/*************************************************************************/ /* physics_server_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef PHYSICS_SERVER_3D_H #define PHYSICS_SERVER_3D_H #include "core/io/resource.h" #include "core/object/class_db.h" #include "core/object/gdvirtual.gen.inc" #include "core/object/script_language.h" #include "core/variant/native_ptr.h" class PhysicsDirectSpaceState3D; template <typename T> class TypedArray; class PhysicsDirectBodyState3D : public Object { GDCLASS(PhysicsDirectBodyState3D, Object); protected: static void _bind_methods(); public: virtual Vector3 get_total_gravity() const = 0; virtual real_t get_total_angular_damp() const = 0; virtual real_t get_total_linear_damp() const = 0; virtual Vector3 get_center_of_mass() const = 0; virtual Vector3 get_center_of_mass_local() const = 0; virtual Basis get_principal_inertia_axes() const = 0; virtual real_t get_inverse_mass() const = 0; // get the mass virtual Vector3 get_inverse_inertia() const = 0; // get density of this body space virtual Basis get_inverse_inertia_tensor() const = 0; // get density of this body space virtual void set_linear_velocity(const Vector3 &p_velocity) = 0; virtual Vector3 get_linear_velocity() const = 0; virtual void set_angular_velocity(const Vector3 &p_velocity) = 0; virtual Vector3 get_angular_velocity() const = 0; virtual void set_transform(const Transform3D &p_transform) = 0; virtual Transform3D get_transform() const = 0; virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const = 0; virtual void apply_central_impulse(const Vector3 &p_impulse) = 0; virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0; virtual void apply_torque_impulse(const Vector3 &p_impulse) = 0; virtual void apply_central_force(const Vector3 &p_force) = 0; virtual void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void apply_torque(const Vector3 &p_torque) = 0; virtual void add_constant_central_force(const Vector3 &p_force) = 0; virtual void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void add_constant_torque(const Vector3 &p_torque) = 0; virtual void set_constant_force(const Vector3 &p_force) = 0; virtual Vector3 get_constant_force() const = 0; virtual void set_constant_torque(const Vector3 &p_torque) = 0; virtual Vector3 get_constant_torque() const = 0; virtual void set_sleep_state(bool p_sleep) = 0; virtual bool is_sleeping() const = 0; virtual int get_contact_count() const = 0; virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0; virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0; virtual real_t get_contact_impulse(int p_contact_idx) const = 0; virtual int get_contact_local_shape(int p_contact_idx) const = 0; virtual RID get_contact_collider(int p_contact_idx) const = 0; virtual Vector3 get_contact_collider_position(int p_contact_idx) const = 0; virtual ObjectID get_contact_collider_id(int p_contact_idx) const = 0; virtual Object *get_contact_collider_object(int p_contact_idx) const; virtual int get_contact_collider_shape(int p_contact_idx) const = 0; virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const = 0; virtual real_t get_step() const = 0; virtual void integrate_forces(); virtual PhysicsDirectSpaceState3D *get_space_state() = 0; PhysicsDirectBodyState3D(); }; class PhysicsRayQueryParameters3D; class PhysicsPointQueryParameters3D; class PhysicsShapeQueryParameters3D; class PhysicsDirectSpaceState3D : public Object { GDCLASS(PhysicsDirectSpaceState3D, Object); private: Dictionary _intersect_ray(const Ref<PhysicsRayQueryParameters3D> &p_ray_query); TypedArray<Dictionary> _intersect_point(const Ref<PhysicsPointQueryParameters3D> &p_point_query, int p_max_results = 32); TypedArray<Dictionary> _intersect_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32); Vector<real_t> _cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query); TypedArray<PackedVector2Array> _collide_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32); Dictionary _get_rest_info(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query); protected: static void _bind_methods(); public: struct RayParameters { Vector3 from; Vector3 to; HashSet<RID> exclude; uint32_t collision_mask = UINT32_MAX; bool collide_with_bodies = true; bool collide_with_areas = false; bool hit_from_inside = false; bool hit_back_faces = true; bool pick_ray = false; }; struct RayResult { Vector3 position; Vector3 normal; RID rid; ObjectID collider_id; Object *collider = nullptr; int shape = 0; }; virtual bool intersect_ray(const RayParameters &p_parameters, RayResult &r_result) = 0; struct ShapeResult { RID rid; ObjectID collider_id; Object *collider = nullptr; int shape = 0; }; struct PointParameters { Vector3 position; HashSet<RID> exclude; uint32_t collision_mask = UINT32_MAX; bool collide_with_bodies = true; bool collide_with_areas = false; }; virtual int intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) = 0; struct ShapeParameters { RID shape_rid; Transform3D transform; Vector3 motion; real_t margin = 0.0; HashSet<RID> exclude; uint32_t collision_mask = UINT32_MAX; bool collide_with_bodies = true; bool collide_with_areas = false; }; struct ShapeRestInfo { Vector3 point; Vector3 normal; RID rid; ObjectID collider_id; int shape = 0; Vector3 linear_velocity; // Velocity at contact point. }; virtual int intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) = 0; virtual bool cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe, ShapeRestInfo *r_info = nullptr) = 0; virtual bool collide_shape(const ShapeParameters &p_parameters, Vector3 *r_results, int p_result_max, int &r_result_count) = 0; virtual bool rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) = 0; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0; PhysicsDirectSpaceState3D(); }; class PhysicsServer3DRenderingServerHandler : public Object { GDCLASS(PhysicsServer3DRenderingServerHandler, Object) protected: GDVIRTUAL2(_set_vertex, int, GDNativeConstPtr<void>) GDVIRTUAL2(_set_normal, int, GDNativeConstPtr<void>) GDVIRTUAL1(_set_aabb, const AABB &) static void _bind_methods(); public: virtual void set_vertex(int p_vertex_id, const void *p_vector3); virtual void set_normal(int p_vertex_id, const void *p_vector3); virtual void set_aabb(const AABB &p_aabb); virtual ~PhysicsServer3DRenderingServerHandler() {} }; class PhysicsTestMotionParameters3D; class PhysicsTestMotionResult3D; class PhysicsServer3D : public Object { GDCLASS(PhysicsServer3D, Object); static PhysicsServer3D *singleton; virtual bool _body_test_motion(RID p_body, const Ref<PhysicsTestMotionParameters3D> &p_parameters, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>()); protected: static void _bind_methods(); public: static PhysicsServer3D *get_singleton(); enum ShapeType { SHAPE_WORLD_BOUNDARY, ///< plane:"plane" SHAPE_SEPARATION_RAY, ///< float:"length" SHAPE_SPHERE, ///< float:"radius" SHAPE_BOX, ///< vec3:"extents" SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule SHAPE_CYLINDER, ///< dict( float:"radius", float:"height"):cylinder SHAPE_CONVEX_POLYGON, ///< array of planes:"planes" SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array) SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights" SHAPE_SOFT_BODY, ///< Used internally, can't be created from the physics server. SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error }; RID shape_create(ShapeType p_shape); virtual RID world_boundary_shape_create() = 0; virtual RID separation_ray_shape_create() = 0; virtual RID sphere_shape_create() = 0; virtual RID box_shape_create() = 0; virtual RID capsule_shape_create() = 0; virtual RID cylinder_shape_create() = 0; virtual RID convex_polygon_shape_create() = 0; virtual RID concave_polygon_shape_create() = 0; virtual RID heightmap_shape_create() = 0; virtual RID custom_shape_create() = 0; virtual void shape_set_data(RID p_shape, const Variant &p_data) = 0; virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) = 0; virtual ShapeType shape_get_type(RID p_shape) const = 0; virtual Variant shape_get_data(RID p_shape) const = 0; virtual void shape_set_margin(RID p_shape, real_t p_margin) = 0; virtual real_t shape_get_margin(RID p_shape) const = 0; virtual real_t shape_get_custom_solver_bias(RID p_shape) const = 0; /* SPACE API */ virtual RID space_create() = 0; virtual void space_set_active(RID p_space, bool p_active) = 0; virtual bool space_is_active(RID p_space) const = 0; enum SpaceParameter { SPACE_PARAM_CONTACT_RECYCLE_RADIUS, SPACE_PARAM_CONTACT_MAX_SEPARATION, SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION, SPACE_PARAM_CONTACT_DEFAULT_BIAS, SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD, SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD, SPACE_PARAM_BODY_TIME_TO_SLEEP, SPACE_PARAM_SOLVER_ITERATIONS, }; virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0; virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const = 0; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) = 0; virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) = 0; virtual Vector<Vector3> space_get_contacts(RID p_space) const = 0; virtual int space_get_contact_count(RID p_space) const = 0; //missing space parameters /* AREA API */ //missing attenuation? missing better override? enum AreaParameter { AREA_PARAM_GRAVITY_OVERRIDE_MODE, AREA_PARAM_GRAVITY, AREA_PARAM_GRAVITY_VECTOR, AREA_PARAM_GRAVITY_IS_POINT, AREA_PARAM_GRAVITY_DISTANCE_SCALE, AREA_PARAM_GRAVITY_POINT_ATTENUATION, AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE, AREA_PARAM_LINEAR_DAMP, AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE, AREA_PARAM_ANGULAR_DAMP, AREA_PARAM_PRIORITY, AREA_PARAM_WIND_FORCE_MAGNITUDE, AREA_PARAM_WIND_SOURCE, AREA_PARAM_WIND_DIRECTION, AREA_PARAM_WIND_ATTENUATION_FACTOR, }; virtual RID area_create() = 0; virtual void area_set_space(RID p_area, RID p_space) = 0; virtual RID area_get_space(RID p_area) const = 0; enum AreaSpaceOverrideMode { AREA_SPACE_OVERRIDE_DISABLED, AREA_SPACE_OVERRIDE_COMBINE, AREA_SPACE_OVERRIDE_COMBINE_REPLACE, AREA_SPACE_OVERRIDE_REPLACE, AREA_SPACE_OVERRIDE_REPLACE_COMBINE }; virtual void area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) = 0; virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) = 0; virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) = 0; virtual int area_get_shape_count(RID p_area) const = 0; virtual RID area_get_shape(RID p_area, int p_shape_idx) const = 0; virtual Transform3D area_get_shape_transform(RID p_area, int p_shape_idx) const = 0; virtual void area_remove_shape(RID p_area, int p_shape_idx) = 0; virtual void area_clear_shapes(RID p_area) = 0; virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) = 0; virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) = 0; virtual ObjectID area_get_object_instance_id(RID p_area) const = 0; virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) = 0; virtual void area_set_transform(RID p_area, const Transform3D &p_transform) = 0; virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const = 0; virtual Transform3D area_get_transform(RID p_area) const = 0; virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) = 0; virtual uint32_t area_get_collision_layer(RID p_area) const = 0; virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) = 0; virtual uint32_t area_get_collision_mask(RID p_area) const = 0; virtual void area_set_monitorable(RID p_area, bool p_monitorable) = 0; virtual void area_set_monitor_callback(RID p_area, const Callable &p_callback) = 0; virtual void area_set_area_monitor_callback(RID p_area, const Callable &p_callback) = 0; virtual void area_set_ray_pickable(RID p_area, bool p_enable) = 0; /* BODY API */ //missing ccd? enum BodyMode { BODY_MODE_STATIC, BODY_MODE_KINEMATIC, BODY_MODE_RIGID, BODY_MODE_RIGID_LINEAR, }; enum BodyDampMode { BODY_DAMP_MODE_COMBINE, BODY_DAMP_MODE_REPLACE, }; virtual RID body_create() = 0; virtual void body_set_space(RID p_body, RID p_space) = 0; virtual RID body_get_space(RID p_body) const = 0; virtual void body_set_mode(RID p_body, BodyMode p_mode) = 0; virtual BodyMode body_get_mode(RID p_body) const = 0; virtual void body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) = 0; virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) = 0; virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) = 0; virtual int body_get_shape_count(RID p_body) const = 0; virtual RID body_get_shape(RID p_body, int p_shape_idx) const = 0; virtual Transform3D body_get_shape_transform(RID p_body, int p_shape_idx) const = 0; virtual void body_remove_shape(RID p_body, int p_shape_idx) = 0; virtual void body_clear_shapes(RID p_body) = 0; virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) = 0; virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) = 0; virtual ObjectID body_get_object_instance_id(RID p_body) const = 0; virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) = 0; virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const = 0; virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) = 0; virtual uint32_t body_get_collision_layer(RID p_body) const = 0; virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0; virtual uint32_t body_get_collision_mask(RID p_body) const = 0; virtual void body_set_collision_priority(RID p_body, real_t p_priority) = 0; virtual real_t body_get_collision_priority(RID p_body) const = 0; virtual void body_set_user_flags(RID p_body, uint32_t p_flags) = 0; virtual uint32_t body_get_user_flags(RID p_body) const = 0; // common body variables enum BodyParameter { BODY_PARAM_BOUNCE, BODY_PARAM_FRICTION, BODY_PARAM_MASS, ///< unused for static, always infinite BODY_PARAM_INERTIA, BODY_PARAM_CENTER_OF_MASS, BODY_PARAM_GRAVITY_SCALE, BODY_PARAM_LINEAR_DAMP_MODE, BODY_PARAM_ANGULAR_DAMP_MODE, BODY_PARAM_LINEAR_DAMP, BODY_PARAM_ANGULAR_DAMP, BODY_PARAM_MAX, }; virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) = 0; virtual Variant body_get_param(RID p_body, BodyParameter p_param) const = 0; virtual void body_reset_mass_properties(RID p_body) = 0; //state enum BodyState { BODY_STATE_TRANSFORM, BODY_STATE_LINEAR_VELOCITY, BODY_STATE_ANGULAR_VELOCITY, BODY_STATE_SLEEPING, BODY_STATE_CAN_SLEEP }; virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0; virtual Variant body_get_state(RID p_body, BodyState p_state) const = 0; virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) = 0; virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0; virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0; virtual void body_apply_central_force(RID p_body, const Vector3 &p_force) = 0; virtual void body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void body_apply_torque(RID p_body, const Vector3 &p_torque) = 0; virtual void body_add_constant_central_force(RID p_body, const Vector3 &p_force) = 0; virtual void body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0; virtual void body_add_constant_torque(RID p_body, const Vector3 &p_torque) = 0; virtual void body_set_constant_force(RID p_body, const Vector3 &p_force) = 0; virtual Vector3 body_get_constant_force(RID p_body) const = 0; virtual void body_set_constant_torque(RID p_body, const Vector3 &p_torque) = 0; virtual Vector3 body_get_constant_torque(RID p_body) const = 0; virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0; enum BodyAxis { BODY_AXIS_LINEAR_X = 1 << 0, BODY_AXIS_LINEAR_Y = 1 << 1, BODY_AXIS_LINEAR_Z = 1 << 2, BODY_AXIS_ANGULAR_X = 1 << 3, BODY_AXIS_ANGULAR_Y = 1 << 4, BODY_AXIS_ANGULAR_Z = 1 << 5 }; virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) = 0; virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const = 0; //fix virtual void body_add_collision_exception(RID p_body, RID p_body_b) = 0; virtual void body_remove_collision_exception(RID p_body, RID p_body_b) = 0; virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0; virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) = 0; virtual int body_get_max_contacts_reported(RID p_body) const = 0; //missing remove virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) = 0; virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const = 0; virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0; virtual bool body_is_omitting_force_integration(RID p_body) const = 0; virtual void body_set_state_sync_callback(RID p_body, const Callable &p_callable) = 0; virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) = 0; virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) = 0; struct MotionParameters { Transform3D from; Vector3 motion; real_t margin = 0.001; int max_collisions = 1; bool collide_separation_ray = false; HashSet<RID> exclude_bodies; HashSet<ObjectID> exclude_objects; bool recovery_as_collision = false; MotionParameters() {} MotionParameters(const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001) : from(p_from), motion(p_motion), margin(p_margin) {} }; struct MotionCollision { Vector3 