830 lines
33 KiB
C++
830 lines
33 KiB
C++
/**************************************************************************/
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/* rigid_body_3d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "rigid_body_3d.h"
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#include "scene/scene_string_names.h"
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void RigidBody3D::_body_enter_tree(ObjectID p_id) {
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Object *obj = ObjectDB::get_instance(p_id);
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Node *node = Object::cast_to<Node>(obj);
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ERR_FAIL_NULL(node);
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ERR_FAIL_NULL(contact_monitor);
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HashMap<ObjectID, BodyState>::Iterator E = contact_monitor->body_map.find(p_id);
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ERR_FAIL_COND(!E);
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ERR_FAIL_COND(E->value.in_tree);
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E->value.in_tree = true;
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contact_monitor->locked = true;
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emit_signal(SceneStringNames::get_singleton()->body_entered, node);
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for (int i = 0; i < E->value.shapes.size(); i++) {
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emit_signal(SceneStringNames::get_singleton()->body_shape_entered, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape);
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}
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contact_monitor->locked = false;
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}
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void RigidBody3D::_body_exit_tree(ObjectID p_id) {
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Object *obj = ObjectDB::get_instance(p_id);
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Node *node = Object::cast_to<Node>(obj);
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ERR_FAIL_NULL(node);
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ERR_FAIL_NULL(contact_monitor);
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HashMap<ObjectID, BodyState>::Iterator E = contact_monitor->body_map.find(p_id);
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ERR_FAIL_COND(!E);
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ERR_FAIL_COND(!E->value.in_tree);
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E->value.in_tree = false;
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contact_monitor->locked = true;
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emit_signal(SceneStringNames::get_singleton()->body_exited, node);
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for (int i = 0; i < E->value.shapes.size(); i++) {
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emit_signal(SceneStringNames::get_singleton()->body_shape_exited, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape);
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}
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contact_monitor->locked = false;
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}
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void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape) {
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bool body_in = p_status == 1;
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ObjectID objid = p_instance;
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Object *obj = ObjectDB::get_instance(objid);
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Node *node = Object::cast_to<Node>(obj);
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ERR_FAIL_NULL(contact_monitor);
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HashMap<ObjectID, BodyState>::Iterator E = contact_monitor->body_map.find(objid);
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ERR_FAIL_COND(!body_in && !E);
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if (body_in) {
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if (!E) {
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E = contact_monitor->body_map.insert(objid, BodyState());
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E->value.rid = p_body;
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//E->value.rc=0;
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E->value.in_tree = node && node->is_inside_tree();
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if (node) {
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node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree).bind(objid));
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node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree).bind(objid));
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if (E->value.in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_entered, node);
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}
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}
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}
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//E->value.rc++;
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if (node) {
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E->value.shapes.insert(ShapePair(p_body_shape, p_local_shape));
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}
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if (E->value.in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_body, node, p_body_shape, p_local_shape);
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}
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} else {
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//E->value.rc--;
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if (node) {
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E->value.shapes.erase(ShapePair(p_body_shape, p_local_shape));
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}
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bool in_tree = E->value.in_tree;
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if (E->value.shapes.is_empty()) {
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if (node) {
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node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
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node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
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if (in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_exited, node);
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}
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}
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contact_monitor->body_map.remove(E);
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}
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if (node && in_tree) {
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emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_body, obj, p_body_shape, p_local_shape);
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}
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}
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}
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struct _RigidBodyInOut {
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RID rid;
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ObjectID id;
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int shape = 0;
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int local_shape = 0;
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};
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void RigidBody3D::_sync_body_state(PhysicsDirectBodyState3D *p_state) {
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set_ignore_transform_notification(true);
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set_global_transform(p_state->get_transform());
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set_ignore_transform_notification(false);
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linear_velocity = p_state->get_linear_velocity();
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angular_velocity = p_state->get_angular_velocity();
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inverse_inertia_tensor = p_state->get_inverse_inertia_tensor();
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contact_count = p_state->get_contact_count();
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if (sleeping != p_state->is_sleeping()) {
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sleeping = p_state->is_sleeping();
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emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
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}
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}
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void RigidBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
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lock_callback();
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if (GDVIRTUAL_IS_OVERRIDDEN(_integrate_forces)) {
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_sync_body_state(p_state);
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Transform3D old_transform = get_global_transform();
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GDVIRTUAL_CALL(_integrate_forces, p_state);
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Transform3D new_transform = get_global_transform();
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if (new_transform != old_transform) {
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// Update the physics server with the new transform, to prevent it from being overwritten at the sync below.
