::get_travel); - ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision2D::get_remainder); - ClassDB::bind_method(D_METHOD("get_angle", "up_direction"), &KinematicCollision2D::get_angle, DEFVAL(Vector2(0.0, -1.0))); - ClassDB::bind_method(D_METHOD("get_depth"), &KinematicCollision2D::get_depth); - ClassDB::bind_method(D_METHOD("get_local_shape"), &KinematicCollision2D::get_local_shape); - ClassDB::bind_method(D_METHOD("get_collider"), &KinematicCollision2D::get_collider); - ClassDB::bind_method(D_METHOD("get_collider_id"), &KinematicCollision2D::get_collider_id); - ClassDB::bind_method(D_METHOD("get_collider_rid"), &KinematicCollision2D::get_collider_rid); - ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicCollision2D::get_collider_shape); - ClassDB::bind_method(D_METHOD("get_collider_shape_index"), &KinematicCollision2D::get_collider_shape_index); - ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicCollision2D::get_collider_velocity); -} diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h deleted file mode 100644 index 88161e284ad..00000000000 --- a/scene/2d/physics_body_2d.h +++ /dev/null @@ -1,493 +0,0 @@ -/**************************************************************************/ -/* physics_body_2d.h */ -/**************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/**************************************************************************/ -/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ -/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/**************************************************************************/ - -#ifndef PHYSICS_BODY_2D_H -#define PHYSICS_BODY_2D_H - -#include "core/templates/vset.h" -#include "scene/2d/collision_object_2d.h" -#include "scene/resources/physics_material.h" -#include "servers/physics_server_2d.h" - -class KinematicCollision2D; - -class PhysicsBody2D : public CollisionObject2D { - GDCLASS(PhysicsBody2D, CollisionObject2D); - -protected: - static void _bind_methods(); - PhysicsBody2D(PhysicsServer2D::BodyMode p_mode); - - Ref motion_cache; - - Ref _move(const Vector2 &p_motion, bool p_test_only = false, real_t p_margin = 0.08, bool p_recovery_as_collision = false); - -public: - bool move_and_collide(const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult &r_result, bool p_test_only = false, bool p_cancel_sliding = true); - bool test_move(const Transform2D &p_from, const Vector2 &p_motion, const Ref &r_collision = Ref(), real_t p_margin = 0.08, bool p_recovery_as_collision = false); - Vector2 get_gravity() const; - - TypedArray get_collision_exceptions(); - void add_collision_exception_with(Node *p_node); //must be physicsbody - void remove_collision_exception_with(Node *p_node); - - virtual ~PhysicsBody2D(); -}; - -class StaticBody2D : public PhysicsBody2D { - GDCLASS(StaticBody2D, PhysicsBody2D); - -private: - Vector2 constant_linear_velocity; - real_t constant_angular_velocity = 0.0; - - Ref physics_material_override; - -protected: - static void _bind_methods(); - -public: - void set_physics_material_override(const Ref &p_physics_material_override); - Ref get_physics_material_override() const; - - void set_constant_linear_velocity(const Vector2 &p_vel); - void set_constant_angular_velocity(real_t p_vel); - - Vector2 get_constant_linear_velocity() const; - real_t get_constant_angular_velocity() const; - - StaticBody2D(PhysicsServer2D::BodyMode p_mode = PhysicsServer2D::BODY_MODE_STATIC); - -private: - void _reload_physics_characteristics(); -}; - -class AnimatableBody2D : public StaticBody2D { - GDCLASS(AnimatableBody2D, StaticBody2D); - -private: - bool sync_to_physics = true; - - Transform2D last_valid_transform; - - static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState2D *p_state); - void _body_state_changed(PhysicsDirectBodyState2D *p_state); - -protected: - void _notification(int p_what); - static void _bind_methods(); - -public: - AnimatableBody2D(); - -private: - void _update_kinematic_motion(); - - void set_sync_to_physics(bool p_enable); - bool is_sync_to_physics_enabled() const; -}; - -class RigidBody2D : public PhysicsBody2D { - GDCLASS(RigidBody2D, PhysicsBody2D); - -public: - enum FreezeMode { - FREEZE_MODE_STATIC, - FREEZE_MODE_KINEMATIC, - }; - - enum CenterOfMassMode { - CENTER_OF_MASS_MODE_AUTO, - CENTER_OF_MASS_MODE_CUSTOM, - }; - - enum DampMode { - DAMP_MODE_COMBINE, - DAMP_MODE_REPLACE, - }; - - enum CCDMode { - CCD_MODE_DISABLED, - CCD_MODE_CAST_RAY, - CCD_MODE_CAST_SHAPE, - }; - -private: - bool can_sleep = true; - bool lock_rotation = false; - bool freeze = false; - FreezeMode freeze_mode = FREEZE_MODE_STATIC; - - real_t mass = 1.0; - real_t inertia = 0.0; - CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO; - Vector2 center_of_mass; - - Ref physics_material_override; - real_t gravity_scale = 1.0; - - DampMode linear_damp_mode = DAMP_MODE_COMBINE; - DampMode angular_damp_mode = DAMP_MODE_COMBINE; - - real_t linear_damp = 0.0; - real_t angular_damp = 0.0; - - Vector2 linear_velocity; - real_t angular_velocity = 0.0; - bool sleeping = false; - - int max_contacts_reported = 0; - int contact_count = 0; - - bool custom_integrator = false; - - CCDMode ccd_mode = CCD_MODE_DISABLED; - - struct ShapePair { - int body_shape = 0; - int local_shape = 0; - bool tagged = false; - bool operator<(const ShapePair &p_sp) const { - if (body_shape == p_sp.body_shape) { - return local_shape < p_sp.local_shape; - } - - return body_shape < p_sp.body_shape; - } - - ShapePair() {} - ShapePair(int p_bs, int p_ls) { - body_shape = p_bs; - local_shape = p_ls; - } - }; - struct RigidBody2D_RemoveAction { - RID rid; - ObjectID body_id; - ShapePair pair; - }; - struct BodyState { - RID rid; - //int rc; - bool in_scene = false; - VSet shapes; - }; - - struct ContactMonitor { - bool locked = false; - HashMap body_map; - }; - - ContactMonitor *contact_monitor = nullptr; - void _body_enter_tree(ObjectID p_id); - void _body_exit_tree(ObjectID p_id); - - void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape); - - static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState2D *p_state); - void _body_state_changed(PhysicsDirectBodyState2D *p_state); - - void _sync_body_state(PhysicsDirectBodyState2D *p_state); - -protected: - void _notification(int p_what); - static void _bind_methods(); - - void _validate_property(PropertyInfo &p_property) const; - - GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState2D *) - - void _apply_body_mode(); - -public: - void set_lock_rotation_enabled(bool p_lock_rotation); - bool is_lock_rotation_enabled() const; - - void set_freeze_enabled(bool p_freeze); - bool is_freeze_enabled() const; - - void set_freeze_mode(FreezeMode p_freeze_mode); - FreezeMode get_freeze_mode() const; - - void set_mass(real_t p_mass); - real_t get_mass() const; - - void set_inertia(real_t p_inertia); - real_t get_inertia() const; - - void set_center_of_mass_mode(CenterOfMassMode p_mode); - CenterOfMassMode get_center_of_mass_mode() const; - - void set_center_of_mass(const Vector2 &p_center_of_mass); - const Vector2 &get_center_of_mass() const; - - void set_physics_material_override(const Ref &p_physics_material_override); - Ref get_physics_material_override() const; - - void set_gravity_scale(real_t p_gravity_scale); - real_t get_gravity_scale() const; - - void set_linear_damp_mode(DampMode p_mode); - DampMode get_linear_damp_mode() const; - - void set_angular_damp_mode(DampMode p_mode); - DampMode get_angular_damp_mode() const; - - void set_linear_damp(real_t p_linear_damp); - real_t get_linear_damp() const; - - void set_angular_damp(real_t p_angular_damp); - real_t get_angular_damp() const; - - void set_linear_velocity(const Vector2 &p_velocity); - Vector2 get_linear_velocity() const; - - void set_axis_velocity(const Vector2 &p_axis); - - void set_angular_velocity(real_t p_velocity); - real_t get_angular_velocity() const; - - void set_use_custom_integrator(bool p_enable); - bool is_using_custom_integrator(); - - void set_sleeping(bool p_sleeping); - bool is_sleeping() const; - - void set_can_sleep(bool p_active); - bool is_able_to_sleep() const; - - void set_contact_monitor(bool p_enabled); - bool is_contact_monitor_enabled() const; - - void set_max_contacts_reported(int p_amount); - int get_max_contacts_reported() const; - int get_contact_count() const; - - void set_continuous_collision_detection_mode(CCDMode p_mode); - CCDMode get_continuous_collision_detection_mode() const; - - void apply_central_impulse(const Vector2 &p_impulse); - void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()); - void apply_torque_impulse(real_t p_torque); - - void apply_central_force(const Vector2 &p_force); - void apply_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()); - void apply_torque(real_t p_torque); - - void add_constant_central_force(const Vector2 &p_force); - void add_constant_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()); - void add_constant_torque(real_t p_torque); - - void set_constant_force(const Vector2 &p_force); - Vector2 get_constant_force() const; - - void set_constant_torque(real_t p_torque); - real_t get_constant_torque() const; - - TypedArray get_colliding_bodies() const; //function for script - - virtual PackedStringArray get_configuration_warnings() const override; - - RigidBody2D(); - ~RigidBody2D(); - -private: - void _reload_physics_characteristics(); -}; - -VARIANT_ENUM_CAST(RigidBody2D::FreezeMode); -VARIANT_ENUM_CAST(RigidBody2D::CenterOfMassMode); -VARIANT_ENUM_CAST(RigidBody2D::DampMode); -VARIANT_ENUM_CAST(RigidBody2D::CCDMode); - -class CharacterBody2D : public PhysicsBody2D { - GDCLASS(CharacterBody2D, PhysicsBody2D); - -public: - enum MotionMode { - MOTION_MODE_GROUNDED, - MOTION_MODE_FLOATING, - }; - enum PlatformOnLeave { - PLATFORM_ON_LEAVE_ADD_VELOCITY, - PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY, - PLATFORM_ON_LEAVE_DO_NOTHING, - }; - bool move_and_slide(); - void apply_floor_snap(); - - const Vector2 &get_velocity() const; - void set_velocity(const Vector2 &p_velocity); - - bool is_on_floor() const; - bool is_on_floor_only() const; - bool is_on_wall() const; - bool is_on_wall_only() const; - bool is_on_ceiling() const; - bool is_on_ceiling_only() const; - const Vector2 &get_last_motion() const; - Vector2 get_position_delta() const; - const Vector2 &get_floor_normal() const; - const Vector2 &get_wall_normal() const; - const Vector2 &get_real_velocity() const; - - real_t get_floor_angle(const Vector2 &p_up_direction = Vector2(0.0, -1.0)) const; - const Vector2 &get_platform_velocity() const; - - int get_slide_collision_count() const; - PhysicsServer2D::MotionResult get_slide_collision(int p_bounce) const; - - void set_safe_margin(real_t p_margin); - real_t get_safe_margin() const; - - bool is_floor_stop_on_slope_enabled() const; - void set_floor_stop_on_slope_enabled(bool p_enabled); - - bool is_floor_constant_speed_enabled() const; - void set_floor_constant_speed_enabled(bool p_enabled); - - bool is_floor_block_on_wall_enabled() const; - void set_floor_block_on_wall_enabled(bool p_enabled); - - bool is_slide_on_ceiling_enabled() const; - void set_slide_on_ceiling_enabled(bool p_enabled); - - int get_max_slides() const; - void set_max_slides(int p_max_slides); - - real_t get_floor_max_angle() const; - void set_floor_max_angle(real_t p_radians); - - real_t get_floor_snap_length(); - void set_floor_snap_length(real_t p_floor_snap_length); - - real_t get_wall_min_slide_angle() const; - void set_wall_min_slide_angle(real_t p_radians); - - uint32_t get_platform_floor_layers() const; - void set_platform_floor_layers(const uint32_t p_exclude_layer); - - uint32_t get_platform_wall_layers() const; - void set_platform_wall_layers(const uint32_t p_exclude_layer); - - void set_motion_mode(MotionMode p_mode); - MotionMode get_motion_mode() const; - - void set_platform_on_leave(PlatformOnLeave p_on_leave_velocity); - PlatformOnLeave get_platform_on_leave() const; - - CharacterBody2D(); - ~CharacterBody2D(); - -private: - real_t margin = 0.08; - MotionMode motion_mode = MOTION_MODE_GROUNDED; - PlatformOnLeave platform_on_leave = PLATFORM_ON_LEAVE_ADD_VELOCITY; - - bool floor_constant_speed = false; - bool floor_stop_on_slope = true; - bool floor_block_on_wall = true; - bool slide_on_ceiling = true; - int max_slides = 4; - int platform_layer = 0; - real_t floor_max_angle = Math::deg_to_rad((real_t)45.0); - real_t floor_snap_length = 1; - real_t wall_min_slide_angle = Math::deg_to_rad((real_t)15.0); - Vector2 up_direction = Vector2(0.0, -1.0); - uint32_t platform_floor_layers = UINT32_MAX; - uint32_t platform_wall_layers = 0; - Vector2 velocity; - - Vector2 floor_normal; - Vector2 platform_velocity; - Vector2 wall_normal; - Vector2 last_motion; - Vector2 previous_position; - Vector2 real_velocity; - - RID platform_rid; - ObjectID platform_object_id; - bool on_floor = false; - bool on_ceiling = false; - bool on_wall = false; - - Vector motion_results; - Vector> slide_colliders; - - void _move_and_slide_floating(double p_delta); - void _move_and_slide_grounded(double p_delta, bool p_was_on_floor); - - Ref _get_slide_collision(int p_bounce); - Ref _get_last_slide_collision(); - const Vector2 &get_up_direction() const; - bool _on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up); - void set_up_direction(const Vector2 &p_up_direction); - void _set_collision_direction(const PhysicsServer2D::MotionResult &p_result); - void _set_platform_data(const PhysicsServer2D::MotionResult &p_result); - void _apply_floor_snap(bool p_wall_as_floor = false); - void _snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up, bool p_wall_as_floor = false); - -protected: - void _notification(int p_what); - static void _bind_methods(); - void _validate_property(PropertyInfo &p_property) const; -}; - -VARIANT_ENUM_CAST(CharacterBody2D::MotionMode); -VARIANT_ENUM_CAST(CharacterBody2D::PlatformOnLeave); - -class KinematicCollision2D : public RefCounted { - GDCLASS(KinematicCollision2D, RefCounted); - - PhysicsBody2D *owner = nullptr; - friend class PhysicsBody2D; - friend class CharacterBody2D; - PhysicsServer2D::MotionResult result; - -protected: - static void _bind_methods(); - -public: - Vector2 get_position() const; - Vector2 get_normal() const; - Vector2 get_travel() const; - Vector2 get_remainder() const; - real_t get_angle(const Vector2 &p_up_direction = Vector2(0.0, -1.0)) const; - real_t get_depth() const; - Object *get_local_shape() const; - Object *get_collider() const; - ObjectID get_collider_id() const; - RID get_collider_rid() const; - Object *get_collider_shape() const; - int get_collider_shape_index() const; - Vector2 get_collider_velocity() const; -}; - -#endif // PHYSICS_BODY_2D_H diff --git a/scene/3d/SCsub b/scene/3d/SCsub index fc61250247d..94e1ab6c967 100644 --- a/scene/3d/SCsub +++ b/scene/3d/SCsub @@ -3,3 +3,6 @@ Import("env") env.add_source_files(env.scene_sources, "*.cpp") + +# Chain load SCsubs +SConscript("physics/SCsub") diff --git a/scene/3d/audio_stream_player_3d.cpp b/scene/3d/audio_stream_player_3d.cpp index 2bb376c9abc..f1f9a04ea05 100644 --- a/scene/3d/audio_stream_player_3d.cpp +++ b/scene/3d/audio_stream_player_3d.cpp @@ -32,9 +32,9 @@ #include "audio_stream_player_3d.compat.inc" #include "core/config/project_settings.h" -#include "scene/3d/area_3d.h" #include "scene/3d/audio_listener_3d.h" #include "scene/3d/camera_3d.h" +#include "scene/3d/physics/area_3d.h" #include "scene/3d/velocity_tracker_3d.h" #include "scene/audio/audio_stream_player_internal.h" #include "scene/main/viewport.h" diff --git a/scene/3d/camera_3d.cpp b/scene/3d/camera_3d.cpp index a44aa54c17f..e8bd498e1fc 100644 --- a/scene/3d/camera_3d.cpp +++ b/scene/3d/camera_3d.cpp @@ -30,7 +30,6 @@ #include "camera_3d.h" -#include "collision_object_3d.h" #include "core/math/projection.h" #include "scene/main/viewport.h" diff --git a/scene/3d/joint_3d.h b/scene/3d/joint_3d.h deleted file mode 100644 index 527aed4079d..00000000000 --- a/scene/3d/joint_3d.h +++ /dev/null @@ -1,301 +0,0 @@ -/**************************************************************************/ -/* joint_3d.h */ -/**************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/**************************************************************************/ -/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ -/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/**************************************************************************/ - -#ifndef JOINT_3D_H -#define JOINT_3D_H - -#include "scene/3d/node_3d.h" -#include "scene/3d/physics_body_3d.h" - -class Joint3D : public Node3D { - GDCLASS(Joint3D, Node3D); - - RID ba, bb; - - RID joint; - - NodePath a; - NodePath b; - - int solver_priority = 1; - bool exclude_from_collision = true; - String warning; - bool configured = false; - -protected: - void _disconnect_signals(); - void _body_exit_tree(); - void _update_joint(bool p_only_free = false); - - void _notification(int p_what); - - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0; - - static void _bind_methods(); - - _FORCE_INLINE_ bool is_configured() const { return configured; } - -public: - virtual PackedStringArray get_configuration_warnings() const override; - - void set_node_a(const NodePath &p_node_a); - NodePath get_node_a() const; - - void set_node_b(const NodePath &p_node_b); - NodePath get_node_b() const; - - void set_solver_priority(int p_priority); - int get_solver_priority() const; - - void set_exclude_nodes_from_collision(bool p_enable); - bool get_exclude_nodes_from_collision() const; - - RID get_rid() const { return joint; } - Joint3D(); - ~Joint3D(); -}; - -/////////////////////////////////////////// - -class PinJoint3D : public Joint3D { - GDCLASS(PinJoint3D, Joint3D); - -public: - enum Param { - PARAM_BIAS = PhysicsServer3D::PIN_JOINT_BIAS, - PARAM_DAMPING = PhysicsServer3D::PIN_JOINT_DAMPING, - PARAM_IMPULSE_CLAMP = PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP - }; - -protected: - real_t params[3]; - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param(Param p_param, real_t p_value); - real_t get_param(Param p_param) const; - - PinJoint3D(); -}; - -VARIANT_ENUM_CAST(PinJoint3D::Param); - -class HingeJoint3D : public Joint3D { - GDCLASS(HingeJoint3D, Joint3D); - -public: - enum Param { - PARAM_BIAS = PhysicsServer3D::HINGE_JOINT_BIAS, - PARAM_LIMIT_UPPER = PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, - PARAM_LIMIT_LOWER = PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, - PARAM_LIMIT_BIAS = PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, - PARAM_LIMIT_SOFTNESS = PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, - PARAM_LIMIT_RELAXATION = PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, - PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY, - PARAM_MOTOR_MAX_IMPULSE = PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE, - PARAM_MAX = PhysicsServer3D::HINGE_JOINT_MAX - }; - - enum Flag { - FLAG_USE_LIMIT = PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, - FLAG_ENABLE_MOTOR = PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR, - FLAG_MAX = PhysicsServer3D::HINGE_JOINT_FLAG_MAX - }; - -protected: - real_t params[PARAM_MAX]; - bool flags[FLAG_MAX]; - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param(Param p_param, real_t p_value); - real_t get_param(Param p_param) const; - - void set_flag(Flag p_flag, bool p_value); - bool get_flag(Flag p_flag) const; - - HingeJoint3D(); -}; - -VARIANT_ENUM_CAST(HingeJoint3D::Param); -VARIANT_ENUM_CAST(HingeJoint3D::Flag); - -class SliderJoint3D : public Joint3D { - GDCLASS(SliderJoint3D, Joint3D); - -public: - enum Param { - PARAM_LINEAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, - PARAM_LINEAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, - PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, - PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, - PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, - PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, - PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, - PARAM_LINEAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING, - PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, - PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, - PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, - - PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, - PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, - PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, - PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, - PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, - PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, - PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, - PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING, - PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, - PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, - PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, - PARAM_MAX = PhysicsServer3D::SLIDER_JOINT_MAX - - }; - -protected: - real_t params[PARAM_MAX]; - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param(Param p_param, real_t p_value); - real_t get_param(Param p_param) const; - - SliderJoint3D(); -}; - -VARIANT_ENUM_CAST(SliderJoint3D::Param); - -class ConeTwistJoint3D : public Joint3D { - GDCLASS(ConeTwistJoint3D, Joint3D); - -public: - enum Param { - PARAM_SWING_SPAN, - PARAM_TWIST_SPAN, - PARAM_BIAS, - PARAM_SOFTNESS, - PARAM_RELAXATION, - PARAM_MAX - }; - -protected: - real_t params[PARAM_MAX]; - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param(Param p_param, real_t p_value); - real_t get_param(Param p_param) const; - - ConeTwistJoint3D(); -}; - -VARIANT_ENUM_CAST(ConeTwistJoint3D::Param); - -class Generic6DOFJoint3D : public Joint3D { - GDCLASS(Generic6DOFJoint3D, Joint3D); - -public: - enum Param { - PARAM_LINEAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, - PARAM_LINEAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, - PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, - PARAM_LINEAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, - PARAM_LINEAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, - PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY, - PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT, - PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, - PARAM_LINEAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, - PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, - PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, - PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, - PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, - PARAM_ANGULAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, - PARAM_ANGULAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, - PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_FORCE_LIMIT, - PARAM_ANGULAR_ERP = PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, - PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, - PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, - PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, - PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, - PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, - PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX, - }; - - enum Flag { - FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, - FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, - FLAG_ENABLE_LINEAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, - FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, - FLAG_ENABLE_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR, - FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR, - FLAG_MAX = PhysicsServer3D::G6DOF_JOINT_FLAG_MAX - }; - -protected: - real_t params_x[PARAM_MAX]; - bool flags_x[FLAG_MAX]; - real_t params_y[PARAM_MAX]; - bool flags_y[FLAG_MAX]; - real_t params_z[PARAM_MAX]; - bool flags_z[FLAG_MAX]; - - virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; - static void _bind_methods(); - -public: - void set_param_x(Param p_param, real_t p_value); - real_t get_param_x(Param p_param) const; - - void set_param_y(Param p_param, real_t p_value); - real_t get_param_y(Param p_param) const; - - void set_param_z(Param p_param, real_t p_value); - real_t get_param_z(Param p_param) const; - - void set_flag_x(Flag p_flag, bool p_enabled); - bool get_flag_x(Flag p_flag) const; - - void set_flag_y(Flag p_flag, bool p_enabled); - bool get_flag_y(Flag p_flag) const; - - void set_flag_z(Flag p_flag, bool p_enabled); - bool get_flag_z(Flag p_flag) const; - - Generic6DOFJoint3D(); -}; - -VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param); -VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag); - -#endif // JOINT_3D_H diff --git a/scene/3d/mesh_instance_3d.cpp b/scene/3d/mesh_instance_3d.cpp index eeb41573f70..86352406558 100644 --- a/scene/3d/mesh_instance_3d.cpp +++ b/scene/3d/mesh_instance_3d.cpp @@ -30,8 +30,9 @@ #include "mesh_instance_3d.h" -#include "collision_shape_3d.h" -#include "physics_body_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" +#include "scene/3d/physics/static_body_3d.h" +#include "scene/3d/skeleton_3d.h" #include "scene/resources/3d/concave_polygon_shape_3d.h" #include "scene/resources/3d/convex_polygon_shape_3d.h" diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp index 98cd5efef27..82450927d38 100644 --- a/scene/3d/navigation_obstacle_3d.cpp +++ b/scene/3d/navigation_obstacle_3d.cpp @@ -31,8 +31,6 @@ #include "navigation_obstacle_3d.h" #include "core/math/geometry_2d.h" -#include "scene/3d/collision_shape_3d.h" -#include "scene/3d/physics_body_3d.h" #include "servers/navigation_server_3d.h" void NavigationObstacle3D::_bind_methods() { diff --git a/scene/3d/physics/SCsub b/scene/3d/physics/SCsub new file mode 100644 index 00000000000..e7fd3fe6435 --- /dev/null +++ b/scene/3d/physics/SCsub @@ -0,0 +1,8 @@ +#!/usr/bin/env python + +Import("env") + +env.add_source_files(env.scene_sources, "*.cpp") + +# Chain load SCsubs +SConscript("joints/SCsub") diff --git a/scene/3d/physics/animatable_body_3d.cpp b/scene/3d/physics/animatable_body_3d.cpp new file mode 100644 index 00000000000..407e23a57ee --- /dev/null +++ b/scene/3d/physics/animatable_body_3d.cpp @@ -0,0 +1,128 @@ +/**************************************************************************/ +/* animatable_body_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "animatable_body_3d.h" + +Vector3 AnimatableBody3D::get_linear_velocity() const { + return linear_velocity; +} + +Vector3 AnimatableBody3D::get_angular_velocity() const { + return angular_velocity; +} + +void AnimatableBody3D::set_sync_to_physics(bool p_enable) { + if (sync_to_physics == p_enable) { + return; + } + + sync_to_physics = p_enable; + + _update_kinematic_motion(); +} + +bool AnimatableBody3D::is_sync_to_physics_enabled() const { + return sync_to_physics; +} + +void AnimatableBody3D::_update_kinematic_motion() { +#ifdef TOOLS_ENABLED + if (Engine::get_singleton()->is_editor_hint()) { + return; + } +#endif + + if (sync_to_physics) { + set_only_update_transform_changes(true); + set_notify_local_transform(true); + } else { + set_only_update_transform_changes(false); + set_notify_local_transform(false); + } +} + +void AnimatableBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { + linear_velocity = p_state->get_linear_velocity(); + angular_velocity = p_state->get_angular_velocity(); + + if (!sync_to_physics) { + return; + } + + last_valid_transform = p_state->get_transform(); + set_notify_local_transform(false); + set_global_transform(last_valid_transform); + set_notify_local_transform(true); + _on_transform_changed(); +} + +void AnimatableBody3D::_notification(int p_what) { +#ifdef TOOLS_ENABLED + if (Engine::get_singleton()->is_editor_hint()) { + return; + } +#endif + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + last_valid_transform = get_global_transform(); + _update_kinematic_motion(); + } break; + + case NOTIFICATION_EXIT_TREE: { + set_only_update_transform_changes(false); + set_notify_local_transform(false); + } break; + + case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { + // Used by sync to physics, send the new transform to the physics... + Transform3D new_transform = get_global_transform(); + + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); + + // ... but then revert changes. + set_notify_local_transform(false); + set_global_transform(last_valid_transform); + set_notify_local_transform(true); + _on_transform_changed(); + } break; + } +} + +void AnimatableBody3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &AnimatableBody3D::set_sync_to_physics); + ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &AnimatableBody3D::is_sync_to_physics_enabled); + + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled"); +} + +AnimatableBody3D::AnimatableBody3D() : + StaticBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) { + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &AnimatableBody3D::_body_state_changed)); +} diff --git a/scene/3d/physics/animatable_body_3d.h b/scene/3d/physics/animatable_body_3d.h new file mode 100644 index 00000000000..715b6917c0a --- /dev/null +++ b/scene/3d/physics/animatable_body_3d.h @@ -0,0 +1,67 @@ +/**************************************************************************/ +/* animatable_body_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef ANIMATABLE_BODY_3D_H +#define ANIMATABLE_BODY_3D_H + +#include "scene/3d/physics/static_body_3d.h" + +class AnimatableBody3D : public StaticBody3D { + GDCLASS(AnimatableBody3D, StaticBody3D); + +private: + Vector3 linear_velocity; + Vector3 angular_velocity; + + bool sync_to_physics = true; + + Transform3D last_valid_transform; + + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); + void _body_state_changed(PhysicsDirectBodyState3D *p_state); + +protected: + void _notification(int p_what); + static void _bind_methods(); + +public: + virtual Vector3 get_linear_velocity() const override; + virtual Vector3 get_angular_velocity() const override; + + AnimatableBody3D(); + +private: + void _update_kinematic_motion(); + + void set_sync_to_physics(bool p_enable); + bool is_sync_to_physics_enabled() const; +}; + +#endif // ANIMATABLE_BODY_3D_H diff --git a/scene/3d/area_3d.cpp b/scene/3d/physics/area_3d.cpp similarity index 100% rename from scene/3d/area_3d.cpp rename to scene/3d/physics/area_3d.cpp diff --git a/scene/3d/area_3d.h b/scene/3d/physics/area_3d.h similarity index 99% rename from scene/3d/area_3d.h rename to scene/3d/physics/area_3d.h index 05c558e8f02..41382b61286 100644 --- a/scene/3d/area_3d.h +++ b/scene/3d/physics/area_3d.h @@ -32,7 +32,7 @@ #define AREA_3D_H #include "core/templates/vset.h" -#include "scene/3d/collision_object_3d.h" +#include "scene/3d/physics/collision_object_3d.h" #include "scene/scene_string_names.h" class Area3D : public CollisionObject3D { diff --git a/scene/3d/physics/character_body_3d.cpp b/scene/3d/physics/character_body_3d.cpp new file mode 100644 index 00000000000..b71b9519a96 --- /dev/null +++ b/scene/3d/physics/character_body_3d.cpp @@ -0,0 +1,939 @@ +/**************************************************************************/ +/* character_body_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "character_body_3d.h" + +//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45. +#define FLOOR_ANGLE_THRESHOLD 0.01 + +bool CharacterBody3D::move_and_slide() { + // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky + double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time(); + + for (int i = 0; i < 3; i++) { + if (locked_axis & (1 << i)) { + velocity[i] = 0.0; + } + } + + Transform3D gt = get_global_transform(); + previous_position = gt.origin; + + Vector3 current_platform_velocity = platform_velocity; + + if ((collision_state.floor || collision_state.wall) && platform_rid.is_valid()) { + bool excluded = false; + if (collision_state.floor) { + excluded = (platform_floor_layers & platform_layer) == 0; + } else if (collision_state.wall) { + excluded = (platform_wall_layers & platform_layer) == 0; + } + if (!excluded) { + //this approach makes sure there is less delay between the actual body velocity and the one we saved + PhysicsDirectBodyState3D *bs = PhysicsServer3D::get_singleton()->body_get_direct_state(platform_rid); + if (bs) { + Vector3 local_position = gt.origin - bs->get_transform().origin; + current_platform_velocity = bs->get_velocity_at_local_position(local_position); + } else { + // Body is removed or destroyed, invalidate floor. + current_platform_velocity = Vector3(); + platform_rid = RID(); + } + } else { + current_platform_velocity = Vector3(); + } + } + + motion_results.clear(); + + bool was_on_floor = collision_state.floor; + collision_state.state = 0; + + last_motion = Vector3(); + + if (!current_platform_velocity.is_zero_approx()) { + PhysicsServer3D::MotionParameters parameters(get_global_transform(), current_platform_velocity * delta, margin); + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + + parameters.exclude_bodies.insert(platform_rid); + if (platform_object_id.is_valid()) { + parameters.exclude_objects.insert(platform_object_id); + } + + PhysicsServer3D::MotionResult floor_result; + if (move_and_collide(parameters, floor_result, false, false)) { + motion_results.push_back(floor_result); + + CollisionState result_state; + _set_collision_direction(floor_result, result_state); + } + } + + if (motion_mode == MOTION_MODE_GROUNDED) { + _move_and_slide_grounded(delta, was_on_floor); + } else { + _move_and_slide_floating(delta); + } + + // Compute real velocity. + real_velocity = get_position_delta() / delta; + + if (platform_on_leave != PLATFORM_ON_LEAVE_DO_NOTHING) { + // Add last platform velocity when just left a moving platform. + if (!collision_state.floor && !collision_state.wall) { + if (platform_on_leave == PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY && current_platform_velocity.dot(up_direction) < 0) { + current_platform_velocity = current_platform_velocity.slide(up_direction); + } + velocity += current_platform_velocity; + } + } + + return motion_results.size() > 0; +} + +void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_floor) { + Vector3 motion = velocity * p_delta; + Vector3 motion_slide_up = motion.slide(up_direction); + Vector3 prev_floor_normal = floor_normal; + + platform_rid = RID(); + platform_object_id = ObjectID(); + platform_velocity = Vector3(); + platform_angular_velocity = Vector3(); + platform_ceiling_velocity = Vector3(); + floor_normal = Vector3(); + wall_normal = Vector3(); + ceiling_normal = Vector3(); + + // No sliding on first attempt to keep floor motion stable when possible, + // When stop on slope is enabled or when there is no up direction. + bool sliding_enabled = !floor_stop_on_slope; + // Constant speed can be applied only the first time sliding is enabled. + bool can_apply_constant_speed = sliding_enabled; + // If the platform's ceiling push down the body. + bool apply_ceiling_velocity = false; + bool first_slide = true; + bool vel_dir_facing_up = velocity.dot(up_direction) > 0; + Vector3 total_travel; + + for (int iteration = 0; iteration < max_slides; ++iteration) { + PhysicsServer3D::MotionParameters parameters(get_global_transform(), motion, margin); + parameters.max_collisions = 6; // There can be 4 collisions between 2 walls + 2 more for the floor. + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + + PhysicsServer3D::MotionResult result; + bool collided = move_and_collide(parameters, result, false, !sliding_enabled); + + last_motion = result.travel; + + if (collided) { + motion_results.push_back(result); + + CollisionState previous_state = collision_state; + + CollisionState result_state; + _set_collision_direction(result, result_state); + + // If we hit a ceiling platform, we set the vertical velocity to at least the platform one. + if (collision_state.ceiling && platform_ceiling_velocity != Vector3() && platform_ceiling_velocity.dot(up_direction) < 0) { + // If ceiling sliding is on, only apply when the ceiling is flat or when the motion is upward. + if (!slide_on_ceiling || motion.dot(up_direction) < 0 || (ceiling_normal + up_direction).length() < 0.01) { + apply_ceiling_velocity = true; + Vector3 ceiling_vertical_velocity = up_direction * up_direction.dot(platform_ceiling_velocity); + Vector3 motion_vertical_velocity = up_direction * up_direction.dot(velocity); + if (motion_vertical_velocity.dot(up_direction) > 0 || ceiling_vertical_velocity.length_squared() > motion_vertical_velocity.length_squared()) { + velocity = ceiling_vertical_velocity + velocity.slide(up_direction); + } + } + } + + if (collision_state.floor && floor_stop_on_slope && (velocity.normalized() + up_direction).length() < 0.01) { + Transform3D gt = get_global_transform(); + if (result.travel.length() <= margin + CMP_EPSILON) { + gt.origin -= result.travel; + } + set_global_transform(gt); + velocity = Vector3(); + motion = Vector3(); + last_motion = Vector3(); + break; + } + + if (result.remainder.is_zero_approx()) { + motion = Vector3(); + break; + } + + // Apply regular sliding by default. + bool apply_default_sliding = true; + + // Wall collision checks. + if (result_state.wall && (motion_slide_up.dot(wall_normal) <= 0)) { + // Move on floor only checks. + if (floor_block_on_wall) { + // Needs horizontal motion from current motion instead of motion_slide_up + // to properly test the angle and avoid standing on slopes + Vector3 horizontal_motion = motion.slide(up_direction); + Vector3 horizontal_normal = wall_normal.slide(up_direction).normalized(); + real_t motion_angle = Math::abs(Math::acos(-horizontal_normal.dot(horizontal_motion.normalized()))); + + // Avoid to move forward on a wall if floor_block_on_wall is true. + // Applies only when the motion angle is under 90 degrees, + // in order to avoid blocking lateral motion along a wall. + if (motion_angle < .5 * Math_PI) { + apply_default_sliding = false; + if (p_was_on_floor && !vel_dir_facing_up) { + // Cancel the motion. + Transform3D gt = get_global_transform(); + real_t travel_total = result.travel.length(); + real_t cancel_dist_max = MIN(0.1, margin * 20); + if (travel_total <= margin + CMP_EPSILON) { + gt.origin -= result.travel; + result.travel = Vector3(); // Cancel for constant speed computation. + } else if (travel_total < cancel_dist_max) { // If the movement is large the body can be prevented from reaching the walls. + gt.origin -= result.travel.slide(up_direction); + // Keep remaining motion in sync with amount canceled. + motion = motion.slide(up_direction); + result.travel = Vector3(); + } else { + // Travel is too high to be safely canceled, we take it into account. + result.travel = result.travel.slide(up_direction); + motion = motion.normalized() * result.travel.length(); + } + set_global_transform(gt); + // Determines if you are on the ground, and limits the possibility of climbing on the walls because of the approximations. + _snap_on_floor(true, false); + } else { + // If the movement is not canceled we only keep the remaining. + motion = result.remainder; + } + + // Apply slide on forward in order to allow only lateral motion on next step. + Vector3 forward = wall_normal.slide(up_direction).normalized(); + motion = motion.slide(forward); + + // Scales the horizontal velocity according to the wall slope. + if (vel_dir_facing_up) { + Vector3 slide_motion = velocity.slide(result.collisions[0].normal); + // Keeps the vertical motion from velocity and add the horizontal motion of the projection. + velocity = up_direction * up_direction.dot(velocity) + slide_motion.slide(up_direction); + } else { + velocity = velocity.slide(forward); + } + + // Allow only lateral motion along previous floor when already on floor. + // Fixes slowing down when moving in diagonal against an inclined wall. + if (p_was_on_floor && !vel_dir_facing_up && (motion.dot(up_direction) > 0.0)) { + // Slide along the corner between the wall and previous floor. + Vector3 floor_side = prev_floor_normal.cross(wall_normal); + if (floor_side != Vector3()) { + motion = floor_side * motion.dot(floor_side); + } + } + + // Stop all motion when a second wall is hit (unless sliding down or jumping), + // in order to avoid jittering in corner cases. + bool stop_all_motion = previous_state.wall && !vel_dir_facing_up; + + // Allow sliding when the body falls. + if (!collision_state.floor && motion.dot(up_direction) < 0) { + Vector3 slide_motion = motion.slide(wall_normal); + // Test again to allow sliding only if the result goes downwards. + // Fixes jittering issues at the bottom of inclined walls. + if (slide_motion.dot(up_direction) < 0) { + stop_all_motion = false; + motion = slide_motion; + } + } + + if (stop_all_motion) { + motion = Vector3(); + velocity = Vector3(); + } + } + } + + // Stop horizontal motion when under wall slide threshold. + if (p_was_on_floor && (wall_min_slide_angle > 0.0) && result_state.wall) { + Vector3 horizontal_normal = wall_normal.slide(up_direction).normalized(); + real_t motion_angle = Math::abs(Math::acos(-horizontal_normal.dot(motion_slide_up.normalized()))); + if (motion_angle < wall_min_slide_angle) { + motion = up_direction * motion.dot(up_direction); + velocity = up_direction * velocity.dot(up_direction); + + apply_default_sliding = false; + } + } + } + + if (apply_default_sliding) { + // Regular sliding, the last part of the test handle the case when you don't want to slide on the ceiling. + if ((sliding_enabled || !collision_state.floor) && (!collision_state.ceiling || slide_on_ceiling || !vel_dir_facing_up) && !apply_ceiling_velocity) { + const PhysicsServer3D::MotionCollision &collision = result.collisions[0]; + + Vector3 slide_motion = result.remainder.slide(collision.normal); + if (collision_state.floor && !collision_state.wall && !motion_slide_up.is_zero_approx()) { + // Slide using the intersection between the motion plane and the floor plane, + // in order to keep the direction intact. + real_t motion_length = slide_motion.length(); + slide_motion = up_direction.cross(result.remainder).cross(floor_normal); + + // Keep the length from default slide to change speed in slopes by default, + // when constant speed is not enabled. + slide_motion.normalize(); + slide_motion *= motion_length; + } + + if (slide_motion.dot(velocity) > 0.0) { + motion = slide_motion; + } else { + motion = Vector3(); + } + + if (slide_on_ceiling && result_state.ceiling) { + // Apply slide only in the direction of the input motion, otherwise just stop to avoid jittering when moving against a wall. + if (vel_dir_facing_up) { + velocity = velocity.slide(collision.normal); + } else { + // Avoid acceleration in slope when falling. + velocity = up_direction * up_direction.dot(velocity); + } + } + } + // No sliding on first attempt to keep floor motion stable when possible. + else { + motion = result.remainder; + if (result_state.ceiling && !slide_on_ceiling && vel_dir_facing_up) { + velocity = velocity.slide(up_direction); + motion = motion.slide(up_direction); + } + } + } + + total_travel += result.travel; + + // Apply Constant Speed. + if (p_was_on_floor && floor_constant_speed && can_apply_constant_speed && collision_state.floor && !motion.is_zero_approx()) { + Vector3 travel_slide_up = total_travel.slide(up_direction); + motion = motion.normalized() * MAX(0, (motion_slide_up.length() - travel_slide_up.length())); + } + } + // When you move forward in a downward slope you don’t collide because you will be in the air. + // This test ensures that constant speed is applied, only if the player is still on the ground after the snap is applied. + else if (floor_constant_speed && first_slide && _on_floor_if_snapped(p_was_on_floor, vel_dir_facing_up)) { + can_apply_constant_speed = false; + sliding_enabled = true; + Transform3D gt = get_global_transform(); + gt.origin = gt.origin - result.travel; + set_global_transform(gt); + + // Slide using the intersection between the motion plane and the floor plane, + // in order to keep the direction intact. + Vector3 motion_slide_norm = up_direction.cross(motion).cross(prev_floor_normal); + motion_slide_norm.normalize(); + + motion = motion_slide_norm * (motion_slide_up.length()); + collided = true; + } + + if (!collided || motion.is_zero_approx()) { + break; + } + + can_apply_constant_speed = !can_apply_constant_speed && !sliding_enabled; + sliding_enabled = true; + first_slide = false; + } + + _snap_on_floor(p_was_on_floor, vel_dir_facing_up); + + // Reset the gravity accumulation when touching the ground. + if (collision_state.floor && !vel_dir_facing_up) { + velocity = velocity.slide(up_direction); + } +} + +void CharacterBody3D::_move_and_slide_floating(double p_delta) { + Vector3 motion = velocity * p_delta; + + platform_rid = RID(); + platform_object_id = ObjectID(); + floor_normal = Vector3(); + platform_velocity = Vector3(); + platform_angular_velocity = Vector3(); + + bool first_slide = true; + for (int iteration = 0; iteration < max_slides; ++iteration) { + PhysicsServer3D::MotionParameters parameters(get_global_transform(), motion, margin); + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + + PhysicsServer3D::MotionResult result; + bool collided = move_and_collide(parameters, result, false, false); + + last_motion = result.travel; + + if (collided) { + motion_results.push_back(result); + + CollisionState result_state; + _set_collision_direction(result, result_state); + + if (result.remainder.is_zero_approx()) { + motion = Vector3(); + break; + } + + if (wall_min_slide_angle != 0 && Math::acos(wall_normal.dot(-velocity.normalized())) < wall_min_slide_angle + FLOOR_ANGLE_THRESHOLD) { + motion = Vector3(); + if (result.travel.length() < margin + CMP_EPSILON) { + Transform3D gt = get_global_transform(); + gt.origin -= result.travel; + set_global_transform(gt); + } + } else if (first_slide) { + Vector3 motion_slide_norm = result.remainder.slide(wall_normal).normalized(); + motion = motion_slide_norm * (motion.length() - result.travel.length()); + } else { + motion = result.remainder.slide(wall_normal); + } + + if (motion.dot(velocity) <= 0.0) { + motion = Vector3(); + } + } + + if (!collided || motion.is_zero_approx()) { + break; + } + + first_slide = false; + } +} + +void CharacterBody3D::apply_floor_snap() { + if (collision_state.floor) { + return; + } + + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); + + PhysicsServer3D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); + parameters.max_collisions = 4; + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + parameters.collide_separation_ray = true; + + PhysicsServer3D::MotionResult result; + if (move_and_collide(parameters, result, true, false)) { + CollisionState result_state; + // Apply direction for floor only. + _set_collision_direction(result, result_state, CollisionState(true, false, false)); + + if (result_state.floor) { + if (floor_stop_on_slope) { + // move