position; Vector3 normal; Vector3 collider_velocity; real_t depth = 0.0; int local_shape = 0; ObjectID collider_id; RID collider; int collider_shape = 0; real_t get_angle(Vector3 p_up_direction) const { return Math::acos(normal.dot(p_up_direction)); } }; struct MotionResult { Vector3 travel; Vector3 remainder; real_t collision_depth = 0.0; real_t collision_safe_fraction = 0.0; real_t collision_unsafe_fraction = 0.0; static const int MAX_COLLISIONS = 32; MotionCollision collisions[MAX_COLLISIONS]; int collision_count = 0; }; virtual bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) = 0; /* SOFT BODY */ virtual RID soft_body_create() = 0; virtual void soft_body_update_rendering_server(RID p_body, PhysicsServer3DRenderingServerHandler *p_rendering_server_handler) = 0; virtual void soft_body_set_space(RID p_body, RID p_space) = 0; virtual RID soft_body_get_space(RID p_body) const = 0; virtual void soft_body_set_mesh(RID p_body, RID p_mesh) = 0; virtual AABB soft_body_get_bounds(RID p_body) const = 0; virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) = 0; virtual uint32_t soft_body_get_collision_layer(RID p_body) const = 0; virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) = 0; virtual uint32_t soft_body_get_collision_mask(RID p_body) const = 0; virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) = 0; virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) = 0; virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0; virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0; virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const = 0; virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) = 0; virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0; virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) = 0; virtual int soft_body_get_simulation_precision(RID p_body) const = 0; virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) = 0; virtual real_t soft_body_get_total_mass(RID p_body) const = 0; virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) = 0; virtual real_t soft_body_get_linear_stiffness(RID p_body) const = 0; virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) = 0; virtual real_t soft_body_get_pressure_coefficient(RID p_body) const = 0; virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) = 0; virtual real_t soft_body_get_damping_coefficient(RID p_body) const = 0; virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) = 0; virtual real_t soft_body_get_drag_coefficient(RID p_body) const = 0; virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) = 0; virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const = 0; virtual void soft_body_remove_all_pinned_points(RID p_body) = 0; virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) = 0; virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const = 0; /* JOINT API */ enum JointType { JOINT_TYPE_PIN, JOINT_TYPE_HINGE, JOINT_TYPE_SLIDER, JOINT_TYPE_CONE_TWIST, JOINT_TYPE_6DOF, JOINT_TYPE_MAX, }; virtual RID joint_create() = 0; virtual void joint_clear(RID p_joint) = 0; virtual JointType joint_get_type(RID p_joint) const = 0; virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0; virtual int joint_get_solver_priority(RID p_joint) const = 0; virtual void joint_disable_collisions_between_bodies(RID p_joint, bool p_disable) = 0; virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0; virtual void joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0; enum PinJointParam { PIN_JOINT_BIAS, PIN_JOINT_DAMPING, PIN_JOINT_IMPULSE_CLAMP }; virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) = 0; virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0; virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) = 0; virtual Vector3 pin_joint_get_local_a(RID p_joint) const = 0; virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) = 0; virtual Vector3 pin_joint_get_local_b(RID p_joint) const = 0; enum HingeJointParam { HINGE_JOINT_BIAS, HINGE_JOINT_LIMIT_UPPER, HINGE_JOINT_LIMIT_LOWER, HINGE_JOINT_LIMIT_BIAS, HINGE_JOINT_LIMIT_SOFTNESS, HINGE_JOINT_LIMIT_RELAXATION, HINGE_JOINT_MOTOR_TARGET_VELOCITY, HINGE_JOINT_MOTOR_MAX_IMPULSE, HINGE_JOINT_MAX }; enum HingeJointFlag { HINGE_JOINT_FLAG_USE_LIMIT, HINGE_JOINT_FLAG_ENABLE_MOTOR, HINGE_JOINT_FLAG_MAX }; virtual void joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) = 0; virtual void joint_make_hinge_simple(RID p_joint, RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) = 0; virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) = 0; virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0; virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) = 0; virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const = 0; enum SliderJointParam { SLIDER_JOINT_LINEAR_LIMIT_UPPER, SLIDER_JOINT_LINEAR_LIMIT_LOWER, SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, SLIDER_JOINT_LINEAR_LIMIT_DAMPING, SLIDER_JOINT_LINEAR_MOTION_SOFTNESS, SLIDER_JOINT_LINEAR_MOTION_RESTITUTION, SLIDER_JOINT_LINEAR_MOTION_DAMPING, SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS, SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION, SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING, SLIDER_JOINT_ANGULAR_LIMIT_UPPER, SLIDER_JOINT_ANGULAR_LIMIT_LOWER, SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION, SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS, SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION, SLIDER_JOINT_ANGULAR_MOTION_DAMPING, SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS, SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION, SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING, SLIDER_JOINT_MAX }; virtual void joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) = 0; virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0; enum ConeTwistJointParam { CONE_TWIST_JOINT_SWING_SPAN, CONE_TWIST_JOINT_TWIST_SPAN, CONE_TWIST_JOINT_BIAS, CONE_TWIST_JOINT_SOFTNESS, CONE_TWIST_JOINT_RELAXATION, CONE_TWIST_MAX }; virtual void joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) = 0; virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0; enum G6DOFJointAxisParam { G6DOF_JOINT_LINEAR_LOWER_LIMIT, G6DOF_JOINT_LINEAR_UPPER_LIMIT, G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, G6DOF_JOINT_LINEAR_RESTITUTION, G6DOF_JOINT_LINEAR_DAMPING, G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY, G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT, G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, G6DOF_JOINT_LINEAR_SPRING_DAMPING, G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, G6DOF_JOINT_ANGULAR_LOWER_LIMIT, G6DOF_JOINT_ANGULAR_UPPER_LIMIT, G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, G6DOF_JOINT_ANGULAR_DAMPING, G6DOF_JOINT_ANGULAR_RESTITUTION, G6DOF_JOINT_ANGULAR_FORCE_LIMIT, G6DOF_JOINT_ANGULAR_ERP, G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY, G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT, G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, G6DOF_JOINT_ANGULAR_SPRING_DAMPING, G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, G6DOF_JOINT_MAX }; enum G6DOFJointAxisFlag { G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, G6DOF_JOINT_FLAG_ENABLE_MOTOR, G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR, G6DOF_JOINT_FLAG_MAX }; virtual void joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value) = 0; virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) const = 0; virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0; virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) const = 0; /* QUERY API */ enum AreaBodyStatus { AREA_BODY_ADDED, AREA_BODY_REMOVED }; /* MISC */ virtual void free(RID p_rid) = 0; virtual void set_active(bool p_active) = 0; virtual void init() = 0; virtual void step(real_t p_step) = 0; virtual void sync() = 0; virtual void flush_queries() = 0; virtual void end_sync() = 0; virtual void finish() = 0; virtual bool is_flushing_queries() const = 0; enum ProcessInfo { INFO_ACTIVE_OBJECTS, INFO_COLLISION_PAIRS, INFO_ISLAND_COUNT }; virtual int get_process_info(ProcessInfo p_info) = 0; PhysicsServer3D(); ~PhysicsServer3D(); }; class PhysicsRayQueryParameters3D : public RefCounted { GDCLASS(PhysicsRayQueryParameters3D, RefCounted); PhysicsDirectSpaceState3D::RayParameters parameters; protected: static void _bind_methods(); public: static Ref<PhysicsRayQueryParameters3D> create(Vector3 p_from, Vector3 p_to, uint32_t