and collide may stray the object a bit because of pre un-stucking, + // so only ensure that motion happens on floor direction in this case. + if (result.travel.length() > margin) { + result.travel = up_direction * up_direction.dot(result.travel); + } else { + result.travel = Vector3(); + } + } + + parameters.from.origin += result.travel; + set_global_transform(parameters.from); + } + } +} + +void CharacterBody3D::_snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up) { + if (collision_state.floor || !p_was_on_floor || p_vel_dir_facing_up) { + return; + } + + apply_floor_snap(); +} + +bool CharacterBody3D::_on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up) { + if (up_direction == Vector3() || collision_state.floor || !p_was_on_floor || p_vel_dir_facing_up) { + return false; + } + + // Snap by at least collision margin to keep floor state consistent. + real_t length = MAX(floor_snap_length, margin); + + PhysicsServer3D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); + parameters.max_collisions = 4; + parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. + parameters.collide_separation_ray = true; + + PhysicsServer3D::MotionResult result; + if (move_and_collide(parameters, result, true, false)) { + CollisionState result_state; + // Don't apply direction for any type. + _set_collision_direction(result, result_state, CollisionState()); + + return result_state.floor; + } + + return false; +} + +void CharacterBody3D::_set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state) { + r_state.state = 0; + + real_t wall_depth = -1.0; + real_t floor_depth = -1.0; + + bool was_on_wall = collision_state.wall; + Vector3 prev_wall_normal = wall_normal; + int wall_collision_count = 0; + Vector3 combined_wall_normal; + Vector3 tmp_wall_col; // Avoid duplicate on average calculation. + + for (int i = p_result.collision_count - 1; i >= 0; i--) { + const PhysicsServer3D::MotionCollision &collision = p_result.collisions[i]; + + if (motion_mode == MOTION_MODE_GROUNDED) { + // Check if any collision is floor. + real_t floor_angle = collision.get_angle(up_direction); + if (floor_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { + r_state.floor = true; + if (p_apply_state.floor && collision.depth > floor_depth) { + collision_state.floor = true; + floor_normal = collision.normal; + floor_depth = collision.depth; + _set_platform_data(collision); + } + continue; + } + + // Check if any collision is ceiling. + real_t ceiling_angle = collision.get_angle(-up_direction); + if (ceiling_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { + r_state.ceiling = true; + if (p_apply_state.ceiling) { + platform_ceiling_velocity = collision.collider_velocity; + ceiling_normal = collision.normal; + collision_state.ceiling = true; + } + continue; + } + } + + // Collision is wall by default. + r_state.wall = true; + + if (p_apply_state.wall && collision.depth > wall_depth) { + collision_state.wall = true; + wall_depth = collision.depth; + wall_normal = collision.normal; + + // Don't apply wall velocity when the collider is a CharacterBody3D. + if (Object::cast_to(ObjectDB::get_instance(collision.collider_id)) == nullptr) { + _set_platform_data(collision); + } + } + + // Collect normal for calculating average. + if (!collision.normal.is_equal_approx(tmp_wall_col)) { + tmp_wall_col = collision.normal; + combined_wall_normal += collision.normal; + wall_collision_count++; + } + } + + if (r_state.wall) { + if (wall_collision_count > 1 && !r_state.floor) { + // Check if wall normals cancel out to floor support. + if (!r_state.floor && motion_mode == MOTION_MODE_GROUNDED) { + combined_wall_normal.normalize(); + real_t floor_angle = Math::acos(combined_wall_normal.dot(up_direction)); + if (floor_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { + r_state.floor = true; + r_state.wall = false; + if (p_apply_state.floor) { + collision_state.floor = true; + floor_normal = combined_wall_normal; + } + if (p_apply_state.wall) { + collision_state.wall = was_on_wall; + wall_normal = prev_wall_normal; + } + return; + } + } + } + } +} + +void CharacterBody3D::_set_platform_data(const PhysicsServer3D::MotionCollision &p_collision) { + platform_rid = p_collision.collider; + platform_object_id = p_collision.collider_id; + platform_velocity = p_collision.collider_velocity; + platform_angular_velocity = p_collision.collider_angular_velocity; + platform_layer = PhysicsServer3D::get_singleton()->body_get_collision_layer(platform_rid); +} + +void CharacterBody3D::set_safe_margin(real_t p_margin) { + margin = p_margin; +} + +real_t CharacterBody3D::get_safe_margin() const { + return margin; +} + +const Vector3 &CharacterBody3D::get_velocity() const { + return velocity; +} + +void CharacterBody3D::set_velocity(const Vector3 &p_velocity) { + velocity = p_velocity; +} + +bool CharacterBody3D::is_on_floor() const { + return collision_state.floor; +} + +bool CharacterBody3D::is_on_floor_only() const { + return collision_state.floor && !collision_state.wall && !collision_state.ceiling; +} + +bool CharacterBody3D::is_on_wall() const { + return collision_state.wall; +} + +bool CharacterBody3D::is_on_wall_only() const { + return collision_state.wall && !collision_state.floor && !collision_state.ceiling; +} + +bool CharacterBody3D::is_on_ceiling() const { + return collision_state.ceiling; +} + +bool CharacterBody3D::is_on_ceiling_only() const { + return collision_state.ceiling && !collision_state.floor && !collision_state.wall; +} + +const Vector3 &CharacterBody3D::get_floor_normal() const { + return floor_normal; +} + +const Vector3 &CharacterBody3D::get_wall_normal() const { + return wall_normal; +} + +const Vector3 &CharacterBody3D::get_last_motion() const { + return last_motion; +} + +Vector3 CharacterBody3D::get_position_delta() const { + return get_global_transform().origin - previous_position; +} + +const Vector3 &CharacterBody3D::get_real_velocity() const { + return real_velocity; +} + +real_t CharacterBody3D::get_floor_angle(const Vector3 &p_up_direction) const { + ERR_FAIL_COND_V(p_up_direction == Vector3(), 0); + return Math::acos(floor_normal.dot(p_up_direction)); +} + +const Vector3 &CharacterBody3D::get_platform_velocity() const { + return platform_velocity; +} + +const Vector3 &CharacterBody3D::get_platform_angular_velocity() const { + return platform_angular_velocity; +} + +Vector3 CharacterBody3D::get_linear_velocity() const { + return get_real_velocity(); +} + +int CharacterBody3D::get_slide_collision_count() const { + return motion_results.size(); +} + +PhysicsServer3D::MotionResult CharacterBody3D::get_slide_collision(int p_bounce) const { + ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), PhysicsServer3D::MotionResult()); + return motion_results[p_bounce]; +} + +Ref CharacterBody3D::_get_slide_collision(int p_bounce) { + ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), Ref()); + if (p_bounce >= slide_colliders.size()) { + slide_colliders.resize(p_bounce + 1); + } + + // Create a new instance when the cached reference is invalid or still in use in script. + if (slide_colliders[p_bounce].is_null() || slide_colliders[p_bounce]->get_reference_count() > 1) { + slide_colliders.write[p_bounce].instantiate(); + slide_colliders.write[p_bounce]->owner = this; + } + + slide_colliders.write[p_bounce]->result = motion_results[p_bounce]; + return slide_colliders[p_bounce]; +} + +Ref CharacterBody3D::_get_last_slide_collision() { + if (motion_results.size() == 0) { + return Ref(); + } + return _get_slide_collision(motion_results.size() - 1); +} + +bool CharacterBody3D::is_floor_stop_on_slope_enabled() const { + return floor_stop_on_slope; +} + +void CharacterBody3D::set_floor_stop_on_slope_enabled(bool p_enabled) { + floor_stop_on_slope = p_enabled; +} + +bool CharacterBody3D::is_floor_constant_speed_enabled() const { + return floor_constant_speed; +} + +void CharacterBody3D::set_floor_constant_speed_enabled(bool p_enabled) { + floor_constant_speed = p_enabled; +} + +bool CharacterBody3D::is_floor_block_on_wall_enabled() const { + return floor_block_on_wall; +} + +void CharacterBody3D::set_floor_block_on_wall_enabled(bool p_enabled) { + floor_block_on_wall = p_enabled; +} + +bool CharacterBody3D::is_slide_on_ceiling_enabled() const { + return slide_on_ceiling; +} + +void CharacterBody3D::set_slide_on_ceiling_enabled(bool p_enabled) { + slide_on_ceiling = p_enabled; +} + +uint32_t CharacterBody3D::get_platform_floor_layers() const { + return platform_floor_layers; +} + +void CharacterBody3D::set_platform_floor_layers(uint32_t p_exclude_layers) { + platform_floor_layers = p_exclude_layers; +} + +uint32_t CharacterBody3D::get_platform_wall_layers() const { + return platform_wall_layers; +} + +void CharacterBody3D::set_platform_wall_layers(uint32_t p_exclude_layers) { + platform_wall_layers = p_exclude_layers; +} + +void CharacterBody3D::set_motion_mode(MotionMode p_mode) { + motion_mode = p_mode; +} + +CharacterBody3D::MotionMode CharacterBody3D::get_motion_mode() const { + return motion_mode; +} + +void CharacterBody3D::set_platform_on_leave(PlatformOnLeave p_on_leave_apply_velocity) { + platform_on_leave = p_on_leave_apply_velocity; +} + +CharacterBody3D::PlatformOnLeave CharacterBody3D::get_platform_on_leave() const { + return platform_on_leave; +} + +int CharacterBody3D::get_max_slides() const { + return max_slides; +} + +void CharacterBody3D::set_max_slides(int p_max_slides) { + ERR_FAIL_COND(p_max_slides < 1); + max_slides = p_max_slides; +} + +real_t CharacterBody3D::get_floor_max_angle() const { + return floor_max_angle; +} + +void CharacterBody3D::set_floor_max_angle(real_t p_radians) { + floor_max_angle = p_radians; +} + +real_t CharacterBody3D::get_floor_snap_length() { + return floor_snap_length; +} + +void CharacterBody3D::set_floor_snap_length(real_t p_floor_snap_length) { + ERR_FAIL_COND(p_floor_snap_length < 0); + floor_snap_length = p_floor_snap_length; +} + +real_t CharacterBody3D::get_wall_min_slide_angle() const { + return wall_min_slide_angle; +} + +void CharacterBody3D::set_wall_min_slide_angle(real_t p_radians) { + wall_min_slide_angle = p_radians; +} + +const Vector3 &CharacterBody3D::get_up_direction() const { + return up_direction; +} + +void CharacterBody3D::set_up_direction(const Vector3 &p_up_direction) { + ERR_FAIL_COND_MSG(p_up_direction == Vector3(), "up_direction can't be equal to Vector3.ZERO, consider using Floating motion mode instead."); + up_direction = p_up_direction.normalized(); +} + +void CharacterBody3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + // Reset move_and_slide() data. + collision_state.state = 0; + platform_rid = RID(); + platform_object_id = ObjectID(); + motion_results.clear(); + platform_velocity = Vector3(); + platform_angular_velocity = Vector3(); + } break; + } +} + +void CharacterBody3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody3D::move_and_slide); + ClassDB::bind_method(D_METHOD("apply_floor_snap"), &CharacterBody3D::apply_floor_snap); + + ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &CharacterBody3D::set_velocity); + ClassDB::bind_method(D_METHOD("get_velocity"), &CharacterBody3D::get_velocity); + + ClassDB::bind_method(D_METHOD("set_safe_margin", "margin"), &CharacterBody3D::set_safe_margin); + ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody3D::get_safe_margin); + ClassDB::bind_method(D_METHOD("is_floor_stop_on_slope_enabled"), &CharacterBody3D::is_floor_stop_on_slope_enabled); + ClassDB::bind_method(D_METHOD("set_floor_stop_on_slope_enabled", "enabled"), &CharacterBody3D::set_floor_stop_on_slope_enabled); + ClassDB::bind_method(D_METHOD("set_floor_constant_speed_enabled", "enabled"), &CharacterBody3D::set_floor_constant_speed_enabled); + ClassDB::bind_method(D_METHOD("is_floor_constant_speed_enabled"), &CharacterBody3D::is_floor_constant_speed_enabled); + ClassDB::bind_method(D_METHOD("set_floor_block_on_wall_enabled", "enabled"), &CharacterBody3D::set_floor_block_on_wall_enabled); + ClassDB::bind_method(D_METHOD("is_floor_block_on_wall_enabled"), &CharacterBody3D::is_floor_block_on_wall_enabled); + ClassDB::bind_method(D_METHOD("set_slide_on_ceiling_enabled", "enabled"), &CharacterBody3D::set_slide_on_ceiling_enabled); + ClassDB::bind_method(D_METHOD("is_slide_on_ceiling_enabled"), &CharacterBody3D::is_slide_on_ceiling_enabled); + + ClassDB::bind_method(D_METHOD("set_platform_floor_layers", "exclude_layer"), &CharacterBody3D::set_platform_floor_layers); + ClassDB::bind_method(D_METHOD("get_platform_floor_layers"), &CharacterBody3D::get_platform_floor_layers); + ClassDB::bind_method(D_METHOD("set_platform_wall_layers", "exclude_layer"), &CharacterBody3D::set_platform_wall_layers); + ClassDB::bind_method(D_METHOD("get_platform_wall_layers"), &CharacterBody3D::get_platform_wall_layers); + + ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody3D::get_max_slides); + ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody3D::set_max_slides); + ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody3D::get_floor_max_angle); + ClassDB::bind_method(D_METHOD("set_floor_max_angle", "radians"), &CharacterBody3D::set_floor_max_angle); + ClassDB::bind_method(D_METHOD("get_floor_snap_length"), &CharacterBody3D::get_floor_snap_length); + ClassDB::bind_method(D_METHOD("set_floor_snap_length", "floor_snap_length"), &CharacterBody3D::set_floor_snap_length); + ClassDB::bind_method(D_METHOD("get_wall_min_slide_angle"), &CharacterBody3D::get_wall_min_slide_angle); + ClassDB::bind_method(D_METHOD("set_wall_min_slide_angle", "radians"), &CharacterBody3D::set_wall_min_slide_angle); + ClassDB::bind_method(D_METHOD("get_up_direction"), &CharacterBody3D::get_up_direction); + ClassDB::bind_method(D_METHOD("set_up_direction", "up_direction"), &CharacterBody3D::set_up_direction); + ClassDB::bind_method(D_METHOD("set_motion_mode", "mode"), &CharacterBody3D::set_motion_mode); + ClassDB::bind_method(D_METHOD("get_motion_mode"), &CharacterBody3D::get_motion_mode); + ClassDB::bind_method(D_METHOD("set_platform_on_leave", "on_leave_apply_velocity"), &CharacterBody3D::set_platform_on_leave); + ClassDB::bind_method(D_METHOD("get_platform_on_leave"), &CharacterBody3D::get_platform_on_leave); + + ClassDB::bind_method(D_METHOD("is_on_floor"), &CharacterBody3D::is_on_floor); + ClassDB::bind_method(D_METHOD("is_on_floor_only"), &CharacterBody3D::is_on_floor_only); + ClassDB::bind_method(D_METHOD("is_on_ceiling"), &CharacterBody3D::is_on_ceiling); + ClassDB::bind_method(D_METHOD("is_on_ceiling_only"), &CharacterBody3D::is_on_ceiling_only); + ClassDB::bind_method(D_METHOD("is_on_wall"), &CharacterBody3D::is_on_wall); + ClassDB::bind_method(D_METHOD("is_on_wall_only"), &CharacterBody3D::is_on_wall_only); + ClassDB::bind_method(D_METHOD("get_floor_normal"), &CharacterBody3D::get_floor_normal); + ClassDB::bind_method(D_METHOD("get_wall_normal"), &CharacterBody3D::get_wall_normal); + ClassDB::bind_method(D_METHOD("get_last_motion"), &CharacterBody3D::get_last_motion); + ClassDB::bind_method(D_METHOD("get_position_delta"), &CharacterBody3D::get_position_delta); + ClassDB::bind_method(D_METHOD("get_real_velocity"), &CharacterBody3D::get_real_velocity); + ClassDB::bind_method(D_METHOD("get_floor_angle", "up_direction"), &CharacterBody3D::get_floor_angle, DEFVAL(Vector3(0.0, 1.0, 0.0))); + ClassDB::bind_method(D_METHOD("get_platform_velocity"), &CharacterBody3D::get_platform_velocity); + ClassDB::bind_method(D_METHOD("get_platform_angular_velocity"), &CharacterBody3D::get_platform_angular_velocity); + ClassDB::bind_method(D_METHOD("get_slide_collision_count"), &CharacterBody3D::get_slide_collision_count); + ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &CharacterBody3D::_get_slide_collision); + ClassDB::bind_method(D_METHOD("get_last_slide_collision"), &CharacterBody3D::_get_last_slide_collision); + + ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_mode", PROPERTY_HINT_ENUM, "Grounded,Floating", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_motion_mode", "get_motion_mode"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_direction"), "set_up_direction", "get_up_direction"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slide_on_ceiling"), "set_slide_on_ceiling_enabled", "is_slide_on_ceiling_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "suffix:m/s", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_max_slides", "get_max_slides"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wall_min_slide_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians_as_degrees", PROPERTY_USAGE_DEFAULT), "set_wall_min_slide_angle", "get_wall_min_slide_angle"); + + ADD_GROUP("Floor", "floor_"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_stop_on_slope"), "set_floor_stop_on_slope_enabled", "is_floor_stop_on_slope_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_constant_speed"), "set_floor_constant_speed_enabled", "is_floor_constant_speed_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_block_on_wall"), "set_floor_block_on_wall_enabled", "is_floor_block_on_wall_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians_as_degrees"), "set_floor_max_angle", "get_floor_max_angle"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_snap_length", PROPERTY_HINT_RANGE, "0,1,0.01,or_greater,suffix:m"), "set_floor_snap_length", "get_floor_snap_length"); + + ADD_GROUP("Moving Platform", "platform_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_on_leave", PROPERTY_HINT_ENUM, "Add Velocity,Add Upward Velocity,Do Nothing", PROPERTY_USAGE_DEFAULT), "set_platform_on_leave", "get_platform_on_leave"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_floor_layers", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_platform_floor_layers", "get_platform_floor_layers"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_wall_layers", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_platform_wall_layers", "get_platform_wall_layers"); + + ADD_GROUP("Collision", ""); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001,suffix:m"), "set_safe_margin", "get_safe_margin"); + + BIND_ENUM_CONSTANT(MOTION_MODE_GROUNDED); + BIND_ENUM_CONSTANT(MOTION_MODE_FLOATING); + + BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_ADD_VELOCITY); + BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY); + BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_DO_NOTHING); +} + +void CharacterBody3D::_validate_property(PropertyInfo &p_property) const { + if (motion_mode == MOTION_MODE_FLOATING) { + if (p_property.name.begins_with("floor_") || p_property.name == "up_direction" || p_property.name == "slide_on_ceiling") { + p_property.usage = PROPERTY_USAGE_NO_EDITOR; + } + } +} + +CharacterBody3D::CharacterBody3D() : + PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) { +} + +CharacterBody3D::~CharacterBody3D() { + for (int i = 0; i < slide_colliders.size(); i++) { + if (slide_colliders[i].is_valid()) { + slide_colliders.write[i]->owner = nullptr; + } + } +} diff --git a/scene/3d/physics/character_body_3d.h b/scene/3d/physics/character_body_3d.h new file mode 100644 index 00000000000..cffc0f8e63c --- /dev/null +++ b/scene/3d/physics/character_body_3d.h @@ -0,0 +1,190 @@ +/**************************************************************************/ +/* character_body_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef CHARACTER_BODY_3D_H +#define CHARACTER_BODY_3D_H + +#include "scene/3d/physics/kinematic_collision_3d.h" +#include "scene/3d/physics/physics_body_3d.h" + +class CharacterBody3D : public PhysicsBody3D { + GDCLASS(CharacterBody3D, PhysicsBody3D); + +public: + enum MotionMode { + MOTION_MODE_GROUNDED, + MOTION_MODE_FLOATING, + }; + enum PlatformOnLeave { + PLATFORM_ON_LEAVE_ADD_VELOCITY, + PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY, + PLATFORM_ON_LEAVE_DO_NOTHING, + }; + bool move_and_slide(); + void apply_floor_snap(); + + const Vector3 &get_velocity() const; + void set_velocity(const Vector3 &p_velocity); + + bool is_on_floor() const; + bool is_on_floor_only() const; + bool is_on_wall() const; + bool is_on_wall_only() const; + bool is_on_ceiling() const; + bool is_on_ceiling_only() const; + const Vector3 &get_last_motion() const; + Vector3 get_position_delta() const; + const Vector3 &get_floor_normal() const; + const Vector3 &get_wall_normal() const; + const Vector3 &get_real_velocity() const; + real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; + const Vector3 &get_platform_velocity() const; + const Vector3 &get_platform_angular_velocity() const; + + virtual Vector3 get_linear_velocity() const override; + + int get_slide_collision_count() const; + PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const; + + void set_safe_margin(real_t p_margin); + real_t get_safe_margin() const; + + bool is_floor_stop_on_slope_enabled() const; + void set_floor_stop_on_slope_enabled(bool p_enabled); + + bool is_floor_constant_speed_enabled() const; + void set_floor_constant_speed_enabled(bool p_enabled); + + bool is_floor_block_on_wall_enabled() const; + void set_floor_block_on_wall_enabled(bool p_enabled); + + bool is_slide_on_ceiling_enabled() const; + void set_slide_on_ceiling_enabled(bool p_enabled); + + int get_max_slides() const; + void set_max_slides(int p_max_slides); + + real_t get_floor_max_angle() const; + void set_floor_max_angle(real_t p_radians); + + real_t get_floor_snap_length(); + void set_floor_snap_length(real_t p_floor_snap_length); + + real_t get_wall_min_slide_angle() const; + void set_wall_min_slide_angle(real_t p_radians); + + uint32_t get_platform_floor_layers() const; + void set_platform_floor_layers(const uint32_t p_exclude_layer); + + uint32_t get_platform_wall_layers() const; + void set_platform_wall_layers(const uint32_t p_exclude_layer); + + void set_motion_mode(MotionMode p_mode); + MotionMode get_motion_mode() const; + + void set_platform_on_leave(PlatformOnLeave p_on_leave_velocity); + PlatformOnLeave get_platform_on_leave() const; + + CharacterBody3D(); + ~CharacterBody3D(); + +private: + real_t margin = 0.001; + MotionMode motion_mode = MOTION_MODE_GROUNDED; + PlatformOnLeave platform_on_leave = PLATFORM_ON_LEAVE_ADD_VELOCITY; + union CollisionState { + uint32_t state = 0; + struct { + bool floor; + bool wall; + bool ceiling; + }; + + CollisionState() { + } + + CollisionState(bool p_floor, bool p_wall, bool p_ceiling) { + floor = p_floor; + wall = p_wall; + ceiling = p_ceiling; + } + }; + + CollisionState collision_state; + bool floor_constant_speed = false; + bool floor_stop_on_slope = true; + bool floor_block_on_wall = true; + bool slide_on_ceiling = true; + int max_slides = 6; + int platform_layer = 0; + RID platform_rid; + ObjectID platform_object_id; + uint32_t platform_floor_layers = UINT32_MAX; + uint32_t platform_wall_layers = 0; + real_t floor_snap_length = 0.1; + real_t floor_max_angle = Math::deg_to_rad((real_t)45.0); + real_t wall_min_slide_angle = Math::deg_to_rad((real_t)15.0); + Vector3 up_direction = Vector3(0.0, 1.0, 0.0); + Vector3 velocity; + Vector3 floor_normal; + Vector3 wall_normal; + Vector3 ceiling_normal; + Vector3 last_motion; + Vector3 platform_velocity; + Vector3 platform_angular_velocity; + Vector3 platform_ceiling_velocity; + Vector3 previous_position; + Vector3 real_velocity; + + Vector motion_results; + Vector> slide_colliders; + + void _move_and_slide_floating(double p_delta); + void _move_and_slide_grounded(double p_delta, bool p_was_on_floor); + + Ref _get_slide_collision(int p_bounce); + Ref _get_last_slide_collision(); + const Vector3 &get_up_direction() const; + bool _on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up); + void set_up_direction(const Vector3 &p_up_direction); + void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state = CollisionState(true, true, true)); + void _set_platform_data(const PhysicsServer3D::MotionCollision &p_collision); + void _snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up); + +protected: + void _notification(int p_what); + static void _bind_methods(); + void _validate_property(PropertyInfo &p_property) const; +}; + +VARIANT_ENUM_CAST(CharacterBody3D::MotionMode); +VARIANT_ENUM_CAST(CharacterBody3D::PlatformOnLeave); + +#endif // CHARACTER_BODY_3D_H diff --git a/scene/3d/collision_object_3d.cpp b/scene/3d/physics/collision_object_3d.cpp similarity index 100% rename from scene/3d/collision_object_3d.cpp rename to scene/3d/physics/collision_object_3d.cpp diff --git a/scene/3d/collision_object_3d.h b/scene/3d/physics/collision_object_3d.h similarity index 100% rename from scene/3d/collision_object_3d.h rename to scene/3d/physics/collision_object_3d.h diff --git a/scene/3d/collision_polygon_3d.cpp b/scene/3d/physics/collision_polygon_3d.cpp similarity index 99% rename from scene/3d/collision_polygon_3d.cpp rename to scene/3d/physics/collision_polygon_3d.cpp index abde05778d7..76cd4db7790 100644 --- a/scene/3d/collision_polygon_3d.cpp +++ b/scene/3d/physics/collision_polygon_3d.cpp @@ -30,8 +30,8 @@ #include "collision_polygon_3d.h" -#include "collision_object_3d.h" #include "core/math/geometry_2d.h" +#include "scene/3d/physics/collision_object_3d.h" #include "scene/resources/3d/convex_polygon_shape_3d.h" void CollisionPolygon3D::_build_polygon() { diff --git a/scene/3d/collision_polygon_3d.h b/scene/3d/physics/collision_polygon_3d.h similarity index 100% rename from scene/3d/collision_polygon_3d.h rename to scene/3d/physics/collision_polygon_3d.h diff --git a/scene/3d/collision_shape_3d.cpp b/scene/3d/physics/collision_shape_3d.cpp similarity index 97% rename from scene/3d/collision_shape_3d.cpp rename to scene/3d/physics/collision_shape_3d.cpp index 08fc62ae4fd..f3492a3cf3f 100644 --- a/scene/3d/collision_shape_3d.cpp +++ b/scene/3d/physics/collision_shape_3d.cpp @@ -30,12 +30,13 @@ #include "collision_shape_3d.h" -#include "mesh_instance_3d.h" -#include "physics_body_3d.h" +#include "scene/3d/mesh_instance_3d.h" +#include "scene/3d/physics/character_body_3d.h" +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/physics/vehicle_body_3d.h" #include "scene/resources/3d/concave_polygon_shape_3d.h" #include "scene/resources/3d/convex_polygon_shape_3d.h" #include "scene/resources/3d/world_boundary_shape_3d.h" -#include "vehicle_body_3d.h" void CollisionShape3D::make_convex_from_siblings() { Node *p = get_parent(); diff --git a/scene/3d/collision_shape_3d.h b/scene/3d/physics/collision_shape_3d.h similarity index 100% rename from scene/3d/collision_shape_3d.h rename to scene/3d/physics/collision_shape_3d.h diff --git a/scene/3d/physics/joints/SCsub b/scene/3d/physics/joints/SCsub new file mode 100644 index 00000000000..fc61250247d --- /dev/null +++ b/scene/3d/physics/joints/SCsub @@ -0,0 +1,5 @@ +#!/usr/bin/env python + +Import("env") + +env.add_source_files(env.scene_sources, "*.cpp") diff --git a/scene/3d/physics/joints/cone_twist_joint_3d.cpp b/scene/3d/physics/joints/cone_twist_joint_3d.cpp new file mode 100644 index 00000000000..404c0749116 --- /dev/null +++ b/scene/3d/physics/joints/cone_twist_joint_3d.cpp @@ -0,0 +1,97 @@ +/**************************************************************************/ +/* cone_twist_joint_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "cone_twist_joint_3d.h" + +#include "scene/scene_string_names.h" + +void ConeTwistJoint3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &ConeTwistJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &ConeTwistJoint3D::get_param); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "swing_span", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_SWING_SPAN); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_TWIST_SPAN); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_RELAXATION); + + BIND_ENUM_CONSTANT(PARAM_SWING_SPAN); + BIND_ENUM_CONSTANT(PARAM_TWIST_SPAN); + BIND_ENUM_CONSTANT(PARAM_BIAS); + BIND_ENUM_CONSTANT(PARAM_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_RELAXATION); + BIND_ENUM_CONSTANT(PARAM_MAX); +} + +void ConeTwistJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(get_rid(), PhysicsServer3D::ConeTwistJointParam(p_param), p_value); + } + + update_gizmos(); +} + +real_t ConeTwistJoint3D::get_param(Param p_param) const { + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +void ConeTwistJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Transform3D gt = get_global_transform(); + + Transform3D ainv = body_a->get_global_transform().affine_inverse(); + + Transform3D local_a = ainv * gt; + local_a.orthonormalize(); + Transform3D local_b = gt; + + if (body_b) { + Transform3D binv = body_b->get_global_transform().affine_inverse(); + local_b = binv * gt; + } + + local_b.orthonormalize(); + + PhysicsServer3D::get_singleton()->joint_make_cone_twist(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); + for (int i = 0; i < PARAM_MAX; i++) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(p_joint, PhysicsServer3D::ConeTwistJointParam(i), params[i]); + } +} + +ConeTwistJoint3D::ConeTwistJoint3D() { + params[PARAM_SWING_SPAN] = Math_PI * 0.25; + params[PARAM_TWIST_SPAN] = Math_PI; + params[PARAM_BIAS] = 0.3; + params[PARAM_SOFTNESS] = 0.8; + params[PARAM_RELAXATION] = 1.0; +} diff --git a/scene/3d/physics/joints/cone_twist_joint_3d.h b/scene/3d/physics/joints/cone_twist_joint_3d.h new file mode 100644 index 00000000000..a24c8053908 --- /dev/null +++ b/scene/3d/physics/joints/cone_twist_joint_3d.h @@ -0,0 +1,63 @@ +/**************************************************************************/ +/* cone_twist_joint_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef CONE_TWIST_JOINT_3D_H +#define CONE_TWIST_JOINT_3D_H + +#include "scene/3d/physics/joints/joint_3d.h" + +class ConeTwistJoint3D : public Joint3D { + GDCLASS(ConeTwistJoint3D, Joint3D); + +public: + enum Param { + PARAM_SWING_SPAN, + PARAM_TWIST_SPAN, + PARAM_BIAS, + PARAM_SOFTNESS, + PARAM_RELAXATION, + PARAM_MAX + }; + +protected: + real_t params[PARAM_MAX]; + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param(Param p_param, real_t p_value); + real_t get_param(Param p_param) const; + + ConeTwistJoint3D(); +}; + +VARIANT_ENUM_CAST(ConeTwistJoint3D::Param); + +#endif // CONE_TWIST_JOINT_3D_H diff --git a/scene/3d/joint_3d.cpp b/scene/3d/physics/joints/generic_6dof_joint_3d.cpp similarity index 54% rename from scene/3d/joint_3d.cpp rename to scene/3d/physics/joints/generic_6dof_joint_3d.cpp index 1e4e50182ce..9f440b65cc3 100644 --- a/scene/3d/joint_3d.cpp +++ b/scene/3d/physics/joints/generic_6dof_joint_3d.cpp @@ -1,5 +1,5 @@ /**************************************************************************/ -/* joint_3d.cpp */ +/* generic_6dof_joint_3d.cpp */ /**************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,562 +28,7 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /**************************************************************************/ -#include "joint_3d.h" - -#include "scene/scene_string_names.h" - -void Joint3D::_disconnect_signals() { - Node *node_a = get_node_or_null(a); - PhysicsBody3D *body_a = Object::cast_to(node_a); - if (body_a) { - body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); - } - - Node *node_b = get_node_or_null(b); - PhysicsBody3D *body_b = Object::cast_to(node_b); - if (body_b) { - body_b->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); - } -} - -void Joint3D::_body_exit_tree() { - _disconnect_signals(); - _update_joint(true); - update_configuration_warnings(); -} - -void Joint3D::_update_joint(bool p_only_free) { - if (ba.is_valid() && bb.is_valid()) { - PhysicsServer3D::get_singleton()->body_remove_collision_exception(ba, bb); - PhysicsServer3D::get_singleton()->body_remove_collision_exception(bb, ba); - } - - ba = RID(); - bb = RID(); - - configured = false; - - if (p_only_free || !is_inside_tree()) { - PhysicsServer3D::get_singleton()->joint_clear(joint); - warning = String(); - return; - } - - Node *node_a = get_node_or_null(a); - Node *node_b = get_node_or_null(b); - - PhysicsBody3D *body_a = Object::cast_to(node_a); - PhysicsBody3D *body_b = Object::cast_to(node_b); - - if (node_a && !body_a && node_b && !body_b) { - warning = RTR("Node A and Node B must be PhysicsBody3Ds"); - } else if (node_a && !body_a) { - warning = RTR("Node A must be a PhysicsBody3D"); - } else if (node_b && !body_b) { - warning = RTR("Node B must be a PhysicsBody3D"); - } else if (!body_a && !body_b) { - warning = RTR("Joint is not connected to any PhysicsBody3Ds"); - } else if (body_a == body_b) { - warning = RTR("Node A and Node B must be different PhysicsBody3Ds"); - } else { - warning = String(); - } - - update_configuration_warnings(); - - if (!warning.is_empty()) { - PhysicsServer3D::get_singleton()->joint_clear(joint); - return; - } - - configured = true; - - if (body_a) { - _configure_joint(joint, body_a, body_b); - } else if (body_b) { - _configure_joint(joint, body_b, nullptr); - } - - PhysicsServer3D::get_singleton()->joint_set_solver_priority(joint, solver_priority); - - if (body_a) { - ba = body_a->get_rid(); - body_a->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); - } - - if (body_b) { - bb = body_b->get_rid(); - body_b->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); - } - - PhysicsServer3D::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); -} - -void Joint3D::set_node_a(const NodePath &p_node_a) { - if (a == p_node_a) { - return; - } - - if (is_configured()) { - _disconnect_signals(); - } - - a = p_node_a; - _update_joint(); -} - -NodePath Joint3D::get_node_a() const { - return a; -} - -void Joint3D::set_node_b(const NodePath &p_node_b) { - if (b == p_node_b) { - return; - } - - if (is_configured()) { - _disconnect_signals(); - } - - b = p_node_b; - _update_joint(); -} - -NodePath Joint3D::get_node_b() const { - return b; -} - -void Joint3D::set_solver_priority(int p_priority) { - solver_priority = p_priority; - if (joint.is_valid()) { - PhysicsServer3D::get_singleton()->joint_set_solver_priority(joint, solver_priority); - } -} - -int Joint3D::get_solver_priority() const { - return solver_priority; -} - -void Joint3D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_POST_ENTER_TREE: { - if (is_configured()) { - _disconnect_signals(); - } - _update_joint(); - } break; - - case NOTIFICATION_EXIT_TREE: { - if (is_configured()) { - _disconnect_signals(); - } - _update_joint(true); - } break; - } -} - -void Joint3D::set_exclude_nodes_from_collision(bool p_enable) { - if (exclude_from_collision == p_enable) { - return; - } - if (is_configured()) { - _disconnect_signals(); - } - _update_joint(true); - exclude_from_collision = p_enable; - _update_joint(); -} - -bool Joint3D::get_exclude_nodes_from_collision() const { - return exclude_from_collision; -} - -PackedStringArray Joint3D::get_configuration_warnings() const { - PackedStringArray warnings = Node3D::get_configuration_warnings(); - - if (!warning.is_empty()) { - warnings.push_back(warning); - } - - return warnings; -} - -void Joint3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint3D::set_node_a); - ClassDB::bind_method(D_METHOD("get_node_a"), &Joint3D::get_node_a); - - ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint3D::set_node_b); - ClassDB::bind_method(D_METHOD("get_node_b"), &Joint3D::get_node_b); - - ClassDB::bind_method(D_METHOD("set_solver_priority", "priority"), &Joint3D::set_solver_priority); - ClassDB::bind_method(D_METHOD("get_solver_priority"), &Joint3D::get_solver_priority); - - ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint3D::set_exclude_nodes_from_collision); - ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint3D::get_exclude_nodes_from_collision); - - ClassDB::bind_method(D_METHOD("get_rid"), &Joint3D::get_rid); - - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody3D"), "set_node_a", "get_node_a"); - ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody3D"), "set_node_b", "get_node_b"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "solver_priority", PROPERTY_HINT_RANGE, "1,8,1"), "set_solver_priority", "get_solver_priority"); - - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "exclude_nodes_from_collision"), "set_exclude_nodes_from_collision", "get_exclude_nodes_from_collision"); -} - -Joint3D::Joint3D() { - set_notify_transform(true); - joint = PhysicsServer3D::get_singleton()->joint_create(); -} - -Joint3D::~Joint3D() { - ERR_FAIL_NULL(PhysicsServer3D::get_singleton()); - PhysicsServer3D::get_singleton()->free(joint); -} - -/////////////////////////////////// - -void PinJoint3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &PinJoint3D::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &PinJoint3D::get_param); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"), "set_param", "get_param", PARAM_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01"), "set_param", "get_param", PARAM_IMPULSE_CLAMP); - - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_DAMPING); - BIND_ENUM_CONSTANT(PARAM_IMPULSE_CLAMP); -} - -void PinJoint3D::set_param(Param p_param, real_t p_value) { - ERR_FAIL_INDEX(p_param, 3); - params[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer3D::PinJointParam(p_param), p_value); - } -} - -real_t PinJoint3D::get_param(Param p_param) const { - ERR_FAIL_INDEX_V(p_param, 3, 0); - return params[p_param]; -} - -void PinJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { - Vector3 pinpos = get_global_transform().origin; - Vector3 local_a = body_a->to_local(pinpos); - Vector3 local_b; - - if (body_b) { - local_b = body_b->to_local(pinpos); - } else { - local_b = pinpos; - } - - PhysicsServer3D::get_singleton()->joint_make_pin(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < 3; i++) { - PhysicsServer3D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer3D::PinJointParam(i), params[i]); - } -} - -PinJoint3D::PinJoint3D() { - params[PARAM_BIAS] = 0.3; - params[PARAM_DAMPING] = 1; - params[PARAM_IMPULSE_CLAMP] = 0; -} - -///////////////////////////////////////////////// - -/////////////////////////////////// - -void HingeJoint3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &HingeJoint3D::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &HingeJoint3D::get_param); - - ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint3D::set_flag); - ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint3D::get_flag); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.00,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), "set_flag", "get_flag", FLAG_USE_LIMIT); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_LIMIT_UPPER); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_LIMIT_LOWER); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_RELAXATION); - - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), "set_flag", "get_flag", FLAG_ENABLE_MOTOR); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/target_velocity", PROPERTY_HINT_RANGE, U"-200,200,0.01,or_greater,or_less,radians_as_degrees,suffix:\u00B0/s"), "set_param", "get_param", PARAM_MOTOR_TARGET_VELOCITY); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/max_impulse", PROPERTY_HINT_RANGE, "0.01,1024,0.01"), "set_param", "get_param", PARAM_MOTOR_MAX_IMPULSE); - - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_LIMIT_BIAS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LIMIT_RELAXATION); - BIND_ENUM_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY); - BIND_ENUM_CONSTANT(PARAM_MOTOR_MAX_IMPULSE); - BIND_ENUM_CONSTANT(PARAM_MAX); - - BIND_ENUM_CONSTANT(FLAG_USE_LIMIT); - BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); - BIND_ENUM_CONSTANT(FLAG_MAX); -} - -void HingeJoint3D::set_param(Param p_param, real_t p_value) { - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->hinge_joint_set_param(get_rid(), PhysicsServer3D::HingeJointParam(p_param), p_value); - } - - update_gizmos(); -} - -real_t HingeJoint3D::get_param(Param p_param) const { - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params[p_param]; -} - -void HingeJoint3D::set_flag(Flag p_flag, bool p_value) { - ERR_FAIL_INDEX(p_flag, FLAG_MAX); - flags[p_flag] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->hinge_joint_set_flag(get_rid(), PhysicsServer3D::HingeJointFlag(p_flag), p_value); - } - - update_gizmos(); -} - -bool HingeJoint3D::get_flag(Flag p_flag) const { - ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); - return flags[p_flag]; -} - -void HingeJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { - Transform3D gt = get_global_transform(); - Transform3D ainv = body_a->get_global_transform().affine_inverse(); - - Transform3D local_a = ainv * gt; - local_a.orthonormalize(); - Transform3D local_b = gt; - - if (body_b) { - Transform3D binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - PhysicsServer3D::get_singleton()->joint_make_hinge(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < PARAM_MAX; i++) { - PhysicsServer3D::get_singleton()->hinge_joint_set_param(p_joint, PhysicsServer3D::HingeJointParam(i), params[i]); - } - for (int i = 0; i < FLAG_MAX; i++) { - set_flag(Flag(i), flags[i]); - PhysicsServer3D::get_singleton()->hinge_joint_set_flag(p_joint, PhysicsServer3D::HingeJointFlag(i), flags[i]); - } -} - -HingeJoint3D::HingeJoint3D() { - params[PARAM_BIAS] = 0.3; - params[PARAM_LIMIT_UPPER] = Math_PI * 0.5; - params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5; - params[PARAM_LIMIT_BIAS] = 0.3; - params[PARAM_LIMIT_SOFTNESS] = 0.9; - params[PARAM_LIMIT_RELAXATION] = 1.0; - params[PARAM_MOTOR_TARGET_VELOCITY] = 1; - params[PARAM_MOTOR_MAX_IMPULSE] = 1; - - flags[FLAG_USE_LIMIT] = false; - flags[FLAG_ENABLE_MOTOR] = false; -} - -///////////////////////////////////////////////// - -void SliderJoint3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &SliderJoint3D::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &SliderJoint3D::get_param); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/upper_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01,suffix:m"), "set_param", "get_param", PARAM_LINEAR_LIMIT_UPPER); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/lower_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01,suffix:m"), "set_param", "get_param", PARAM_LINEAR_LIMIT_LOWER); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_DAMPING); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_UPPER); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_LOWER); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_DAMPING); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_DAMPING); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_DAMPING); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_UPPER); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_LOWER); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_DAMPING); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); - BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_DAMPING); - - BIND_ENUM_CONSTANT(PARAM_MAX); -} - -void SliderJoint3D::set_param(Param p_param, real_t p_value) { - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(get_rid(), PhysicsServer3D::SliderJointParam(p_param), p_value); - } - update_gizmos(); -} - -real_t SliderJoint3D::get_param(Param p_param) const { - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params[p_param]; -} - -void SliderJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { - Transform3D gt = get_global_transform(); - Transform3D ainv = body_a->get_global_transform().affine_inverse(); - - Transform3D local_a = ainv * gt; - local_a.orthonormalize(); - Transform3D local_b = gt; - - if (body_b) { - Transform3D binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - PhysicsServer3D::get_singleton()->joint_make_slider(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < PARAM_MAX; i++) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(p_joint, PhysicsServer3D::SliderJointParam(i), params[i]); - } -} - -SliderJoint3D::SliderJoint3D() { - params[PARAM_LINEAR_LIMIT_UPPER] = 1.0; - params[PARAM_LINEAR_LIMIT_LOWER] = -1.0; - params[PARAM_LINEAR_LIMIT_SOFTNESS] = 1.0; - params[PARAM_LINEAR_LIMIT_RESTITUTION] = 0.7; - params[PARAM_LINEAR_LIMIT_DAMPING] = 1.0; - params[PARAM_LINEAR_MOTION_SOFTNESS] = 1.0; - params[PARAM_LINEAR_MOTION_RESTITUTION] = 0.7; - params[PARAM_LINEAR_MOTION_DAMPING] = 0; //1.0; - params[PARAM_LINEAR_ORTHOGONAL_SOFTNESS] = 1.0; - params[PARAM_LINEAR_ORTHOGONAL_RESTITUTION] = 0.7; - params[PARAM_LINEAR_ORTHOGONAL_DAMPING] = 1.0; - - params[PARAM_ANGULAR_LIMIT_UPPER] = 0; - params[PARAM_ANGULAR_LIMIT_LOWER] = 0; - params[PARAM_ANGULAR_LIMIT_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_LIMIT_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_LIMIT_DAMPING] = 0; //1.0; - params[PARAM_ANGULAR_MOTION_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_MOTION_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_MOTION_DAMPING] = 1.0; - params[PARAM_ANGULAR_ORTHOGONAL_SOFTNESS] = 1.0; - params[PARAM_ANGULAR_ORTHOGONAL_RESTITUTION] = 0.7; - params[PARAM_ANGULAR_ORTHOGONAL_DAMPING] = 1.0; -} - -////////////////////////////////// - -void ConeTwistJoint3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &ConeTwistJoint3D::set_param); - ClassDB::bind_method(D_METHOD("get_param", "param"), &ConeTwistJoint3D::get_param); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "swing_span", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_SWING_SPAN); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_TWIST_SPAN); - - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_BIAS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_SOFTNESS); - ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_RELAXATION); - - BIND_ENUM_CONSTANT(PARAM_SWING_SPAN); - BIND_ENUM_CONSTANT(PARAM_TWIST_SPAN); - BIND_ENUM_CONSTANT(PARAM_BIAS); - BIND_ENUM_CONSTANT(PARAM_SOFTNESS); - BIND_ENUM_CONSTANT(PARAM_RELAXATION); - BIND_ENUM_CONSTANT(PARAM_MAX); -} - -void ConeTwistJoint3D::set_param(Param p_param, real_t p_value) { - ERR_FAIL_INDEX(p_param, PARAM_MAX); - params[p_param] = p_value; - if (is_configured()) { - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(get_rid(), PhysicsServer3D::ConeTwistJointParam(p_param), p_value); - } - - update_gizmos(); -} - -real_t ConeTwistJoint3D::get_param(Param p_param) const { - ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); - return params[p_param]; -} - -void ConeTwistJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { - Transform3D gt = get_global_transform(); - - Transform3D ainv = body_a->get_global_transform().affine_inverse(); - - Transform3D local_a = ainv * gt; - local_a.orthonormalize(); - Transform3D local_b = gt; - - if (body_b) { - Transform3D binv = body_b->get_global_transform().affine_inverse(); - local_b = binv * gt; - } - - local_b.orthonormalize(); - - PhysicsServer3D::get_singleton()->joint_make_cone_twist(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); - for (int i = 0; i < PARAM_MAX; i++) { - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(p_joint, PhysicsServer3D::ConeTwistJointParam(i), params[i]); - } -} - -ConeTwistJoint3D::ConeTwistJoint3D() { - params[PARAM_SWING_SPAN] = Math_PI * 0.25; - params[PARAM_TWIST_SPAN] = Math_PI; - params[PARAM_BIAS] = 0.3; - params[PARAM_SOFTNESS] = 0.8; - params[PARAM_RELAXATION] = 1.0; -} - -///////////////////////////////////////////////////////////////////// +#include "generic_6dof_joint_3d.h" void Generic6DOFJoint3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_param_x", "param", "value"), &Generic6DOFJoint3D::set_param_x); diff --git a/scene/3d/physics/joints/generic_6dof_joint_3d.h b/scene/3d/physics/joints/generic_6dof_joint_3d.h new file mode 100644 index 00000000000..9b3e4c01b36 --- /dev/null +++ b/scene/3d/physics/joints/generic_6dof_joint_3d.h @@ -0,0 +1,112 @@ +/**************************************************************************/ +/* generic_6dof_joint_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef GENERIC_6DOF_JOINT_3D_H +#define GENERIC_6DOF_JOINT_3D_H + +#include "scene/3d/physics/joints/joint_3d.h" + +class Generic6DOFJoint3D : public Joint3D { + GDCLASS(Generic6DOFJoint3D, Joint3D); + +public: + enum Param { + PARAM_LINEAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, + PARAM_LINEAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, + PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, + PARAM_LINEAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, + PARAM_LINEAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, + PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY, + PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT, + PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, + PARAM_LINEAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, + PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, + PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, + PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, + PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, + PARAM_ANGULAR_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, + PARAM_ANGULAR_RESTITUTION = PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, + PARAM_ANGULAR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_FORCE_LIMIT, + PARAM_ANGULAR_ERP = PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, + PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, + PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, + PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, + PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, + PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, + PARAM_MAX = PhysicsServer3D::G6DOF_JOINT_MAX, + }; + + enum Flag { + FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, + FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, + FLAG_ENABLE_LINEAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, + FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, + FLAG_ENABLE_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_MOTOR, + FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR, + FLAG_MAX = PhysicsServer3D::G6DOF_JOINT_FLAG_MAX + }; + +protected: + real_t params_x[PARAM_MAX]; + bool flags_x[FLAG_MAX]; + real_t params_y[PARAM_MAX]; + bool flags_y[FLAG_MAX]; + real_t params_z[PARAM_MAX]; + bool flags_z[FLAG_MAX]; + + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param_x(Param p_param, real_t p_value); + real_t get_param_x(Param p_param) const; + + void set_param_y(Param p_param, real_t p_value); + real_t get_param_y(Param p_param) const; + + void set_param_z(Param p_param, real_t p_value); + real_t get_param_z(Param p_param) const; + + void set_flag_x(Flag p_flag, bool p_enabled); + bool get_flag_x(Flag p_flag) const; + + void set_flag_y(Flag p_flag, bool p_enabled); + bool get_flag_y(Flag p_flag) const; + + void set_flag_z(Flag p_flag, bool p_enabled); + bool get_flag_z(Flag p_flag) const; + + Generic6DOFJoint3D(); +}; + +VARIANT_ENUM_CAST(Generic6DOFJoint3D::Param); +VARIANT_ENUM_CAST(Generic6DOFJoint3D::Flag); + +#endif // GENERIC_6DOF_JOINT_3D_H diff --git a/scene/3d/physics/joints/hinge_joint_3d.cpp b/scene/3d/physics/joints/hinge_joint_3d.cpp new file mode 100644 index 00000000000..92472a45e4d --- /dev/null +++ b/scene/3d/physics/joints/hinge_joint_3d.cpp @@ -0,0 +1,135 @@ +/**************************************************************************/ +/* hinge_joint_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "hinge_joint_3d.h" + +void HingeJoint3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &HingeJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &HingeJoint3D::get_param); + + ClassDB::bind_method(D_METHOD("set_flag", "flag", "enabled"), &HingeJoint3D::set_flag); + ClassDB::bind_method(D_METHOD("get_flag", "flag"), &HingeJoint3D::get_flag); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.00,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit/enable"), "set_flag", "get_flag", FLAG_USE_LIMIT); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/upper", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_LIMIT_UPPER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/lower", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_LIMIT_LOWER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_LIMIT_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param", "get_param", PARAM_LIMIT_RELAXATION); + + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "motor/enable"), "set_flag", "get_flag", FLAG_ENABLE_MOTOR); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/target_velocity", PROPERTY_HINT_RANGE, U"-200,200,0.01,or_greater,or_less,radians_as_degrees,suffix:\u00B0/s"), "set_param", "get_param", PARAM_MOTOR_TARGET_VELOCITY); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "motor/max_impulse", PROPERTY_HINT_RANGE, "0.01,1024,0.01"), "set_param", "get_param", PARAM_MOTOR_MAX_IMPULSE); + + BIND_ENUM_CONSTANT(PARAM_BIAS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_UPPER); + BIND_ENUM_CONSTANT(PARAM_LIMIT_LOWER); + BIND_ENUM_CONSTANT(PARAM_LIMIT_BIAS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LIMIT_RELAXATION); + BIND_ENUM_CONSTANT(PARAM_MOTOR_TARGET_VELOCITY); + BIND_ENUM_CONSTANT(PARAM_MOTOR_MAX_IMPULSE); + BIND_ENUM_CONSTANT(PARAM_MAX); + + BIND_ENUM_CONSTANT(FLAG_USE_LIMIT); + BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR); + BIND_ENUM_CONSTANT(FLAG_MAX); +} + +void HingeJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(get_rid(), PhysicsServer3D::HingeJointParam(p_param), p_value); + } + + update_gizmos(); +} + +real_t HingeJoint3D::get_param(Param p_param) const { + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +void HingeJoint3D::set_flag(Flag p_flag, bool p_value) { + ERR_FAIL_INDEX(p_flag, FLAG_MAX); + flags[p_flag] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(get_rid(), PhysicsServer3D::HingeJointFlag(p_flag), p_value); + } + + update_gizmos(); +} + +bool HingeJoint3D::get_flag(Flag p_flag) const { + ERR_FAIL_INDEX_V(p_flag, FLAG_MAX, false); + return flags[p_flag]; +} + +void HingeJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Transform3D gt = get_global_transform(); + Transform3D ainv = body_a->get_global_transform().affine_inverse(); + + Transform3D local_a = ainv * gt; + local_a.orthonormalize(); + Transform3D local_b = gt; + + if (body_b) { + Transform3D binv = body_b->get_global_transform().affine_inverse(); + local_b = binv * gt; + } + + local_b.orthonormalize(); + + PhysicsServer3D::get_singleton()->joint_make_hinge(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); + for (int i = 0; i < PARAM_MAX; i++) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(p_joint, PhysicsServer3D::HingeJointParam(i), params[i]); + } + for (int i = 0; i < FLAG_MAX; i++) { + set_flag(Flag(i), flags[i]); + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(p_joint, PhysicsServer3D::HingeJointFlag(i), flags[i]); + } +} + +HingeJoint3D::HingeJoint3D() { + params[PARAM_BIAS] = 0.3; + params[PARAM_LIMIT_UPPER] = Math_PI * 0.5; + params[PARAM_LIMIT_LOWER] = -Math_PI * 0.5; + params[PARAM_LIMIT_BIAS] = 0.3; + params[PARAM_LIMIT_SOFTNESS] = 0.9; + params[PARAM_LIMIT_RELAXATION] = 1.0; + params[PARAM_MOTOR_TARGET_VELOCITY] = 1; + params[PARAM_MOTOR_MAX_IMPULSE] = 1; + + flags[FLAG_USE_LIMIT] = false; + flags[FLAG_ENABLE_MOTOR] = false; +} diff --git a/scene/3d/physics/joints/hinge_joint_3d.h b/scene/3d/physics/joints/hinge_joint_3d.h new file mode 100644 index 00000000000..cd19a8771fc --- /dev/null +++ b/scene/3d/physics/joints/hinge_joint_3d.h @@ -0,0 +1,77 @@ +/**************************************************************************/ +/* hinge_joint_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef HINGE_JOINT_3D_H +#define HINGE_JOINT_3D_H + +#include "scene/3d/physics/joints/joint_3d.h" + +class HingeJoint3D : public Joint3D { + GDCLASS(HingeJoint3D, Joint3D); + +public: + enum Param { + PARAM_BIAS = PhysicsServer3D::HINGE_JOINT_BIAS, + PARAM_LIMIT_UPPER = PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, + PARAM_LIMIT_LOWER = PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, + PARAM_LIMIT_BIAS = PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, + PARAM_LIMIT_SOFTNESS = PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, + PARAM_LIMIT_RELAXATION = PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, + PARAM_MOTOR_TARGET_VELOCITY = PhysicsServer3D::HINGE_JOINT_MOTOR_TARGET_VELOCITY, + PARAM_MOTOR_MAX_IMPULSE = PhysicsServer3D::HINGE_JOINT_MOTOR_MAX_IMPULSE, + PARAM_MAX = PhysicsServer3D::HINGE_JOINT_MAX + }; + + enum Flag { + FLAG_USE_LIMIT = PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, + FLAG_ENABLE_MOTOR = PhysicsServer3D::HINGE_JOINT_FLAG_ENABLE_MOTOR, + FLAG_MAX = PhysicsServer3D::HINGE_JOINT_FLAG_MAX + }; + +protected: + real_t params[PARAM_MAX]; + bool flags[FLAG_MAX]; + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param(Param p_param, real_t p_value); + real_t get_param(Param p_param) const; + + void set_flag(Flag p_flag, bool p_value); + bool get_flag(Flag p_flag) const; + + HingeJoint3D(); +}; + +VARIANT_ENUM_CAST(HingeJoint3D::Param); +VARIANT_ENUM_CAST(HingeJoint3D::Flag); + +#endif // HINGE_JOINT_3D_H diff --git a/scene/3d/physics/joints/joint_3d.cpp b/scene/3d/physics/joints/joint_3d.cpp new file mode 100644 index 00000000000..a9c2526bd03 --- /dev/null +++ b/scene/3d/physics/joints/joint_3d.cpp @@ -0,0 +1,241 @@ +/**************************************************************************/ +/* joint_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "joint_3d.h" + +#include "scene/scene_string_names.h" + +void Joint3D::_disconnect_signals() { + Node *node_a = get_node_or_null(a); + PhysicsBody3D *body_a = Object::cast_to(node_a); + if (body_a) { + body_a->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); + } + + Node *node_b = get_node_or_null(b); + PhysicsBody3D *body_b = Object::cast_to(node_b); + if (body_b) { + body_b->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); + } +} + +void Joint3D::_body_exit_tree() { + _disconnect_signals(); + _update_joint(true); + update_configuration_warnings(); +} + +void Joint3D::_update_joint(bool p_only_free) { + if (ba.is_valid() && bb.is_valid()) { + PhysicsServer3D::get_singleton()->body_remove_collision_exception(ba, bb); + PhysicsServer3D::get_singleton()->body_remove_collision_exception(bb, ba); + } + + ba = RID(); + bb = RID(); + + configured = false; + + if (p_only_free || !is_inside_tree()) { + PhysicsServer3D::get_singleton()->joint_clear(joint); + warning = String(); + return; + } + + Node *node_a = get_node_or_null(a); + Node *node_b = get_node_or_null(b); + + PhysicsBody3D *body_a = Object::cast_to(node_a); + PhysicsBody3D *body_b = Object::cast_to(node_b); + + if (node_a && !body_a && node_b && !body_b) { + warning = RTR("Node A and Node B must be PhysicsBody3Ds"); + } else if (node_a && !body_a) { + warning = RTR("Node A must be a PhysicsBody3D"); + } else if (node_b && !body_b) { + warning = RTR("Node B must be a PhysicsBody3D"); + } else if (!body_a && !body_b) { + warning = RTR("Joint is not connected to any PhysicsBody3Ds"); + } else if (body_a == body_b) { + warning = RTR("Node A and Node B must be different PhysicsBody3Ds"); + } else { + warning = String(); + } + + update_configuration_warnings(); + + if (!warning.is_empty()) { + PhysicsServer3D::get_singleton()->joint_clear(joint); + return; + } + + configured = true; + + if (body_a) { + _configure_joint(joint, body_a, body_b); + } else if (body_b) { + _configure_joint(joint, body_b, nullptr); + } + + PhysicsServer3D::get_singleton()->joint_set_solver_priority(joint, solver_priority); + + if (body_a) { + ba = body_a->get_rid(); + body_a->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); + } + + if (body_b) { + bb = body_b->get_rid(); + body_b->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &Joint3D::_body_exit_tree)); + } + + PhysicsServer3D::get_singleton()->joint_disable_collisions_between_bodies(joint, exclude_from_collision); +} + +void Joint3D::set_node_a(const NodePath &p_node_a) { + if (a == p_node_a) { + return; + } + + if (is_configured()) { + _disconnect_signals(); + } + + a = p_node_a; + _update_joint(); +} + +NodePath Joint3D::get_node_a() const { + return a; +} + +void Joint3D::set_node_b(const NodePath &p_node_b) { + if (b == p_node_b) { + return; + } + + if (is_configured()) { + _disconnect_signals(); + } + + b = p_node_b; + _update_joint(); +} + +NodePath Joint3D::get_node_b() const { + return b; +} + +void Joint3D::set_solver_priority(int p_priority) { + solver_priority = p_priority; + if (joint.is_valid()) { + PhysicsServer3D::get_singleton()->joint_set_solver_priority(joint, solver_priority); + } +} + +int Joint3D::get_solver_priority() const { + return solver_priority; +} + +void Joint3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_POST_ENTER_TREE: { + if (is_configured()) { + _disconnect_signals(); + } + _update_joint(); + } break; + + case NOTIFICATION_EXIT_TREE: { + if (is_configured()) { + _disconnect_signals(); + } + _update_joint(true); + } break; + } +} + +void Joint3D::set_exclude_nodes_from_collision(bool p_enable) { + if (exclude_from_collision == p_enable) { + return; + } + if (is_configured()) { + _disconnect_signals(); + } + _update_joint(true); + exclude_from_collision = p_enable; + _update_joint(); +} + +bool Joint3D::get_exclude_nodes_from_collision() const { + return exclude_from_collision; +} + +PackedStringArray Joint3D::get_configuration_warnings() const { + PackedStringArray warnings = Node3D::get_configuration_warnings(); + + if (!warning.is_empty()) { + warnings.push_back(warning); + } + + return warnings; +} + +void Joint3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_node_a", "node"), &Joint3D::set_node_a); + ClassDB::bind_method(D_METHOD("get_node_a"), &Joint3D::get_node_a); + + ClassDB::bind_method(D_METHOD("set_node_b", "node"), &Joint3D::set_node_b); + ClassDB::bind_method(D_METHOD("get_node_b"), &Joint3D::get_node_b); + + ClassDB::bind_method(D_METHOD("set_solver_priority", "priority"), &Joint3D::set_solver_priority); + ClassDB::bind_method(D_METHOD("get_solver_priority"), &Joint3D::get_solver_priority); + + ClassDB::bind_method(D_METHOD("set_exclude_nodes_from_collision", "enable"), &Joint3D::set_exclude_nodes_from_collision); + ClassDB::bind_method(D_METHOD("get_exclude_nodes_from_collision"), &Joint3D::get_exclude_nodes_from_collision); + + ClassDB::bind_method(D_METHOD("get_rid"), &Joint3D::get_rid); + + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_a", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody3D"), "set_node_a", "get_node_a"); + ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "node_b", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "PhysicsBody3D"), "set_node_b", "get_node_b"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "solver_priority", PROPERTY_HINT_RANGE, "1,8,1"), "set_solver_priority", "get_solver_priority"); + + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "exclude_nodes_from_collision"), "set_exclude_nodes_from_collision", "get_exclude_nodes_from_collision"); +} + +Joint3D::Joint3D() { + set_notify_transform(true); + joint = PhysicsServer3D::get_singleton()->joint_create(); +} + +Joint3D::~Joint3D() { + ERR_FAIL_NULL(PhysicsServer3D::get_singleton()); + PhysicsServer3D::get_singleton()->free(joint); +} diff --git a/scene/3d/physics/joints/joint_3d.h b/scene/3d/physics/joints/joint_3d.h new file mode 100644 index 00000000000..ed502ab2459 --- /dev/null +++ b/scene/3d/physics/joints/joint_3d.h @@ -0,0 +1,85 @@ +/**************************************************************************/ +/* joint_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef JOINT_3D_H +#define JOINT_3D_H + +#include "scene/3d/node_3d.h" +#include "scene/3d/physics/physics_body_3d.h" + +class Joint3D : public Node3D { + GDCLASS(Joint3D, Node3D); + + RID ba, bb; + + RID joint; + + NodePath a; + NodePath b; + + int solver_priority = 1; + bool exclude_from_collision = true; + String warning; + bool configured = false; + +protected: + void _disconnect_signals(); + void _body_exit_tree(); + void _update_joint(bool p_only_free = false); + + void _notification(int p_what); + + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) = 0; + + static void _bind_methods(); + + _FORCE_INLINE_ bool is_configured() const { return configured; } + +public: + virtual PackedStringArray get_configuration_warnings() const override; + + void set_node_a(const NodePath &p_node_a); + NodePath get_node_a() const; + + void set_node_b(const NodePath &p_node_b); + NodePath get_node_b() const; + + void set_solver_priority(int p_priority); + int get_solver_priority() const; + + void set_exclude_nodes_from_collision(bool p_enable); + bool get_exclude_nodes_from_collision() const; + + RID get_rid() const { return joint; } + Joint3D(); + ~Joint3D(); +}; + +#endif // JOINT_3D_H diff --git a/scene/3d/physics/joints/pin_joint_3d.cpp b/scene/3d/physics/joints/pin_joint_3d.cpp new file mode 100644 index 00000000000..8e367c5ef6e --- /dev/null +++ b/scene/3d/physics/joints/pin_joint_3d.cpp @@ -0,0 +1,80 @@ +/**************************************************************************/ +/* pin_joint_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "pin_joint_3d.h" + +void PinJoint3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &PinJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &PinJoint3D::get_param); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"), "set_param", "get_param", PARAM_BIAS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"), "set_param", "get_param", PARAM_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "params/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01"), "set_param", "get_param", PARAM_IMPULSE_CLAMP); + + BIND_ENUM_CONSTANT(PARAM_BIAS); + BIND_ENUM_CONSTANT(PARAM_DAMPING); + BIND_ENUM_CONSTANT(PARAM_IMPULSE_CLAMP); +} + +void PinJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, 3); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(get_rid(), PhysicsServer3D::PinJointParam(p_param), p_value); + } +} + +real_t PinJoint3D::get_param(Param p_param) const { + ERR_FAIL_INDEX_V(p_param, 3, 0); + return params[p_param]; +} + +void PinJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Vector3 pinpos = get_global_transform().origin; + Vector3 local_a = body_a->to_local(pinpos); + Vector3 local_b; + + if (body_b) { + local_b = body_b->to_local(pinpos); + } else { + local_b = pinpos; + } + + PhysicsServer3D::get_singleton()->joint_make_pin(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); + for (int i = 0; i < 3; i++) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(p_joint, PhysicsServer3D::PinJointParam(i), params[i]); + } +} + +PinJoint3D::PinJoint3D() { + params[PARAM_BIAS] = 0.3; + params[PARAM_DAMPING] = 1; + params[PARAM_IMPULSE_CLAMP] = 0; +} diff --git a/scene/3d/physics/joints/pin_joint_3d.h b/scene/3d/physics/joints/pin_joint_3d.h new file mode 100644 index 00000000000..34c8db2890c --- /dev/null +++ b/scene/3d/physics/joints/pin_joint_3d.h @@ -0,0 +1,60 @@ +/**************************************************************************/ +/* pin_joint_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef PIN_JOINT_3D_H +#define PIN_JOINT_3D_H + +#include "scene/3d/physics/joints/joint_3d.h" + +class PinJoint3D : public Joint3D { + GDCLASS(PinJoint3D, Joint3D); + +public: + enum Param { + PARAM_BIAS = PhysicsServer3D::PIN_JOINT_BIAS, + PARAM_DAMPING = PhysicsServer3D::PIN_JOINT_DAMPING, + PARAM_IMPULSE_CLAMP = PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP + }; + +protected: + real_t params[3]; + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param(Param p_param, real_t p_value); + real_t get_param(Param p_param) const; + + PinJoint3D(); +}; + +VARIANT_ENUM_CAST(PinJoint3D::Param); + +#endif // PIN_JOINT_3D_H diff --git a/scene/3d/physics/joints/slider_joint_3d.cpp b/scene/3d/physics/joints/slider_joint_3d.cpp new file mode 100644 index 00000000000..2e87ae1e833 --- /dev/null +++ b/scene/3d/physics/joints/slider_joint_3d.cpp @@ -0,0 +1,149 @@ +/**************************************************************************/ +/* slider_joint_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "slider_joint_3d.h" + +#include "scene/scene_string_names.h" + +void SliderJoint3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_param", "param", "value"), &SliderJoint3D::set_param); + ClassDB::bind_method(D_METHOD("get_param", "param"), &SliderJoint3D::get_param); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/upper_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01,suffix:m"), "set_param", "get_param", PARAM_LINEAR_LIMIT_UPPER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/lower_distance", PROPERTY_HINT_RANGE, "-1024,1024,0.01,suffix:m"), "set_param", "get_param", PARAM_LINEAR_LIMIT_LOWER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_LIMIT_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_MOTION_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "linear_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_LINEAR_ORTHOGONAL_DAMPING); + + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_UPPER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.1,radians_as_degrees"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_LOWER); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_limit/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_LIMIT_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_motion/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_MOTION_DAMPING); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); + ADD_PROPERTYI(PropertyInfo(Variant::FLOAT, "angular_ortho/damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"), "set_param", "get_param", PARAM_ANGULAR_ORTHOGONAL_DAMPING); + + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_UPPER); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_LOWER); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_DAMPING); + BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTION_DAMPING); + BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_LINEAR_ORTHOGONAL_DAMPING); + + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_UPPER); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_LOWER); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_DAMPING); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_MOTION_DAMPING); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_SOFTNESS); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_RESTITUTION); + BIND_ENUM_CONSTANT(PARAM_ANGULAR_ORTHOGONAL_DAMPING); + + BIND_ENUM_CONSTANT(PARAM_MAX); +} + +void SliderJoint3D::set_param(Param p_param, real_t p_value) { + ERR_FAIL_INDEX(p_param, PARAM_MAX); + params[p_param] = p_value; + if (is_configured()) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(get_rid(), PhysicsServer3D::SliderJointParam(p_param), p_value); + } + update_gizmos(); +} + +real_t SliderJoint3D::get_param(Param p_param) const { + ERR_FAIL_INDEX_V(p_param, PARAM_MAX, 0); + return params[p_param]; +} + +void SliderJoint3D::_configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) { + Transform3D gt = get_global_transform(); + Transform3D ainv = body_a->get_global_transform().affine_inverse(); + + Transform3D local_a = ainv * gt; + local_a.orthonormalize(); + Transform3D local_b = gt; + + if (body_b) { + Transform3D binv = body_b->get_global_transform().affine_inverse(); + local_b = binv * gt; + } + + local_b.orthonormalize(); + + PhysicsServer3D::get_singleton()->joint_make_slider(p_joint, body_a->get_rid(), local_a, body_b ? body_b->get_rid() : RID(), local_b); + for (int i = 0; i < PARAM_MAX; i++) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(p_joint, PhysicsServer3D::SliderJointParam(i), params[i]); + } +} + +SliderJoint3D::SliderJoint3D() { + params[PARAM_LINEAR_LIMIT_UPPER] = 1.0; + params[PARAM_LINEAR_LIMIT_LOWER] = -1.0; + params[PARAM_LINEAR_LIMIT_SOFTNESS] = 1.0; + params[PARAM_LINEAR_LIMIT_RESTITUTION] = 0.7; + params[PARAM_LINEAR_LIMIT_DAMPING] = 1.0; + params[PARAM_LINEAR_MOTION_SOFTNESS] = 1.0; + params[PARAM_LINEAR_MOTION_RESTITUTION] = 0.7; + params[PARAM_LINEAR_MOTION_DAMPING] = 0; //1.0; + params[PARAM_LINEAR_ORTHOGONAL_SOFTNESS] = 1.0; + params[PARAM_LINEAR_ORTHOGONAL_RESTITUTION] = 0.7; + params[PARAM_LINEAR_ORTHOGONAL_DAMPING] = 1.0; + + params[PARAM_ANGULAR_LIMIT_UPPER] = 0; + params[PARAM_ANGULAR_LIMIT_LOWER] = 0; + params[PARAM_ANGULAR_LIMIT_SOFTNESS] = 1.0; + params[PARAM_ANGULAR_LIMIT_RESTITUTION] = 0.7; + params[PARAM_ANGULAR_LIMIT_DAMPING] = 0; //1.0; + params[PARAM_ANGULAR_MOTION_SOFTNESS] = 1.0; + params[PARAM_ANGULAR_MOTION_RESTITUTION] = 0.7; + params[PARAM_ANGULAR_MOTION_DAMPING] = 1.0; + params[PARAM_ANGULAR_ORTHOGONAL_SOFTNESS] = 1.0; + params[PARAM_ANGULAR_ORTHOGONAL_RESTITUTION] = 0.7; + params[PARAM_ANGULAR_ORTHOGONAL_DAMPING] = 1.0; +} diff --git a/scene/3d/physics/joints/slider_joint_3d.h b/scene/3d/physics/joints/slider_joint_3d.h new file mode 100644 index 00000000000..e0b059e6e36 --- /dev/null +++ b/scene/3d/physics/joints/slider_joint_3d.h @@ -0,0 +1,82 @@ +/**************************************************************************/ +/* slider_joint_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef SLIDER_JOINT_3D_H +#define SLIDER_JOINT_3D_H + +#include "scene/3d/physics/joints/joint_3d.h" + +class SliderJoint3D : public Joint3D { + GDCLASS(SliderJoint3D, Joint3D); + +public: + enum Param { + PARAM_LINEAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, + PARAM_LINEAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, + PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, + PARAM_LINEAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, + PARAM_LINEAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, + PARAM_LINEAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, + PARAM_LINEAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, + PARAM_LINEAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_MOTION_DAMPING, + PARAM_LINEAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, + PARAM_LINEAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, + PARAM_LINEAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, + + PARAM_ANGULAR_LIMIT_UPPER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, + PARAM_ANGULAR_LIMIT_LOWER = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, + PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, + PARAM_ANGULAR_LIMIT_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, + PARAM_ANGULAR_LIMIT_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, + PARAM_ANGULAR_MOTION_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, + PARAM_ANGULAR_MOTION_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, + PARAM_ANGULAR_MOTION_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_MOTION_DAMPING, + PARAM_ANGULAR_ORTHOGONAL_SOFTNESS = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, + PARAM_ANGULAR_ORTHOGONAL_RESTITUTION = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, + PARAM_ANGULAR_ORTHOGONAL_DAMPING = PhysicsServer3D::SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, + PARAM_MAX = PhysicsServer3D::SLIDER_JOINT_MAX + + }; + +protected: + real_t params[PARAM_MAX]; + virtual void _configure_joint(RID p_joint, PhysicsBody3D *body_a, PhysicsBody3D *body_b) override; + static void _bind_methods(); + +public: + void set_param(Param p_param, real_t p_value); + real_t get_param(Param p_param) const; + + SliderJoint3D(); +}; + +VARIANT_ENUM_CAST(SliderJoint3D::Param); + +#endif // SLIDER_JOINT_3D_H diff --git a/scene/3d/physics/kinematic_collision_3d.cpp b/scene/3d/physics/kinematic_collision_3d.cpp new file mode 100644 index 00000000000..54371425bc6 --- /dev/null +++ b/scene/3d/physics/kinematic_collision_3d.cpp @@ -0,0 +1,134 @@ +/**************************************************************************/ +/* kinematic_collision_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "kinematic_collision_3d.h" + +#include "scene/3d/physics/character_body_3d.h" +#include "scene/3d/physics/physics_body_3d.h" + +Vector3 KinematicCollision3D::get_travel() const { + return result.travel; +} + +Vector3 KinematicCollision3D::get_remainder() const { + return result.remainder; +} + +int KinematicCollision3D::get_collision_count() const { + return result.collision_count; +} + +real_t KinematicCollision3D::get_depth() const { + return result.collision_depth; +} + +Vector3 KinematicCollision3D::get_position(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].position; +} + +Vector3 KinematicCollision3D::get_normal(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].normal; +} + +real_t KinematicCollision3D::get_angle(int p_collision_index, const Vector3 &p_up_direction) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0.0); + ERR_FAIL_COND_V(p_up_direction == Vector3(), 0); + return result.collisions[p_collision_index].get_angle(p_up_direction); +} + +Object *KinematicCollision3D::get_local_shape(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr); + if (!owner) { + return nullptr; + } + uint32_t ownerid = owner->shape_find_owner(result.collisions[p_collision_index].local_shape); + return owner->shape_owner_get_owner(ownerid); +} + +Object *KinematicCollision3D::get_collider(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr); + if (result.collisions[p_collision_index].collider_id.is_valid()) { + return ObjectDB::get_instance(result.collisions[p_collision_index].collider_id); + } + + return nullptr; +} + +ObjectID KinematicCollision3D::get_collider_id(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, ObjectID()); + return result.collisions[p_collision_index].collider_id; +} + +RID KinematicCollision3D::get_collider_rid(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, RID()); + return result.collisions[p_collision_index].collider; +} + +Object *KinematicCollision3D::get_collider_shape(int p_collision_index) const { + Object *collider = get_collider(p_collision_index); + if (collider) { + CollisionObject3D *obj2d = Object::cast_to(collider); + if (obj2d) { + uint32_t ownerid = obj2d->shape_find_owner(result.collisions[p_collision_index].collider_shape); + return obj2d->shape_owner_get_owner(ownerid); + } + } + + return nullptr; +} + +int KinematicCollision3D::get_collider_shape_index(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0); + return result.collisions[p_collision_index].collider_shape; +} + +Vector3 KinematicCollision3D::get_collider_velocity(int p_collision_index) const { + ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); + return result.collisions[p_collision_index].collider_velocity; +} + +void KinematicCollision3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision3D::get_travel); + ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision3D::get_remainder); + ClassDB::bind_method(D_METHOD("get_depth"), &KinematicCollision3D::get_depth); + ClassDB::bind_method(D_METHOD("get_collision_count"), &KinematicCollision3D::get_collision_count); + ClassDB::bind_method(D_METHOD("get_position", "collision_index"), &KinematicCollision3D::get_position, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_normal", "collision_index"), &KinematicCollision3D::get_normal, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_angle", "collision_index", "up_direction"), &KinematicCollision3D::get_angle, DEFVAL(0), DEFVAL(Vector3(0.0, 1.0, 0.0))); + ClassDB::bind_method(D_METHOD("get_local_shape", "collision_index"), &KinematicCollision3D::get_local_shape, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider", "collision_index"), &KinematicCollision3D::get_collider, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_id", "collision_index"), &KinematicCollision3D::get_collider_id, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_rid", "collision_index"), &KinematicCollision3D::get_collider_rid, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_shape", "collision_index"), &KinematicCollision3D::get_collider_shape, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_shape_index", "collision_index"), &KinematicCollision3D::get_collider_shape_index, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("get_collider_velocity", "collision_index"), &KinematicCollision3D::get_collider_velocity, DEFVAL(0)); +} diff --git a/scene/3d/physics/kinematic_collision_3d.h b/scene/3d/physics/kinematic_collision_3d.h new file mode 100644 index 00000000000..656531c82b5 --- /dev/null +++ b/scene/3d/physics/kinematic_collision_3d.h @@ -0,0 +1,68 @@ +/**************************************************************************/ +/* kinematic_collision_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef KINEMATIC_COLLISION_3D_H +#define KINEMATIC_COLLISION_3D_H + +#include "core/object/ref_counted.h" +#include "servers/physics_server_3d.h" + +class CharacterBody3D; +class PhysicsBody3D; + +class KinematicCollision3D : public RefCounted { + GDCLASS(KinematicCollision3D, RefCounted); + + PhysicsBody3D *owner = nullptr; + friend class PhysicsBody3D; + friend class CharacterBody3D; + PhysicsServer3D::MotionResult result; + +protected: + static void _bind_methods(); + +public: + Vector3 get_travel() const; + Vector3 get_remainder() const; + int get_collision_count() const; + real_t get_depth() const; + Vector3 get_position(int p_collision_index = 0) const; + Vector3 get_normal(int p_collision_index = 0) const; + real_t get_angle(int p_collision_index = 0, const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; + Object *get_local_shape(int p_collision_index = 0) const; + Object *get_collider(int p_collision_index = 0) const; + ObjectID get_collider_id(int p_collision_index = 0) const; + RID get_collider_rid(int p_collision_index = 0) const; + Object *get_collider_shape(int p_collision_index = 0) const; + int get_collider_shape_index(int p_collision_index = 0) const; + Vector3 get_collider_velocity(int p_collision_index = 0) const; +}; + +#endif // KINEMATIC_COLLISION_3D_H diff --git a/scene/3d/physics/physical_bone_3d.cpp b/scene/3d/physics/physical_bone_3d.cpp new file mode 100644 index 00000000000..10c1fceb949 --- /dev/null +++ b/scene/3d/physics/physical_bone_3d.cpp @@ -0,0 +1,1346 @@ +/**************************************************************************/ +/* physical_bone_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "physical_bone_3d.h" + +bool PhysicalBone3D::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + return false; +} + +bool PhysicalBone3D::JointData::_get(const StringName &p_name, Variant &r_ret) const { + return false; +} + +void PhysicalBone3D::JointData::_get_property_list(List *p_list) const { +} + +void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) { + PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); +} + +void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { + PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position); +} + +void PhysicalBone3D::set_linear_velocity(const Vector3 &p_velocity) { + linear_velocity = p_velocity; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); +} + +Vector3 PhysicalBone3D::get_linear_velocity() const { + return linear_velocity; +} + +void PhysicalBone3D::set_angular_velocity(const Vector3 &p_velocity) { + angular_velocity = p_velocity; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); +} + +Vector3 PhysicalBone3D::get_angular_velocity() const { + return angular_velocity; +} + +void PhysicalBone3D::set_use_custom_integrator(bool p_enable) { + if (custom_integrator == p_enable) { + return; + } + + custom_integrator = p_enable; + PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); +} + +bool PhysicalBone3D::is_using_custom_integrator() { + return custom_integrator; +} + +void PhysicalBone3D::reset_physics_simulation_state() { + if (simulate_physics) { + _start_physics_simulation(); + } else { + _stop_physics_simulation(); + } +} + +void PhysicalBone3D::reset_to_rest_position() { + if (parent_skeleton) { + Transform3D new_transform = parent_skeleton->get_global_transform(); + if (bone_id == -1) { + new_transform *= body_offset; + } else { + new_transform *= parent_skeleton->get_bone_global_pose(bone_id) * body_offset; + } + new_transform.orthonormalize(); + set_global_transform(new_transform); + } +} + +bool PhysicalBone3D::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + bool is_valid_pin = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_PIN; + if ("joint_constraints/bias" == p_name) { + bias = p_value; + if (is_valid_pin) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_BIAS, bias); + } + + } else if ("joint_constraints/damping" == p_name) { + damping = p_value; + if (is_valid_pin) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_DAMPING, damping); + } + + } else if ("joint_constraints/impulse_clamp" == p_name) { + impulse_clamp = p_value; + if (is_valid_pin) { + PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, impulse_clamp); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::PinJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/bias" == p_name) { + r_ret = bias; + } else if ("joint_constraints/damping" == p_name) { + r_ret = damping; + } else if ("joint_constraints/impulse_clamp" == p_name) { + r_ret = impulse_clamp; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::PinJointData::_get_property_list(List *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/bias"), PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/damping"), PROPERTY_HINT_RANGE, "0.01,8.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/impulse_clamp"), PROPERTY_HINT_RANGE, "0.0,64.0,0.01")); +} + +bool PhysicalBone3D::ConeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + bool is_valid_cone = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_CONE_TWIST; + if ("joint_constraints/swing_span" == p_name) { + swing_span = Math::deg_to_rad(real_t(p_value)); + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, swing_span); + } + + } else if ("joint_constraints/twist_span" == p_name) { + twist_span = Math::deg_to_rad(real_t(p_value)); + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, twist_span); + } + + } else if ("joint_constraints/bias" == p_name) { + bias = p_value; + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, bias); + } + + } else if ("joint_constraints/softness" == p_name) { + softness = p_value; + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, softness); + } + + } else if ("joint_constraints/relaxation" == p_name) { + relaxation = p_value; + if (is_valid_cone) { + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, relaxation); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::ConeJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/swing_span" == p_name) { + r_ret = Math::rad_to_deg(swing_span); + } else if ("joint_constraints/twist_span" == p_name) { + r_ret = Math::rad_to_deg(twist_span); + } else if ("joint_constraints/bias" == p_name) { + r_ret = bias; + } else if ("joint_constraints/softness" == p_name) { + r_ret = softness; + } else if ("joint_constraints/relaxation" == p_name) { + r_ret = relaxation; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::ConeJointData::_get_property_list(List *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/swing_span"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/twist_span"), PROPERTY_HINT_RANGE, "-40000,40000,0.1,or_less,or_greater")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/bias"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/relaxation"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); +} + +bool PhysicalBone3D::HingeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + bool is_valid_hinge = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_HINGE; + if ("joint_constraints/angular_limit_enabled" == p_name) { + angular_limit_enabled = p_value; + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(j, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, angular_limit_enabled); + } + + } else if ("joint_constraints/angular_limit_upper" == p_name) { + angular_limit_upper = Math::deg_to_rad(real_t(p_value)); + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, angular_limit_upper); + } + + } else if ("joint_constraints/angular_limit_lower" == p_name) { + angular_limit_lower = Math::deg_to_rad(real_t(p_value)); + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, angular_limit_lower); + } + + } else if ("joint_constraints/angular_limit_bias" == p_name) { + angular_limit_bias = p_value; + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, angular_limit_bias); + } + + } else if ("joint_constraints/angular_limit_softness" == p_name) { + angular_limit_softness = p_value; + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, angular_limit_softness); + } + + } else if ("joint_constraints/angular_limit_relaxation" == p_name) { + angular_limit_relaxation = p_value; + if (is_valid_hinge) { + PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, angular_limit_relaxation); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::HingeJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/angular_limit_enabled" == p_name) { + r_ret = angular_limit_enabled; + } else if ("joint_constraints/angular_limit_upper" == p_name) { + r_ret = Math::rad_to_deg(angular_limit_upper); + } else if ("joint_constraints/angular_limit_lower" == p_name) { + r_ret = Math::rad_to_deg(angular_limit_lower); + } else if ("joint_constraints/angular_limit_bias" == p_name) { + r_ret = angular_limit_bias; + } else if ("joint_constraints/angular_limit_softness" == p_name) { + r_ret = angular_limit_softness; + } else if ("joint_constraints/angular_limit_relaxation" == p_name) { + r_ret = angular_limit_relaxation; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::HingeJointData::_get_property_list(List *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::BOOL, PNAME("joint_constraints/angular_limit_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_bias"), PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_relaxation"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); +} + +bool PhysicalBone3D::SliderJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + bool is_valid_slider = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_SLIDER; + if ("joint_constraints/linear_limit_upper" == p_name) { + linear_limit_upper = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, linear_limit_upper); + } + + } else if ("joint_constraints/linear_limit_lower" == p_name) { + linear_limit_lower = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, linear_limit_lower); + } + + } else if ("joint_constraints/linear_limit_softness" == p_name) { + linear_limit_softness = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, linear_limit_softness); + } + + } else if ("joint_constraints/linear_limit_restitution" == p_name) { + linear_limit_restitution = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, linear_limit_restitution); + } + + } else if ("joint_constraints/linear_limit_damping" == p_name) { + linear_limit_damping = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, linear_limit_restitution); + } + + } else if ("joint_constraints/angular_limit_upper" == p_name) { + angular_limit_upper = Math::deg_to_rad(real_t(p_value)); + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, angular_limit_upper); + } + + } else if ("joint_constraints/angular_limit_lower" == p_name) { + angular_limit_lower = Math::deg_to_rad(real_t(p_value)); + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, angular_limit_lower); + } + + } else if ("joint_constraints/angular_limit_softness" == p_name) { + angular_limit_softness = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); + } + + } else if ("joint_constraints/angular_limit_restitution" == p_name) { + angular_limit_restitution = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); + } + + } else if ("joint_constraints/angular_limit_damping" == p_name) { + angular_limit_damping = p_value; + if (is_valid_slider) { + PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, angular_limit_damping); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::SliderJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + if ("joint_constraints/linear_limit_upper" == p_name) { + r_ret = linear_limit_upper; + } else if ("joint_constraints/linear_limit_lower" == p_name) { + r_ret = linear_limit_lower; + } else if ("joint_constraints/linear_limit_softness" == p_name) { + r_ret = linear_limit_softness; + } else if ("joint_constraints/linear_limit_restitution" == p_name) { + r_ret = linear_limit_restitution; + } else if ("joint_constraints/linear_limit_damping" == p_name) { + r_ret = linear_limit_damping; + } else if ("joint_constraints/angular_limit_upper" == p_name) { + r_ret = Math::rad_to_deg(angular_limit_upper); + } else if ("joint_constraints/angular_limit_lower" == p_name) { + r_ret = Math::rad_to_deg(angular_limit_lower); + } else if ("joint_constraints/angular_limit_softness" == p_name) { + r_ret = angular_limit_softness; + } else if ("joint_constraints/angular_limit_restitution" == p_name) { + r_ret = angular_limit_restitution; + } else if ("joint_constraints/angular_limit_damping" == p_name) { + r_ret = angular_limit_damping; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::SliderJointData::_get_property_list(List *p_list) const { + JointData::_get_property_list(p_list); + + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_upper"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_lower"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_restitution"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_damping"), PROPERTY_HINT_RANGE, "0,16.0,0.01")); + + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_restitution"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_damping"), PROPERTY_HINT_RANGE, "0,16.0,0.01")); +} + +bool PhysicalBone3D::SixDOFJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { + if (JointData::_set(p_name, p_value, j)) { + return true; + } + + String path = p_name; + + if (!path.begins_with("joint_constraints/")) { + return false; + } + + Vector3::Axis axis; + { + const String axis_s = path.get_slicec('/', 1); + if ("x" == axis_s) { + axis = Vector3::AXIS_X; + } else if ("y" == axis_s) { + axis = Vector3::AXIS_Y; + } else if ("z" == axis_s) { + axis = Vector3::AXIS_Z; + } else { + return false; + } + } + + String var_name = path.get_slicec('/', 2); + bool is_valid_6dof = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_6DOF; + if ("linear_limit_enabled" == var_name) { + axis_data[axis].linear_limit_enabled = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, axis_data[axis].linear_limit_enabled); + } + + } else if ("linear_limit_upper" == var_name) { + axis_data[axis].linear_limit_upper = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, axis_data[axis].linear_limit_upper); + } + + } else if ("linear_limit_lower" == var_name) { + axis_data[axis].linear_limit_lower = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, axis_data[axis].linear_limit_lower); + } + + } else if ("linear_limit_softness" == var_name) { + axis_data[axis].linear_limit_softness = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness); + } + + } else if ("linear_spring_enabled" == var_name) { + axis_data[axis].linear_spring_enabled = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled); + } + + } else if ("linear_spring_stiffness" == var_name) { + axis_data[axis].linear_spring_stiffness = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness); + } + + } else if ("linear_spring_damping" == var_name) { + axis_data[axis].linear_spring_damping = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping); + } + + } else if ("linear_equilibrium_point" == var_name) { + axis_data[axis].linear_equilibrium_point = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point); + } + + } else if ("linear_restitution" == var_name) { + axis_data[axis].linear_restitution = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, axis_data[axis].linear_restitution); + } + + } else if ("linear_damping" == var_name) { + axis_data[axis].linear_damping = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, axis_data[axis].linear_damping); + } + + } else if ("angular_limit_enabled" == var_name) { + axis_data[axis].angular_limit_enabled = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, axis_data[axis].angular_limit_enabled); + } + + } else if ("angular_limit_upper" == var_name) { + axis_data[axis].angular_limit_upper = Math::deg_to_rad(real_t(p_value)); + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, axis_data[axis].angular_limit_upper); + } + + } else if ("angular_limit_lower" == var_name) { + axis_data[axis].angular_limit_lower = Math::deg_to_rad(real_t(p_value)); + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, axis_data[axis].angular_limit_lower); + } + + } else if ("angular_limit_softness" == var_name) { + axis_data[axis].angular_limit_softness = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, axis_data[axis].angular_limit_softness); + } + + } else if ("angular_restitution" == var_name) { + axis_data[axis].angular_restitution = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, axis_data[axis].angular_restitution); + } + + } else if ("angular_damping" == var_name) { + axis_data[axis].angular_damping = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, axis_data[axis].angular_damping); + } + + } else if ("erp" == var_name) { + axis_data[axis].erp = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp); + } + + } else if ("angular_spring_enabled" == var_name) { + axis_data[axis].angular_spring_enabled = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled); + } + + } else if ("angular_spring_stiffness" == var_name) { + axis_data[axis].angular_spring_stiffness = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness); + } + + } else if ("angular_spring_damping" == var_name) { + axis_data[axis].angular_spring_damping = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping); + } + + } else if ("angular_equilibrium_point" == var_name) { + axis_data[axis].angular_equilibrium_point = p_value; + if (is_valid_6dof) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point); + } + + } else { + return false; + } + + return true; +} + +bool PhysicalBone3D::SixDOFJointData::_get(const StringName &p_name, Variant &r_ret) const { + if (JointData::_get(p_name, r_ret)) { + return true; + } + + String path = p_name; + + if (!path.begins_with("joint_constraints/")) { + return false; + } + + int axis; + { + const String axis_s = path.get_slicec('/', 1); + if ("x" == axis_s) { + axis = 0; + } else if ("y" == axis_s) { + axis = 1; + } else if ("z" == axis_s) { + axis = 2; + } else { + return false; + } + } + + String var_name = path.get_slicec('/', 2); + + if ("linear_limit_enabled" == var_name) { + r_ret = axis_data[axis].linear_limit_enabled; + } else if ("linear_limit_upper" == var_name) { + r_ret = axis_data[axis].linear_limit_upper; + } else if ("linear_limit_lower" == var_name) { + r_ret = axis_data[axis].linear_limit_lower; + } else if ("linear_limit_softness" == var_name) { + r_ret = axis_data[axis].linear_limit_softness; + } else if ("linear_spring_enabled" == var_name) { + r_ret = axis_data[axis].linear_spring_enabled; + } else if ("linear_spring_stiffness" == var_name) { + r_ret = axis_data[axis].linear_spring_stiffness; + } else if ("linear_spring_damping" == var_name) { + r_ret = axis_data[axis].linear_spring_damping; + } else if ("linear_equilibrium_point" == var_name) { + r_ret = axis_data[axis].linear_equilibrium_point; + } else if ("linear_restitution" == var_name) { + r_ret = axis_data[axis].linear_restitution; + } else if ("linear_damping" == var_name) { + r_ret = axis_data[axis].linear_damping; + } else if ("angular_limit_enabled" == var_name) { + r_ret = axis_data[axis].angular_limit_enabled; + } else if ("angular_limit_upper" == var_name) { + r_ret = Math::rad_to_deg(axis_data[axis].angular_limit_upper); + } else if ("angular_limit_lower" == var_name) { + r_ret = Math::rad_to_deg(axis_data[axis].angular_limit_lower); + } else if ("angular_limit_softness" == var_name) { + r_ret = axis_data[axis].angular_limit_softness; + } else if ("angular_restitution" == var_name) { + r_ret = axis_data[axis].angular_restitution; + } else if ("angular_damping" == var_name) { + r_ret = axis_data[axis].angular_damping; + } else if ("erp" == var_name) { + r_ret = axis_data[axis].erp; + } else if ("angular_spring_enabled" == var_name) { + r_ret = axis_data[axis].angular_spring_enabled; + } else if ("angular_spring_stiffness" == var_name) { + r_ret = axis_data[axis].angular_spring_stiffness; + } else if ("angular_spring_damping" == var_name) { + r_ret = axis_data[axis].angular_spring_damping; + } else if ("angular_equilibrium_point" == var_name) { + r_ret = axis_data[axis].angular_equilibrium_point; + } else { + return false; + } + + return true; +} + +void PhysicalBone3D::SixDOFJointData::_get_property_list(List *p_list) const { + const StringName axis_names[] = { PNAME("x"), PNAME("y"), PNAME("z") }; + for (int i = 0; i < 3; ++i) { + const String prefix = vformat("%s/%s/", PNAME("joint_constraints"), axis_names[i]); + p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("linear_limit_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_upper"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_lower"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("linear_spring_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_spring_stiffness"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_spring_damping"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_equilibrium_point"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_restitution"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_damping"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("angular_limit_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_restitution"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_damping"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("erp"))); + p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("angular_spring_enabled"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_spring_stiffness"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_spring_damping"))); + p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_equilibrium_point"))); + } +} + +bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) { + if (p_name == "bone_name") { + set_bone_name(p_value); + return true; + } + + if (joint_data) { + if (joint_data->_set(p_name, p_value, joint)) { +#ifdef TOOLS_ENABLED + update_gizmos(); +#endif + return true; + } + } + + return false; +} + +bool PhysicalBone3D::_get(const StringName &p_name, Variant &r_ret) const { + if (p_name == "bone_name") { + r_ret = get_bone_name(); + return true; + } + + if (joint_data) { + return joint_data->_get(p_name, r_ret); + } + + return false; +} + +void PhysicalBone3D::_get_property_list(List *p_list) const { + Skeleton3D *parent = find_skeleton_parent(get_parent()); + + if (parent) { + String names; + for (int i = 0; i < parent->get_bone_count(); i++) { + if (i > 0) { + names += ","; + } + names += parent->get_bone_name(i); + } + + p_list->push_back(PropertyInfo(Variant::STRING_NAME, PNAME("bone_name"), PROPERTY_HINT_ENUM, names)); + } else { + p_list->push_back(PropertyInfo(Variant::STRING_NAME, PNAME("bone_name"))); + } + + if (joint_data) { + joint_data->_get_property_list(p_list); + } +} + +void PhysicalBone3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: + parent_skeleton = find_skeleton_parent(get_parent()); + update_bone_id(); + reset_to_rest_position(); + reset_physics_simulation_state(); + if (joint_data) { + _reload_joint(); + } + break; + + case NOTIFICATION_EXIT_TREE: { + if (parent_skeleton) { + if (-1 != bone_id) { + parent_skeleton->unbind_physical_bone_from_bone(bone_id); + bone_id = -1; + } + } + parent_skeleton = nullptr; + PhysicsServer3D::get_singleton()->joint_clear(joint); + } break; + + case NOTIFICATION_TRANSFORM_CHANGED: { + if (Engine::get_singleton()->is_editor_hint()) { + update_offset(); + } + } break; + } +} + +void PhysicalBone3D::_sync_body_state(PhysicsDirectBodyState3D *p_state) { + set_ignore_transform_notification(true); + set_global_transform(p_state->get_transform()); + set_ignore_transform_notification(false); + + linear_velocity = p_state->get_linear_velocity(); + angular_velocity = p_state->get_angular_velocity(); +} + +void PhysicalBone3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { + if (!simulate_physics || !_internal_simulate_physics) { + return; + } + + if (GDVIRTUAL_IS_OVERRIDDEN(_integrate_forces)) { + _sync_body_state(p_state); + + Transform3D old_transform = get_global_transform(); + GDVIRTUAL_CALL(_integrate_forces, p_state); + Transform3D new_transform = get_global_transform(); + + if (new_transform != old_transform) { + // Update the physics server with the new transform, to prevent it from being overwritten at the sync below. + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); + } + } + + _sync_body_state(p_state); + _on_transform_changed(); + + Transform3D global_transform(p_state->get_transform()); + + // Update skeleton + if (parent_skeleton) { + if (-1 != bone_id) { + parent_skeleton->set_bone_global_pose_override(bone_id, parent_skeleton->get_global_transform().affine_inverse() * (global_transform * body_offset_inverse), 1.0, true); + } + } +} + +void PhysicalBone3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3()); + + ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone3D::set_joint_type); + ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone3D::get_joint_type); + + ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset); + ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset); + ClassDB::bind_method(D_METHOD("set_joint_rotation", "euler"), &PhysicalBone3D::set_joint_rotation); + ClassDB::bind_method(D_METHOD("get_joint_rotation"), &PhysicalBone3D::get_joint_rotation); + + ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset); + ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset); + + ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone3D::get_simulate_physics); + + ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone3D::is_simulating_physics); + + ClassDB::bind_method(D_METHOD("get_bone_id"), &PhysicalBone3D::get_bone_id); + + ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone3D::set_mass); + ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone3D::get_mass); + + ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone3D::set_friction); + ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone3D::get_friction); + + ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &PhysicalBone3D::set_bounce); + ClassDB::bind_method(D_METHOD("get_bounce"), &PhysicalBone3D::get_bounce); + + ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale); + ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale); + + ClassDB::bind_method(D_METHOD("set_linear_damp_mode", "linear_damp_mode"), &PhysicalBone3D::set_linear_damp_mode); + ClassDB::bind_method(D_METHOD("get_linear_damp_mode"), &PhysicalBone3D::get_linear_damp_mode); + + ClassDB::bind_method(D_METHOD("set_angular_damp_mode", "angular_damp_mode"), &PhysicalBone3D::set_angular_damp_mode); + ClassDB::bind_method(D_METHOD("get_angular_damp_mode"), &PhysicalBone3D::get_angular_damp_mode); + + ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &PhysicalBone3D::set_linear_damp); + ClassDB::bind_method(D_METHOD("get_linear_damp"), &PhysicalBone3D::get_linear_damp); + + ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp); + ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp); + + ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &PhysicalBone3D::set_linear_velocity); + ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicalBone3D::get_linear_velocity); + + ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &PhysicalBone3D::set_angular_velocity); + ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicalBone3D::get_angular_velocity); + + ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &PhysicalBone3D::set_use_custom_integrator); + ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &PhysicalBone3D::is_using_custom_integrator); + + ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep); + ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep); + + GDVIRTUAL_BIND(_integrate_forces, "state"); + + ADD_GROUP("Joint", "joint_"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type"); + ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "joint_offset", PROPERTY_HINT_NONE, "suffix:m"), "set_joint_offset", "get_joint_offset"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_RANGE, "-360,360,0.01,or_less,or_greater,radians_as_degrees"), "set_joint_rotation", "get_joint_rotation"); + + ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "body_offset", PROPERTY_HINT_NONE, "suffix:m"), "set_body_offset", "get_body_offset"); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp,suffix:kg"), "set_mass", "get_mass"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-8,8,0.001,or_less,or_greater"), "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::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_linear_velocity", "get_linear_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_angular_velocity", "get_angular_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); + + BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE); + BIND_ENUM_CONSTANT(DAMP_MODE_REPLACE); + + BIND_ENUM_CONSTANT(JOINT_TYPE_NONE); + BIND_ENUM_CONSTANT(JOINT_TYPE_PIN); + BIND_ENUM_CONSTANT(JOINT_TYPE_CONE); + BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE); + BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER); + BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF); +} + +Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) { + if (!p_parent) { + return nullptr; + } + Skeleton3D *s = Object::cast_to(p_parent); + return s ? s : find_skeleton_parent(p_parent->get_parent()); +} + +void PhysicalBone3D::_update_joint_offset() { + _fix_joint_offset(); + + set_ignore_transform_notification(true); + reset_to_rest_position(); + set_ignore_transform_notification(false); + +#ifdef TOOLS_ENABLED + update_gizmos(); +#endif +} + +void PhysicalBone3D::_fix_joint_offset() { + // Clamp joint origin to bone origin + if (parent_skeleton) { + joint_offset.origin = body_offset.affine_inverse().origin; + } +} + +void PhysicalBone3D::_reload_joint() { + if (!parent_skeleton) { + PhysicsServer3D::get_singleton()->joint_clear(joint); + return; + } + + PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id); + if (!body_a) { + PhysicsServer3D::get_singleton()->joint_clear(joint); + return; + } + + Transform3D joint_transf = get_global_transform() * joint_offset; + Transform3D local_a = body_a->get_global_transform().affine_inverse() * joint_transf; + local_a.orthonormalize(); + + switch (get_joint_type()) { + case JOINT_TYPE_PIN: { + PhysicsServer3D::get_singleton()->joint_make_pin(joint, body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin); + const PinJointData *pjd(static_cast(joint_data)); + PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_BIAS, pjd->bias); + PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_DAMPING, pjd->damping); + PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, pjd->impulse_clamp); + + } break; + case JOINT_TYPE_CONE: { + PhysicsServer3D::get_singleton()->joint_make_cone_twist(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); + const ConeJointData *cjd(static_cast(joint_data)); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, cjd->bias); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, cjd->softness); + PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, cjd->relaxation); + + } break; + case JOINT_TYPE_HINGE: { + PhysicsServer3D::get_singleton()->joint_make_hinge(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); + const HingeJointData *hjd(static_cast(joint_data)); + PhysicsServer3D::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, hjd->angular_limit_lower); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, hjd->angular_limit_bias); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, hjd->angular_limit_softness); + PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, hjd->angular_limit_relaxation); + + } break; + case JOINT_TYPE_SLIDER: { + PhysicsServer3D::get_singleton()->joint_make_slider(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); + const SliderJointData *sjd(static_cast(joint_data)); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, sjd->linear_limit_softness); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, sjd->linear_limit_restitution); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, sjd->linear_limit_restitution); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, sjd->angular_limit_upper); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, sjd->angular_limit_lower); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); + PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, sjd->angular_limit_damping); + + } break; + case JOINT_TYPE_6DOF: { + PhysicsServer3D::get_singleton()->joint_make_generic_6dof(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); + const SixDOFJointData *g6dofjd(static_cast(joint_data)); + for (int axis = 0; axis < 3; ++axis) { + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, g6dofjd->axis_data[axis].angular_limit_upper); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, g6dofjd->axis_data[axis].angular_limit_lower); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].angular_limit_softness); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping); + PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point); + } + + } break; + case JOINT_TYPE_NONE: { + } break; + } +} + +void PhysicalBone3D::_on_bone_parent_changed() { + _reload_joint(); +} + +#ifdef TOOLS_ENABLED +void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) { + gizmo_move_joint = p_move_joint; +} + +Transform3D PhysicalBone3D::get_global_gizmo_transform() const { + return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform(); +} + +Transform3D PhysicalBone3D::get_local_gizmo_transform() const { + return gizmo_move_joint ? get_transform() * joint_offset : get_transform(); +} +#endif + +const PhysicalBone3D::JointData *PhysicalBone3D::get_joint_data() const { + return joint_data; +} + +Skeleton3D *PhysicalBone3D::find_skeleton_parent() { + return find_skeleton_parent(this); +} + +void PhysicalBone3D::set_joint_type(JointType p_joint_type) { + if (p_joint_type == get_joint_type()) { + return; + } + + if (joint_data) { + memdelete(joint_data); + } + joint_data = nullptr; + switch (p_joint_type) { + case JOINT_TYPE_PIN: + joint_data = memnew(PinJointData); + break; + case JOINT_TYPE_CONE: + joint_data = memnew(ConeJointData); + break; + case JOINT_TYPE_HINGE: + joint_data = memnew(HingeJointData); + break; + case JOINT_TYPE_SLIDER: + joint_data = memnew(SliderJointData); + break; + case JOINT_TYPE_6DOF: + joint_data = memnew(SixDOFJointData); + break; + case JOINT_TYPE_NONE: + break; + } + + _reload_joint(); + +#ifdef TOOLS_ENABLED + notify_property_list_changed(); + update_gizmos(); +#endif +} + +PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const { + return joint_data ? joint_data->get_joint_type() : JOINT_TYPE_NONE; +} + +void PhysicalBone3D::set_joint_offset(const Transform3D &p_offset) { + joint_offset = p_offset; + + _update_joint_offset(); +} + +const Transform3D &PhysicalBone3D::get_joint_offset() const { + return joint_offset; +} + +void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) { + joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale()); + + _update_joint_offset(); +} + +Vector3 PhysicalBone3D::get_joint_rotation() const { + return joint_offset.basis.get_euler_normalized(); +} + +const Transform3D &PhysicalBone3D::get_body_offset() const { + return body_offset; +} + +void PhysicalBone3D::set_body_offset(const Transform3D &p_offset) { + body_offset = p_offset; + body_offset_inverse = body_offset.affine_inverse(); + + _update_joint_offset(); +} + +void PhysicalBone3D::set_simulate_physics(bool p_simulate) { + if (simulate_physics == p_simulate) { + return; + } + + simulate_physics = p_simulate; + reset_physics_simulation_state(); +} + +bool PhysicalBone3D::get_simulate_physics() { + return simulate_physics; +} + +bool PhysicalBone3D::is_simulating_physics() { + return _internal_simulate_physics; +} + +void PhysicalBone3D::set_bone_name(const String &p_name) { + bone_name = p_name; + bone_id = -1; + + update_bone_id(); + reset_to_rest_position(); +} + +const String &PhysicalBone3D::get_bone_name() const { + return bone_name; +} + +void PhysicalBone3D::set_mass(real_t p_mass) { + ERR_FAIL_COND(p_mass <= 0); + mass = p_mass; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass); +} + +real_t PhysicalBone3D::get_mass() const { + return mass; +} + +void PhysicalBone3D::set_friction(real_t p_friction) { + ERR_FAIL_COND(p_friction < 0 || p_friction > 1); + + friction = p_friction; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, friction); +} + +real_t PhysicalBone3D::get_friction() const { + return friction; +} + +void PhysicalBone3D::set_bounce(real_t p_bounce) { + ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); + + bounce = p_bounce; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, bounce); +} + +real_t PhysicalBone3D::get_bounce() const { + return bounce; +} + +void PhysicalBone3D::set_gravity_scale(real_t p_gravity_scale) { + gravity_scale = p_gravity_scale; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); +} + +real_t PhysicalBone3D::get_gravity_scale() const { + return gravity_scale; +} + +void PhysicalBone3D::set_linear_damp_mode(DampMode p_mode) { + linear_damp_mode = p_mode; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode); +} + +PhysicalBone3D::DampMode PhysicalBone3D::get_linear_damp_mode() const { + return linear_damp_mode; +} + +void PhysicalBone3D::set_angular_damp_mode(DampMode p_mode) { + angular_damp_mode = p_mode; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode); +} + +PhysicalBone3D::DampMode PhysicalBone3D::get_angular_damp_mode() const { + return angular_damp_mode; +} + +void PhysicalBone3D::set_linear_damp(real_t p_linear_damp) { + ERR_FAIL_COND(p_linear_damp < 0); + + linear_damp = p_linear_damp; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); +} + +real_t PhysicalBone3D::get_linear_damp() const { + return linear_damp; +} + +void PhysicalBone3D::set_angular_damp(real_t p_angular_damp) { + ERR_FAIL_COND(p_angular_damp < 0); + + angular_damp = p_angular_damp; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); +} + +real_t PhysicalBone3D::get_angular_damp() const { + return angular_damp; +} + +void PhysicalBone3D::set_can_sleep(bool p_active) { + can_sleep = p_active; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); +} + +bool PhysicalBone3D::is_able_to_sleep() const { + return can_sleep; +} + +PhysicalBone3D::PhysicalBone3D() : + PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) { + joint = PhysicsServer3D::get_singleton()->joint_create(); + reset_physics_simulation_state(); +} + +PhysicalBone3D::~PhysicalBone3D() { + if (joint_data) { + memdelete(joint_data); + } + ERR_FAIL_NULL(PhysicsServer3D::get_singleton()); + PhysicsServer3D::get_singleton()->free(joint); +} + +void PhysicalBone3D::update_bone_id() { + if (!parent_skeleton) { + return; + } + + const int new_bone_id = parent_skeleton->find_bone(bone_name); + + if (new_bone_id != bone_id) { + if (-1 != bone_id) { + // Assert the unbind from old node + parent_skeleton->unbind_physical_bone_from_bone(bone_id); + } + + bone_id = new_bone_id; + + parent_skeleton->bind_physical_bone_to_bone(bone_id, this); + + _fix_joint_offset(); + reset_physics_simulation_state(); + } +} + +void PhysicalBone3D::update_offset() { +#ifdef TOOLS_ENABLED + if (parent_skeleton) { + Transform3D bone_transform(parent_skeleton->get_global_transform()); + if (-1 != bone_id) { + bone_transform *= parent_skeleton->get_bone_global_pose(bone_id); + } + + if (gizmo_move_joint) { + bone_transform *= body_offset; + set_joint_offset(bone_transform.affine_inverse() * get_global_transform()); + } else { + set_body_offset(bone_transform.affine_inverse() * get_global_transform()); + } + } +#endif +} + +void PhysicalBone3D::_start_physics_simulation() { + if (_internal_simulate_physics || !parent_skeleton) { + return; + } + reset_to_rest_position(); + set_body_mode(PhysicsServer3D::BODY_MODE_RIGID); + PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); + PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); + PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), get_collision_priority()); + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &PhysicalBone3D::_body_state_changed)); + set_as_top_level(true); + _internal_simulate_physics = true; +} + +void PhysicalBone3D::_stop_physics_simulation() { + if (!parent_skeleton) { + return; + } + if (parent_skeleton->get_animate_physical_bones()) { + set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC); + PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); + PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); + PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), get_collision_priority()); + } else { + set_body_mode(PhysicsServer3D::BODY_MODE_STATIC); + PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), 0); + PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), 0); + PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), 1.0); + } + if (_internal_simulate_physics) { + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), Callable()); + parent_skeleton->set_bone_global_pose_override(bone_id, Transform3D(), 0.0, false); + set_as_top_level(false); + _internal_simulate_physics = false; + } +} diff --git a/scene/3d/physics/physical_bone_3d.h b/scene/3d/physics/physical_bone_3d.h new file mode 100644 index 00000000000..953400da2f1 --- /dev/null +++ b/scene/3d/physics/physical_bone_3d.h @@ -0,0 +1,306 @@ +/**************************************************************************/ +/* physical_bone_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef PHYSICAL_BONE_3D_H +#define PHYSICAL_BONE_3D_H + +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/skeleton_3d.h" + +class PhysicalBone3D : public PhysicsBody3D { + GDCLASS(PhysicalBone3D, PhysicsBody3D); + +public: + enum DampMode { + DAMP_MODE_COMBINE, + DAMP_MODE_REPLACE, + }; + + enum JointType { + JOINT_TYPE_NONE, + JOINT_TYPE_PIN, + JOINT_TYPE_CONE, + JOINT_TYPE_HINGE, + JOINT_TYPE_SLIDER, + JOINT_TYPE_6DOF + }; + + struct JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_NONE; } + + /// "j" is used to set the parameter inside the PhysicsServer3D + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List *p_list) const; + + virtual ~JointData() {} + }; + + struct PinJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_PIN; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List *p_list) const; + + real_t bias = 0.3; + real_t damping = 1.0; + real_t impulse_clamp = 0.0; + }; + + struct ConeJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_CONE; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List *p_list) const; + + real_t swing_span = Math_PI * 0.25; + real_t twist_span = Math_PI; + real_t bias = 0.3; + real_t softness = 0.8; + real_t relaxation = 1.; + }; + + struct HingeJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List *p_list) const; + + bool angular_limit_enabled = false; + real_t angular_limit_upper = Math_PI * 0.5; + real_t angular_limit_lower = -Math_PI * 0.5; + real_t angular_limit_bias = 0.3; + real_t angular_limit_softness = 0.9; + real_t angular_limit_relaxation = 1.; + }; + + struct SliderJointData : public JointData { + virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List *p_list) const; + + real_t linear_limit_upper = 1.0; + real_t linear_limit_lower = -1.0; + real_t linear_limit_softness = 1.0; + real_t linear_limit_restitution = 0.7; + real_t linear_limit_damping = 1.0; + real_t angular_limit_upper = 0.0; + real_t angular_limit_lower = 0.0; + real_t angular_limit_softness = 1.0; + real_t angular_limit_restitution = 0.7; + real_t angular_limit_damping = 1.0; + }; + + struct SixDOFJointData : public JointData { + struct SixDOFAxisData { + bool linear_limit_enabled = true; + real_t linear_limit_upper = 0.0; + real_t linear_limit_lower = 0.0; + real_t linear_limit_softness = 0.7; + real_t linear_restitution = 0.5; + real_t linear_damping = 1.0; + bool linear_spring_enabled = false; + real_t linear_spring_stiffness = 0.0; + real_t linear_spring_damping = 0.0; + real_t linear_equilibrium_point = 0.0; + bool angular_limit_enabled = true; + real_t angular_limit_upper = 0.0; + real_t angular_limit_lower = 0.0; + real_t angular_limit_softness = 0.5; + real_t angular_restitution = 0.0; + real_t angular_damping = 1.0; + real_t erp = 0.5; + bool angular_spring_enabled = false; + real_t angular_spring_stiffness = 0.0; + real_t angular_spring_damping = 0.0; + real_t angular_equilibrium_point = 0.0; + }; + + virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; } + + virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); + virtual bool _get(const StringName &p_name, Variant &r_ret) const; + virtual void _get_property_list(List *p_list) const; + + SixDOFAxisData axis_data[3]; + + SixDOFJointData() {} + }; + +private: +#ifdef TOOLS_ENABLED + // if false gizmo move body + bool gizmo_move_joint = false; +#endif + + JointData *joint_data = nullptr; + Transform3D joint_offset; + RID joint; + + Skeleton3D *parent_skeleton = nullptr; + Transform3D body_offset; + Transform3D body_offset_inverse; + bool simulate_physics = false; + bool _internal_simulate_physics = false; + int bone_id = -1; + + String bone_name; + real_t bounce = 0.0; + real_t mass = 1.0; + real_t friction = 1.0; + Vector3 linear_velocity; + Vector3 angular_velocity; + real_t gravity_scale = 1.0; + bool can_sleep = true; + + bool custom_integrator = false; + + DampMode linear_damp_mode = DAMP_MODE_COMBINE; + DampMode angular_damp_mode = DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; + +protected: + bool _set(const StringName &p_name, const Variant &p_value); + bool _get(const StringName &p_name, Variant &r_ret) const; + void _get_property_list(List *p_list) const; + void _notification(int p_what); + GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *) + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); + void _body_state_changed(PhysicsDirectBodyState3D *p_state); + + static void _bind_methods(); + +private: + void _sync_body_state(PhysicsDirectBodyState3D *p_state); + static Skeleton3D *find_skeleton_parent(Node *p_parent); + + void _update_joint_offset(); + void _fix_joint_offset(); + void _reload_joint(); + +public: + void _on_bone_parent_changed(); + + void set_linear_velocity(const Vector3 &p_velocity); + Vector3 get_linear_velocity() const override; + + void set_angular_velocity(const Vector3 &p_velocity); + Vector3 get_angular_velocity() const override; + + void set_use_custom_integrator(bool p_enable); + bool is_using_custom_integrator(); + +#ifdef TOOLS_ENABLED + void _set_gizmo_move_joint(bool p_move_joint); + virtual Transform3D get_global_gizmo_transform() const override; + virtual Transform3D get_local_gizmo_transform() const override; +#endif + + const JointData *get_joint_data() const; + Skeleton3D *find_skeleton_parent(); + + int get_bone_id() const { + return bone_id; + } + + void set_joint_type(JointType p_joint_type); + JointType get_joint_type() const; + + void set_joint_offset(const Transform3D &p_offset); + const Transform3D &get_joint_offset() const; + + void set_joint_rotation(const Vector3 &p_euler_rad); + Vector3 get_joint_rotation() const; + + void set_body_offset(const Transform3D &p_offset); + const Transform3D &get_body_offset() const; + + void set_simulate_physics(bool p_simulate); + bool get_simulate_physics(); + bool is_simulating_physics(); + + void set_bone_name(const String &p_name); + const String &get_bone_name() const; + + void set_mass(real_t p_mass); + real_t get_mass() const; + + void set_friction(real_t p_friction); + real_t get_friction() const; + + void set_bounce(real_t p_bounce); + real_t get_bounce() const; + + void set_gravity_scale(real_t p_gravity_scale); + real_t get_gravity_scale() const; + + void set_linear_damp_mode(DampMode p_mode); + DampMode get_linear_damp_mode() const; + + void set_angular_damp_mode(DampMode p_mode); + DampMode get_angular_damp_mode() const; + + void set_linear_damp(real_t p_linear_damp); + real_t get_linear_damp() const; + + void set_angular_damp(real_t p_angular_damp); + real_t get_angular_damp() const; + + void set_can_sleep(bool p_active); + bool is_able_to_sleep() const; + + void apply_central_impulse(const Vector3 &p_impulse); + void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); + + void reset_physics_simulation_state(); + void reset_to_rest_position(); + + PhysicalBone3D(); + ~PhysicalBone3D(); + +private: + void update_bone_id(); + void update_offset(); + + void _start_physics_simulation(); + void _stop_physics_simulation(); +}; + +VARIANT_ENUM_CAST(PhysicalBone3D::JointType); +VARIANT_ENUM_CAST(PhysicalBone3D::DampMode); + +#endif // PHYSICAL_BONE_3D_H diff --git a/scene/3d/physics/physics_body_3d.cpp b/scene/3d/physics/physics_body_3d.cpp new file mode 100644 index 00000000000..711ca60a817 --- /dev/null +++ b/scene/3d/physics/physics_body_3d.cpp @@ -0,0 +1,228 @@ +/**************************************************************************/ +/* physics_body_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "physics_body_3d.h" + +#include "scene/scene_string_names.h" + +void PhysicsBody3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("move_and_collide", "motion", "test_only", "safe_margin", "recovery_as_collision", "max_collisions"), &PhysicsBody3D::_move, DEFVAL(false), DEFVAL(0.001), DEFVAL(false), DEFVAL(1)); + ClassDB::bind_method(D_METHOD("test_move", "from", "motion", "collision", "safe_margin", "recovery_as_collision", "max_collisions"), &PhysicsBody3D::test_move, DEFVAL(Variant()), DEFVAL(0.001), DEFVAL(false), DEFVAL(1)); + ClassDB::bind_method(D_METHOD("get_gravity"), &PhysicsBody3D::get_gravity); + + ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicsBody3D::set_axis_lock); + ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicsBody3D::get_axis_lock); + + ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions); + ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with); + ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with); + + ADD_GROUP("Axis Lock", "axis_lock_"); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y); + ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z); +} + +PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) : + CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) { + set_body_mode(p_mode); +} + +PhysicsBody3D::~PhysicsBody3D() { + if (motion_cache.is_valid()) { + motion_cache->owner = nullptr; + } +} + +TypedArray PhysicsBody3D::get_collision_exceptions() { + List exceptions; + PhysicsServer3D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions); + Array ret; + for (const RID &body : exceptions) { + ObjectID instance_id = PhysicsServer3D::get_singleton()->body_get_object_instance_id(body); + Object *obj = ObjectDB::get_instance(instance_id); + PhysicsBody3D *physics_body = Object::cast_to(obj); + ret.append(physics_body); + } + return ret; +} + +void PhysicsBody3D::add_collision_exception_with(Node *p_node) { + ERR_FAIL_NULL(p_node); + CollisionObject3D *collision_object = Object::cast_to(p_node); + ERR_FAIL_NULL_MSG(collision_object, "Collision exception only works between two nodes that inherit from CollisionObject3D (such as Area3D or PhysicsBody3D)."); + PhysicsServer3D::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid()); +} + +void PhysicsBody3D::remove_collision_exception_with(Node *p_node) { + ERR_FAIL_NULL(p_node); + CollisionObject3D *collision_object = Object::cast_to(p_node); + ERR_FAIL_NULL_MSG(collision_object, "Collision exception only works between two nodes that inherit from CollisionObject3D (such as Area3D or PhysicsBody3D)."); + PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid()); +} + +Ref PhysicsBody3D::_move(const Vector3 &p_motion, bool p_test_only, real_t p_margin, bool p_recovery_as_collision, int p_max_collisions) { + PhysicsServer3D::MotionParameters parameters(get_global_transform(), p_motion, p_margin); + parameters.max_collisions = p_max_collisions; + parameters.recovery_as_collision = p_recovery_as_collision; + + PhysicsServer3D::MotionResult result; + + if (move_and_collide(parameters, result, p_test_only)) { + // Create a new instance when the cached reference is invalid or still in use in script. + if (motion_cache.is_null() || motion_cache->get_reference_count() > 1) { + motion_cache.instantiate(); + motion_cache->owner = this; + } + + motion_cache->result = result; + + return motion_cache; + } + + return Ref(); +} + +bool PhysicsBody3D::move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only, bool p_cancel_sliding) { + bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_parameters, &r_result); + + // Restore direction of motion to be along original motion, + // in order to avoid sliding due to recovery, + // but only if collision depth is low enough to avoid tunneling. + if (p_cancel_sliding) { + real_t motion_length = p_parameters.motion.length(); + real_t precision = 0.001; + + if (colliding) { + // Can't just use margin as a threshold because collision depth is calculated on unsafe motion, + // so even in normal resting cases the depth can be a bit more than the margin. + precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction); + + if (r_result.collisions[0].depth > p_parameters.margin + precision) { + p_cancel_sliding = false; + } + } + + if (p_cancel_sliding) { + // When motion is null, recovery is the resulting motion. + Vector3 motion_normal; + if (motion_length > CMP_EPSILON) { + motion_normal = p_parameters.motion / motion_length; + } + + // Check depth of recovery. + real_t projected_length = r_result.travel.dot(motion_normal); + Vector3 recovery = r_result.travel - motion_normal * projected_length; + real_t recovery_length = recovery.length(); + // Fixes cases where canceling slide causes the motion to go too deep into the ground, + // because we're only taking rest information into account and not general recovery. + if (recovery_length < p_parameters.margin + precision) { + // Apply adjustment to motion. + r_result.travel = motion_normal * projected_length; + r_result.remainder = p_parameters.motion - r_result.travel; + } + } + } + + for (int i = 0; i < 3; i++) { + if (locked_axis & (1 << i)) { + r_result.travel[i] = 0; + } + } + + if (!p_test_only) { + Transform3D gt = p_parameters.from; + gt.origin += r_result.travel; + set_global_transform(gt); + } + + return colliding; +} + +bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref &r_collision, real_t p_margin, bool p_recovery_as_collision, int p_max_collisions) { + ERR_FAIL_COND_V(!is_inside_tree(), false); + + PhysicsServer3D::MotionResult *r = nullptr; + PhysicsServer3D::MotionResult temp_result; + if (r_collision.is_valid()) { + // Needs const_cast because method bindings don't support non-const Ref. + r = const_cast(&r_collision->result); + } else { + r = &temp_result; + } + + PhysicsServer3D::MotionParameters parameters(p_from, p_motion, p_margin); + parameters.recovery_as_collision = p_recovery_as_collision; + parameters.max_collisions = p_max_collisions; + + return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), parameters, r); +} + +Vector3 PhysicsBody3D::get_gravity() const { + PhysicsDirectBodyState3D *state = PhysicsServer3D::get_singleton()->body_get_direct_state(get_rid()); + ERR_FAIL_NULL_V(state, Vector3()); + return state->get_total_gravity(); +} + +void PhysicsBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) { + if (p_lock) { + locked_axis |= p_axis; + } else { + locked_axis &= (~p_axis); + } + PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); +} + +bool PhysicsBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const { + return (locked_axis & p_axis); +} + +Vector3 PhysicsBody3D::get_linear_velocity() const { + return Vector3(); +} + +Vector3 PhysicsBody3D::get_angular_velocity() const { + return Vector3(); +} + +real_t PhysicsBody3D::get_inverse_mass() const { + return 0; +} + +/////////////////////////////////////// + +//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45. + +/////////////////////////////////////// + +/////////////////////////////////////// diff --git a/scene/3d/physics/physics_body_3d.h b/scene/3d/physics/physics_body_3d.h new file mode 100644 index 00000000000..92b38500852 --- /dev/null +++ b/scene/3d/physics/physics_body_3d.h @@ -0,0 +1,72 @@ +/**************************************************************************/ +/* physics_body_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef PHYSICS_BODY_3D_H +#define PHYSICS_BODY_3D_H + +#include "core/templates/vset.h" +#include "scene/3d/physics/collision_object_3d.h" +#include "scene/3d/physics/kinematic_collision_3d.h" +#include "scene/resources/physics_material.h" +#include "servers/physics_server_3d.h" + +class PhysicsBody3D : public CollisionObject3D { + GDCLASS(PhysicsBody3D, CollisionObject3D); + +protected: + static void _bind_methods(); + PhysicsBody3D(PhysicsServer3D::BodyMode p_mode); + + Ref motion_cache; + + uint16_t locked_axis = 0; + + Ref _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001, bool p_recovery_as_collision = false, int p_max_collisions = 1); + +public: + bool move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only = false, bool p_cancel_sliding = true); + bool test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref &r_collision = Ref(), real_t p_margin = 0.001, bool p_recovery_as_collision = false, int p_max_collisions = 1); + Vector3 get_gravity() const; + + void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock); + bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const; + + virtual Vector3 get_linear_velocity() const; + virtual Vector3 get_angular_velocity() const; + virtual real_t get_inverse_mass() const; + + TypedArray get_collision_exceptions(); + void add_collision_exception_with(Node *p_node); //must be physicsbody + void remove_collision_exception_with(Node *p_node); + + virtual ~PhysicsBody3D(); +}; + +#endif // PHYSICS_BODY_3D_H diff --git a/scene/3d/ray_cast_3d.cpp b/scene/3d/physics/ray_cast_3d.cpp similarity index 99% rename from scene/3d/ray_cast_3d.cpp rename to scene/3d/physics/ray_cast_3d.cpp index b821181d291..dc50ecccc0e 100644 --- a/scene/3d/ray_cast_3d.cpp +++ b/scene/3d/physics/ray_cast_3d.cpp @@ -30,8 +30,8 @@ #include "ray_cast_3d.h" -#include "collision_object_3d.h" -#include "mesh_instance_3d.h" +#include "scene/3d/mesh_instance_3d.h" +#include "scene/3d/physics/collision_object_3d.h" void RayCast3D::set_target_position(const Vector3 &p_point) { target_position = p_point; diff --git a/scene/3d/ray_cast_3d.h b/scene/3d/physics/ray_cast_3d.h similarity index 100% rename from scene/3d/ray_cast_3d.h rename to scene/3d/physics/ray_cast_3d.h diff --git a/scene/3d/physics/rigid_body_3d.cpp b/scene/3d/physics/rigid_body_3d.cpp new file mode 100644 index 00000000000..54bd1c0d255 --- /dev/null +++ b/scene/3d/physics/rigid_body_3d.cpp @@ -0,0 +1,825 @@ +/**************************************************************************/ +/* rigid_body_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "rigid_body_3d.h" + +#include "scene/scene_string_names.h" + +void RigidBody3D::_body_enter_tree(ObjectID p_id) { + Object *obj = ObjectDB::get_instance(p_id); + Node *node = Object::cast_to(obj); + ERR_FAIL_NULL(node); + ERR_FAIL_NULL(contact_monitor); + HashMap::Iterator E = contact_monitor->body_map.find(p_id); + ERR_FAIL_COND(!E); + ERR_FAIL_COND(E->value.in_tree); + + E->value.in_tree = true; + + contact_monitor->locked = true; + + emit_signal(SceneStringNames::get_singleton()->body_entered, node); + + for (int i = 0; i < E->value.shapes.size(); i++) { + emit_signal(SceneStringNames::get_singleton()->body_shape_entered, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape); + } + + contact_monitor->locked = false; +} + +void RigidBody3D::_body_exit_tree(ObjectID p_id) { + Object *obj = ObjectDB::get_instance(p_id); + Node *node = Object::cast_to(obj); + ERR_FAIL_NULL(node); + ERR_FAIL_NULL(contact_monitor); + HashMap::Iterator E = contact_monitor->body_map.find(p_id); + ERR_FAIL_COND(!E); + ERR_FAIL_COND(!E->value.in_tree); + E->value.in_tree = false; + + contact_monitor->locked = true; + + emit_signal(SceneStringNames::get_singleton()->body_exited, node); + + for (int i = 0; i < E->value.shapes.size(); i++) { + emit_signal(SceneStringNames::get_singleton()->body_shape_exited, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape); + } + + contact_monitor->locked = false; +} + +void RigidBody3D::_body_inout(int p_status, const RID &p_body, 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 = Object::cast_to(obj); + + ERR_FAIL_NULL(contact_monitor); + HashMap::Iterator 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->value.rid = p_body; + //E->value.rc=0; + E->value.in_tree = node && node->is_inside_tree(); + if (node) { + node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree).bind(objid)); + node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree).bind(objid)); + if (E->value.in_tree) { + emit_signal(SceneStringNames::get_singleton()->body_entered, node); + } + } + } + //E->value.rc++; + if (node) { + E->value.shapes.insert(ShapePair(p_body_shape, p_local_shape)); + } + + if (E->value.in_tree) { + emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_body, node, p_body_shape, p_local_shape); + } + + } else { + //E->value.rc--; + + if (node) { + E->value.shapes.erase(ShapePair(p_body_shape, p_local_shape)); + } + + bool in_tree = E->value.in_tree; + + if (E->value.shapes.is_empty()) { + if (node) { + node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); + if (in_tree) { + emit_signal(SceneStringNames::get_singleton()->body_exited, node); + } + } + + contact_monitor->body_map.remove(E); + } + if (node && in_tree) { + emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_body, obj, p_body_shape, p_local_shape); + } + } +} + +struct _RigidBodyInOut { + RID rid; + ObjectID id; + int shape = 0; + int local_shape = 0; +}; + +void RigidBody3D::_sync_body_state(PhysicsDirectBodyState3D *p_state) { + set_ignore_transform_notification(true); + set_global_transform(p_state->get_transform()); + set_ignore_transform_notification(false); + + linear_velocity = p_state->get_linear_velocity(); + angular_velocity = p_state->get_angular_velocity(); + + inverse_inertia_tensor = p_state->get_inverse_inertia_tensor(); + + contact_count = p_state->get_contact_count(); + + if (sleeping != p_state->is_sleeping()) { + sleeping = p_state->is_sleeping(); + emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); + } +} + +void RigidBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { + lock_callback(); + + if (GDVIRTUAL_IS_OVERRIDDEN(_integrate_forces)) { + _sync_body_state(p_state); + + Transform3D old_transform = get_global_transform(); + GDVIRTUAL_CALL(_integrate_forces, p_state); + Transform3D new_transform = get_global_transform(); + + if (new_transform != old_transform) { + // Update the physics server with the new transform, to prevent it from being overwritten at the sync below. + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); + } + } + + _sync_body_state(p_state); + _on_transform_changed(); + + if (contact_monitor) { + contact_monitor->locked = true; + + //untag all + int rc = 0; + for (KeyValue &E : contact_monitor->body_map) { + for (int i = 0; i < E.value.shapes.size(); i++) { + E.value.shapes[i].tagged = false; + rc++; + } + } + + _RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidBodyInOut)); + int toadd_count = 0; + RigidBody3D_RemoveAction *toremove = (RigidBody3D_RemoveAction *)alloca(rc * sizeof(RigidBody3D_RemoveAction)); + int toremove_count = 0; + + //put the ones to add + + for (int i = 0; i < p_state->get_contact_count(); i++) { + RID col_rid = p_state->get_contact_collider(i); + ObjectID col_obj = p_state->get_contact_collider_id(i); + int local_shape = p_state->get_contact_local_shape(i); + int col_shape = p_state->get_contact_collider_shape(i); + + HashMap::Iterator E = contact_monitor->body_map.find(col_obj); + if (!E) { + toadd[toadd_count].rid = col_rid; + toadd[toadd_count].local_shape = local_shape; + toadd[toadd_count].id = col_obj; + toadd[toadd_count].shape = col_shape; + toadd_count++; + continue; + } + + ShapePair sp(col_shape, local_shape); + int idx = E->value.shapes.find(sp); + if (idx == -1) { + toadd[toadd_count].rid = col_rid; + toadd[toadd_count].local_shape = local_shape; + toadd[toadd_count].id = col_obj; + toadd[toadd_count].shape = col_shape; + toadd_count++; + continue; + } + + E->value.shapes[idx].tagged = true; + } + + //put the ones to remove + + for (const KeyValue &E : contact_monitor->body_map) { + for (int i = 0; i < E.value.shapes.size(); i++) { + if (!E.value.shapes[i].tagged) { + toremove[toremove_count].rid = E.value.rid; + toremove[toremove_count].body_id = E.key; + toremove[toremove_count].pair = E.value.shapes[i]; + toremove_count++; + } + } + } + + //process removals + + for (int i = 0; i < toremove_count; i++) { + _body_inout(0, toremove[i].rid, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape); + } + + //process additions + + for (int i = 0; i < toadd_count; i++) { + _body_inout(1, toremove[i].rid, toadd[i].id, toadd[i].shape, toadd[i].local_shape); + } + + contact_monitor->locked = false; + } + + unlock_callback(); +} + +void RigidBody3D::_notification(int p_what) { +#ifdef TOOLS_ENABLED + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + if (Engine::get_singleton()->is_editor_hint()) { + set_notify_local_transform(true); // Used for warnings and only in editor. + } + } break; + + case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { + update_configuration_warnings(); + } break; + } +#endif +} + +void RigidBody3D::_apply_body_mode() { + if (freeze) { + switch (freeze_mode) { + case FREEZE_MODE_STATIC: { + set_body_mode(PhysicsServer3D::BODY_MODE_STATIC); + } break; + case FREEZE_MODE_KINEMATIC: { + set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC); + } break; + } + } else if (lock_rotation) { + set_body_mode(PhysicsServer3D::BODY_MODE_RIGID_LINEAR); + } else { + set_body_mode(PhysicsServer3D::BODY_MODE_RIGID); + } +} + +void RigidBody3D::set_lock_rotation_enabled(bool p_lock_rotation) { + if (p_lock_rotation == lock_rotation) { + return; + } + + lock_rotation = p_lock_rotation; + _apply_body_mode(); +} + +bool RigidBody3D::is_lock_rotation_enabled() const { + return lock_rotation; +} + +void RigidBody3D::set_freeze_enabled(bool p_freeze) { + if (p_freeze == freeze) { + return; + } + + freeze = p_freeze; + _apply_body_mode(); +} + +bool RigidBody3D::is_freeze_enabled() const { + return freeze; +} + +void RigidBody3D::set_freeze_mode(FreezeMode p_freeze_mode) { + if (p_freeze_mode == freeze_mode) { + return; + } + + freeze_mode = p_freeze_mode; + _apply_body_mode(); +} + +RigidBody3D::FreezeMode RigidBody3D::get_freeze_mode() const { + return freeze_mode; +} + +void RigidBody3D::set_mass(real_t p_mass) { + ERR_FAIL_COND(p_mass <= 0); + mass = p_mass; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass); +} + +real_t RigidBody3D::get_mass() const { + return mass; +} + +void RigidBody3D::set_inertia(const Vector3 &p_inertia) { + ERR_FAIL_COND(p_inertia.x < 0); + ERR_FAIL_COND(p_inertia.y < 0); + ERR_FAIL_COND(p_inertia.z < 0); + + inertia = p_inertia; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia); +} + +const Vector3 &RigidBody3D::get_inertia() const { + return inertia; +} + +void RigidBody3D::set_center_of_mass_mode(CenterOfMassMode p_mode) { + if (center_of_mass_mode == p_mode) { + return; + } + + center_of_mass_mode = p_mode; + + switch (center_of_mass_mode) { + case CENTER_OF_MASS_MODE_AUTO: { + center_of_mass = Vector3(); + PhysicsServer3D::get_singleton()->body_reset_mass_properties(get_rid()); + if (inertia != Vector3()) { + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia); + } + } break; + + case CENTER_OF_MASS_MODE_CUSTOM: { + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); + } break; + } +} + +RigidBody3D::CenterOfMassMode RigidBody3D::get_center_of_mass_mode() const { + return center_of_mass_mode; +} + +void RigidBody3D::set_center_of_mass(const Vector3 &p_center_of_mass) { + if (center_of_mass == p_center_of_mass) { + return; + } + + ERR_FAIL_COND(center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM); + center_of_mass = p_center_of_mass; + + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); +} + +const Vector3 &RigidBody3D::get_center_of_mass() const { + return center_of_mass; +} + +void RigidBody3D::set_physics_material_override(const Ref &p_physics_material_override) { + if (physics_material_override.is_valid()) { + physics_material_override->disconnect_changed(callable_mp(this, &RigidBody3D::_reload_physics_characteristics)); + } + + physics_material_override = p_physics_material_override; + + if (physics_material_override.is_valid()) { + physics_material_override->connect_changed(callable_mp(this, &RigidBody3D::_reload_physics_characteristics)); + } + _reload_physics_characteristics(); +} + +Ref RigidBody3D::get_physics_material_override() const { + return physics_material_override; +} + +void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) { + gravity_scale = p_gravity_scale; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); +} + +real_t RigidBody3D::get_gravity_scale() const { + return gravity_scale; +} + +void RigidBody3D::set_linear_damp_mode(DampMode p_mode) { + linear_damp_mode = p_mode; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode); +} + +RigidBody3D::DampMode RigidBody3D::get_linear_damp_mode() const { + return linear_damp_mode; +} + +void RigidBody3D::set_angular_damp_mode(DampMode p_mode) { + angular_damp_mode = p_mode; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode); +} + +RigidBody3D::DampMode RigidBody3D::get_angular_damp_mode() const { + return angular_damp_mode; +} + +void RigidBody3D::set_linear_damp(real_t p_linear_damp) { + ERR_FAIL_COND(p_linear_damp < 0.0); + linear_damp = p_linear_damp; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); +} + +real_t RigidBody3D::get_linear_damp() const { + return linear_damp; +} + +void RigidBody3D::set_angular_damp(real_t p_angular_damp) { + ERR_FAIL_COND(p_angular_damp < 0.0); + angular_damp = p_angular_damp; + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); +} + +real_t RigidBody3D::get_angular_damp() const { + return angular_damp; +} + +void RigidBody3D::set_axis_velocity(const Vector3 &p_axis) { + Vector3 axis = p_axis.normalized(); + linear_velocity -= axis * axis.dot(linear_velocity); + linear_velocity += p_axis; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); +} + +void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) { + linear_velocity = p_velocity; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); +} + +Vector3 RigidBody3D::get_linear_velocity() const { + return linear_velocity; +} + +void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) { + angular_velocity = p_velocity; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); +} + +Vector3 RigidBody3D::get_angular_velocity() const { + return angular_velocity; +} + +Basis RigidBody3D::get_inverse_inertia_tensor() const { + return inverse_inertia_tensor; +} + +void RigidBody3D::set_use_custom_integrator(bool p_enable) { + if (custom_integrator == p_enable) { + return; + } + + custom_integrator = p_enable; + PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); +} + +bool RigidBody3D::is_using_custom_integrator() { + return custom_integrator; +} + +void RigidBody3D::set_sleeping(bool p_sleeping) { + sleeping = p_sleeping; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_SLEEPING, sleeping); +} + +void RigidBody3D::set_can_sleep(bool p_active) { + can_sleep = p_active; + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); +} + +bool RigidBody3D::is_able_to_sleep() const { + return can_sleep; +} + +bool RigidBody3D::is_sleeping() const { + return sleeping; +} + +void RigidBody3D::set_max_contacts_reported(int p_amount) { + max_contacts_reported = p_amount; + PhysicsServer3D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount); +} + +int RigidBody3D::get_max_contacts_reported() const { + return max_contacts_reported; +} + +int RigidBody3D::get_contact_count() const { + return contact_count; +} + +void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) { + PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); +} + +void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { + PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); + singleton->body_apply_impulse(get_rid(), p_impulse, p_position); +} + +void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) { + PhysicsServer3D::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse); +} + +void RigidBody3D::apply_central_force(const Vector3 &p_force) { + PhysicsServer3D::get_singleton()->body_apply_central_force(get_rid(), p_force); +} + +void RigidBody3D::apply_force(const Vector3 &p_force, const Vector3 &p_position) { + PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); + singleton->body_apply_force(get_rid(), p_force, p_position); +} + +void RigidBody3D::apply_torque(const Vector3 &p_torque) { + PhysicsServer3D::get_singleton()->body_apply_torque(get_rid(), p_torque); +} + +void RigidBody3D::add_constant_central_force(const Vector3 &p_force) { + PhysicsServer3D::get_singleton()->body_add_constant_central_force(get_rid(), p_force); +} + +void RigidBody3D::add_constant_force(const Vector3 &p_force, const Vector3 &p_position) { + PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); + singleton->body_add_constant_force(get_rid(), p_force, p_position); +} + +void RigidBody3D::add_constant_torque(const Vector3 &p_torque) { + PhysicsServer3D::get_singleton()->body_add_constant_torque(get_rid(), p_torque); +} + +void RigidBody3D::set_constant_force(const Vector3 &p_force) { + PhysicsServer3D::get_singleton()->body_set_constant_force(get_rid(), p_force); +} + +Vector3 RigidBody3D::get_constant_force() const { + return PhysicsServer3D::get_singleton()->body_get_constant_force(get_rid()); +} + +void RigidBody3D::set_constant_torque(const Vector3 &p_torque) { + PhysicsServer3D::get_singleton()->body_set_constant_torque(get_rid(), p_torque); +} + +Vector3 RigidBody3D::get_constant_torque() const { + return PhysicsServer3D::get_singleton()->body_get_constant_torque(get_rid()); +} + +void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) { + ccd = p_enable; + PhysicsServer3D::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable); +} + +bool RigidBody3D::is_using_continuous_collision_detection() const { + return ccd; +} + +void RigidBody3D::set_contact_monitor(bool p_enabled) { + if (p_enabled == is_contact_monitor_enabled()) { + return; + } + + if (!p_enabled) { + ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead."); + + for (const KeyValue &E : contact_monitor->body_map) { + //clean up mess + Object *obj = ObjectDB::get_instance(E.key); + Node *node = Object::cast_to(obj); + + if (node) { + node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); + node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); + } + } + + memdelete(contact_monitor); + contact_monitor = nullptr; + } else { + contact_monitor = memnew(ContactMonitor); + contact_monitor->locked = false; + } +} + +bool RigidBody3D::is_contact_monitor_enabled() const { + return contact_monitor != nullptr; +} + +TypedArray RigidBody3D::get_colliding_bodies() const { + ERR_FAIL_NULL_V(contact_monitor, TypedArray()); + + TypedArray ret; + ret.resize(contact_monitor->body_map.size()); + int idx = 0; + for (const KeyValue &E : contact_monitor->body_map) { + Object *obj = ObjectDB::get_instance(E.key); + if (!obj) { + ret.resize(ret.size() - 1); //ops + } else { + ret[idx++] = obj; + } + } + + return ret; +} + +void RigidBody3D::_reload_physics_characteristics() { + if (physics_material_override.is_null()) { + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0); + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1); + } else { + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); + } +} + +PackedStringArray RigidBody3D::get_configuration_warnings() const { + PackedStringArray warnings = CollisionObject3D::get_configuration_warnings(); + + Vector3 scale = get_transform().get_basis().get_scale(); + if (ABS(scale.x - 1.0) > 0.05 || ABS(scale.y - 1.0) > 0.05 || ABS(scale.z - 1.0) > 0.05) { + warnings.push_back(RTR("Scale changes to RigidBody3D will be overridden by the physics engine when running.\nPlease change the size in children collision shapes instead.")); + } + + return warnings; +} + +void RigidBody3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass); + ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass); + + ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidBody3D::set_inertia); + ClassDB::bind_method(D_METHOD("get_inertia"), &RigidBody3D::get_inertia); + + ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidBody3D::set_center_of_mass_mode); + ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidBody3D::get_center_of_mass_mode); + + ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidBody3D::set_center_of_mass); + ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidBody3D::get_center_of_mass); + + ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody3D::set_physics_material_override); + ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody3D::get_physics_material_override); + + ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody3D::set_linear_velocity); + ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody3D::get_linear_velocity); + + ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity); + ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity); + + ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor); + + ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale); + ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale); + + ClassDB::bind_method(D_METHOD("set_linear_damp_mode", "linear_damp_mode"), &RigidBody3D::set_linear_damp_mode); + ClassDB::bind_method(D_METHOD("get_linear_damp_mode"), &RigidBody3D::get_linear_damp_mode); + + ClassDB::bind_method(D_METHOD("set_angular_damp_mode", "angular_damp_mode"), &RigidBody3D::set_angular_damp_mode); + ClassDB::bind_method(D_METHOD("get_angular_damp_mode"), &RigidBody3D::get_angular_damp_mode); + + ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody3D::set_linear_damp); + ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody3D::get_linear_damp); + + ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody3D::set_angular_damp); + ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody3D::get_angular_damp); + + ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody3D::set_max_contacts_reported); + ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody3D::get_max_contacts_reported); + ClassDB::bind_method(D_METHOD("get_contact_count"), &RigidBody3D::get_contact_count); + + ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody3D::set_use_custom_integrator); + ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody3D::is_using_custom_integrator); + + ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody3D::set_contact_monitor); + ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody3D::is_contact_monitor_enabled); + + ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody3D::set_use_continuous_collision_detection); + ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody3D::is_using_continuous_collision_detection); + + ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity); + + ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse); + ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3()); + ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse); + + ClassDB::bind_method(D_METHOD("apply_central_force", "force"), &RigidBody3D::apply_central_force); + ClassDB::bind_method(D_METHOD("apply_force", "force", "position"), &RigidBody3D::apply_force, Vector3()); + ClassDB::bind_method(D_METHOD("apply_torque", "torque"), &RigidBody3D::apply_torque); + + ClassDB::bind_method(D_METHOD("add_constant_central_force", "force"), &RigidBody3D::add_constant_central_force); + ClassDB::bind_method(D_METHOD("add_constant_force", "force", "position"), &RigidBody3D::add_constant_force, Vector3()); + ClassDB::bind_method(D_METHOD("add_constant_torque", "torque"), &RigidBody3D::add_constant_torque); + + ClassDB::bind_method(D_METHOD("set_constant_force", "force"), &RigidBody3D::set_constant_force); + ClassDB::bind_method(D_METHOD("get_constant_force"), &RigidBody3D::get_constant_force); + + ClassDB::bind_method(D_METHOD("set_constant_torque", "torque"), &RigidBody3D::set_constant_torque); + ClassDB::bind_method(D_METHOD("get_constant_torque"), &RigidBody3D::get_constant_torque); + + ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping); + ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody3D::is_sleeping); + + ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody3D::set_can_sleep); + ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep); + + ClassDB::bind_method(D_METHOD("set_lock_rotation_enabled", "lock_rotation"), &RigidBody3D::set_lock_rotation_enabled); + ClassDB::bind_method(D_METHOD("is_lock_rotation_enabled"), &RigidBody3D::is_lock_rotation_enabled); + + ClassDB::bind_method(D_METHOD("set_freeze_enabled", "freeze_mode"), &RigidBody3D::set_freeze_enabled); + ClassDB::bind_method(D_METHOD("is_freeze_enabled"), &RigidBody3D::is_freeze_enabled); + + ClassDB::bind_method(D_METHOD("set_freeze_mode", "freeze_mode"), &RigidBody3D::set_freeze_mode); + ClassDB::bind_method(D_METHOD("get_freeze_mode"), &RigidBody3D::get_freeze_mode); + + ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies); + + GDVIRTUAL_BIND(_integrate_forces, "state"); + + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp,suffix:kg"), "set_mass", "get_mass"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-8,8,0.001,or_less,or_greater"), "set_gravity_scale", "get_gravity_scale"); + ADD_GROUP("Mass Distribution", ""); + ADD_PROPERTY(PropertyInfo(Variant::INT, "center_of_mass_mode", PROPERTY_HINT_ENUM, "Auto,Custom", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_center_of_mass_mode", "get_center_of_mass_mode"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass", PROPERTY_HINT_RANGE, "-10,10,0.01,or_less,or_greater,suffix:m"), "set_center_of_mass", "get_center_of_mass"); + ADD_LINKED_PROPERTY("center_of_mass_mode", "center_of_mass"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inertia", PROPERTY_HINT_RANGE, U"0,1000,0.01,or_greater,exp,suffix:kg\u22C5m\u00B2"), "set_inertia", "get_inertia"); + ADD_GROUP("Deactivation", ""); + 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::BOOL, "lock_rotation"), "set_lock_rotation_enabled", "is_lock_rotation_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "freeze"), "set_freeze_enabled", "is_freeze_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "freeze_mode", PROPERTY_HINT_ENUM, "Static,Kinematic"), "set_freeze_mode", "get_freeze_mode"); + ADD_GROUP("Solver", ""); + 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, "max_contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled"); + ADD_GROUP("Linear", "linear_"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_linear_velocity", "get_linear_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); + ADD_GROUP("Angular", "angular_"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_angular_velocity", "get_angular_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); + ADD_GROUP("Constant Forces", "constant_"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_force", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m/s\u00B2 (N)"), "set_constant_force", "get_constant_force"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_torque", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m\u00B2/s\u00B2/rad"), "set_constant_torque", "get_constant_torque"); + + ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::RID, "body_rid"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape_index"), PropertyInfo(Variant::INT, "local_shape_index"))); + ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::RID, "body_rid"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape_index"), PropertyInfo(Variant::INT, "local_shape_index"))); + ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); + ADD_SIGNAL(MethodInfo("sleeping_state_changed")); + + BIND_ENUM_CONSTANT(FREEZE_MODE_STATIC); + BIND_ENUM_CONSTANT(FREEZE_MODE_KINEMATIC); + + BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_AUTO); + BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_CUSTOM); + + BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE); + BIND_ENUM_CONSTANT(DAMP_MODE_REPLACE); +} + +void RigidBody3D::_validate_property(PropertyInfo &p_property) const { + if (center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM) { + if (p_property.name == "center_of_mass") { + p_property.usage = PROPERTY_USAGE_NO_EDITOR; + } + } +} + +RigidBody3D::RigidBody3D() : + PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) { + PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &RigidBody3D::_body_state_changed)); +} + +RigidBody3D::~RigidBody3D() { + if (contact_monitor) { + memdelete(contact_monitor); + } +} diff --git a/scene/3d/physics/rigid_body_3d.h b/scene/3d/physics/rigid_body_3d.h new file mode 100644 index 00000000000..ec051e5e0fb --- /dev/null +++ b/scene/3d/physics/rigid_body_3d.h @@ -0,0 +1,248 @@ +/**************************************************************************/ +/* rigid_body_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef RIGID_BODY_3D_H +#define RIGID_BODY_3D_H + +#include "scene/3d/physics/static_body_3d.h" + +class RigidBody3D : public PhysicsBody3D { + GDCLASS(RigidBody3D, PhysicsBody3D); + +public: + enum FreezeMode { + FREEZE_MODE_STATIC, + FREEZE_MODE_KINEMATIC, + }; + + enum CenterOfMassMode { + CENTER_OF_MASS_MODE_AUTO, + CENTER_OF_MASS_MODE_CUSTOM, + }; + + enum DampMode { + DAMP_MODE_COMBINE, + DAMP_MODE_REPLACE, + }; + +private: + bool can_sleep = true; + bool lock_rotation = false; + bool freeze = false; + FreezeMode freeze_mode = FREEZE_MODE_STATIC; + + real_t mass = 1.0; + Vector3 inertia; + CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO; + Vector3 center_of_mass; + + Ref physics_material_override; + + Vector3 linear_velocity; + Vector3 angular_velocity; + Basis inverse_inertia_tensor; + real_t gravity_scale = 1.0; + + DampMode linear_damp_mode = DAMP_MODE_COMBINE; + DampMode angular_damp_mode = DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; + + bool sleeping = false; + bool ccd = false; + + int max_contacts_reported = 0; + int contact_count = 0; + + bool custom_integrator = false; + + struct ShapePair { + int body_shape = 0; + int local_shape = 0; + bool tagged = false; + bool operator<(const ShapePair &p_sp) const { + if (body_shape == p_sp.body_shape) { + return local_shape < p_sp.local_shape; + } else { + return body_shape < p_sp.body_shape; + } + } + + ShapePair() {} + ShapePair(int p_bs, int p_ls) { + body_shape = p_bs; + local_shape = p_ls; + tagged = false; + } + }; + struct RigidBody3D_RemoveAction { + RID rid; + ObjectID body_id; + ShapePair pair; + }; + struct BodyState { + RID rid; + //int rc; + bool in_tree = false; + VSet shapes; + }; + + struct ContactMonitor { + bool locked = false; + HashMap body_map; + }; + + ContactMonitor *contact_monitor = nullptr; + void _body_enter_tree(ObjectID p_id); + void _body_exit_tree(ObjectID p_id); + + void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape); + static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); + + void _sync_body_state(PhysicsDirectBodyState3D *p_state); + +protected: + void _notification(int p_what); + static void _bind_methods(); + + void _validate_property(PropertyInfo &p_property) const; + + GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *) + + virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state); + + void _apply_body_mode(); + +public: + void set_lock_rotation_enabled(bool p_lock_rotation); + bool is_lock_rotation_enabled() const; + + void set_freeze_enabled(bool p_freeze); + bool is_freeze_enabled() const; + + void set_freeze_mode(FreezeMode p_freeze_mode); + FreezeMode get_freeze_mode() const; + + void set_mass(real_t p_mass); + real_t get_mass() const; + + virtual real_t get_inverse_mass() const override { return 1.0 / mass; } + + void set_inertia(const Vector3 &p_inertia); + const Vector3 &get_inertia() const; + + void set_center_of_mass_mode(CenterOfMassMode p_mode); + CenterOfMassMode get_center_of_mass_mode() const; + + void set_center_of_mass(const Vector3 &p_center_of_mass); + const Vector3 &get_center_of_mass() const; + + void set_physics_material_override(const Ref &p_physics_material_override); + Ref get_physics_material_override() const; + + void set_linear_velocity(const Vector3 &p_velocity); + Vector3 get_linear_velocity() const override; + + void set_axis_velocity(const Vector3 &p_axis); + + void set_angular_velocity(const Vector3 &p_velocity); + Vector3 get_angular_velocity() const override; + + Basis get_inverse_inertia_tensor() const; + + void set_gravity_scale(real_t p_gravity_scale); + real_t get_gravity_scale() const; + + void set_linear_damp_mode(DampMode p_mode); + DampMode get_linear_damp_mode() const; + + void set_angular_damp_mode(DampMode p_mode); + DampMode get_angular_damp_mode() const; + + void set_linear_damp(real_t p_linear_damp); + real_t get_linear_damp() const; + + void set_angular_damp(real_t p_angular_damp); + real_t get_angular_damp() const; + + void set_use_custom_integrator(bool p_enable); + bool is_using_custom_integrator(); + + void set_sleeping(bool p_sleeping); + bool is_sleeping() const; + + void set_can_sleep(bool p_active); + bool is_able_to_sleep() const; + + void set_contact_monitor(bool p_enabled); + bool is_contact_monitor_enabled() const; + + void set_max_contacts_reported(int p_amount); + int get_max_contacts_reported() const; + int get_contact_count() const; + + void set_use_continuous_collision_detection(bool p_enable); + bool is_using_continuous_collision_detection() const; + + TypedArray get_colliding_bodies() const; + + void apply_central_impulse(const Vector3 &p_impulse); + void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); + void apply_torque_impulse(const Vector3 &p_impulse); + + void apply_central_force(const Vector3 &p_force); + void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); + void apply_torque(const Vector3 &p_torque); + + void add_constant_central_force(const Vector3 &p_force); + void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); + void add_constant_torque(const Vector3 &p_torque); + + void set_constant_force(const Vector3 &p_force); + Vector3 get_constant_force() const; + + void set_constant_torque(const Vector3 &p_torque); + Vector3 get_constant_torque() const; + + virtual PackedStringArray get_configuration_warnings() const override; + + RigidBody3D(); + ~RigidBody3D(); + +private: + void _reload_physics_characteristics(); +}; + +VARIANT_ENUM_CAST(RigidBody3D::FreezeMode); +VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode); +VARIANT_ENUM_CAST(RigidBody3D::DampMode); + +#endif // RIGID_BODY_3D_H diff --git a/scene/3d/shape_cast_3d.cpp b/scene/3d/physics/shape_cast_3d.cpp similarity index 99% rename from scene/3d/shape_cast_3d.cpp rename to scene/3d/physics/shape_cast_3d.cpp index 2da5f52928f..5e6302cb81b 100644 --- a/scene/3d/shape_cast_3d.cpp +++ b/scene/3d/physics/shape_cast_3d.cpp @@ -30,8 +30,8 @@ #include "shape_cast_3d.h" -#include "scene/3d/collision_object_3d.h" #include "scene/3d/mesh_instance_3d.h" +#include "scene/3d/physics/collision_object_3d.h" #include "scene/resources/3d/concave_polygon_shape_3d.h" void ShapeCast3D::_notification(int p_what) { diff --git a/scene/3d/shape_cast_3d.h b/scene/3d/physics/shape_cast_3d.h similarity index 100% rename from scene/3d/shape_cast_3d.h rename to scene/3d/physics/shape_cast_3d.h diff --git a/scene/3d/spring_arm_3d.cpp b/scene/3d/physics/spring_arm_3d.cpp similarity index 100% rename from scene/3d/spring_arm_3d.cpp rename to scene/3d/physics/spring_arm_3d.cpp diff --git a/scene/3d/spring_arm_3d.h b/scene/3d/physics/spring_arm_3d.h similarity index 100% rename from scene/3d/spring_arm_3d.h rename to scene/3d/physics/spring_arm_3d.h diff --git a/scene/3d/physics/static_body_3d.cpp b/scene/3d/physics/static_body_3d.cpp new file mode 100644 index 00000000000..30e796f92e3 --- /dev/null +++ b/scene/3d/physics/static_body_3d.cpp @@ -0,0 +1,96 @@ +/**************************************************************************/ +/* static_body_3d.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "static_body_3d.h" + +void StaticBody3D::set_physics_material_override(const Ref &p_physics_material_override) { + if (physics_material_override.is_valid()) { + physics_material_override->disconnect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics)); + } + + physics_material_override = p_physics_material_override; + + if (physics_material_override.is_valid()) { + physics_material_override->connect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics)); + } + _reload_physics_characteristics(); +} + +Ref StaticBody3D::get_physics_material_override() const { + return physics_material_override; +} + +void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) { + constant_linear_velocity = p_vel; + + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); +} + +void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) { + constant_angular_velocity = p_vel; + + PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); +} + +Vector3 StaticBody3D::get_constant_linear_velocity() const { + return constant_linear_velocity; +} + +Vector3 StaticBody3D::get_constant_angular_velocity() const { + return constant_angular_velocity; +} + +void StaticBody3D::_reload_physics_characteristics() { + if (physics_material_override.is_null()) { + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0); + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1); + } else { + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); + PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); + } +} + +void StaticBody3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity); + ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity); + ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity); + ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity); + + ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override); + ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override); + + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_constant_linear_velocity", "get_constant_linear_velocity"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_constant_angular_velocity", "get_constant_angular_velocity"); +} + +StaticBody3D::StaticBody3D(PhysicsServer3D::BodyMode p_mode) : + PhysicsBody3D(p_mode) { +} diff --git a/scene/3d/physics/static_body_3d.h b/scene/3d/physics/static_body_3d.h new file mode 100644 index 00000000000..7d7f7a4acc1 --- /dev/null +++ b/scene/3d/physics/static_body_3d.h @@ -0,0 +1,64 @@ +/**************************************************************************/ +/* static_body_3d.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef STATIC_BODY_3D_H +#define STATIC_BODY_3D_H + +#include "scene/3d/physics/physics_body_3d.h" + +class StaticBody3D : public PhysicsBody3D { + GDCLASS(StaticBody3D, PhysicsBody3D); + +private: + Vector3 constant_linear_velocity; + Vector3 constant_angular_velocity; + + Ref physics_material_override; + +protected: + static void _bind_methods(); + +public: + void set_physics_material_override(const Ref &p_physics_material_override); + Ref get_physics_material_override() const; + + void set_constant_linear_velocity(const Vector3 &p_vel); + void set_constant_angular_velocity(const Vector3 &p_vel); + + Vector3 get_constant_linear_velocity() const; + Vector3 get_constant_angular_velocity() const; + + StaticBody3D(PhysicsServer3D::BodyMode p_mode = PhysicsServer3D::BODY_MODE_STATIC); + +private: + void _reload_physics_characteristics(); +}; + +#endif // STATIC_BODY_3D_H diff --git a/scene/3d/vehicle_body_3d.cpp b/scene/3d/physics/vehicle_body_3d.cpp similarity index 100% rename from scene/3d/vehicle_body_3d.cpp rename to scene/3d/physics/vehicle_body_3d.cpp diff --git a/scene/3d/vehicle_body_3d.h b/scene/3d/physics/vehicle_body_3d.h similarity index 98% rename from scene/3d/vehicle_body_3d.h rename to scene/3d/physics/vehicle_body_3d.h index ce913f152d5..def99844406 100644 --- a/scene/3d/vehicle_body_3d.h +++ b/scene/3d/physics/vehicle_body_3d.h @@ -31,7 +31,8 @@ #ifndef VEHICLE_BODY_3D_H #define VEHICLE_BODY_3D_H -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/physics/rigid_body_3d.h" class VehicleBody3D; diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp deleted file mode 100644 index 67a7f76d7d6..00000000000 --- a/scene/3d/physics_body_3d.cpp +++ /dev/null @@ -1,3503 +0,0 @@ -/**************************************************************************/ -/* physics_body_3d.cpp */ -/**************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/**************************************************************************/ -/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ -/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/**************************************************************************/ - -#include "physics_body_3d.h" - -#include "scene/scene_string_names.h" - -void PhysicsBody3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("move_and_collide", "motion", "test_only", "safe_margin", "recovery_as_collision", "max_collisions"), &PhysicsBody3D::_move, DEFVAL(false), DEFVAL(0.001), DEFVAL(false), DEFVAL(1)); - ClassDB::bind_method(D_METHOD("test_move", "from", "motion", "collision", "safe_margin", "recovery_as_collision", "max_collisions"), &PhysicsBody3D::test_move, DEFVAL(Variant()), DEFVAL(0.001), DEFVAL(false), DEFVAL(1)); - ClassDB::bind_method(D_METHOD("get_gravity"), &PhysicsBody3D::get_gravity); - - ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicsBody3D::set_axis_lock); - ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicsBody3D::get_axis_lock); - - ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions); - ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with); - ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with); - - ADD_GROUP("Axis Lock", "axis_lock_"); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y); - ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z); -} - -PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) : - CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) { - set_body_mode(p_mode); -} - -PhysicsBody3D::~PhysicsBody3D() { - if (motion_cache.is_valid()) { - motion_cache->owner = nullptr; - } -} - -TypedArray PhysicsBody3D::get_collision_exceptions() { - List exceptions; - PhysicsServer3D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions); - Array ret; - for (const RID &body : exceptions) { - ObjectID instance_id = PhysicsServer3D::get_singleton()->body_get_object_instance_id(body); - Object *obj = ObjectDB::get_instance(instance_id); - PhysicsBody3D *physics_body = Object::cast_to(obj); - ret.append(physics_body); - } - return ret; -} - -void PhysicsBody3D::add_collision_exception_with(Node *p_node) { - ERR_FAIL_NULL(p_node); - CollisionObject3D *collision_object = Object::cast_to(p_node); - ERR_FAIL_NULL_MSG(collision_object, "Collision exception only works between two nodes that inherit from CollisionObject3D (such as Area3D or PhysicsBody3D)."); - PhysicsServer3D::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid()); -} - -void PhysicsBody3D::remove_collision_exception_with(Node *p_node) { - ERR_FAIL_NULL(p_node); - CollisionObject3D *collision_object = Object::cast_to(p_node); - ERR_FAIL_NULL_MSG(collision_object, "Collision exception only works between two nodes that inherit from CollisionObject3D (such as Area3D or PhysicsBody3D)."); - PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid()); -} - -Ref PhysicsBody3D::_move(const Vector3 &p_motion, bool p_test_only, real_t p_margin, bool p_recovery_as_collision, int p_max_collisions) { - PhysicsServer3D::MotionParameters parameters(get_global_transform(), p_motion, p_margin); - parameters.max_collisions = p_max_collisions; - parameters.recovery_as_collision = p_recovery_as_collision; - - PhysicsServer3D::MotionResult result; - - if (move_and_collide(parameters, result, p_test_only)) { - // Create a new instance when the cached reference is invalid or still in use in script. - if (motion_cache.is_null() || motion_cache->get_reference_count() > 1) { - motion_cache.instantiate(); - motion_cache->owner = this; - } - - motion_cache->result = result; - - return motion_cache; - } - - return Ref(); -} - -bool PhysicsBody3D::move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only, bool p_cancel_sliding) { - bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_parameters, &r_result); - - // Restore direction of motion to be along original motion, - // in order to avoid sliding due to recovery, - // but only if collision depth is low enough to avoid tunneling. - if (p_cancel_sliding) { - real_t motion_length = p_parameters.motion.length(); - real_t precision = 0.001; - - if (colliding) { - // Can't just use margin as a threshold because collision depth is calculated on unsafe motion, - // so even in normal resting cases the depth can be a bit more than the margin. - precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction); - - if (r_result.collisions[0].depth > p_parameters.margin + precision) { - p_cancel_sliding = false; - } - } - - if (p_cancel_sliding) { - // When motion is null, recovery is the resulting motion. - Vector3 motion_normal; - if (motion_length > CMP_EPSILON) { - motion_normal = p_parameters.motion / motion_length; - } - - // Check depth of recovery. - real_t projected_length = r_result.travel.dot(motion_normal); - Vector3 recovery = r_result.travel - motion_normal * projected_length; - real_t recovery_length = recovery.length(); - // Fixes cases where canceling slide causes the motion to go too deep into the ground, - // because we're only taking rest information into account and not general recovery. - if (recovery_length < p_parameters.margin + precision) { - // Apply adjustment to motion. - r_result.travel = motion_normal * projected_length; - r_result.remainder = p_parameters.motion - r_result.travel; - } - } - } - - for (int i = 0; i < 3; i++) { - if (locked_axis & (1 << i)) { - r_result.travel[i] = 0; - } - } - - if (!p_test_only) { - Transform3D gt = p_parameters.from; - gt.origin += r_result.travel; - set_global_transform(gt); - } - - return colliding; -} - -bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref &r_collision, real_t p_margin, bool p_recovery_as_collision, int p_max_collisions) { - ERR_FAIL_COND_V(!is_inside_tree(), false); - - PhysicsServer3D::MotionResult *r = nullptr; - PhysicsServer3D::MotionResult temp_result; - if (r_collision.is_valid()) { - // Needs const_cast because method bindings don't support non-const Ref. - r = const_cast(&r_collision->result); - } else { - r = &temp_result; - } - - PhysicsServer3D::MotionParameters parameters(p_from, p_motion, p_margin); - parameters.recovery_as_collision = p_recovery_as_collision; - parameters.max_collisions = p_max_collisions; - - return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), parameters, r); -} - -Vector3 PhysicsBody3D::get_gravity() const { - PhysicsDirectBodyState3D *state = PhysicsServer3D::get_singleton()->body_get_direct_state(get_rid()); - ERR_FAIL_NULL_V(state, Vector3()); - return state->get_total_gravity(); -} - -void PhysicsBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) { - if (p_lock) { - locked_axis |= p_axis; - } else { - locked_axis &= (~p_axis); - } - PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock); -} - -bool PhysicsBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const { - return (locked_axis & p_axis); -} - -Vector3 PhysicsBody3D::get_linear_velocity() const { - return Vector3(); -} - -Vector3 PhysicsBody3D::get_angular_velocity() const { - return Vector3(); -} - -real_t PhysicsBody3D::get_inverse_mass() const { - return 0; -} - -void StaticBody3D::set_physics_material_override(const Ref &p_physics_material_override) { - if (physics_material_override.is_valid()) { - physics_material_override->disconnect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics)); - } - - physics_material_override = p_physics_material_override; - - if (physics_material_override.is_valid()) { - physics_material_override->connect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics)); - } - _reload_physics_characteristics(); -} - -Ref StaticBody3D::get_physics_material_override() const { - return physics_material_override; -} - -void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) { - constant_linear_velocity = p_vel; - - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity); -} - -void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) { - constant_angular_velocity = p_vel; - - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity); -} - -Vector3 StaticBody3D::get_constant_linear_velocity() const { - return constant_linear_velocity; -} - -Vector3 StaticBody3D::get_constant_angular_velocity() const { - return constant_angular_velocity; -} - -void StaticBody3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity); - ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity); - ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity); - ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity); - - ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override); - ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override); - - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_constant_linear_velocity", "get_constant_linear_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_constant_angular_velocity", "get_constant_angular_velocity"); -} - -StaticBody3D::StaticBody3D(PhysicsServer3D::BodyMode p_mode) : - PhysicsBody3D(p_mode) { -} - -void StaticBody3D::_reload_physics_characteristics() { - if (physics_material_override.is_null()) { - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0); - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1); - } else { - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); - } -} - -Vector3 AnimatableBody3D::get_linear_velocity() const { - return linear_velocity; -} - -Vector3 AnimatableBody3D::get_angular_velocity() const { - return angular_velocity; -} - -void AnimatableBody3D::set_sync_to_physics(bool p_enable) { - if (sync_to_physics == p_enable) { - return; - } - - sync_to_physics = p_enable; - - _update_kinematic_motion(); -} - -bool AnimatableBody3D::is_sync_to_physics_enabled() const { - return sync_to_physics; -} - -void AnimatableBody3D::_update_kinematic_motion() { -#ifdef TOOLS_ENABLED - if (Engine::get_singleton()->is_editor_hint()) { - return; - } -#endif - - if (sync_to_physics) { - set_only_update_transform_changes(true); - set_notify_local_transform(true); - } else { - set_only_update_transform_changes(false); - set_notify_local_transform(false); - } -} - -void AnimatableBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { - linear_velocity = p_state->get_linear_velocity(); - angular_velocity = p_state->get_angular_velocity(); - - if (!sync_to_physics) { - return; - } - - last_valid_transform = p_state->get_transform(); - set_notify_local_transform(false); - set_global_transform(last_valid_transform); - set_notify_local_transform(true); - _on_transform_changed(); -} - -void AnimatableBody3D::_notification(int p_what) { -#ifdef TOOLS_ENABLED - if (Engine::get_singleton()->is_editor_hint()) { - return; - } -#endif - switch (p_what) { - case NOTIFICATION_ENTER_TREE: { - last_valid_transform = get_global_transform(); - _update_kinematic_motion(); - } break; - - case NOTIFICATION_EXIT_TREE: { - set_only_update_transform_changes(false); - set_notify_local_transform(false); - } break; - - case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { - // Used by sync to physics, send the new transform to the physics... - Transform3D new_transform = get_global_transform(); - - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); - - // ... but then revert changes. - set_notify_local_transform(false); - set_global_transform(last_valid_transform); - set_notify_local_transform(true); - _on_transform_changed(); - } break; - } -} - -void AnimatableBody3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &AnimatableBody3D::set_sync_to_physics); - ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &AnimatableBody3D::is_sync_to_physics_enabled); - - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled"); -} - -AnimatableBody3D::AnimatableBody3D() : - StaticBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) { - PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &AnimatableBody3D::_body_state_changed)); -} - -void RigidBody3D::_body_enter_tree(ObjectID p_id) { - Object *obj = ObjectDB::get_instance(p_id); - Node *node = Object::cast_to(obj); - ERR_FAIL_NULL(node); - ERR_FAIL_NULL(contact_monitor); - HashMap::Iterator E = contact_monitor->body_map.find(p_id); - ERR_FAIL_COND(!E); - ERR_FAIL_COND(E->value.in_tree); - - E->value.in_tree = true; - - contact_monitor->locked = true; - - emit_signal(SceneStringNames::get_singleton()->body_entered, node); - - for (int i = 0; i < E->value.shapes.size(); i++) { - emit_signal(SceneStringNames::get_singleton()->body_shape_entered, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape); - } - - contact_monitor->locked = false; -} - -void RigidBody3D::_body_exit_tree(ObjectID p_id) { - Object *obj = ObjectDB::get_instance(p_id); - Node *node = Object::cast_to(obj); - ERR_FAIL_NULL(node); - ERR_FAIL_NULL(contact_monitor); - HashMap::Iterator E = contact_monitor->body_map.find(p_id); - ERR_FAIL_COND(!E); - ERR_FAIL_COND(!E->value.in_tree); - E->value.in_tree = false; - - contact_monitor->locked = true; - - emit_signal(SceneStringNames::get_singleton()->body_exited, node); - - for (int i = 0; i < E->value.shapes.size(); i++) { - emit_signal(SceneStringNames::get_singleton()->body_shape_exited, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape); - } - - contact_monitor->locked = false; -} - -void RigidBody3D::_body_inout(int p_status, const RID &p_body, 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 = Object::cast_to(obj); - - ERR_FAIL_NULL(contact_monitor); - HashMap::Iterator 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->value.rid = p_body; - //E->value.rc=0; - E->value.in_tree = node && node->is_inside_tree(); - if (node) { - node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree).bind(objid)); - node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree).bind(objid)); - if (E->value.in_tree) { - emit_signal(SceneStringNames::get_singleton()->body_entered, node); - } - } - } - //E->value.rc++; - if (node) { - E->value.shapes.insert(ShapePair(p_body_shape, p_local_shape)); - } - - if (E->value.in_tree) { - emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_body, node, p_body_shape, p_local_shape); - } - - } else { - //E->value.rc--; - - if (node) { - E->value.shapes.erase(ShapePair(p_body_shape, p_local_shape)); - } - - bool in_tree = E->value.in_tree; - - if (E->value.shapes.is_empty()) { - if (node) { - node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); - node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); - if (in_tree) { - emit_signal(SceneStringNames::get_singleton()->body_exited, node); - } - } - - contact_monitor->body_map.remove(E); - } - if (node && in_tree) { - emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_body, obj, p_body_shape, p_local_shape); - } - } -} - -struct _RigidBodyInOut { - RID rid; - ObjectID id; - int shape = 0; - int local_shape = 0; -}; - -void RigidBody3D::_sync_body_state(PhysicsDirectBodyState3D *p_state) { - set_ignore_transform_notification(true); - set_global_transform(p_state->get_transform()); - set_ignore_transform_notification(false); - - linear_velocity = p_state->get_linear_velocity(); - angular_velocity = p_state->get_angular_velocity(); - - inverse_inertia_tensor = p_state->get_inverse_inertia_tensor(); - - contact_count = p_state->get_contact_count(); - - if (sleeping != p_state->is_sleeping()) { - sleeping = p_state->is_sleeping(); - emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed); - } -} - -void RigidBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { - lock_callback(); - - if (GDVIRTUAL_IS_OVERRIDDEN(_integrate_forces)) { - _sync_body_state(p_state); - - Transform3D old_transform = get_global_transform(); - GDVIRTUAL_CALL(_integrate_forces, p_state); - Transform3D new_transform = get_global_transform(); - - if (new_transform != old_transform) { - // Update the physics server with the new transform, to prevent it from being overwritten at the sync below. - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); - } - } - - _sync_body_state(p_state); - _on_transform_changed(); - - if (contact_monitor) { - contact_monitor->locked = true; - - //untag all - int rc = 0; - for (KeyValue &E : contact_monitor->body_map) { - for (int i = 0; i < E.value.shapes.size(); i++) { - E.value.shapes[i].tagged = false; - rc++; - } - } - - _RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidBodyInOut)); - int toadd_count = 0; - RigidBody3D_RemoveAction *toremove = (RigidBody3D_RemoveAction *)alloca(rc * sizeof(RigidBody3D_RemoveAction)); - int toremove_count = 0; - - //put the ones to add - - for (int i = 0; i < p_state->get_contact_count(); i++) { - RID col_rid = p_state->get_contact_collider(i); - ObjectID col_obj = p_state->get_contact_collider_id(i); - int local_shape = p_state->get_contact_local_shape(i); - int col_shape = p_state->get_contact_collider_shape(i); - - HashMap::Iterator E = contact_monitor->body_map.find(col_obj); - if (!E) { - toadd[toadd_count].rid = col_rid; - toadd[toadd_count].local_shape = local_shape; - toadd[toadd_count].id = col_obj; - toadd[toadd_count].shape = col_shape; - toadd_count++; - continue; - } - - ShapePair sp(col_shape, local_shape); - int idx = E->value.shapes.find(sp); - if (idx == -1) { - toadd[toadd_count].rid = col_rid; - toadd[toadd_count].local_shape = local_shape; - toadd[toadd_count].id = col_obj; - toadd[toadd_count].shape = col_shape; - toadd_count++; - continue; - } - - E->value.shapes[idx].tagged = true; - } - - //put the ones to remove - - for (const KeyValue &E : contact_monitor->body_map) { - for (int i = 0; i < E.value.shapes.size(); i++) { - if (!E.value.shapes[i].tagged) { - toremove[toremove_count].rid = E.value.rid; - toremove[toremove_count].body_id = E.key; - toremove[toremove_count].pair = E.value.shapes[i]; - toremove_count++; - } - } - } - - //process removals - - for (int i = 0; i < toremove_count; i++) { - _body_inout(0, toremove[i].rid, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape); - } - - //process additions - - for (int i = 0; i < toadd_count; i++) { - _body_inout(1, toremove[i].rid, toadd[i].id, toadd[i].shape, toadd[i].local_shape); - } - - contact_monitor->locked = false; - } - - unlock_callback(); -} - -void RigidBody3D::_notification(int p_what) { -#ifdef TOOLS_ENABLED - switch (p_what) { - case NOTIFICATION_ENTER_TREE: { - if (Engine::get_singleton()->is_editor_hint()) { - set_notify_local_transform(true); // Used for warnings and only in editor. - } - } break; - - case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: { - update_configuration_warnings(); - } break; - } -#endif -} - -void RigidBody3D::_apply_body_mode() { - if (freeze) { - switch (freeze_mode) { - case FREEZE_MODE_STATIC: { - set_body_mode(PhysicsServer3D::BODY_MODE_STATIC); - } break; - case FREEZE_MODE_KINEMATIC: { - set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC); - } break; - } - } else if (lock_rotation) { - set_body_mode(PhysicsServer3D::BODY_MODE_RIGID_LINEAR); - } else { - set_body_mode(PhysicsServer3D::BODY_MODE_RIGID); - } -} - -void RigidBody3D::set_lock_rotation_enabled(bool p_lock_rotation) { - if (p_lock_rotation == lock_rotation) { - return; - } - - lock_rotation = p_lock_rotation; - _apply_body_mode(); -} - -bool RigidBody3D::is_lock_rotation_enabled() const { - return lock_rotation; -} - -void RigidBody3D::set_freeze_enabled(bool p_freeze) { - if (p_freeze == freeze) { - return; - } - - freeze = p_freeze; - _apply_body_mode(); -} - -bool RigidBody3D::is_freeze_enabled() const { - return freeze; -} - -void RigidBody3D::set_freeze_mode(FreezeMode p_freeze_mode) { - if (p_freeze_mode == freeze_mode) { - return; - } - - freeze_mode = p_freeze_mode; - _apply_body_mode(); -} - -RigidBody3D::FreezeMode RigidBody3D::get_freeze_mode() const { - return freeze_mode; -} - -void RigidBody3D::set_mass(real_t p_mass) { - ERR_FAIL_COND(p_mass <= 0); - mass = p_mass; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass); -} - -real_t RigidBody3D::get_mass() const { - return mass; -} - -void RigidBody3D::set_inertia(const Vector3 &p_inertia) { - ERR_FAIL_COND(p_inertia.x < 0); - ERR_FAIL_COND(p_inertia.y < 0); - ERR_FAIL_COND(p_inertia.z < 0); - - inertia = p_inertia; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia); -} - -const Vector3 &RigidBody3D::get_inertia() const { - return inertia; -} - -void RigidBody3D::set_center_of_mass_mode(CenterOfMassMode p_mode) { - if (center_of_mass_mode == p_mode) { - return; - } - - center_of_mass_mode = p_mode; - - switch (center_of_mass_mode) { - case CENTER_OF_MASS_MODE_AUTO: { - center_of_mass = Vector3(); - PhysicsServer3D::get_singleton()->body_reset_mass_properties(get_rid()); - if (inertia != Vector3()) { - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia); - } - } break; - - case CENTER_OF_MASS_MODE_CUSTOM: { - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); - } break; - } -} - -RigidBody3D::CenterOfMassMode RigidBody3D::get_center_of_mass_mode() const { - return center_of_mass_mode; -} - -void RigidBody3D::set_center_of_mass(const Vector3 &p_center_of_mass) { - if (center_of_mass == p_center_of_mass) { - return; - } - - ERR_FAIL_COND(center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM); - center_of_mass = p_center_of_mass; - - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass); -} - -const Vector3 &RigidBody3D::get_center_of_mass() const { - return center_of_mass; -} - -void RigidBody3D::set_physics_material_override(const Ref &p_physics_material_override) { - if (physics_material_override.is_valid()) { - physics_material_override->disconnect_changed(callable_mp(this, &RigidBody3D::_reload_physics_characteristics)); - } - - physics_material_override = p_physics_material_override; - - if (physics_material_override.is_valid()) { - physics_material_override->connect_changed(callable_mp(this, &RigidBody3D::_reload_physics_characteristics)); - } - _reload_physics_characteristics(); -} - -Ref RigidBody3D::get_physics_material_override() const { - return physics_material_override; -} - -void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) { - gravity_scale = p_gravity_scale; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); -} - -real_t RigidBody3D::get_gravity_scale() const { - return gravity_scale; -} - -void RigidBody3D::set_linear_damp_mode(DampMode p_mode) { - linear_damp_mode = p_mode; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode); -} - -RigidBody3D::DampMode RigidBody3D::get_linear_damp_mode() const { - return linear_damp_mode; -} - -void RigidBody3D::set_angular_damp_mode(DampMode p_mode) { - angular_damp_mode = p_mode; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode); -} - -RigidBody3D::DampMode RigidBody3D::get_angular_damp_mode() const { - return angular_damp_mode; -} - -void RigidBody3D::set_linear_damp(real_t p_linear_damp) { - ERR_FAIL_COND(p_linear_damp < 0.0); - linear_damp = p_linear_damp; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); -} - -real_t RigidBody3D::get_linear_damp() const { - return linear_damp; -} - -void RigidBody3D::set_angular_damp(real_t p_angular_damp) { - ERR_FAIL_COND(p_angular_damp < 0.0); - angular_damp = p_angular_damp; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); -} - -real_t RigidBody3D::get_angular_damp() const { - return angular_damp; -} - -void RigidBody3D::set_axis_velocity(const Vector3 &p_axis) { - Vector3 axis = p_axis.normalized(); - linear_velocity -= axis * axis.dot(linear_velocity); - linear_velocity += p_axis; - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); -} - -void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) { - linear_velocity = p_velocity; - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); -} - -Vector3 RigidBody3D::get_linear_velocity() const { - return linear_velocity; -} - -void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) { - angular_velocity = p_velocity; - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); -} - -Vector3 RigidBody3D::get_angular_velocity() const { - return angular_velocity; -} - -Basis RigidBody3D::get_inverse_inertia_tensor() const { - return inverse_inertia_tensor; -} - -void RigidBody3D::set_use_custom_integrator(bool p_enable) { - if (custom_integrator == p_enable) { - return; - } - - custom_integrator = p_enable; - PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); -} - -bool RigidBody3D::is_using_custom_integrator() { - return custom_integrator; -} - -void RigidBody3D::set_sleeping(bool p_sleeping) { - sleeping = p_sleeping; - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_SLEEPING, sleeping); -} - -void RigidBody3D::set_can_sleep(bool p_active) { - can_sleep = p_active; - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); -} - -bool RigidBody3D::is_able_to_sleep() const { - return can_sleep; -} - -bool RigidBody3D::is_sleeping() const { - return sleeping; -} - -void RigidBody3D::set_max_contacts_reported(int p_amount) { - max_contacts_reported = p_amount; - PhysicsServer3D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount); -} - -int RigidBody3D::get_max_contacts_reported() const { - return max_contacts_reported; -} - -int RigidBody3D::get_contact_count() const { - return contact_count; -} - -void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) { - PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); -} - -void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { - PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); - singleton->body_apply_impulse(get_rid(), p_impulse, p_position); -} - -void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) { - PhysicsServer3D::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse); -} - -void RigidBody3D::apply_central_force(const Vector3 &p_force) { - PhysicsServer3D::get_singleton()->body_apply_central_force(get_rid(), p_force); -} - -void RigidBody3D::apply_force(const Vector3 &p_force, const Vector3 &p_position) { - PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); - singleton->body_apply_force(get_rid(), p_force, p_position); -} - -void RigidBody3D::apply_torque(const Vector3 &p_torque) { - PhysicsServer3D::get_singleton()->body_apply_torque(get_rid(), p_torque); -} - -void RigidBody3D::add_constant_central_force(const Vector3 &p_force) { - PhysicsServer3D::get_singleton()->body_add_constant_central_force(get_rid(), p_force); -} - -void RigidBody3D::add_constant_force(const Vector3 &p_force, const Vector3 &p_position) { - PhysicsServer3D *singleton = PhysicsServer3D::get_singleton(); - singleton->body_add_constant_force(get_rid(), p_force, p_position); -} - -void RigidBody3D::add_constant_torque(const Vector3 &p_torque) { - PhysicsServer3D::get_singleton()->body_add_constant_torque(get_rid(), p_torque); -} - -void RigidBody3D::set_constant_force(const Vector3 &p_force) { - PhysicsServer3D::get_singleton()->body_set_constant_force(get_rid(), p_force); -} - -Vector3 RigidBody3D::get_constant_force() const { - return PhysicsServer3D::get_singleton()->body_get_constant_force(get_rid()); -} - -void RigidBody3D::set_constant_torque(const Vector3 &p_torque) { - PhysicsServer3D::get_singleton()->body_set_constant_torque(get_rid(), p_torque); -} - -Vector3 RigidBody3D::get_constant_torque() const { - return PhysicsServer3D::get_singleton()->body_get_constant_torque(get_rid()); -} - -void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) { - ccd = p_enable; - PhysicsServer3D::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable); -} - -bool RigidBody3D::is_using_continuous_collision_detection() const { - return ccd; -} - -void RigidBody3D::set_contact_monitor(bool p_enabled) { - if (p_enabled == is_contact_monitor_enabled()) { - return; - } - - if (!p_enabled) { - ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead."); - - for (const KeyValue &E : contact_monitor->body_map) { - //clean up mess - Object *obj = ObjectDB::get_instance(E.key); - Node *node = Object::cast_to(obj); - - if (node) { - node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree)); - node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree)); - } - } - - memdelete(contact_monitor); - contact_monitor = nullptr; - } else { - contact_monitor = memnew(ContactMonitor); - contact_monitor->locked = false; - } -} - -bool RigidBody3D::is_contact_monitor_enabled() const { - return contact_monitor != nullptr; -} - -TypedArray RigidBody3D::get_colliding_bodies() const { - ERR_FAIL_NULL_V(contact_monitor, TypedArray()); - - TypedArray ret; - ret.resize(contact_monitor->body_map.size()); - int idx = 0; - for (const KeyValue &E : contact_monitor->body_map) { - Object *obj = ObjectDB::get_instance(E.key); - if (!obj) { - ret.resize(ret.size() - 1); //ops - } else { - ret[idx++] = obj; - } - } - - return ret; -} - -PackedStringArray RigidBody3D::get_configuration_warnings() const { - PackedStringArray warnings = CollisionObject3D::get_configuration_warnings(); - - Vector3 scale = get_transform().get_basis().get_scale(); - if (ABS(scale.x - 1.0) > 0.05 || ABS(scale.y - 1.0) > 0.05 || ABS(scale.z - 1.0) > 0.05) { - warnings.push_back(RTR("Scale changes to RigidBody3D will be overridden by the physics engine when running.\nPlease change the size in children collision shapes instead.")); - } - - return warnings; -} - -void RigidBody3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass); - ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass); - - ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidBody3D::set_inertia); - ClassDB::bind_method(D_METHOD("get_inertia"), &RigidBody3D::get_inertia); - - ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidBody3D::set_center_of_mass_mode); - ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidBody3D::get_center_of_mass_mode); - - ClassDB::bind_method(D_METHOD("set_center_of_mass", "center_of_mass"), &RigidBody3D::set_center_of_mass); - ClassDB::bind_method(D_METHOD("get_center_of_mass"), &RigidBody3D::get_center_of_mass); - - ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody3D::set_physics_material_override); - ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody3D::get_physics_material_override); - - ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody3D::set_linear_velocity); - ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody3D::get_linear_velocity); - - ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity); - ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity); - - ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &RigidBody3D::get_inverse_inertia_tensor); - - ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale); - ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale); - - ClassDB::bind_method(D_METHOD("set_linear_damp_mode", "linear_damp_mode"), &RigidBody3D::set_linear_damp_mode); - ClassDB::bind_method(D_METHOD("get_linear_damp_mode"), &RigidBody3D::get_linear_damp_mode); - - ClassDB::bind_method(D_METHOD("set_angular_damp_mode", "angular_damp_mode"), &RigidBody3D::set_angular_damp_mode); - ClassDB::bind_method(D_METHOD("get_angular_damp_mode"), &RigidBody3D::get_angular_damp_mode); - - ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody3D::set_linear_damp); - ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody3D::get_linear_damp); - - ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody3D::set_angular_damp); - ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody3D::get_angular_damp); - - ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody3D::set_max_contacts_reported); - ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody3D::get_max_contacts_reported); - ClassDB::bind_method(D_METHOD("get_contact_count"), &RigidBody3D::get_contact_count); - - ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody3D::set_use_custom_integrator); - ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody3D::is_using_custom_integrator); - - ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody3D::set_contact_monitor); - ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody3D::is_contact_monitor_enabled); - - ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody3D::set_use_continuous_collision_detection); - ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody3D::is_using_continuous_collision_detection); - - ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity); - - ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &RigidBody3D::apply_impulse, Vector3()); - ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse); - - ClassDB::bind_method(D_METHOD("apply_central_force", "force"), &RigidBody3D::apply_central_force); - ClassDB::bind_method(D_METHOD("apply_force", "force", "position"), &RigidBody3D::apply_force, Vector3()); - ClassDB::bind_method(D_METHOD("apply_torque", "torque"), &RigidBody3D::apply_torque); - - ClassDB::bind_method(D_METHOD("add_constant_central_force", "force"), &RigidBody3D::add_constant_central_force); - ClassDB::bind_method(D_METHOD("add_constant_force", "force", "position"), &RigidBody3D::add_constant_force, Vector3()); - ClassDB::bind_method(D_METHOD("add_constant_torque", "torque"), &RigidBody3D::add_constant_torque); - - ClassDB::bind_method(D_METHOD("set_constant_force", "force"), &RigidBody3D::set_constant_force); - ClassDB::bind_method(D_METHOD("get_constant_force"), &RigidBody3D::get_constant_force); - - ClassDB::bind_method(D_METHOD("set_constant_torque", "torque"), &RigidBody3D::set_constant_torque); - ClassDB::bind_method(D_METHOD("get_constant_torque"), &RigidBody3D::get_constant_torque); - - ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping); - ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody3D::is_sleeping); - - ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody3D::set_can_sleep); - ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep); - - ClassDB::bind_method(D_METHOD("set_lock_rotation_enabled", "lock_rotation"), &RigidBody3D::set_lock_rotation_enabled); - ClassDB::bind_method(D_METHOD("is_lock_rotation_enabled"), &RigidBody3D::is_lock_rotation_enabled); - - ClassDB::bind_method(D_METHOD("set_freeze_enabled", "freeze_mode"), &RigidBody3D::set_freeze_enabled); - ClassDB::bind_method(D_METHOD("is_freeze_enabled"), &RigidBody3D::is_freeze_enabled); - - ClassDB::bind_method(D_METHOD("set_freeze_mode", "freeze_mode"), &RigidBody3D::set_freeze_mode); - ClassDB::bind_method(D_METHOD("get_freeze_mode"), &RigidBody3D::get_freeze_mode); - - ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies); - - GDVIRTUAL_BIND(_integrate_forces, "state"); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp,suffix:kg"), "set_mass", "get_mass"); - ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-8,8,0.001,or_less,or_greater"), "set_gravity_scale", "get_gravity_scale"); - ADD_GROUP("Mass Distribution", ""); - ADD_PROPERTY(PropertyInfo(Variant::INT, "center_of_mass_mode", PROPERTY_HINT_ENUM, "Auto,Custom", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_center_of_mass_mode", "get_center_of_mass_mode"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass", PROPERTY_HINT_RANGE, "-10,10,0.01,or_less,or_greater,suffix:m"), "set_center_of_mass", "get_center_of_mass"); - ADD_LINKED_PROPERTY("center_of_mass_mode", "center_of_mass"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inertia", PROPERTY_HINT_RANGE, U"0,1000,0.01,or_greater,exp,suffix:kg\u22C5m\u00B2"), "set_inertia", "get_inertia"); - ADD_GROUP("Deactivation", ""); - 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::BOOL, "lock_rotation"), "set_lock_rotation_enabled", "is_lock_rotation_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "freeze"), "set_freeze_enabled", "is_freeze_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "freeze_mode", PROPERTY_HINT_ENUM, "Static,Kinematic"), "set_freeze_mode", "get_freeze_mode"); - ADD_GROUP("Solver", ""); - 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, "max_contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled"); - ADD_GROUP("Linear", "linear_"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_linear_velocity", "get_linear_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); - ADD_GROUP("Angular", "angular_"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_angular_velocity", "get_angular_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); - ADD_GROUP("Constant Forces", "constant_"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_force", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m/s\u00B2 (N)"), "set_constant_force", "get_constant_force"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_torque", PROPERTY_HINT_NONE, U"suffix:kg\u22C5m\u00B2/s\u00B2/rad"), "set_constant_torque", "get_constant_torque"); - - ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::RID, "body_rid"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape_index"), PropertyInfo(Variant::INT, "local_shape_index"))); - ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::RID, "body_rid"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape_index"), PropertyInfo(Variant::INT, "local_shape_index"))); - ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); - ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"))); - ADD_SIGNAL(MethodInfo("sleeping_state_changed")); - - BIND_ENUM_CONSTANT(FREEZE_MODE_STATIC); - BIND_ENUM_CONSTANT(FREEZE_MODE_KINEMATIC); - - BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_AUTO); - BIND_ENUM_CONSTANT(CENTER_OF_MASS_MODE_CUSTOM); - - BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE); - BIND_ENUM_CONSTANT(DAMP_MODE_REPLACE); -} - -void RigidBody3D::_validate_property(PropertyInfo &p_property) const { - if (center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM) { - if (p_property.name == "center_of_mass") { - p_property.usage = PROPERTY_USAGE_NO_EDITOR; - } - } -} - -RigidBody3D::RigidBody3D() : - PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) { - PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &RigidBody3D::_body_state_changed)); -} - -RigidBody3D::~RigidBody3D() { - if (contact_monitor) { - memdelete(contact_monitor); - } -} - -void RigidBody3D::_reload_physics_characteristics() { - if (physics_material_override.is_null()) { - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0); - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1); - } else { - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce()); - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction()); - } -} - -/////////////////////////////////////// - -//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45. -#define FLOOR_ANGLE_THRESHOLD 0.01 - -bool CharacterBody3D::move_and_slide() { - // Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky - double delta = Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time(); - - for (int i = 0; i < 3; i++) { - if (locked_axis & (1 << i)) { - velocity[i] = 0.0; - } - } - - Transform3D gt = get_global_transform(); - previous_position = gt.origin; - - Vector3 current_platform_velocity = platform_velocity; - - if ((collision_state.floor || collision_state.wall) && platform_rid.is_valid()) { - bool excluded = false; - if (collision_state.floor) { - excluded = (platform_floor_layers & platform_layer) == 0; - } else if (collision_state.wall) { - excluded = (platform_wall_layers & platform_layer) == 0; - } - if (!excluded) { - //this approach makes sure there is less delay between the actual body velocity and the one we saved - PhysicsDirectBodyState3D *bs = PhysicsServer3D::get_singleton()->body_get_direct_state(platform_rid); - if (bs) { - Vector3 local_position = gt.origin - bs->get_transform().origin; - current_platform_velocity = bs->get_velocity_at_local_position(local_position); - } else { - // Body is removed or destroyed, invalidate floor. - current_platform_velocity = Vector3(); - platform_rid = RID(); - } - } else { - current_platform_velocity = Vector3(); - } - } - - motion_results.clear(); - - bool was_on_floor = collision_state.floor; - collision_state.state = 0; - - last_motion = Vector3(); - - if (!current_platform_velocity.is_zero_approx()) { - PhysicsServer3D::MotionParameters parameters(get_global_transform(), current_platform_velocity * delta, margin); - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - - parameters.exclude_bodies.insert(platform_rid); - if (platform_object_id.is_valid()) { - parameters.exclude_objects.insert(platform_object_id); - } - - PhysicsServer3D::MotionResult floor_result; - if (move_and_collide(parameters, floor_result, false, false)) { - motion_results.push_back(floor_result); - - CollisionState result_state; - _set_collision_direction(floor_result, result_state); - } - } - - if (motion_mode == MOTION_MODE_GROUNDED) { - _move_and_slide_grounded(delta, was_on_floor); - } else { - _move_and_slide_floating(delta); - } - - // Compute real velocity. - real_velocity = get_position_delta() / delta; - - if (platform_on_leave != PLATFORM_ON_LEAVE_DO_NOTHING) { - // Add last platform velocity when just left a moving platform. - if (!collision_state.floor && !collision_state.wall) { - if (platform_on_leave == PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY && current_platform_velocity.dot(up_direction) < 0) { - current_platform_velocity = current_platform_velocity.slide(up_direction); - } - velocity += current_platform_velocity; - } - } - - return motion_results.size() > 0; -} - -void CharacterBody3D::_move_and_slide_grounded(double p_delta, bool p_was_on_floor) { - Vector3 motion = velocity * p_delta; - Vector3 motion_slide_up = motion.slide(up_direction); - Vector3 prev_floor_normal = floor_normal; - - platform_rid = RID(); - platform_object_id = ObjectID(); - platform_velocity = Vector3(); - platform_angular_velocity = Vector3(); - platform_ceiling_velocity = Vector3(); - floor_normal = Vector3(); - wall_normal = Vector3(); - ceiling_normal = Vector3(); - - // No sliding on first attempt to keep floor motion stable when possible, - // When stop on slope is enabled or when there is no up direction. - bool sliding_enabled = !floor_stop_on_slope; - // Constant speed can be applied only the first time sliding is enabled. - bool can_apply_constant_speed = sliding_enabled; - // If the platform's ceiling push down the body. - bool apply_ceiling_velocity = false; - bool first_slide = true; - bool vel_dir_facing_up = velocity.dot(up_direction) > 0; - Vector3 total_travel; - - for (int iteration = 0; iteration < max_slides; ++iteration) { - PhysicsServer3D::MotionParameters parameters(get_global_transform(), motion, margin); - parameters.max_collisions = 6; // There can be 4 collisions between 2 walls + 2 more for the floor. - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - - PhysicsServer3D::MotionResult result; - bool collided = move_and_collide(parameters, result, false, !sliding_enabled); - - last_motion = result.travel; - - if (collided) { - motion_results.push_back(result); - - CollisionState previous_state = collision_state; - - CollisionState result_state; - _set_collision_direction(result, result_state); - - // If we hit a ceiling platform, we set the vertical velocity to at least the platform one. - if (collision_state.ceiling && platform_ceiling_velocity != Vector3() && platform_ceiling_velocity.dot(up_direction) < 0) { - // If ceiling sliding is on, only apply when the ceiling is flat or when the motion is upward. - if (!slide_on_ceiling || motion.dot(up_direction) < 0 || (ceiling_normal + up_direction).length() < 0.01) { - apply_ceiling_velocity = true; - Vector3 ceiling_vertical_velocity = up_direction * up_direction.dot(platform_ceiling_velocity); - Vector3 motion_vertical_velocity = up_direction * up_direction.dot(velocity); - if (motion_vertical_velocity.dot(up_direction) > 0 || ceiling_vertical_velocity.length_squared() > motion_vertical_velocity.length_squared()) { - velocity = ceiling_vertical_velocity + velocity.slide(up_direction); - } - } - } - - if (collision_state.floor && floor_stop_on_slope && (velocity.normalized() + up_direction).length() < 0.01) { - Transform3D gt = get_global_transform(); - if (result.travel.length() <= margin + CMP_EPSILON) { - gt.origin -= result.travel; - } - set_global_transform(gt); - velocity = Vector3(); - motion = Vector3(); - last_motion = Vector3(); - break; - } - - if (result.remainder.is_zero_approx()) { - motion = Vector3(); - break; - } - - // Apply regular sliding by default. - bool apply_default_sliding = true; - - // Wall collision checks. - if (result_state.wall && (motion_slide_up.dot(wall_normal) <= 0)) { - // Move on floor only checks. - if (floor_block_on_wall) { - // Needs horizontal motion from current motion instead of motion_slide_up - // to properly test the angle and avoid standing on slopes - Vector3 horizontal_motion = motion.slide(up_direction); - Vector3 horizontal_normal = wall_normal.slide(up_direction).normalized(); - real_t motion_angle = Math::abs(Math::acos(-horizontal_normal.dot(horizontal_motion.normalized()))); - - // Avoid to move forward on a wall if floor_block_on_wall is true. - // Applies only when the motion angle is under 90 degrees, - // in order to avoid blocking lateral motion along a wall. - if (motion_angle < .5 * Math_PI) { - apply_default_sliding = false; - if (p_was_on_floor && !vel_dir_facing_up) { - // Cancel the motion. - Transform3D gt = get_global_transform(); - real_t travel_total = result.travel.length(); - real_t cancel_dist_max = MIN(0.1, margin * 20); - if (travel_total <= margin + CMP_EPSILON) { - gt.origin -= result.travel; - result.travel = Vector3(); // Cancel for constant speed computation. - } else if (travel_total < cancel_dist_max) { // If the movement is large the body can be prevented from reaching the walls. - gt.origin -= result.travel.slide(up_direction); - // Keep remaining motion in sync with amount canceled. - motion = motion.slide(up_direction); - result.travel = Vector3(); - } else { - // Travel is too high to be safely canceled, we take it into account. - result.travel = result.travel.slide(up_direction); - motion = motion.normalized() * result.travel.length(); - } - set_global_transform(gt); - // Determines if you are on the ground, and limits the possibility of climbing on the walls because of the approximations. - _snap_on_floor(true, false); - } else { - // If the movement is not canceled we only keep the remaining. - motion = result.remainder; - } - - // Apply slide on forward in order to allow only lateral motion on next step. - Vector3 forward = wall_normal.slide(up_direction).normalized(); - motion = motion.slide(forward); - - // Scales the horizontal velocity according to the wall slope. - if (vel_dir_facing_up) { - Vector3 slide_motion = velocity.slide(result.collisions[0].normal); - // Keeps the vertical motion from velocity and add the horizontal motion of the projection. - velocity = up_direction * up_direction.dot(velocity) + slide_motion.slide(up_direction); - } else { - velocity = velocity.slide(forward); - } - - // Allow only lateral motion along previous floor when already on floor. - // Fixes slowing down when moving in diagonal against an inclined wall. - if (p_was_on_floor && !vel_dir_facing_up && (motion.dot(up_direction) > 0.0)) { - // Slide along the corner between the wall and previous floor. - Vector3 floor_side = prev_floor_normal.cross(wall_normal); - if (floor_side != Vector3()) { - motion = floor_side * motion.dot(floor_side); - } - } - - // Stop all motion when a second wall is hit (unless sliding down or jumping), - // in order to avoid jittering in corner cases. - bool stop_all_motion = previous_state.wall && !vel_dir_facing_up; - - // Allow sliding when the body falls. - if (!collision_state.floor && motion.dot(up_direction) < 0) { - Vector3 slide_motion = motion.slide(wall_normal); - // Test again to allow sliding only if the result goes downwards. - // Fixes jittering issues at the bottom of inclined walls. - if (slide_motion.dot(up_direction) < 0) { - stop_all_motion = false; - motion = slide_motion; - } - } - - if (stop_all_motion) { - motion = Vector3(); - velocity = Vector3(); - } - } - } - - // Stop horizontal motion when under wall slide threshold. - if (p_was_on_floor && (wall_min_slide_angle > 0.0) && result_state.wall) { - Vector3 horizontal_normal = wall_normal.slide(up_direction).normalized(); - real_t motion_angle = Math::abs(Math::acos(-horizontal_normal.dot(motion_slide_up.normalized()))); - if (motion_angle < wall_min_slide_angle) { - motion = up_direction * motion.dot(up_direction); - velocity = up_direction * velocity.dot(up_direction); - - apply_default_sliding = false; - } - } - } - - if (apply_default_sliding) { - // Regular sliding, the last part of the test handle the case when you don't want to slide on the ceiling. - if ((sliding_enabled || !collision_state.floor) && (!collision_state.ceiling || slide_on_ceiling || !vel_dir_facing_up) && !apply_ceiling_velocity) { - const PhysicsServer3D::MotionCollision &collision = result.collisions[0]; - - Vector3 slide_motion = result.remainder.slide(collision.normal); - if (collision_state.floor && !collision_state.wall && !motion_slide_up.is_zero_approx()) { - // Slide using the intersection between the motion plane and the floor plane, - // in order to keep the direction intact. - real_t motion_length = slide_motion.length(); - slide_motion = up_direction.cross(result.remainder).cross(floor_normal); - - // Keep the length from default slide to change speed in slopes by default, - // when constant speed is not enabled. - slide_motion.normalize(); - slide_motion *= motion_length; - } - - if (slide_motion.dot(velocity) > 0.0) { - motion = slide_motion; - } else { - motion = Vector3(); - } - - if (slide_on_ceiling && result_state.ceiling) { - // Apply slide only in the direction of the input motion, otherwise just stop to avoid jittering when moving against a wall. - if (vel_dir_facing_up) { - velocity = velocity.slide(collision.normal); - } else { - // Avoid acceleration in slope when falling. - velocity = up_direction * up_direction.dot(velocity); - } - } - } - // No sliding on first attempt to keep floor motion stable when possible. - else { - motion = result.remainder; - if (result_state.ceiling && !slide_on_ceiling && vel_dir_facing_up) { - velocity = velocity.slide(up_direction); - motion = motion.slide(up_direction); - } - } - } - - total_travel += result.travel; - - // Apply Constant Speed. - if (p_was_on_floor && floor_constant_speed && can_apply_constant_speed && collision_state.floor && !motion.is_zero_approx()) { - Vector3 travel_slide_up = total_travel.slide(up_direction); - motion = motion.normalized() * MAX(0, (motion_slide_up.length() - travel_slide_up.length())); - } - } - // When you move forward in a downward slope you don’t collide because you will be in the air. - // This test ensures that constant speed is applied, only if the player is still on the ground after the snap is applied. - else if (floor_constant_speed && first_slide && _on_floor_if_snapped(p_was_on_floor, vel_dir_facing_up)) { - can_apply_constant_speed = false; - sliding_enabled = true; - Transform3D gt = get_global_transform(); - gt.origin = gt.origin - result.travel; - set_global_transform(gt); - - // Slide using the intersection between the motion plane and the floor plane, - // in order to keep the direction intact. - Vector3 motion_slide_norm = up_direction.cross(motion).cross(prev_floor_normal); - motion_slide_norm.normalize(); - - motion = motion_slide_norm * (motion_slide_up.length()); - collided = true; - } - - if (!collided || motion.is_zero_approx()) { - break; - } - - can_apply_constant_speed = !can_apply_constant_speed && !sliding_enabled; - sliding_enabled = true; - first_slide = false; - } - - _snap_on_floor(p_was_on_floor, vel_dir_facing_up); - - // Reset the gravity accumulation when touching the ground. - if (collision_state.floor && !vel_dir_facing_up) { - velocity = velocity.slide(up_direction); - } -} - -void CharacterBody3D::_move_and_slide_floating(double p_delta) { - Vector3 motion = velocity * p_delta; - - platform_rid = RID(); - platform_object_id = ObjectID(); - floor_normal = Vector3(); - platform_velocity = Vector3(); - platform_angular_velocity = Vector3(); - - bool first_slide = true; - for (int iteration = 0; iteration < max_slides; ++iteration) { - PhysicsServer3D::MotionParameters parameters(get_global_transform(), motion, margin); - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - - PhysicsServer3D::MotionResult result; - bool collided = move_and_collide(parameters, result, false, false); - - last_motion = result.travel; - - if (collided) { - motion_results.push_back(result); - - CollisionState result_state; - _set_collision_direction(result, result_state); - - if (result.remainder.is_zero_approx()) { - motion = Vector3(); - break; - } - - if (wall_min_slide_angle != 0 && Math::acos(wall_normal.dot(-velocity.normalized())) < wall_min_slide_angle + FLOOR_ANGLE_THRESHOLD) { - motion = Vector3(); - if (result.travel.length() < margin + CMP_EPSILON) { - Transform3D gt = get_global_transform(); - gt.origin -= result.travel; - set_global_transform(gt); - } - } else if (first_slide) { - Vector3 motion_slide_norm = result.remainder.slide(wall_normal).normalized(); - motion = motion_slide_norm * (motion.length() - result.travel.length()); - } else { - motion = result.remainder.slide(wall_normal); - } - - if (motion.dot(velocity) <= 0.0) { - motion = Vector3(); - } - } - - if (!collided || motion.is_zero_approx()) { - break; - } - - first_slide = false; - } -} - -void CharacterBody3D::apply_floor_snap() { - if (collision_state.floor) { - return; - } - - // Snap by at least collision margin to keep floor state consistent. - real_t length = MAX(floor_snap_length, margin); - - PhysicsServer3D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); - parameters.max_collisions = 4; - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - parameters.collide_separation_ray = true; - - PhysicsServer3D::MotionResult result; - if (move_and_collide(parameters, result, true, false)) { - CollisionState result_state; - // Apply direction for floor only. - _set_collision_direction(result, result_state, CollisionState(true, false, false)); - - if (result_state.floor) { - if (floor_stop_on_slope) { - // move and collide may stray the object a bit because of pre un-stucking, - // so only ensure that motion happens on floor direction in this case. - if (result.travel.length() > margin) { - result.travel = up_direction * up_direction.dot(result.travel); - } else { - result.travel = Vector3(); - } - } - - parameters.from.origin += result.travel; - set_global_transform(parameters.from); - } - } -} - -void CharacterBody3D::_snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up) { - if (collision_state.floor || !p_was_on_floor || p_vel_dir_facing_up) { - return; - } - - apply_floor_snap(); -} - -bool CharacterBody3D::_on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up) { - if (up_direction == Vector3() || collision_state.floor || !p_was_on_floor || p_vel_dir_facing_up) { - return false; - } - - // Snap by at least collision margin to keep floor state consistent. - real_t length = MAX(floor_snap_length, margin); - - PhysicsServer3D::MotionParameters parameters(get_global_transform(), -up_direction * length, margin); - parameters.max_collisions = 4; - parameters.recovery_as_collision = true; // Also report collisions generated only from recovery. - parameters.collide_separation_ray = true; - - PhysicsServer3D::MotionResult result; - if (move_and_collide(parameters, result, true, false)) { - CollisionState result_state; - // Don't apply direction for any type. - _set_collision_direction(result, result_state, CollisionState()); - - return result_state.floor; - } - - return false; -} - -void CharacterBody3D::_set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state) { - r_state.state = 0; - - real_t wall_depth = -1.0; - real_t floor_depth = -1.0; - - bool was_on_wall = collision_state.wall; - Vector3 prev_wall_normal = wall_normal; - int wall_collision_count = 0; - Vector3 combined_wall_normal; - Vector3 tmp_wall_col; // Avoid duplicate on average calculation. - - for (int i = p_result.collision_count - 1; i >= 0; i--) { - const PhysicsServer3D::MotionCollision &collision = p_result.collisions[i]; - - if (motion_mode == MOTION_MODE_GROUNDED) { - // Check if any collision is floor. - real_t floor_angle = collision.get_angle(up_direction); - if (floor_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { - r_state.floor = true; - if (p_apply_state.floor && collision.depth > floor_depth) { - collision_state.floor = true; - floor_normal = collision.normal; - floor_depth = collision.depth; - _set_platform_data(collision); - } - continue; - } - - // Check if any collision is ceiling. - real_t ceiling_angle = collision.get_angle(-up_direction); - if (ceiling_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { - r_state.ceiling = true; - if (p_apply_state.ceiling) { - platform_ceiling_velocity = collision.collider_velocity; - ceiling_normal = collision.normal; - collision_state.ceiling = true; - } - continue; - } - } - - // Collision is wall by default. - r_state.wall = true; - - if (p_apply_state.wall && collision.depth > wall_depth) { - collision_state.wall = true; - wall_depth = collision.depth; - wall_normal = collision.normal; - - // Don't apply wall velocity when the collider is a CharacterBody3D. - if (Object::cast_to(ObjectDB::get_instance(collision.collider_id)) == nullptr) { - _set_platform_data(collision); - } - } - - // Collect normal for calculating average. - if (!collision.normal.is_equal_approx(tmp_wall_col)) { - tmp_wall_col = collision.normal; - combined_wall_normal += collision.normal; - wall_collision_count++; - } - } - - if (r_state.wall) { - if (wall_collision_count > 1 && !r_state.floor) { - // Check if wall normals cancel out to floor support. - if (!r_state.floor && motion_mode == MOTION_MODE_GROUNDED) { - combined_wall_normal.normalize(); - real_t floor_angle = Math::acos(combined_wall_normal.dot(up_direction)); - if (floor_angle <= floor_max_angle + FLOOR_ANGLE_THRESHOLD) { - r_state.floor = true; - r_state.wall = false; - if (p_apply_state.floor) { - collision_state.floor = true; - floor_normal = combined_wall_normal; - } - if (p_apply_state.wall) { - collision_state.wall = was_on_wall; - wall_normal = prev_wall_normal; - } - return; - } - } - } - } -} - -void CharacterBody3D::_set_platform_data(const PhysicsServer3D::MotionCollision &p_collision) { - platform_rid = p_collision.collider; - platform_object_id = p_collision.collider_id; - platform_velocity = p_collision.collider_velocity; - platform_angular_velocity = p_collision.collider_angular_velocity; - platform_layer = PhysicsServer3D::get_singleton()->body_get_collision_layer(platform_rid); -} - -void CharacterBody3D::set_safe_margin(real_t p_margin) { - margin = p_margin; -} - -real_t CharacterBody3D::get_safe_margin() const { - return margin; -} - -const Vector3 &CharacterBody3D::get_velocity() const { - return velocity; -} - -void CharacterBody3D::set_velocity(const Vector3 &p_velocity) { - velocity = p_velocity; -} - -bool CharacterBody3D::is_on_floor() const { - return collision_state.floor; -} - -bool CharacterBody3D::is_on_floor_only() const { - return collision_state.floor && !collision_state.wall && !collision_state.ceiling; -} - -bool CharacterBody3D::is_on_wall() const { - return collision_state.wall; -} - -bool CharacterBody3D::is_on_wall_only() const { - return collision_state.wall && !collision_state.floor && !collision_state.ceiling; -} - -bool CharacterBody3D::is_on_ceiling() const { - return collision_state.ceiling; -} - -bool CharacterBody3D::is_on_ceiling_only() const { - return collision_state.ceiling && !collision_state.floor && !collision_state.wall; -} - -const Vector3 &CharacterBody3D::get_floor_normal() const { - return floor_normal; -} - -const Vector3 &CharacterBody3D::get_wall_normal() const { - return wall_normal; -} - -const Vector3 &CharacterBody3D::get_last_motion() const { - return last_motion; -} - -Vector3 CharacterBody3D::get_position_delta() const { - return get_global_transform().origin - previous_position; -} - -const Vector3 &CharacterBody3D::get_real_velocity() const { - return real_velocity; -} - -real_t CharacterBody3D::get_floor_angle(const Vector3 &p_up_direction) const { - ERR_FAIL_COND_V(p_up_direction == Vector3(), 0); - return Math::acos(floor_normal.dot(p_up_direction)); -} - -const Vector3 &CharacterBody3D::get_platform_velocity() const { - return platform_velocity; -} - -const Vector3 &CharacterBody3D::get_platform_angular_velocity() const { - return platform_angular_velocity; -} - -Vector3 CharacterBody3D::get_linear_velocity() const { - return get_real_velocity(); -} - -int CharacterBody3D::get_slide_collision_count() const { - return motion_results.size(); -} - -PhysicsServer3D::MotionResult CharacterBody3D::get_slide_collision(int p_bounce) const { - ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), PhysicsServer3D::MotionResult()); - return motion_results[p_bounce]; -} - -Ref CharacterBody3D::_get_slide_collision(int p_bounce) { - ERR_FAIL_INDEX_V(p_bounce, motion_results.size(), Ref()); - if (p_bounce >= slide_colliders.size()) { - slide_colliders.resize(p_bounce + 1); - } - - // Create a new instance when the cached reference is invalid or still in use in script. - if (slide_colliders[p_bounce].is_null() || slide_colliders[p_bounce]->get_reference_count() > 1) { - slide_colliders.write[p_bounce].instantiate(); - slide_colliders.write[p_bounce]->owner = this; - } - - slide_colliders.write[p_bounce]->result = motion_results[p_bounce]; - return slide_colliders[p_bounce]; -} - -Ref CharacterBody3D::_get_last_slide_collision() { - if (motion_results.size() == 0) { - return Ref(); - } - return _get_slide_collision(motion_results.size() - 1); -} - -bool CharacterBody3D::is_floor_stop_on_slope_enabled() const { - return floor_stop_on_slope; -} - -void CharacterBody3D::set_floor_stop_on_slope_enabled(bool p_enabled) { - floor_stop_on_slope = p_enabled; -} - -bool CharacterBody3D::is_floor_constant_speed_enabled() const { - return floor_constant_speed; -} - -void CharacterBody3D::set_floor_constant_speed_enabled(bool p_enabled) { - floor_constant_speed = p_enabled; -} - -bool CharacterBody3D::is_floor_block_on_wall_enabled() const { - return floor_block_on_wall; -} - -void CharacterBody3D::set_floor_block_on_wall_enabled(bool p_enabled) { - floor_block_on_wall = p_enabled; -} - -bool CharacterBody3D::is_slide_on_ceiling_enabled() const { - return slide_on_ceiling; -} - -void CharacterBody3D::set_slide_on_ceiling_enabled(bool p_enabled) { - slide_on_ceiling = p_enabled; -} - -uint32_t CharacterBody3D::get_platform_floor_layers() const { - return platform_floor_layers; -} - -void CharacterBody3D::set_platform_floor_layers(uint32_t p_exclude_layers) { - platform_floor_layers = p_exclude_layers; -} - -uint32_t CharacterBody3D::get_platform_wall_layers() const { - return platform_wall_layers; -} - -void CharacterBody3D::set_platform_wall_layers(uint32_t p_exclude_layers) { - platform_wall_layers = p_exclude_layers; -} - -void CharacterBody3D::set_motion_mode(MotionMode p_mode) { - motion_mode = p_mode; -} - -CharacterBody3D::MotionMode CharacterBody3D::get_motion_mode() const { - return motion_mode; -} - -void CharacterBody3D::set_platform_on_leave(PlatformOnLeave p_on_leave_apply_velocity) { - platform_on_leave = p_on_leave_apply_velocity; -} - -CharacterBody3D::PlatformOnLeave CharacterBody3D::get_platform_on_leave() const { - return platform_on_leave; -} - -int CharacterBody3D::get_max_slides() const { - return max_slides; -} - -void CharacterBody3D::set_max_slides(int p_max_slides) { - ERR_FAIL_COND(p_max_slides < 1); - max_slides = p_max_slides; -} - -real_t CharacterBody3D::get_floor_max_angle() const { - return floor_max_angle; -} - -void CharacterBody3D::set_floor_max_angle(real_t p_radians) { - floor_max_angle = p_radians; -} - -real_t CharacterBody3D::get_floor_snap_length() { - return floor_snap_length; -} - -void CharacterBody3D::set_floor_snap_length(real_t p_floor_snap_length) { - ERR_FAIL_COND(p_floor_snap_length < 0); - floor_snap_length = p_floor_snap_length; -} - -real_t CharacterBody3D::get_wall_min_slide_angle() const { - return wall_min_slide_angle; -} - -void CharacterBody3D::set_wall_min_slide_angle(real_t p_radians) { - wall_min_slide_angle = p_radians; -} - -const Vector3 &CharacterBody3D::get_up_direction() const { - return up_direction; -} - -void CharacterBody3D::set_up_direction(const Vector3 &p_up_direction) { - ERR_FAIL_COND_MSG(p_up_direction == Vector3(), "up_direction can't be equal to Vector3.ZERO, consider using Floating motion mode instead."); - up_direction = p_up_direction.normalized(); -} - -void CharacterBody3D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_ENTER_TREE: { - // Reset move_and_slide() data. - collision_state.state = 0; - platform_rid = RID(); - platform_object_id = ObjectID(); - motion_results.clear(); - platform_velocity = Vector3(); - platform_angular_velocity = Vector3(); - } break; - } -} - -void CharacterBody3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("move_and_slide"), &CharacterBody3D::move_and_slide); - ClassDB::bind_method(D_METHOD("apply_floor_snap"), &CharacterBody3D::apply_floor_snap); - - ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &CharacterBody3D::set_velocity); - ClassDB::bind_method(D_METHOD("get_velocity"), &CharacterBody3D::get_velocity); - - ClassDB::bind_method(D_METHOD("set_safe_margin", "margin"), &CharacterBody3D::set_safe_margin); - ClassDB::bind_method(D_METHOD("get_safe_margin"), &CharacterBody3D::get_safe_margin); - ClassDB::bind_method(D_METHOD("is_floor_stop_on_slope_enabled"), &CharacterBody3D::is_floor_stop_on_slope_enabled); - ClassDB::bind_method(D_METHOD("set_floor_stop_on_slope_enabled", "enabled"), &CharacterBody3D::set_floor_stop_on_slope_enabled); - ClassDB::bind_method(D_METHOD("set_floor_constant_speed_enabled", "enabled"), &CharacterBody3D::set_floor_constant_speed_enabled); - ClassDB::bind_method(D_METHOD("is_floor_constant_speed_enabled"), &CharacterBody3D::is_floor_constant_speed_enabled); - ClassDB::bind_method(D_METHOD("set_floor_block_on_wall_enabled", "enabled"), &CharacterBody3D::set_floor_block_on_wall_enabled); - ClassDB::bind_method(D_METHOD("is_floor_block_on_wall_enabled"), &CharacterBody3D::is_floor_block_on_wall_enabled); - ClassDB::bind_method(D_METHOD("set_slide_on_ceiling_enabled", "enabled"), &CharacterBody3D::set_slide_on_ceiling_enabled); - ClassDB::bind_method(D_METHOD("is_slide_on_ceiling_enabled"), &CharacterBody3D::is_slide_on_ceiling_enabled); - - ClassDB::bind_method(D_METHOD("set_platform_floor_layers", "exclude_layer"), &CharacterBody3D::set_platform_floor_layers); - ClassDB::bind_method(D_METHOD("get_platform_floor_layers"), &CharacterBody3D::get_platform_floor_layers); - ClassDB::bind_method(D_METHOD("set_platform_wall_layers", "exclude_layer"), &CharacterBody3D::set_platform_wall_layers); - ClassDB::bind_method(D_METHOD("get_platform_wall_layers"), &CharacterBody3D::get_platform_wall_layers); - - ClassDB::bind_method(D_METHOD("get_max_slides"), &CharacterBody3D::get_max_slides); - ClassDB::bind_method(D_METHOD("set_max_slides", "max_slides"), &CharacterBody3D::set_max_slides); - ClassDB::bind_method(D_METHOD("get_floor_max_angle"), &CharacterBody3D::get_floor_max_angle); - ClassDB::bind_method(D_METHOD("set_floor_max_angle", "radians"), &CharacterBody3D::set_floor_max_angle); - ClassDB::bind_method(D_METHOD("get_floor_snap_length"), &CharacterBody3D::get_floor_snap_length); - ClassDB::bind_method(D_METHOD("set_floor_snap_length", "floor_snap_length"), &CharacterBody3D::set_floor_snap_length); - ClassDB::bind_method(D_METHOD("get_wall_min_slide_angle"), &CharacterBody3D::get_wall_min_slide_angle); - ClassDB::bind_method(D_METHOD("set_wall_min_slide_angle", "radians"), &CharacterBody3D::set_wall_min_slide_angle); - ClassDB::bind_method(D_METHOD("get_up_direction"), &CharacterBody3D::get_up_direction); - ClassDB::bind_method(D_METHOD("set_up_direction", "up_direction"), &CharacterBody3D::set_up_direction); - ClassDB::bind_method(D_METHOD("set_motion_mode", "mode"), &CharacterBody3D::set_motion_mode); - ClassDB::bind_method(D_METHOD("get_motion_mode"), &CharacterBody3D::get_motion_mode); - ClassDB::bind_method(D_METHOD("set_platform_on_leave", "on_leave_apply_velocity"), &CharacterBody3D::set_platform_on_leave); - ClassDB::bind_method(D_METHOD("get_platform_on_leave"), &CharacterBody3D::get_platform_on_leave); - - ClassDB::bind_method(D_METHOD("is_on_floor"), &CharacterBody3D::is_on_floor); - ClassDB::bind_method(D_METHOD("is_on_floor_only"), &CharacterBody3D::is_on_floor_only); - ClassDB::bind_method(D_METHOD("is_on_ceiling"), &CharacterBody3D::is_on_ceiling); - ClassDB::bind_method(D_METHOD("is_on_ceiling_only"), &CharacterBody3D::is_on_ceiling_only); - ClassDB::bind_method(D_METHOD("is_on_wall"), &CharacterBody3D::is_on_wall); - ClassDB::bind_method(D_METHOD("is_on_wall_only"), &CharacterBody3D::is_on_wall_only); - ClassDB::bind_method(D_METHOD("get_floor_normal"), &CharacterBody3D::get_floor_normal); - ClassDB::bind_method(D_METHOD("get_wall_normal"), &CharacterBody3D::get_wall_normal); - ClassDB::bind_method(D_METHOD("get_last_motion"), &CharacterBody3D::get_last_motion); - ClassDB::bind_method(D_METHOD("get_position_delta"), &CharacterBody3D::get_position_delta); - ClassDB::bind_method(D_METHOD("get_real_velocity"), &CharacterBody3D::get_real_velocity); - ClassDB::bind_method(D_METHOD("get_floor_angle", "up_direction"), &CharacterBody3D::get_floor_angle, DEFVAL(Vector3(0.0, 1.0, 0.0))); - ClassDB::bind_method(D_METHOD("get_platform_velocity"), &CharacterBody3D::get_platform_velocity); - ClassDB::bind_method(D_METHOD("get_platform_angular_velocity"), &CharacterBody3D::get_platform_angular_velocity); - ClassDB::bind_method(D_METHOD("get_slide_collision_count"), &CharacterBody3D::get_slide_collision_count); - ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &CharacterBody3D::_get_slide_collision); - ClassDB::bind_method(D_METHOD("get_last_slide_collision"), &CharacterBody3D::_get_last_slide_collision); - - ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_mode", PROPERTY_HINT_ENUM, "Grounded,Floating", PROPERTY_USAGE_DEFAULT | PROPERTY_USAGE_UPDATE_ALL_IF_MODIFIED), "set_motion_mode", "get_motion_mode"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_direction"), "set_up_direction", "get_up_direction"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "slide_on_ceiling"), "set_slide_on_ceiling_enabled", "is_slide_on_ceiling_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "suffix:m/s", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "max_slides", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_max_slides", "get_max_slides"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "wall_min_slide_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians_as_degrees", PROPERTY_USAGE_DEFAULT), "set_wall_min_slide_angle", "get_wall_min_slide_angle"); - - ADD_GROUP("Floor", "floor_"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_stop_on_slope"), "set_floor_stop_on_slope_enabled", "is_floor_stop_on_slope_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_constant_speed"), "set_floor_constant_speed_enabled", "is_floor_constant_speed_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "floor_block_on_wall"), "set_floor_block_on_wall_enabled", "is_floor_block_on_wall_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_max_angle", PROPERTY_HINT_RANGE, "0,180,0.1,radians_as_degrees"), "set_floor_max_angle", "get_floor_max_angle"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "floor_snap_length", PROPERTY_HINT_RANGE, "0,1,0.01,or_greater,suffix:m"), "set_floor_snap_length", "get_floor_snap_length"); - - ADD_GROUP("Moving Platform", "platform_"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_on_leave", PROPERTY_HINT_ENUM, "Add Velocity,Add Upward Velocity,Do Nothing", PROPERTY_USAGE_DEFAULT), "set_platform_on_leave", "get_platform_on_leave"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_floor_layers", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_platform_floor_layers", "get_platform_floor_layers"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "platform_wall_layers", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_platform_wall_layers", "get_platform_wall_layers"); - - ADD_GROUP("Collision", ""); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001,suffix:m"), "set_safe_margin", "get_safe_margin"); - - BIND_ENUM_CONSTANT(MOTION_MODE_GROUNDED); - BIND_ENUM_CONSTANT(MOTION_MODE_FLOATING); - - BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_ADD_VELOCITY); - BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY); - BIND_ENUM_CONSTANT(PLATFORM_ON_LEAVE_DO_NOTHING); -} - -void CharacterBody3D::_validate_property(PropertyInfo &p_property) const { - if (motion_mode == MOTION_MODE_FLOATING) { - if (p_property.name.begins_with("floor_") || p_property.name == "up_direction" || p_property.name == "slide_on_ceiling") { - p_property.usage = PROPERTY_USAGE_NO_EDITOR; - } - } -} - -CharacterBody3D::CharacterBody3D() : - PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) { -} - -CharacterBody3D::~CharacterBody3D() { - for (int i = 0; i < slide_colliders.size(); i++) { - if (slide_colliders[i].is_valid()) { - slide_colliders.write[i]->owner = nullptr; - } - } -} - -/////////////////////////////////////// - -Vector3 KinematicCollision3D::get_travel() const { - return result.travel; -} - -Vector3 KinematicCollision3D::get_remainder() const { - return result.remainder; -} - -int KinematicCollision3D::get_collision_count() const { - return result.collision_count; -} - -real_t KinematicCollision3D::get_depth() const { - return result.collision_depth; -} - -Vector3 KinematicCollision3D::get_position(int p_collision_index) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); - return result.collisions[p_collision_index].position; -} - -Vector3 KinematicCollision3D::get_normal(int p_collision_index) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); - return result.collisions[p_collision_index].normal; -} - -real_t KinematicCollision3D::get_angle(int p_collision_index, const Vector3 &p_up_direction) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0.0); - ERR_FAIL_COND_V(p_up_direction == Vector3(), 0); - return result.collisions[p_collision_index].get_angle(p_up_direction); -} - -Object *KinematicCollision3D::get_local_shape(int p_collision_index) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr); - if (!owner) { - return nullptr; - } - uint32_t ownerid = owner->shape_find_owner(result.collisions[p_collision_index].local_shape); - return owner->shape_owner_get_owner(ownerid); -} - -Object *KinematicCollision3D::get_collider(int p_collision_index) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr); - if (result.collisions[p_collision_index].collider_id.is_valid()) { - return ObjectDB::get_instance(result.collisions[p_collision_index].collider_id); - } - - return nullptr; -} - -ObjectID KinematicCollision3D::get_collider_id(int p_collision_index) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, ObjectID()); - return result.collisions[p_collision_index].collider_id; -} - -RID KinematicCollision3D::get_collider_rid(int p_collision_index) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, RID()); - return result.collisions[p_collision_index].collider; -} - -Object *KinematicCollision3D::get_collider_shape(int p_collision_index) const { - Object *collider = get_collider(p_collision_index); - if (collider) { - CollisionObject3D *obj2d = Object::cast_to(collider); - if (obj2d) { - uint32_t ownerid = obj2d->shape_find_owner(result.collisions[p_collision_index].collider_shape); - return obj2d->shape_owner_get_owner(ownerid); - } - } - - return nullptr; -} - -int KinematicCollision3D::get_collider_shape_index(int p_collision_index) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0); - return result.collisions[p_collision_index].collider_shape; -} - -Vector3 KinematicCollision3D::get_collider_velocity(int p_collision_index) const { - ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3()); - return result.collisions[p_collision_index].collider_velocity; -} - -void KinematicCollision3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision3D::get_travel); - ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision3D::get_remainder); - ClassDB::bind_method(D_METHOD("get_depth"), &KinematicCollision3D::get_depth); - ClassDB::bind_method(D_METHOD("get_collision_count"), &KinematicCollision3D::get_collision_count); - ClassDB::bind_method(D_METHOD("get_position", "collision_index"), &KinematicCollision3D::get_position, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("get_normal", "collision_index"), &KinematicCollision3D::get_normal, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("get_angle", "collision_index", "up_direction"), &KinematicCollision3D::get_angle, DEFVAL(0), DEFVAL(Vector3(0.0, 1.0, 0.0))); - ClassDB::bind_method(D_METHOD("get_local_shape", "collision_index"), &KinematicCollision3D::get_local_shape, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("get_collider", "collision_index"), &KinematicCollision3D::get_collider, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("get_collider_id", "collision_index"), &KinematicCollision3D::get_collider_id, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("get_collider_rid", "collision_index"), &KinematicCollision3D::get_collider_rid, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("get_collider_shape", "collision_index"), &KinematicCollision3D::get_collider_shape, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("get_collider_shape_index", "collision_index"), &KinematicCollision3D::get_collider_shape_index, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("get_collider_velocity", "collision_index"), &KinematicCollision3D::get_collider_velocity, DEFVAL(0)); -} - -/////////////////////////////////////// - -bool PhysicalBone3D::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - return false; -} - -bool PhysicalBone3D::JointData::_get(const StringName &p_name, Variant &r_ret) const { - return false; -} - -void PhysicalBone3D::JointData::_get_property_list(List *p_list) const { -} - -void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) { - PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse); -} - -void PhysicalBone3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { - PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_impulse, p_position); -} - -void PhysicalBone3D::set_linear_velocity(const Vector3 &p_velocity) { - linear_velocity = p_velocity; - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity); -} - -Vector3 PhysicalBone3D::get_linear_velocity() const { - return linear_velocity; -} - -void PhysicalBone3D::set_angular_velocity(const Vector3 &p_velocity) { - angular_velocity = p_velocity; - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity); -} - -Vector3 PhysicalBone3D::get_angular_velocity() const { - return angular_velocity; -} - -void PhysicalBone3D::set_use_custom_integrator(bool p_enable) { - if (custom_integrator == p_enable) { - return; - } - - custom_integrator = p_enable; - PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable); -} - -bool PhysicalBone3D::is_using_custom_integrator() { - return custom_integrator; -} - -void PhysicalBone3D::reset_physics_simulation_state() { - if (simulate_physics) { - _start_physics_simulation(); - } else { - _stop_physics_simulation(); - } -} - -void PhysicalBone3D::reset_to_rest_position() { - if (parent_skeleton) { - Transform3D new_transform = parent_skeleton->get_global_transform(); - if (bone_id == -1) { - new_transform *= body_offset; - } else { - new_transform *= parent_skeleton->get_bone_global_pose(bone_id) * body_offset; - } - new_transform.orthonormalize(); - set_global_transform(new_transform); - } -} - -bool PhysicalBone3D::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - bool is_valid_pin = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_PIN; - if ("joint_constraints/bias" == p_name) { - bias = p_value; - if (is_valid_pin) { - PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_BIAS, bias); - } - - } else if ("joint_constraints/damping" == p_name) { - damping = p_value; - if (is_valid_pin) { - PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_DAMPING, damping); - } - - } else if ("joint_constraints/impulse_clamp" == p_name) { - impulse_clamp = p_value; - if (is_valid_pin) { - PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, impulse_clamp); - } - - } else { - return false; - } - - return true; -} - -bool PhysicalBone3D::PinJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - if ("joint_constraints/bias" == p_name) { - r_ret = bias; - } else if ("joint_constraints/damping" == p_name) { - r_ret = damping; - } else if ("joint_constraints/impulse_clamp" == p_name) { - r_ret = impulse_clamp; - } else { - return false; - } - - return true; -} - -void PhysicalBone3D::PinJointData::_get_property_list(List *p_list) const { - JointData::_get_property_list(p_list); - - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/bias"), PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/damping"), PROPERTY_HINT_RANGE, "0.01,8.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/impulse_clamp"), PROPERTY_HINT_RANGE, "0.0,64.0,0.01")); -} - -bool PhysicalBone3D::ConeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - bool is_valid_cone = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_CONE_TWIST; - if ("joint_constraints/swing_span" == p_name) { - swing_span = Math::deg_to_rad(real_t(p_value)); - if (is_valid_cone) { - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, swing_span); - } - - } else if ("joint_constraints/twist_span" == p_name) { - twist_span = Math::deg_to_rad(real_t(p_value)); - if (is_valid_cone) { - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, twist_span); - } - - } else if ("joint_constraints/bias" == p_name) { - bias = p_value; - if (is_valid_cone) { - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, bias); - } - - } else if ("joint_constraints/softness" == p_name) { - softness = p_value; - if (is_valid_cone) { - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, softness); - } - - } else if ("joint_constraints/relaxation" == p_name) { - relaxation = p_value; - if (is_valid_cone) { - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, relaxation); - } - - } else { - return false; - } - - return true; -} - -bool PhysicalBone3D::ConeJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - if ("joint_constraints/swing_span" == p_name) { - r_ret = Math::rad_to_deg(swing_span); - } else if ("joint_constraints/twist_span" == p_name) { - r_ret = Math::rad_to_deg(twist_span); - } else if ("joint_constraints/bias" == p_name) { - r_ret = bias; - } else if ("joint_constraints/softness" == p_name) { - r_ret = softness; - } else if ("joint_constraints/relaxation" == p_name) { - r_ret = relaxation; - } else { - return false; - } - - return true; -} - -void PhysicalBone3D::ConeJointData::_get_property_list(List *p_list) const { - JointData::_get_property_list(p_list); - - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/swing_span"), PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/twist_span"), PROPERTY_HINT_RANGE, "-40000,40000,0.1,or_less,or_greater")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/bias"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/relaxation"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); -} - -bool PhysicalBone3D::HingeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - bool is_valid_hinge = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_HINGE; - if ("joint_constraints/angular_limit_enabled" == p_name) { - angular_limit_enabled = p_value; - if (is_valid_hinge) { - PhysicsServer3D::get_singleton()->hinge_joint_set_flag(j, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, angular_limit_enabled); - } - - } else if ("joint_constraints/angular_limit_upper" == p_name) { - angular_limit_upper = Math::deg_to_rad(real_t(p_value)); - if (is_valid_hinge) { - PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, angular_limit_upper); - } - - } else if ("joint_constraints/angular_limit_lower" == p_name) { - angular_limit_lower = Math::deg_to_rad(real_t(p_value)); - if (is_valid_hinge) { - PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, angular_limit_lower); - } - - } else if ("joint_constraints/angular_limit_bias" == p_name) { - angular_limit_bias = p_value; - if (is_valid_hinge) { - PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, angular_limit_bias); - } - - } else if ("joint_constraints/angular_limit_softness" == p_name) { - angular_limit_softness = p_value; - if (is_valid_hinge) { - PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, angular_limit_softness); - } - - } else if ("joint_constraints/angular_limit_relaxation" == p_name) { - angular_limit_relaxation = p_value; - if (is_valid_hinge) { - PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, angular_limit_relaxation); - } - - } else { - return false; - } - - return true; -} - -bool PhysicalBone3D::HingeJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - if ("joint_constraints/angular_limit_enabled" == p_name) { - r_ret = angular_limit_enabled; - } else if ("joint_constraints/angular_limit_upper" == p_name) { - r_ret = Math::rad_to_deg(angular_limit_upper); - } else if ("joint_constraints/angular_limit_lower" == p_name) { - r_ret = Math::rad_to_deg(angular_limit_lower); - } else if ("joint_constraints/angular_limit_bias" == p_name) { - r_ret = angular_limit_bias; - } else if ("joint_constraints/angular_limit_softness" == p_name) { - r_ret = angular_limit_softness; - } else if ("joint_constraints/angular_limit_relaxation" == p_name) { - r_ret = angular_limit_relaxation; - } else { - return false; - } - - return true; -} - -void PhysicalBone3D::HingeJointData::_get_property_list(List *p_list) const { - JointData::_get_property_list(p_list); - - p_list->push_back(PropertyInfo(Variant::BOOL, PNAME("joint_constraints/angular_limit_enabled"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_bias"), PROPERTY_HINT_RANGE, "0.01,0.99,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_relaxation"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); -} - -bool PhysicalBone3D::SliderJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - bool is_valid_slider = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_SLIDER; - if ("joint_constraints/linear_limit_upper" == p_name) { - linear_limit_upper = p_value; - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, linear_limit_upper); - } - - } else if ("joint_constraints/linear_limit_lower" == p_name) { - linear_limit_lower = p_value; - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, linear_limit_lower); - } - - } else if ("joint_constraints/linear_limit_softness" == p_name) { - linear_limit_softness = p_value; - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, linear_limit_softness); - } - - } else if ("joint_constraints/linear_limit_restitution" == p_name) { - linear_limit_restitution = p_value; - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, linear_limit_restitution); - } - - } else if ("joint_constraints/linear_limit_damping" == p_name) { - linear_limit_damping = p_value; - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, linear_limit_restitution); - } - - } else if ("joint_constraints/angular_limit_upper" == p_name) { - angular_limit_upper = Math::deg_to_rad(real_t(p_value)); - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, angular_limit_upper); - } - - } else if ("joint_constraints/angular_limit_lower" == p_name) { - angular_limit_lower = Math::deg_to_rad(real_t(p_value)); - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, angular_limit_lower); - } - - } else if ("joint_constraints/angular_limit_softness" == p_name) { - angular_limit_softness = p_value; - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); - } - - } else if ("joint_constraints/angular_limit_restitution" == p_name) { - angular_limit_restitution = p_value; - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness); - } - - } else if ("joint_constraints/angular_limit_damping" == p_name) { - angular_limit_damping = p_value; - if (is_valid_slider) { - PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, angular_limit_damping); - } - - } else { - return false; - } - - return true; -} - -bool PhysicalBone3D::SliderJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - if ("joint_constraints/linear_limit_upper" == p_name) { - r_ret = linear_limit_upper; - } else if ("joint_constraints/linear_limit_lower" == p_name) { - r_ret = linear_limit_lower; - } else if ("joint_constraints/linear_limit_softness" == p_name) { - r_ret = linear_limit_softness; - } else if ("joint_constraints/linear_limit_restitution" == p_name) { - r_ret = linear_limit_restitution; - } else if ("joint_constraints/linear_limit_damping" == p_name) { - r_ret = linear_limit_damping; - } else if ("joint_constraints/angular_limit_upper" == p_name) { - r_ret = Math::rad_to_deg(angular_limit_upper); - } else if ("joint_constraints/angular_limit_lower" == p_name) { - r_ret = Math::rad_to_deg(angular_limit_lower); - } else if ("joint_constraints/angular_limit_softness" == p_name) { - r_ret = angular_limit_softness; - } else if ("joint_constraints/angular_limit_restitution" == p_name) { - r_ret = angular_limit_restitution; - } else if ("joint_constraints/angular_limit_damping" == p_name) { - r_ret = angular_limit_damping; - } else { - return false; - } - - return true; -} - -void PhysicalBone3D::SliderJointData::_get_property_list(List *p_list) const { - JointData::_get_property_list(p_list); - - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_upper"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_lower"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_restitution"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/linear_limit_damping"), PROPERTY_HINT_RANGE, "0,16.0,0.01")); - - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_restitution"), PROPERTY_HINT_RANGE, "0.01,16.0,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, PNAME("joint_constraints/angular_limit_damping"), PROPERTY_HINT_RANGE, "0,16.0,0.01")); -} - -bool PhysicalBone3D::SixDOFJointData::_set(const StringName &p_name, const Variant &p_value, RID j) { - if (JointData::_set(p_name, p_value, j)) { - return true; - } - - String path = p_name; - - if (!path.begins_with("joint_constraints/")) { - return false; - } - - Vector3::Axis axis; - { - const String axis_s = path.get_slicec('/', 1); - if ("x" == axis_s) { - axis = Vector3::AXIS_X; - } else if ("y" == axis_s) { - axis = Vector3::AXIS_Y; - } else if ("z" == axis_s) { - axis = Vector3::AXIS_Z; - } else { - return false; - } - } - - String var_name = path.get_slicec('/', 2); - bool is_valid_6dof = j.is_valid() && PhysicsServer3D::get_singleton()->joint_get_type(j) == PhysicsServer3D::JOINT_TYPE_6DOF; - if ("linear_limit_enabled" == var_name) { - axis_data[axis].linear_limit_enabled = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, axis_data[axis].linear_limit_enabled); - } - - } else if ("linear_limit_upper" == var_name) { - axis_data[axis].linear_limit_upper = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, axis_data[axis].linear_limit_upper); - } - - } else if ("linear_limit_lower" == var_name) { - axis_data[axis].linear_limit_lower = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, axis_data[axis].linear_limit_lower); - } - - } else if ("linear_limit_softness" == var_name) { - axis_data[axis].linear_limit_softness = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness); - } - - } else if ("linear_spring_enabled" == var_name) { - axis_data[axis].linear_spring_enabled = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled); - } - - } else if ("linear_spring_stiffness" == var_name) { - axis_data[axis].linear_spring_stiffness = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness); - } - - } else if ("linear_spring_damping" == var_name) { - axis_data[axis].linear_spring_damping = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping); - } - - } else if ("linear_equilibrium_point" == var_name) { - axis_data[axis].linear_equilibrium_point = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point); - } - - } else if ("linear_restitution" == var_name) { - axis_data[axis].linear_restitution = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, axis_data[axis].linear_restitution); - } - - } else if ("linear_damping" == var_name) { - axis_data[axis].linear_damping = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, axis_data[axis].linear_damping); - } - - } else if ("angular_limit_enabled" == var_name) { - axis_data[axis].angular_limit_enabled = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, axis_data[axis].angular_limit_enabled); - } - - } else if ("angular_limit_upper" == var_name) { - axis_data[axis].angular_limit_upper = Math::deg_to_rad(real_t(p_value)); - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, axis_data[axis].angular_limit_upper); - } - - } else if ("angular_limit_lower" == var_name) { - axis_data[axis].angular_limit_lower = Math::deg_to_rad(real_t(p_value)); - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, axis_data[axis].angular_limit_lower); - } - - } else if ("angular_limit_softness" == var_name) { - axis_data[axis].angular_limit_softness = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, axis_data[axis].angular_limit_softness); - } - - } else if ("angular_restitution" == var_name) { - axis_data[axis].angular_restitution = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, axis_data[axis].angular_restitution); - } - - } else if ("angular_damping" == var_name) { - axis_data[axis].angular_damping = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, axis_data[axis].angular_damping); - } - - } else if ("erp" == var_name) { - axis_data[axis].erp = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp); - } - - } else if ("angular_spring_enabled" == var_name) { - axis_data[axis].angular_spring_enabled = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled); - } - - } else if ("angular_spring_stiffness" == var_name) { - axis_data[axis].angular_spring_stiffness = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness); - } - - } else if ("angular_spring_damping" == var_name) { - axis_data[axis].angular_spring_damping = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping); - } - - } else if ("angular_equilibrium_point" == var_name) { - axis_data[axis].angular_equilibrium_point = p_value; - if (is_valid_6dof) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point); - } - - } else { - return false; - } - - return true; -} - -bool PhysicalBone3D::SixDOFJointData::_get(const StringName &p_name, Variant &r_ret) const { - if (JointData::_get(p_name, r_ret)) { - return true; - } - - String path = p_name; - - if (!path.begins_with("joint_constraints/")) { - return false; - } - - int axis; - { - const String axis_s = path.get_slicec('/', 1); - if ("x" == axis_s) { - axis = 0; - } else if ("y" == axis_s) { - axis = 1; - } else if ("z" == axis_s) { - axis = 2; - } else { - return false; - } - } - - String var_name = path.get_slicec('/', 2); - - if ("linear_limit_enabled" == var_name) { - r_ret = axis_data[axis].linear_limit_enabled; - } else if ("linear_limit_upper" == var_name) { - r_ret = axis_data[axis].linear_limit_upper; - } else if ("linear_limit_lower" == var_name) { - r_ret = axis_data[axis].linear_limit_lower; - } else if ("linear_limit_softness" == var_name) { - r_ret = axis_data[axis].linear_limit_softness; - } else if ("linear_spring_enabled" == var_name) { - r_ret = axis_data[axis].linear_spring_enabled; - } else if ("linear_spring_stiffness" == var_name) { - r_ret = axis_data[axis].linear_spring_stiffness; - } else if ("linear_spring_damping" == var_name) { - r_ret = axis_data[axis].linear_spring_damping; - } else if ("linear_equilibrium_point" == var_name) { - r_ret = axis_data[axis].linear_equilibrium_point; - } else if ("linear_restitution" == var_name) { - r_ret = axis_data[axis].linear_restitution; - } else if ("linear_damping" == var_name) { - r_ret = axis_data[axis].linear_damping; - } else if ("angular_limit_enabled" == var_name) { - r_ret = axis_data[axis].angular_limit_enabled; - } else if ("angular_limit_upper" == var_name) { - r_ret = Math::rad_to_deg(axis_data[axis].angular_limit_upper); - } else if ("angular_limit_lower" == var_name) { - r_ret = Math::rad_to_deg(axis_data[axis].angular_limit_lower); - } else if ("angular_limit_softness" == var_name) { - r_ret = axis_data[axis].angular_limit_softness; - } else if ("angular_restitution" == var_name) { - r_ret = axis_data[axis].angular_restitution; - } else if ("angular_damping" == var_name) { - r_ret = axis_data[axis].angular_damping; - } else if ("erp" == var_name) { - r_ret = axis_data[axis].erp; - } else if ("angular_spring_enabled" == var_name) { - r_ret = axis_data[axis].angular_spring_enabled; - } else if ("angular_spring_stiffness" == var_name) { - r_ret = axis_data[axis].angular_spring_stiffness; - } else if ("angular_spring_damping" == var_name) { - r_ret = axis_data[axis].angular_spring_damping; - } else if ("angular_equilibrium_point" == var_name) { - r_ret = axis_data[axis].angular_equilibrium_point; - } else { - return false; - } - - return true; -} - -void PhysicalBone3D::SixDOFJointData::_get_property_list(List *p_list) const { - const StringName axis_names[] = { PNAME("x"), PNAME("y"), PNAME("z") }; - for (int i = 0; i < 3; ++i) { - const String prefix = vformat("%s/%s/", PNAME("joint_constraints"), axis_names[i]); - p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("linear_limit_enabled"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_upper"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_lower"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("linear_spring_enabled"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_spring_stiffness"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_spring_damping"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_equilibrium_point"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_restitution"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("linear_damping"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("angular_limit_enabled"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_upper"), PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_lower"), PROPERTY_HINT_RANGE, "-180,180,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_limit_softness"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_restitution"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_damping"), PROPERTY_HINT_RANGE, "0.01,16,0.01")); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("erp"))); - p_list->push_back(PropertyInfo(Variant::BOOL, prefix + PNAME("angular_spring_enabled"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_spring_stiffness"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_spring_damping"))); - p_list->push_back(PropertyInfo(Variant::FLOAT, prefix + PNAME("angular_equilibrium_point"))); - } -} - -bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) { - if (p_name == "bone_name") { - set_bone_name(p_value); - return true; - } - - if (joint_data) { - if (joint_data->_set(p_name, p_value, joint)) { -#ifdef TOOLS_ENABLED - update_gizmos(); -#endif - return true; - } - } - - return false; -} - -bool PhysicalBone3D::_get(const StringName &p_name, Variant &r_ret) const { - if (p_name == "bone_name") { - r_ret = get_bone_name(); - return true; - } - - if (joint_data) { - return joint_data->_get(p_name, r_ret); - } - - return false; -} - -void PhysicalBone3D::_get_property_list(List *p_list) const { - Skeleton3D *parent = find_skeleton_parent(get_parent()); - - if (parent) { - String names; - for (int i = 0; i < parent->get_bone_count(); i++) { - if (i > 0) { - names += ","; - } - names += parent->get_bone_name(i); - } - - p_list->push_back(PropertyInfo(Variant::STRING_NAME, PNAME("bone_name"), PROPERTY_HINT_ENUM, names)); - } else { - p_list->push_back(PropertyInfo(Variant::STRING_NAME, PNAME("bone_name"))); - } - - if (joint_data) { - joint_data->_get_property_list(p_list); - } -} - -void PhysicalBone3D::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_ENTER_TREE: - parent_skeleton = find_skeleton_parent(get_parent()); - update_bone_id(); - reset_to_rest_position(); - reset_physics_simulation_state(); - if (joint_data) { - _reload_joint(); - } - break; - - case NOTIFICATION_EXIT_TREE: { - if (parent_skeleton) { - if (-1 != bone_id) { - parent_skeleton->unbind_physical_bone_from_bone(bone_id); - bone_id = -1; - } - } - parent_skeleton = nullptr; - PhysicsServer3D::get_singleton()->joint_clear(joint); - } break; - - case NOTIFICATION_TRANSFORM_CHANGED: { - if (Engine::get_singleton()->is_editor_hint()) { - update_offset(); - } - } break; - } -} - -void PhysicalBone3D::_sync_body_state(PhysicsDirectBodyState3D *p_state) { - set_ignore_transform_notification(true); - set_global_transform(p_state->get_transform()); - set_ignore_transform_notification(false); - - linear_velocity = p_state->get_linear_velocity(); - angular_velocity = p_state->get_angular_velocity(); -} - -void PhysicalBone3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) { - if (!simulate_physics || !