p_mask, const Vector<RID> &p_exclude); const PhysicsDirectSpaceState3D::RayParameters &get_parameters() const { return parameters; } void set_from(const Vector3 &p_from) { parameters.from = p_from; } const Vector3 &get_from() const { return parameters.from; } void set_to(const Vector3 &p_to) { parameters.to = p_to; } const Vector3 &get_to() const { return parameters.to; } void set_collision_mask(uint32_t p_mask) { parameters.collision_mask = p_mask; } uint32_t get_collision_mask() const { return parameters.collision_mask; } void set_collide_with_bodies(bool p_enable) { parameters.collide_with_bodies = p_enable; } bool is_collide_with_bodies_enabled() const { return parameters.collide_with_bodies; } void set_collide_with_areas(bool p_enable) { parameters.collide_with_areas = p_enable; } bool is_collide_with_areas_enabled() const { return parameters.collide_with_areas; } void set_hit_from_inside(bool p_enable) { parameters.hit_from_inside = p_enable; } bool is_hit_from_inside_enabled() const { return parameters.hit_from_inside; } void set_hit_back_faces(bool p_enable) { parameters.hit_back_faces = p_enable; } bool is_hit_back_faces_enabled() const { return parameters.hit_back_faces; } void set_exclude(const Vector<RID> &p_exclude); Vector<RID> get_exclude() const; }; class PhysicsPointQueryParameters3D : public RefCounted { GDCLASS(PhysicsPointQueryParameters3D, RefCounted); PhysicsDirectSpaceState3D::PointParameters parameters; protected: static void _bind_methods(); public: const PhysicsDirectSpaceState3D::PointParameters &get_parameters() const { return parameters; } void set_position(const Vector3 &p_position) { parameters.position = p_position; } const Vector3 &get_position() const { return parameters.position; } void set_collision_mask(uint32_t p_mask) { parameters.collision_mask = p_mask; } uint32_t get_collision_mask() const { return parameters.collision_mask; } void set_collide_with_bodies(bool p_enable) { parameters.collide_with_bodies = p_enable; } bool is_collide_with_bodies_enabled() const { return parameters.collide_with_bodies; } void set_collide_with_areas(bool p_enable) { parameters.collide_with_areas = p_enable; } bool is_collide_with_areas_enabled() const { return parameters.collide_with_areas; } void set_exclude(const Vector<RID> &p_exclude); Vector<RID> get_exclude() const; }; class PhysicsShapeQueryParameters3D : public RefCounted { GDCLASS(PhysicsShapeQueryParameters3D, RefCounted); PhysicsDirectSpaceState3D::ShapeParameters parameters; Ref<Resource> shape_ref; protected: static void _bind_methods(); public: const PhysicsDirectSpaceState3D::ShapeParameters &get_parameters() const { return parameters; } void set_shape(const Ref<Resource> &p_shape_ref); Ref<Resource> get_shape() const { return shape_ref; } void set_shape_rid(const RID &p_shape); RID get_shape_rid() const { return parameters.shape_rid; } void set_transform(const Transform3D &p_transform) { parameters.transform = p_transform; } const Transform3D &get_transform() const { return parameters.transform; } void set_motion(const Vector3 &p_motion) { parameters.motion = p_motion; } const Vector3 &get_motion() const { return parameters.motion; } void set_margin(real_t p_margin) { parameters.margin = p_margin; } real_t get_margin() const { return parameters.margin; } void set_collision_mask(uint32_t p_mask) { parameters.collision_mask = p_mask; } uint32_t get_collision_mask() const { return parameters.collision_mask; } void set_collide_with_bodies(bool p_enable) { parameters.collide_with_bodies = p_enable; } bool is_collide_with_bodies_enabled() const { return parameters.collide_with_bodies; } void set_collide_with_areas(bool p_enable) { parameters.collide_with_areas = p_enable; } bool is_collide_with_areas_enabled() const { return parameters.collide_with_areas; } void set_exclude(const Vector<RID> &p_exclude); Vector<RID> get_exclude() const; }; class PhysicsTestMotionParameters3D : public RefCounted { GDCLASS(PhysicsTestMotionParameters3D, RefCounted); PhysicsServer3D::MotionParameters parameters; protected: static void _bind_methods(); public: const PhysicsServer3D::MotionParameters &get_parameters() const { return parameters; } const Transform3D &get_from() const { return parameters.from; } void set_from(const Transform3D &p_from) { parameters.from = p_from; } const Vector3 &get_motion() const { return parameters.motion; } void set_motion(const Vector3 &p_motion) { parameters.motion = p_motion; } real_t get_margin() const { return parameters.margin; } void set_margin(real_t p_margin) { parameters.margin = p_margin; } int get_max_collisions() const { return parameters.max_collisions; } void set_max_collisions(int p_max_collisions) { parameters.max_collisions = p_max_collisions; } bool is_collide_separation_ray_enabled() const { return parameters.collide_separation_ray; } void set_collide_separation_ray_enabled(bool p_enabled) { parameters.collide_separation_ray = p_enabled; } Vector<RID> get_exclude_bodies() const; void set_exclude_bodies(const Vector<RID> &p_exclude); Array get_exclude_objects() const; void set_exclude_objects(const Array &p_exclude); bool is_recovery_as_collision_enabled() const { return parameters.recovery_as_collision; } void set_recovery_as_collision_enabled(bool p_enabled) { parameters.recovery_as_collision = p_enabled; } }; class PhysicsTestMotionResult3D : public RefCounted { GDCLASS(PhysicsTestMotionResult3D, RefCounted); PhysicsServer3D::MotionResult result; protected: static void _bind_methods(); public: PhysicsServer3D::MotionResult *get_result_ptr() const { return const_cast<PhysicsServer3D::MotionResult *>(&result); } Vector3 get_travel() const; Vector3 get_remainder() const; real_t get_collision_safe_fraction() const; real_t get_collision_unsafe_fraction() const; int get_collision_count() const; Vector3 get_collision_point(int p_collision_index = 0) const; Vector3 get_collision_normal(int p_collision_index = 0) const; Vector3 get_collider_velocity(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(int p_collision_index = 0) const; int get_collider_shape(int p_collision_index = 0) const; int get_collision_local_shape(int p_collision_index = 0) const; real_t get_collision_depth(int p_collision_index = 0) const; }; class PhysicsServer3DManager : public Object { GDCLASS(PhysicsServer3DManager, Object); static PhysicsServer3DManager *singleton; struct ClassInfo { String name; Callable create_callback; ClassInfo() {} ClassInfo(String p_name, Callable p_create_callback) : name(p_name), create_callback(p_create_callback) {} ClassInfo(const ClassInfo &p_ci) : name(p_ci.name), create_callback(p_ci.create_callback) {} void operator=(const ClassInfo &p_ci) { name = p_ci.name; create_callback = p_ci.create_callback; } }; Vector<ClassInfo> physics_servers; int default_server_id = -1; int default_server_priority = -1; void on_servers_changed(); protected: static void _bind_methods(); public: static const String setting_property_name; static PhysicsServer3DManager *get_singleton(); void register_server(const String &p_name, const Callable &p_create_callback); void set_default_server(const String &p_name, int p_priority = 0); int find_server_id(const String &p_name); int get_servers_count(); String get_server_name(int p_id); PhysicsServer3D *new_default_server(); PhysicsServer3D *new_server(const String &p_name); PhysicsServer3DManager(); ~PhysicsServer3DManager(); }; VARIANT_ENUM_CAST(PhysicsServer3D::ShapeType); VARIANT_ENUM_CAST(PhysicsServer3D::SpaceParameter); VARIANT_ENUM_CAST(PhysicsServer3D::AreaParameter); VARIANT_ENUM_CAST(PhysicsServer3D::AreaSpaceOverrideMode); VARIANT_ENUM_CAST(PhysicsServer3D::BodyMode); VARIANT_ENUM_CAST(PhysicsServer3D::BodyParameter); VARIANT_ENUM_CAST(PhysicsServer3D::BodyDampMode); VARIANT_ENUM_CAST(PhysicsServer3D::BodyState); VARIANT_ENUM_CAST(PhysicsServer3D::BodyAxis); VARIANT_ENUM_CAST(PhysicsServer3D::PinJointParam); VARIANT_ENUM_CAST(PhysicsServer3D::JointType); VARIANT_ENUM_CAST(PhysicsServer3D::HingeJointParam); VARIANT_ENUM_CAST(PhysicsServer3D::HingeJointFlag); VARIANT_ENUM_CAST(PhysicsServer3D::SliderJointParam); VARIANT_ENUM_CAST(PhysicsServer3D::ConeTwistJointParam); VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisParam); VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisFlag); VARIANT_ENUM_CAST(PhysicsServer3D::AreaBodyStatus); VARIANT_ENUM_CAST(PhysicsServer3D::ProcessInfo); #endif // PHYSICS_SERVER_3D_H