_internal_simulate_physics) { - return; - } - - if (GDVIRTUAL_IS_OVERRIDDEN(_integrate_forces)) { - _sync_body_state(p_state); - - Transform3D old_transform = get_global_transform(); - GDVIRTUAL_CALL(_integrate_forces, p_state); - Transform3D new_transform = get_global_transform(); - - if (new_transform != old_transform) { - // Update the physics server with the new transform, to prevent it from being overwritten at the sync below. - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform); - } - } - - _sync_body_state(p_state); - _on_transform_changed(); - - Transform3D global_transform(p_state->get_transform()); - - // Update skeleton - if (parent_skeleton) { - if (-1 != bone_id) { - parent_skeleton->set_bone_global_pose_override(bone_id, parent_skeleton->get_global_transform().affine_inverse() * (global_transform * body_offset_inverse), 1.0, true); - } - } -} - -void PhysicalBone3D::_bind_methods() { - ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse); - ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicalBone3D::apply_impulse, Vector3()); - - ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone3D::set_joint_type); - ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone3D::get_joint_type); - - ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset); - ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset); - ClassDB::bind_method(D_METHOD("set_joint_rotation", "euler"), &PhysicalBone3D::set_joint_rotation); - ClassDB::bind_method(D_METHOD("get_joint_rotation"), &PhysicalBone3D::get_joint_rotation); - - ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset); - ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset); - - ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone3D::get_simulate_physics); - - ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone3D::is_simulating_physics); - - ClassDB::bind_method(D_METHOD("get_bone_id"), &PhysicalBone3D::get_bone_id); - - ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone3D::set_mass); - ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone3D::get_mass); - - ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone3D::set_friction); - ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone3D::get_friction); - - ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &PhysicalBone3D::set_bounce); - ClassDB::bind_method(D_METHOD("get_bounce"), &PhysicalBone3D::get_bounce); - - ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale); - ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale); - - ClassDB::bind_method(D_METHOD("set_linear_damp_mode", "linear_damp_mode"), &PhysicalBone3D::set_linear_damp_mode); - ClassDB::bind_method(D_METHOD("get_linear_damp_mode"), &PhysicalBone3D::get_linear_damp_mode); - - ClassDB::bind_method(D_METHOD("set_angular_damp_mode", "angular_damp_mode"), &PhysicalBone3D::set_angular_damp_mode); - ClassDB::bind_method(D_METHOD("get_angular_damp_mode"), &PhysicalBone3D::get_angular_damp_mode); - - ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &PhysicalBone3D::set_linear_damp); - ClassDB::bind_method(D_METHOD("get_linear_damp"), &PhysicalBone3D::get_linear_damp); - - ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &PhysicalBone3D::set_angular_damp); - ClassDB::bind_method(D_METHOD("get_angular_damp"), &PhysicalBone3D::get_angular_damp); - - ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &PhysicalBone3D::set_linear_velocity); - ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicalBone3D::get_linear_velocity); - - ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &PhysicalBone3D::set_angular_velocity); - ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicalBone3D::get_angular_velocity); - - ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &PhysicalBone3D::set_use_custom_integrator); - ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &PhysicalBone3D::is_using_custom_integrator); - - ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &PhysicalBone3D::set_can_sleep); - ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &PhysicalBone3D::is_able_to_sleep); - - GDVIRTUAL_BIND(_integrate_forces, "state"); - - ADD_GROUP("Joint", "joint_"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type"); - ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "joint_offset", PROPERTY_HINT_NONE, "suffix:m"), "set_joint_offset", "get_joint_offset"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "joint_rotation", PROPERTY_HINT_RANGE, "-360,360,0.01,or_less,or_greater,radians_as_degrees"), "set_joint_rotation", "get_joint_rotation"); - - ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "body_offset", PROPERTY_HINT_NONE, "suffix:m"), "set_body_offset", "get_body_offset"); - - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_RANGE, "0.01,1000,0.01,or_greater,exp,suffix:kg"), "set_mass", "get_mass"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-8,8,0.001,or_less,or_greater"), "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::INT, "linear_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_linear_damp_mode", "get_linear_damp_mode"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp"); - ADD_PROPERTY(PropertyInfo(Variant::INT, "angular_damp_mode", PROPERTY_HINT_ENUM, "Combine,Replace"), "set_angular_damp_mode", "get_angular_damp_mode"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_linear_velocity", "get_linear_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_angular_velocity", "get_angular_velocity"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep"); - - BIND_ENUM_CONSTANT(DAMP_MODE_COMBINE); - BIND_ENUM_CONSTANT(DAMP_MODE_REPLACE); - - BIND_ENUM_CONSTANT(JOINT_TYPE_NONE); - BIND_ENUM_CONSTANT(JOINT_TYPE_PIN); - BIND_ENUM_CONSTANT(JOINT_TYPE_CONE); - BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE); - BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER); - BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF); -} - -Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) { - if (!p_parent) { - return nullptr; - } - Skeleton3D *s = Object::cast_to(p_parent); - return s ? s : find_skeleton_parent(p_parent->get_parent()); -} - -void PhysicalBone3D::_update_joint_offset() { - _fix_joint_offset(); - - set_ignore_transform_notification(true); - reset_to_rest_position(); - set_ignore_transform_notification(false); - -#ifdef TOOLS_ENABLED - update_gizmos(); -#endif -} - -void PhysicalBone3D::_fix_joint_offset() { - // Clamp joint origin to bone origin - if (parent_skeleton) { - joint_offset.origin = body_offset.affine_inverse().origin; - } -} - -void PhysicalBone3D::_reload_joint() { - if (!parent_skeleton) { - PhysicsServer3D::get_singleton()->joint_clear(joint); - return; - } - - PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id); - if (!body_a) { - PhysicsServer3D::get_singleton()->joint_clear(joint); - return; - } - - Transform3D joint_transf = get_global_transform() * joint_offset; - Transform3D local_a = body_a->get_global_transform().affine_inverse() * joint_transf; - local_a.orthonormalize(); - - switch (get_joint_type()) { - case JOINT_TYPE_PIN: { - PhysicsServer3D::get_singleton()->joint_make_pin(joint, body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin); - const PinJointData *pjd(static_cast(joint_data)); - PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_BIAS, pjd->bias); - PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_DAMPING, pjd->damping); - PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, pjd->impulse_clamp); - - } break; - case JOINT_TYPE_CONE: { - PhysicsServer3D::get_singleton()->joint_make_cone_twist(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); - const ConeJointData *cjd(static_cast(joint_data)); - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span); - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span); - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, cjd->bias); - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, cjd->softness); - PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, cjd->relaxation); - - } break; - case JOINT_TYPE_HINGE: { - PhysicsServer3D::get_singleton()->joint_make_hinge(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); - const HingeJointData *hjd(static_cast(joint_data)); - PhysicsServer3D::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled); - PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper); - PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, hjd->angular_limit_lower); - PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, hjd->angular_limit_bias); - PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, hjd->angular_limit_softness); - PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, hjd->angular_limit_relaxation); - - } break; - case JOINT_TYPE_SLIDER: { - PhysicsServer3D::get_singleton()->joint_make_slider(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); - const SliderJointData *sjd(static_cast(joint_data)); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, sjd->linear_limit_softness); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, sjd->linear_limit_restitution); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, sjd->linear_limit_restitution); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, sjd->angular_limit_upper); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, sjd->angular_limit_lower); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness); - PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, sjd->angular_limit_damping); - - } break; - case JOINT_TYPE_6DOF: { - PhysicsServer3D::get_singleton()->joint_make_generic_6dof(joint, body_a->get_rid(), local_a, get_rid(), joint_offset); - const SixDOFJointData *g6dofjd(static_cast(joint_data)); - for (int axis = 0; axis < 3; ++axis) { - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, g6dofjd->axis_data[axis].angular_limit_upper); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, g6dofjd->axis_data[axis].angular_limit_lower); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].angular_limit_softness); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping); - PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point); - } - - } break; - case JOINT_TYPE_NONE: { - } break; - } -} - -void PhysicalBone3D::_on_bone_parent_changed() { - _reload_joint(); -} - -#ifdef TOOLS_ENABLED -void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) { - gizmo_move_joint = p_move_joint; -} - -Transform3D PhysicalBone3D::get_global_gizmo_transform() const { - return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform(); -} - -Transform3D PhysicalBone3D::get_local_gizmo_transform() const { - return gizmo_move_joint ? get_transform() * joint_offset : get_transform(); -} -#endif - -const PhysicalBone3D::JointData *PhysicalBone3D::get_joint_data() const { - return joint_data; -} - -Skeleton3D *PhysicalBone3D::find_skeleton_parent() { - return find_skeleton_parent(this); -} - -void PhysicalBone3D::set_joint_type(JointType p_joint_type) { - if (p_joint_type == get_joint_type()) { - return; - } - - if (joint_data) { - memdelete(joint_data); - } - joint_data = nullptr; - switch (p_joint_type) { - case JOINT_TYPE_PIN: - joint_data = memnew(PinJointData); - break; - case JOINT_TYPE_CONE: - joint_data = memnew(ConeJointData); - break; - case JOINT_TYPE_HINGE: - joint_data = memnew(HingeJointData); - break; - case JOINT_TYPE_SLIDER: - joint_data = memnew(SliderJointData); - break; - case JOINT_TYPE_6DOF: - joint_data = memnew(SixDOFJointData); - break; - case JOINT_TYPE_NONE: - break; - } - - _reload_joint(); - -#ifdef TOOLS_ENABLED - notify_property_list_changed(); - update_gizmos(); -#endif -} - -PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const { - return joint_data ? joint_data->get_joint_type() : JOINT_TYPE_NONE; -} - -void PhysicalBone3D::set_joint_offset(const Transform3D &p_offset) { - joint_offset = p_offset; - - _update_joint_offset(); -} - -const Transform3D &PhysicalBone3D::get_joint_offset() const { - return joint_offset; -} - -void PhysicalBone3D::set_joint_rotation(const Vector3 &p_euler_rad) { - joint_offset.basis.set_euler_scale(p_euler_rad, joint_offset.basis.get_scale()); - - _update_joint_offset(); -} - -Vector3 PhysicalBone3D::get_joint_rotation() const { - return joint_offset.basis.get_euler_normalized(); -} - -const Transform3D &PhysicalBone3D::get_body_offset() const { - return body_offset; -} - -void PhysicalBone3D::set_body_offset(const Transform3D &p_offset) { - body_offset = p_offset; - body_offset_inverse = body_offset.affine_inverse(); - - _update_joint_offset(); -} - -void PhysicalBone3D::set_simulate_physics(bool p_simulate) { - if (simulate_physics == p_simulate) { - return; - } - - simulate_physics = p_simulate; - reset_physics_simulation_state(); -} - -bool PhysicalBone3D::get_simulate_physics() { - return simulate_physics; -} - -bool PhysicalBone3D::is_simulating_physics() { - return _internal_simulate_physics; -} - -void PhysicalBone3D::set_bone_name(const String &p_name) { - bone_name = p_name; - bone_id = -1; - - update_bone_id(); - reset_to_rest_position(); -} - -const String &PhysicalBone3D::get_bone_name() const { - return bone_name; -} - -void PhysicalBone3D::set_mass(real_t p_mass) { - ERR_FAIL_COND(p_mass <= 0); - mass = p_mass; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass); -} - -real_t PhysicalBone3D::get_mass() const { - return mass; -} - -void PhysicalBone3D::set_friction(real_t p_friction) { - ERR_FAIL_COND(p_friction < 0 || p_friction > 1); - - friction = p_friction; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, friction); -} - -real_t PhysicalBone3D::get_friction() const { - return friction; -} - -void PhysicalBone3D::set_bounce(real_t p_bounce) { - ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1); - - bounce = p_bounce; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, bounce); -} - -real_t PhysicalBone3D::get_bounce() const { - return bounce; -} - -void PhysicalBone3D::set_gravity_scale(real_t p_gravity_scale) { - gravity_scale = p_gravity_scale; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale); -} - -real_t PhysicalBone3D::get_gravity_scale() const { - return gravity_scale; -} - -void PhysicalBone3D::set_linear_damp_mode(DampMode p_mode) { - linear_damp_mode = p_mode; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode); -} - -PhysicalBone3D::DampMode PhysicalBone3D::get_linear_damp_mode() const { - return linear_damp_mode; -} - -void PhysicalBone3D::set_angular_damp_mode(DampMode p_mode) { - angular_damp_mode = p_mode; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode); -} - -PhysicalBone3D::DampMode PhysicalBone3D::get_angular_damp_mode() const { - return angular_damp_mode; -} - -void PhysicalBone3D::set_linear_damp(real_t p_linear_damp) { - ERR_FAIL_COND(p_linear_damp < 0); - - linear_damp = p_linear_damp; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp); -} - -real_t PhysicalBone3D::get_linear_damp() const { - return linear_damp; -} - -void PhysicalBone3D::set_angular_damp(real_t p_angular_damp) { - ERR_FAIL_COND(p_angular_damp < 0); - - angular_damp = p_angular_damp; - PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp); -} - -real_t PhysicalBone3D::get_angular_damp() const { - return angular_damp; -} - -void PhysicalBone3D::set_can_sleep(bool p_active) { - can_sleep = p_active; - PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active); -} - -bool PhysicalBone3D::is_able_to_sleep() const { - return can_sleep; -} - -PhysicalBone3D::PhysicalBone3D() : - PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) { - joint = PhysicsServer3D::get_singleton()->joint_create(); - reset_physics_simulation_state(); -} - -PhysicalBone3D::~PhysicalBone3D() { - if (joint_data) { - memdelete(joint_data); - } - ERR_FAIL_NULL(PhysicsServer3D::get_singleton()); - PhysicsServer3D::get_singleton()->free(joint); -} - -void PhysicalBone3D::update_bone_id() { - if (!parent_skeleton) { - return; - } - - const int new_bone_id = parent_skeleton->find_bone(bone_name); - - if (new_bone_id != bone_id) { - if (-1 != bone_id) { - // Assert the unbind from old node - parent_skeleton->unbind_physical_bone_from_bone(bone_id); - } - - bone_id = new_bone_id; - - parent_skeleton->bind_physical_bone_to_bone(bone_id, this); - - _fix_joint_offset(); - reset_physics_simulation_state(); - } -} - -void PhysicalBone3D::update_offset() { -#ifdef TOOLS_ENABLED - if (parent_skeleton) { - Transform3D bone_transform(parent_skeleton->get_global_transform()); - if (-1 != bone_id) { - bone_transform *= parent_skeleton->get_bone_global_pose(bone_id); - } - - if (gizmo_move_joint) { - bone_transform *= body_offset; - set_joint_offset(bone_transform.affine_inverse() * get_global_transform()); - } else { - set_body_offset(bone_transform.affine_inverse() * get_global_transform()); - } - } -#endif -} - -void PhysicalBone3D::_start_physics_simulation() { - if (_internal_simulate_physics || !parent_skeleton) { - return; - } - reset_to_rest_position(); - set_body_mode(PhysicsServer3D::BODY_MODE_RIGID); - PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); - PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); - PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), get_collision_priority()); - PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &PhysicalBone3D::_body_state_changed)); - set_as_top_level(true); - _internal_simulate_physics = true; -} - -void PhysicalBone3D::_stop_physics_simulation() { - if (!parent_skeleton) { - return; - } - if (parent_skeleton->get_animate_physical_bones()) { - set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC); - PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer()); - PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask()); - PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), get_collision_priority()); - } else { - set_body_mode(PhysicsServer3D::BODY_MODE_STATIC); - PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), 0); - PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), 0); - PhysicsServer3D::get_singleton()->body_set_collision_priority(get_rid(), 1.0); - } - if (_internal_simulate_physics) { - PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), Callable()); - parent_skeleton->set_bone_global_pose_override(bone_id, Transform3D(), 0.0, false); - set_as_top_level(false); - _internal_simulate_physics = false; - } -} diff --git a/scene/3d/physics_body_3d.h b/scene/3d/physics_body_3d.h deleted file mode 100644 index b84b7c4f022..00000000000 --- a/scene/3d/physics_body_3d.h +++ /dev/null @@ -1,797 +0,0 @@ -/**************************************************************************/ -/* physics_body_3d.h */ -/**************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/**************************************************************************/ -/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ -/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/**************************************************************************/ - -#ifndef PHYSICS_BODY_3D_H -#define PHYSICS_BODY_3D_H - -#include "core/templates/vset.h" -#include "scene/3d/collision_object_3d.h" -#include "scene/resources/physics_material.h" -#include "servers/physics_server_3d.h" -#include "skeleton_3d.h" - -class KinematicCollision3D; - -class PhysicsBody3D : public CollisionObject3D { - GDCLASS(PhysicsBody3D, CollisionObject3D); - -protected: - static void _bind_methods(); - PhysicsBody3D(PhysicsServer3D::BodyMode p_mode); - - Ref motion_cache; - - uint16_t locked_axis = 0; - - Ref _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001, bool p_recovery_as_collision = false, int p_max_collisions = 1); - -public: - bool move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only = false, bool p_cancel_sliding = true); - bool test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref &r_collision = Ref(), real_t p_margin = 0.001, bool p_recovery_as_collision = false, int p_max_collisions = 1); - Vector3 get_gravity() const; - - void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock); - bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const; - - virtual Vector3 get_linear_velocity() const; - virtual Vector3 get_angular_velocity() const; - virtual real_t get_inverse_mass() const; - - TypedArray get_collision_exceptions(); - void add_collision_exception_with(Node *p_node); //must be physicsbody - void remove_collision_exception_with(Node *p_node); - - virtual ~PhysicsBody3D(); -}; - -class StaticBody3D : public PhysicsBody3D { - GDCLASS(StaticBody3D, PhysicsBody3D); - -private: - Vector3 constant_linear_velocity; - Vector3 constant_angular_velocity; - - Ref physics_material_override; - -protected: - static void _bind_methods(); - -public: - void set_physics_material_override(const Ref &p_physics_material_override); - Ref get_physics_material_override() const; - - void set_constant_linear_velocity(const Vector3 &p_vel); - void set_constant_angular_velocity(const Vector3 &p_vel); - - Vector3 get_constant_linear_velocity() const; - Vector3 get_constant_angular_velocity() const; - - StaticBody3D(PhysicsServer3D::BodyMode p_mode = PhysicsServer3D::BODY_MODE_STATIC); - -private: - void _reload_physics_characteristics(); -}; - -class AnimatableBody3D : public StaticBody3D { - GDCLASS(AnimatableBody3D, StaticBody3D); - -private: - Vector3 linear_velocity; - Vector3 angular_velocity; - - bool sync_to_physics = true; - - Transform3D last_valid_transform; - - static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); - void _body_state_changed(PhysicsDirectBodyState3D *p_state); - -protected: - void _notification(int p_what); - static void _bind_methods(); - -public: - virtual Vector3 get_linear_velocity() const override; - virtual Vector3 get_angular_velocity() const override; - - AnimatableBody3D(); - -private: - void _update_kinematic_motion(); - - void set_sync_to_physics(bool p_enable); - bool is_sync_to_physics_enabled() const; -}; - -class RigidBody3D : public PhysicsBody3D { - GDCLASS(RigidBody3D, PhysicsBody3D); - -public: - enum FreezeMode { - FREEZE_MODE_STATIC, - FREEZE_MODE_KINEMATIC, - }; - - enum CenterOfMassMode { - CENTER_OF_MASS_MODE_AUTO, - CENTER_OF_MASS_MODE_CUSTOM, - }; - - enum DampMode { - DAMP_MODE_COMBINE, - DAMP_MODE_REPLACE, - }; - -private: - bool can_sleep = true; - bool lock_rotation = false; - bool freeze = false; - FreezeMode freeze_mode = FREEZE_MODE_STATIC; - - real_t mass = 1.0; - Vector3 inertia; - CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO; - Vector3 center_of_mass; - - Ref physics_material_override; - - Vector3 linear_velocity; - Vector3 angular_velocity; - Basis inverse_inertia_tensor; - real_t gravity_scale = 1.0; - - DampMode linear_damp_mode = DAMP_MODE_COMBINE; - DampMode angular_damp_mode = DAMP_MODE_COMBINE; - - real_t linear_damp = 0.0; - real_t angular_damp = 0.0; - - bool sleeping = false; - bool ccd = false; - - int max_contacts_reported = 0; - int contact_count = 0; - - bool custom_integrator = false; - - struct ShapePair { - int body_shape = 0; - int local_shape = 0; - bool tagged = false; - bool operator<(const ShapePair &p_sp) const { - if (body_shape == p_sp.body_shape) { - return local_shape < p_sp.local_shape; - } else { - return body_shape < p_sp.body_shape; - } - } - - ShapePair() {} - ShapePair(int p_bs, int p_ls) { - body_shape = p_bs; - local_shape = p_ls; - tagged = false; - } - }; - struct RigidBody3D_RemoveAction { - RID rid; - ObjectID body_id; - ShapePair pair; - }; - struct BodyState { - RID rid; - //int rc; - bool in_tree = false; - VSet shapes; - }; - - struct ContactMonitor { - bool locked = false; - HashMap body_map; - }; - - ContactMonitor *contact_monitor = nullptr; - void _body_enter_tree(ObjectID p_id); - void _body_exit_tree(ObjectID p_id); - - void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape); - static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); - - void _sync_body_state(PhysicsDirectBodyState3D *p_state); - -protected: - void _notification(int p_what); - static void _bind_methods(); - - void _validate_property(PropertyInfo &p_property) const; - - GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *) - - virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state); - - void _apply_body_mode(); - -public: - void set_lock_rotation_enabled(bool p_lock_rotation); - bool is_lock_rotation_enabled() const; - - void set_freeze_enabled(bool p_freeze); - bool is_freeze_enabled() const; - - void set_freeze_mode(FreezeMode p_freeze_mode); - FreezeMode get_freeze_mode() const; - - void set_mass(real_t p_mass); - real_t get_mass() const; - - virtual real_t get_inverse_mass() const override { return 1.0 / mass; } - - void set_inertia(const Vector3 &p_inertia); - const Vector3 &get_inertia() const; - - void set_center_of_mass_mode(CenterOfMassMode p_mode); - CenterOfMassMode get_center_of_mass_mode() const; - - void set_center_of_mass(const Vector3 &p_center_of_mass); - const Vector3 &get_center_of_mass() const; - - void set_physics_material_override(const Ref &p_physics_material_override); - Ref get_physics_material_override() const; - - void set_linear_velocity(const Vector3 &p_velocity); - Vector3 get_linear_velocity() const override; - - void set_axis_velocity(const Vector3 &p_axis); - - void set_angular_velocity(const Vector3 &p_velocity); - Vector3 get_angular_velocity() const override; - - Basis get_inverse_inertia_tensor() const; - - void set_gravity_scale(real_t p_gravity_scale); - real_t get_gravity_scale() const; - - void set_linear_damp_mode(DampMode p_mode); - DampMode get_linear_damp_mode() const; - - void set_angular_damp_mode(DampMode p_mode); - DampMode get_angular_damp_mode() const; - - void set_linear_damp(real_t p_linear_damp); - real_t get_linear_damp() const; - - void set_angular_damp(real_t p_angular_damp); - real_t get_angular_damp() const; - - void set_use_custom_integrator(bool p_enable); - bool is_using_custom_integrator(); - - void set_sleeping(bool p_sleeping); - bool is_sleeping() const; - - void set_can_sleep(bool p_active); - bool is_able_to_sleep() const; - - void set_contact_monitor(bool p_enabled); - bool is_contact_monitor_enabled() const; - - void set_max_contacts_reported(int p_amount); - int get_max_contacts_reported() const; - int get_contact_count() const; - - void set_use_continuous_collision_detection(bool p_enable); - bool is_using_continuous_collision_detection() const; - - TypedArray get_colliding_bodies() const; - - void apply_central_impulse(const Vector3 &p_impulse); - void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); - void apply_torque_impulse(const Vector3 &p_impulse); - - void apply_central_force(const Vector3 &p_force); - void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); - void apply_torque(const Vector3 &p_torque); - - void add_constant_central_force(const Vector3 &p_force); - void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()); - void add_constant_torque(const Vector3 &p_torque); - - void set_constant_force(const Vector3 &p_force); - Vector3 get_constant_force() const; - - void set_constant_torque(const Vector3 &p_torque); - Vector3 get_constant_torque() const; - - virtual PackedStringArray get_configuration_warnings() const override; - - RigidBody3D(); - ~RigidBody3D(); - -private: - void _reload_physics_characteristics(); -}; - -VARIANT_ENUM_CAST(RigidBody3D::FreezeMode); -VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode); -VARIANT_ENUM_CAST(RigidBody3D::DampMode); - -class KinematicCollision3D; - -class CharacterBody3D : public PhysicsBody3D { - GDCLASS(CharacterBody3D, PhysicsBody3D); - -public: - enum MotionMode { - MOTION_MODE_GROUNDED, - MOTION_MODE_FLOATING, - }; - enum PlatformOnLeave { - PLATFORM_ON_LEAVE_ADD_VELOCITY, - PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY, - PLATFORM_ON_LEAVE_DO_NOTHING, - }; - bool move_and_slide(); - void apply_floor_snap(); - - const Vector3 &get_velocity() const; - void set_velocity(const Vector3 &p_velocity); - - bool is_on_floor() const; - bool is_on_floor_only() const; - bool is_on_wall() const; - bool is_on_wall_only() const; - bool is_on_ceiling() const; - bool is_on_ceiling_only() const; - const Vector3 &get_last_motion() const; - Vector3 get_position_delta() const; - const Vector3 &get_floor_normal() const; - const Vector3 &get_wall_normal() const; - const Vector3 &get_real_velocity() const; - real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; - const Vector3 &get_platform_velocity() const; - const Vector3 &get_platform_angular_velocity() const; - - virtual Vector3 get_linear_velocity() const override; - - int get_slide_collision_count() const; - PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const; - - void set_safe_margin(real_t p_margin); - real_t get_safe_margin() const; - - bool is_floor_stop_on_slope_enabled() const; - void set_floor_stop_on_slope_enabled(bool p_enabled); - - bool is_floor_constant_speed_enabled() const; - void set_floor_constant_speed_enabled(bool p_enabled); - - bool is_floor_block_on_wall_enabled() const; - void set_floor_block_on_wall_enabled(bool p_enabled); - - bool is_slide_on_ceiling_enabled() const; - void set_slide_on_ceiling_enabled(bool p_enabled); - - int get_max_slides() const; - void set_max_slides(int p_max_slides); - - real_t get_floor_max_angle() const; - void set_floor_max_angle(real_t p_radians); - - real_t get_floor_snap_length(); - void set_floor_snap_length(real_t p_floor_snap_length); - - real_t get_wall_min_slide_angle() const; - void set_wall_min_slide_angle(real_t p_radians); - - uint32_t get_platform_floor_layers() const; - void set_platform_floor_layers(const uint32_t p_exclude_layer); - - uint32_t get_platform_wall_layers() const; - void set_platform_wall_layers(const uint32_t p_exclude_layer); - - void set_motion_mode(MotionMode p_mode); - MotionMode get_motion_mode() const; - - void set_platform_on_leave(PlatformOnLeave p_on_leave_velocity); - PlatformOnLeave get_platform_on_leave() const; - - CharacterBody3D(); - ~CharacterBody3D(); - -private: - real_t margin = 0.001; - MotionMode motion_mode = MOTION_MODE_GROUNDED; - PlatformOnLeave platform_on_leave = PLATFORM_ON_LEAVE_ADD_VELOCITY; - union CollisionState { - uint32_t state = 0; - struct { - bool floor; - bool wall; - bool ceiling; - }; - - CollisionState() { - } - - CollisionState(bool p_floor, bool p_wall, bool p_ceiling) { - floor = p_floor; - wall = p_wall; - ceiling = p_ceiling; - } - }; - - CollisionState collision_state; - bool floor_constant_speed = false; - bool floor_stop_on_slope = true; - bool floor_block_on_wall = true; - bool slide_on_ceiling = true; - int max_slides = 6; - int platform_layer = 0; - RID platform_rid; - ObjectID platform_object_id; - uint32_t platform_floor_layers = UINT32_MAX; - uint32_t platform_wall_layers = 0; - real_t floor_snap_length = 0.1; - real_t floor_max_angle = Math::deg_to_rad((real_t)45.0); - real_t wall_min_slide_angle = Math::deg_to_rad((real_t)15.0); - Vector3 up_direction = Vector3(0.0, 1.0, 0.0); - Vector3 velocity; - Vector3 floor_normal; - Vector3 wall_normal; - Vector3 ceiling_normal; - Vector3 last_motion; - Vector3 platform_velocity; - Vector3 platform_angular_velocity; - Vector3 platform_ceiling_velocity; - Vector3 previous_position; - Vector3 real_velocity; - - Vector motion_results; - Vector> slide_colliders; - - void _move_and_slide_floating(double p_delta); - void _move_and_slide_grounded(double p_delta, bool p_was_on_floor); - - Ref _get_slide_collision(int p_bounce); - Ref _get_last_slide_collision(); - const Vector3 &get_up_direction() const; - bool _on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up); - void set_up_direction(const Vector3 &p_up_direction); - void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state = CollisionState(true, true, true)); - void _set_platform_data(const PhysicsServer3D::MotionCollision &p_collision); - void _snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up); - -protected: - void _notification(int p_what); - static void _bind_methods(); - void _validate_property(PropertyInfo &p_property) const; -}; - -VARIANT_ENUM_CAST(CharacterBody3D::MotionMode); -VARIANT_ENUM_CAST(CharacterBody3D::PlatformOnLeave); - -class KinematicCollision3D : public RefCounted { - GDCLASS(KinematicCollision3D, RefCounted); - - PhysicsBody3D *owner = nullptr; - friend class PhysicsBody3D; - friend class CharacterBody3D; - PhysicsServer3D::MotionResult result; - -protected: - static void _bind_methods(); - -public: - Vector3 get_travel() const; - Vector3 get_remainder() const; - int get_collision_count() const; - real_t get_depth() const; - Vector3 get_position(int p_collision_index = 0) const; - Vector3 get_normal(int p_collision_index = 0) const; - real_t get_angle(int p_collision_index = 0, const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const; - Object *get_local_shape(int p_collision_index = 0) const; - Object *get_collider(int p_collision_index = 0) const; - ObjectID get_collider_id(int p_collision_index = 0) const; - RID get_collider_rid(int p_collision_index = 0) const; - Object *get_collider_shape(int p_collision_index = 0) const; - int get_collider_shape_index(int p_collision_index = 0) const; - Vector3 get_collider_velocity(int p_collision_index = 0) const; -}; - -class PhysicalBone3D : public PhysicsBody3D { - GDCLASS(PhysicalBone3D, PhysicsBody3D); - -public: - enum DampMode { - DAMP_MODE_COMBINE, - DAMP_MODE_REPLACE, - }; - - enum JointType { - JOINT_TYPE_NONE, - JOINT_TYPE_PIN, - JOINT_TYPE_CONE, - JOINT_TYPE_HINGE, - JOINT_TYPE_SLIDER, - JOINT_TYPE_6DOF - }; - - struct JointData { - virtual JointType get_joint_type() { return JOINT_TYPE_NONE; } - - /// "j" is used to set the parameter inside the PhysicsServer3D - virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); - virtual bool _get(const StringName &p_name, Variant &r_ret) const; - virtual void _get_property_list(List *p_list) const; - - virtual ~JointData() {} - }; - - struct PinJointData : public JointData { - virtual JointType get_joint_type() { return JOINT_TYPE_PIN; } - - virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); - virtual bool _get(const StringName &p_name, Variant &r_ret) const; - virtual void _get_property_list(List *p_list) const; - - real_t bias = 0.3; - real_t damping = 1.0; - real_t impulse_clamp = 0.0; - }; - - struct ConeJointData : public JointData { - virtual JointType get_joint_type() { return JOINT_TYPE_CONE; } - - virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); - virtual bool _get(const StringName &p_name, Variant &r_ret) const; - virtual void _get_property_list(List *p_list) const; - - real_t swing_span = Math_PI * 0.25; - real_t twist_span = Math_PI; - real_t bias = 0.3; - real_t softness = 0.8; - real_t relaxation = 1.; - }; - - struct HingeJointData : public JointData { - virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; } - - virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); - virtual bool _get(const StringName &p_name, Variant &r_ret) const; - virtual void _get_property_list(List *p_list) const; - - bool angular_limit_enabled = false; - real_t angular_limit_upper = Math_PI * 0.5; - real_t angular_limit_lower = -Math_PI * 0.5; - real_t angular_limit_bias = 0.3; - real_t angular_limit_softness = 0.9; - real_t angular_limit_relaxation = 1.; - }; - - struct SliderJointData : public JointData { - virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; } - - virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); - virtual bool _get(const StringName &p_name, Variant &r_ret) const; - virtual void _get_property_list(List *p_list) const; - - real_t linear_limit_upper = 1.0; - real_t linear_limit_lower = -1.0; - real_t linear_limit_softness = 1.0; - real_t linear_limit_restitution = 0.7; - real_t linear_limit_damping = 1.0; - real_t angular_limit_upper = 0.0; - real_t angular_limit_lower = 0.0; - real_t angular_limit_softness = 1.0; - real_t angular_limit_restitution = 0.7; - real_t angular_limit_damping = 1.0; - }; - - struct SixDOFJointData : public JointData { - struct SixDOFAxisData { - bool linear_limit_enabled = true; - real_t linear_limit_upper = 0.0; - real_t linear_limit_lower = 0.0; - real_t linear_limit_softness = 0.7; - real_t linear_restitution = 0.5; - real_t linear_damping = 1.0; - bool linear_spring_enabled = false; - real_t linear_spring_stiffness = 0.0; - real_t linear_spring_damping = 0.0; - real_t linear_equilibrium_point = 0.0; - bool angular_limit_enabled = true; - real_t angular_limit_upper = 0.0; - real_t angular_limit_lower = 0.0; - real_t angular_limit_softness = 0.5; - real_t angular_restitution = 0.0; - real_t angular_damping = 1.0; - real_t erp = 0.5; - bool angular_spring_enabled = false; - real_t angular_spring_stiffness = 0.0; - real_t angular_spring_damping = 0.0; - real_t angular_equilibrium_point = 0.0; - }; - - virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; } - - virtual bool _set(const StringName &p_name, const Variant &p_value, RID j); - virtual bool _get(const StringName &p_name, Variant &r_ret) const; - virtual void _get_property_list(List *p_list) const; - - SixDOFAxisData axis_data[3]; - - SixDOFJointData() {} - }; - -private: -#ifdef TOOLS_ENABLED - // if false gizmo move body - bool gizmo_move_joint = false; -#endif - - JointData *joint_data = nullptr; - Transform3D joint_offset; - RID joint; - - Skeleton3D *parent_skeleton = nullptr; - Transform3D body_offset; - Transform3D body_offset_inverse; - bool simulate_physics = false; - bool _internal_simulate_physics = false; - int bone_id = -1; - - String bone_name; - real_t bounce = 0.0; - real_t mass = 1.0; - real_t friction = 1.0; - Vector3 linear_velocity; - Vector3 angular_velocity; - real_t gravity_scale = 1.0; - bool can_sleep = true; - - bool custom_integrator = false; - - DampMode linear_damp_mode = DAMP_MODE_COMBINE; - DampMode angular_damp_mode = DAMP_MODE_COMBINE; - - real_t linear_damp = 0.0; - real_t angular_damp = 0.0; - -protected: - bool _set(const StringName &p_name, const Variant &p_value); - bool _get(const StringName &p_name, Variant &r_ret) const; - void _get_property_list(List *p_list) const; - void _notification(int p_what); - GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *) - static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state); - void _body_state_changed(PhysicsDirectBodyState3D *p_state); - - static void _bind_methods(); - -private: - void _sync_body_state(PhysicsDirectBodyState3D *p_state); - static Skeleton3D *find_skeleton_parent(Node *p_parent); - - void _update_joint_offset(); - void _fix_joint_offset(); - void _reload_joint(); - -public: - void _on_bone_parent_changed(); - - void set_linear_velocity(const Vector3 &p_velocity); - Vector3 get_linear_velocity() const override; - - void set_angular_velocity(const Vector3 &p_velocity); - Vector3 get_angular_velocity() const override; - - void set_use_custom_integrator(bool p_enable); - bool is_using_custom_integrator(); - -#ifdef TOOLS_ENABLED - void _set_gizmo_move_joint(bool p_move_joint); - virtual Transform3D get_global_gizmo_transform() const override; - virtual Transform3D get_local_gizmo_transform() const override; -#endif - - const JointData *get_joint_data() const; - Skeleton3D *find_skeleton_parent(); - - int get_bone_id() const { - return bone_id; - } - - void set_joint_type(JointType p_joint_type); - JointType get_joint_type() const; - - void set_joint_offset(const Transform3D &p_offset); - const Transform3D &get_joint_offset() const; - - void set_joint_rotation(const Vector3 &p_euler_rad); - Vector3 get_joint_rotation() const; - - void set_body_offset(const Transform3D &p_offset); - const Transform3D &get_body_offset() const; - - void set_simulate_physics(bool p_simulate); - bool get_simulate_physics(); - bool is_simulating_physics(); - - void set_bone_name(const String &p_name); - const String &get_bone_name() const; - - void set_mass(real_t p_mass); - real_t get_mass() const; - - void set_friction(real_t p_friction); - real_t get_friction() const; - - void set_bounce(real_t p_bounce); - real_t get_bounce() const; - - void set_gravity_scale(real_t p_gravity_scale); - real_t get_gravity_scale() const; - - void set_linear_damp_mode(DampMode p_mode); - DampMode get_linear_damp_mode() const; - - void set_angular_damp_mode(DampMode p_mode); - DampMode get_angular_damp_mode() const; - - void set_linear_damp(real_t p_linear_damp); - real_t get_linear_damp() const; - - void set_angular_damp(real_t p_angular_damp); - real_t get_angular_damp() const; - - void set_can_sleep(bool p_active); - bool is_able_to_sleep() const; - - void apply_central_impulse(const Vector3 &p_impulse); - void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()); - - void reset_physics_simulation_state(); - void reset_to_rest_position(); - - PhysicalBone3D(); - ~PhysicalBone3D(); - -private: - void update_bone_id(); - void update_offset(); - - void _start_physics_simulation(); - void _stop_physics_simulation(); -}; - -VARIANT_ENUM_CAST(PhysicalBone3D::JointType); -VARIANT_ENUM_CAST(PhysicalBone3D::DampMode); - -#endif // PHYSICS_BODY_3D_H diff --git a/scene/3d/skeleton_3d.cpp b/scene/3d/skeleton_3d.cpp index f448d1c6e28..f0ffb7b2d5e 100644 --- a/scene/3d/skeleton_3d.cpp +++ b/scene/3d/skeleton_3d.cpp @@ -32,7 +32,8 @@ #include "skeleton_3d.compat.inc" #include "core/variant/type_info.h" -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/physical_bone_3d.h" +#include "scene/3d/physics/physics_body_3d.h" #include "scene/resources/surface_tool.h" #include "scene/scene_string_names.h" diff --git a/scene/3d/soft_body_3d.cpp b/scene/3d/soft_body_3d.cpp index bd03a97a36c..f02cd9b700e 100644 --- a/scene/3d/soft_body_3d.cpp +++ b/scene/3d/soft_body_3d.cpp @@ -30,7 +30,7 @@ #include "soft_body_3d.h" -#include "scene/3d/physics_body_3d.h" +#include "scene/3d/physics/physics_body_3d.h" SoftBodyRenderingServerHandler::SoftBodyRenderingServerHandler() {} diff --git a/scene/main/viewport.cpp b/scene/main/viewport.cpp index 0bb2688fea1..1dcf9acda3b 100644 --- a/scene/main/viewport.cpp +++ b/scene/main/viewport.cpp @@ -37,11 +37,11 @@ #include "core/templates/sort_array.h" #include "scene/2d/audio_listener_2d.h" #include "scene/2d/camera_2d.h" -#include "scene/2d/collision_object_2d.h" +#include "scene/2d/physics/collision_object_2d.h" #ifndef _3D_DISABLED #include "scene/3d/audio_listener_3d.h" #include "scene/3d/camera_3d.h" -#include "scene/3d/collision_object_3d.h" +#include "scene/3d/physics/collision_object_3d.h" #include "scene/3d/world_environment.h" #endif // _3D_DISABLED #include "scene/gui/control.h" diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp index b156cd04222..f1c94f53dac 100644 --- a/scene/register_scene_types.cpp +++ b/scene/register_scene_types.cpp @@ -34,18 +34,14 @@ #include "core/object/class_db.h" #include "core/os/os.h" #include "scene/2d/animated_sprite_2d.h" -#include "scene/2d/area_2d.h" #include "scene/2d/audio_listener_2d.h" #include "scene/2d/audio_stream_player_2d.h" #include "scene/2d/back_buffer_copy.h" #include "scene/2d/camera_2d.h" #include "scene/2d/canvas_group.h" #include "scene/2d/canvas_modulate.h" -#include "scene/2d/collision_polygon_2d.h" -#include "scene/2d/collision_shape_2d.h" #include "scene/2d/cpu_particles_2d.h" #include "scene/2d/gpu_particles_2d.h" -#include "scene/2d/joint_2d.h" #include "scene/2d/light_2d.h" #include "scene/2d/light_occluder_2d.h" #include "scene/2d/line_2d.h" @@ -59,12 +55,24 @@ #include "scene/2d/parallax_background.h" #include "scene/2d/parallax_layer.h" #include "scene/2d/path_2d.h" -#include "scene/2d/physical_bone_2d.h" -#include "scene/2d/physics_body_2d.h" +#include "scene/2d/physics/animatable_body_2d.h" +#include "scene/2d/physics/area_2d.h" +#include "scene/2d/physics/character_body_2d.h" +#include "scene/2d/physics/collision_polygon_2d.h" +#include "scene/2d/physics/collision_shape_2d.h" +#include "scene/2d/physics/joints/damped_spring_joint_2d.h" +#include "scene/2d/physics/joints/groove_joint_2d.h" +#include "scene/2d/physics/joints/joint_2d.h" +#include "scene/2d/physics/joints/pin_joint_2d.h" +#include "scene/2d/physics/kinematic_collision_2d.h" +#include "scene/2d/physics/physical_bone_2d.h" +#include "scene/2d/physics/physics_body_2d.h" +#include "scene/2d/physics/ray_cast_2d.h" +#include "scene/2d/physics/rigid_body_2d.h" +#include "scene/2d/physics/shape_cast_2d.h" +#include "scene/2d/physics/static_body_2d.h" #include "scene/2d/polygon_2d.h" -#include "scene/2d/ray_cast_2d.h" #include "scene/2d/remote_transform_2d.h" -#include "scene/2d/shape_cast_2d.h" #include "scene/2d/skeleton_2d.h" #include "scene/2d/sprite_2d.h" #include "scene/2d/tile_map.h" @@ -218,20 +226,16 @@ #include "scene/main/shader_globals_override.h" #ifndef _3D_DISABLED -#include "scene/3d/area_3d.h" #include "scene/3d/audio_listener_3d.h" #include "scene/3d/audio_stream_player_3d.h" #include "scene/3d/bone_attachment_3d.h" #include "scene/3d/camera_3d.h" -#include "scene/3d/collision_polygon_3d.h" -#include "scene/3d/collision_shape_3d.h" #include "scene/3d/cpu_particles_3d.h" #include "scene/3d/decal.h" #include "scene/3d/fog_volume.h" #include "scene/3d/gpu_particles_3d.h" #include "scene/3d/gpu_particles_collision_3d.h" #include "scene/3d/importer_mesh_instance_3d.h" -#include "scene/3d/joint_3d.h" #include "scene/3d/label_3d.h" #include "scene/3d/light_3d.h" #include "scene/3d/lightmap_gi.h" @@ -246,17 +250,32 @@ #include "scene/3d/node_3d.h" #include "scene/3d/occluder_instance_3d.h" #include "scene/3d/path_3d.h" -#include "scene/3d/physics_body_3d.h" -#include "scene/3d/ray_cast_3d.h" +#include "scene/3d/physics/animatable_body_3d.h" +#include "scene/3d/physics/area_3d.h" +#include "scene/3d/physics/character_body_3d.h" +#include "scene/3d/physics/collision_polygon_3d.h" +#include "scene/3d/physics/collision_shape_3d.h" +#include "scene/3d/physics/joints/cone_twist_joint_3d.h" +#include "scene/3d/physics/joints/generic_6dof_joint_3d.h" +#include "scene/3d/physics/joints/hinge_joint_3d.h" +#include "scene/3d/physics/joints/joint_3d.h" +#include "scene/3d/physics/joints/pin_joint_3d.h" +#include "scene/3d/physics/joints/slider_joint_3d.h" +#include "scene/3d/physics/kinematic_collision_3d.h" +#include "scene/3d/physics/physical_bone_3d.h" +#include "scene/3d/physics/physics_body_3d.h" +#include "scene/3d/physics/ray_cast_3d.h" +#include "scene/3d/physics/rigid_body_3d.h" +#include "scene/3d/physics/shape_cast_3d.h" +#include "scene/3d/physics/spring_arm_3d.h" +#include "scene/3d/physics/static_body_3d.h" +#include "scene/3d/physics/vehicle_body_3d.h" #include "scene/3d/reflection_probe.h" #include "scene/3d/remote_transform_3d.h" -#include "scene/3d/shape_cast_3d.h" #include "scene/3d/skeleton_3d.h" #include "scene/3d/skeleton_ik_3d.h" #include "scene/3d/soft_body_3d.h" -#include "scene/3d/spring_arm_3d.h" #include "scene/3d/sprite_3d.h" -#include "scene/3d/vehicle_body_3d.h" #include "scene/3d/visible_on_screen_notifier_3d.h" #include "scene/3d/voxel_gi.h" #include "scene/3d/world_environment.h" diff --git a/scene/resources/2d/skeleton/skeleton_modification_2d.cpp b/scene/resources/2d/skeleton/skeleton_modification_2d.cpp index 88a0f7b92d0..4e7563fdc3d 100644 --- a/scene/resources/2d/skeleton/skeleton_modification_2d.cpp +++ b/scene/resources/2d/skeleton/skeleton_modification_2d.cpp @@ -31,9 +31,9 @@ #include "skeleton_modification_2d.h" #include "scene/2d/skeleton_2d.h" -#include "scene/2d/collision_object_2d.h" -#include "scene/2d/collision_shape_2d.h" -#include "scene/2d/physical_bone_2d.h" +#include "scene/2d/physics/collision_object_2d.h" +#include "scene/2d/physics/collision_shape_2d.h" +#include "scene/2d/physics/physical_bone_2d.h" #ifdef TOOLS_ENABLED #include "editor/editor_settings.h" diff --git a/scene/resources/2d/skeleton/skeleton_modification_2d_physicalbones.cpp b/scene/resources/2d/skeleton/skeleton_modification_2d_physicalbones.cpp index e000e947cd8..61e5aed150f 100644 --- a/scene/resources/2d/skeleton/skeleton_modification_2d_physicalbones.cpp +++ b/scene/resources/2d/skeleton/skeleton_modification_2d_physicalbones.cpp @@ -29,7 +29,7 @@ /**************************************************************************/ #include "skeleton_modification_2d_physicalbones.h" -#include "scene/2d/physical_bone_2d.h" +#include "scene/2d/physics/physical_bone_2d.h" #include "scene/2d/skeleton_2d.h" bool SkeletonModification2DPhysicalBones::_set(const StringName &p_path, const Variant &p_value) { diff --git a/scu_builders.py b/scu_builders.py index 1a75f19b302..2579398ad63 100644 --- a/scu_builders.py +++ b/scu_builders.py @@ -310,7 +310,11 @@ def generate_scu_files(max_includes_per_scu): process_folder(["modules/gdscript/language_server"]) process_folder(["scene/2d"]) + process_folder(["scene/2d/physics"]) + process_folder(["scene/2d/physics/joints"]) process_folder(["scene/3d"]) + process_folder(["scene/3d/physics"]) + process_folder(["scene/3d/physics/joints"]) process_folder(["scene/animation"]) process_folder(["scene/gui"]) process_folder(["scene/main"]) diff --git a/tests/scene/test_viewport.h b/tests/scene/test_viewport.h index e15b01ae9f8..66b0f438cc5 100644 --- a/tests/scene/test_viewport.h +++ b/tests/scene/test_viewport.h @@ -31,8 +31,8 @@ #ifndef TEST_VIEWPORT_H #define TEST_VIEWPORT_H -#include "scene/2d/area_2d.h" -#include "scene/2d/collision_shape_2d.h" +#include "scene/2d/physics/area_2d.h" +#include "scene/2d/physics/collision_shape_2d.h" #include "scene/gui/control.h" #include "scene/gui/subviewport_container.h" #include "scene/main/canvas_layer.h"