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PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform);
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}
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}
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_sync_body_state(p_state);
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_on_transform_changed();
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if (contact_monitor) {
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contact_monitor->locked = true;
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//untag all
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int rc = 0;
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for (KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) {
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for (int i = 0; i < E.value.shapes.size(); i++) {
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E.value.shapes[i].tagged = false;
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rc++;
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}
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}
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_RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidBodyInOut));
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int toadd_count = 0;
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RigidBody3D_RemoveAction *toremove = (RigidBody3D_RemoveAction *)alloca(rc * sizeof(RigidBody3D_RemoveAction));
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int toremove_count = 0;
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//put the ones to add
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for (int i = 0; i < p_state->get_contact_count(); i++) {
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RID col_rid = p_state->get_contact_collider(i);
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ObjectID col_obj = p_state->get_contact_collider_id(i);
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int local_shape = p_state->get_contact_local_shape(i);
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int col_shape = p_state->get_contact_collider_shape(i);
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HashMap<ObjectID, BodyState>::Iterator E = contact_monitor->body_map.find(col_obj);
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if (!E) {
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toadd[toadd_count].rid = col_rid;
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toadd[toadd_count].local_shape = local_shape;
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toadd[toadd_count].id = col_obj;
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toadd[toadd_count].shape = col_shape;
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toadd_count++;
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continue;
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}
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ShapePair sp(col_shape, local_shape);
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int idx = E->value.shapes.find(sp);
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if (idx == -1) {
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toadd[toadd_count].rid = col_rid;
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toadd[toadd_count].local_shape = local_shape;
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toadd[toadd_count].id = col_obj;
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toadd[toadd_count].shape = col_shape;
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toadd_count++;
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continue;
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}
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E->value.shapes[idx].tagged = true;
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}
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//put the ones to remove
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for (const KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) {
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for (int i = 0; i < E.value.shapes.size(); i++) {
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if (!E.value.shapes[i].tagged) {
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toremove[toremove_count].rid = E.value.rid;
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toremove[toremove_count].body_id = E.key;
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toremove[toremove_count].pair = E.value.shapes[i];
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toremove_count++;
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}
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}
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}
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//process removals
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for (int i = 0; i < toremove_count; i++) {
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_body_inout(0, toremove[i].rid, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape);
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}
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//process additions
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for (int i = 0; i < toadd_count; i++) {
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_body_inout(1, toremove[i].rid, toadd[i].id, toadd[i].shape, toadd[i].local_shape);
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}
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contact_monitor->locked = false;
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}
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unlock_callback();
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}
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void RigidBody3D::_notification(int p_what) {
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#ifdef TOOLS_ENABLED
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switch (p_what) {
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case NOTIFICATION_ENTER_TREE: {
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if (Engine::get_singleton()->is_editor_hint()) {
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set_notify_local_transform(true); // Used for warnings and only in editor.
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}
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} break;
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case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: {
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update_configuration_warnings();
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} break;
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}
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#endif
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}
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void RigidBody3D::_apply_body_mode() {
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if (freeze) {
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switch (freeze_mode) {
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case FREEZE_MODE_STATIC: {
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set_body_mode(PhysicsServer3D::BODY_MODE_STATIC);
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} break;
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case FREEZE_MODE_KINEMATIC: {
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set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC);
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} break;
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}
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} else if (lock_rotation) {
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set_body_mode(PhysicsServer3D::BODY_MODE_RIGID_LINEAR);
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} else {
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set_body_mode(PhysicsServer3D::BODY_MODE_RIGID);
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}
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}
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void RigidBody3D::set_lock_rotation_enabled(bool p_lock_rotation) {
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if (p_lock_rotation == lock_rotation) {
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return;
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}
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lock_rotation = p_lock_rotation;
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_apply_body_mode();
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}
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bool RigidBody3D::is_lock_rotation_enabled() const {
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return lock_rotation;
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}
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void RigidBody3D::set_freeze_enabled(bool p_freeze) {
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if (p_freeze == freeze) {
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return;
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}
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freeze = p_freeze;
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_apply_body_mode();
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}
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bool RigidBody3D::is_freeze_enabled() const {
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return freeze;
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}
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void RigidBody3D::set_freeze_mode(FreezeMode p_freeze_mode) {
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if (p_freeze_mode == freeze_mode) {
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return;
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}
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freeze_mode = p_freeze_mode;
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_apply_body_mode();
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}
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RigidBody3D::FreezeMode RigidBody3D::get_freeze_mode() const {
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return freeze_mode;
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}
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void RigidBody3D::set_mass(real_t p_mass) {
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ERR_FAIL_COND(p_mass <= 0);
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mass = p_mass;
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass);
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}
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real_t RigidBody3D::get_mass() const {
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return mass;
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}
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void RigidBody3D::set_inertia(const Vector3 &p_inertia) {
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ERR_FAIL_COND(p_inertia.x < 0);
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ERR_FAIL_COND(p_inertia.y < 0);
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ERR_FAIL_COND(p_inertia.z < 0);
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inertia = p_inertia;
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia);
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}
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const Vector3 &RigidBody3D::get_inertia() const {
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return inertia;
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}
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void RigidBody3D::set_center_of_mass_mode(CenterOfMassMode p_mode) {
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if (center_of_mass_mode == p_mode) {
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return;
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}
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center_of_mass_mode = p_mode;
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switch (center_of_mass_mode) {
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case CENTER_OF_MASS_MODE_AUTO: {
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center_of_mass = Vector3();
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PhysicsServer3D::get_singleton()->body_reset_mass_properties(get_rid());
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if (inertia != Vector3()) {
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia);
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}
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} break;
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case CENTER_OF_MASS_MODE_CUSTOM: {
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass);
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} break;
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}
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notify_property_list_changed();
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}
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RigidBody3D::CenterOfMassMode RigidBody3D::get_center_of_mass_mode() const {
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return center_of_mass_mode;
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}
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void RigidBody3D::set_center_of_mass(const Vector3 &p_center_of_mass) {
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if (center_of_mass == p_center_of_mass) {
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return;
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}
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ERR_FAIL_COND(center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM);
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center_of_mass = p_center_of_mass;
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass);
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}
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const Vector3 &RigidBody3D::get_center_of_mass() const {
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return center_of_mass;
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}
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void RigidBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
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if (physics_material_override.is_valid()) {
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physics_material_override->disconnect_changed(callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
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}
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physics_material_override = p_physics_material_override;
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if (physics_material_override.is_valid()) {
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physics_material_override->connect_changed(callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
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}
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_reload_physics_characteristics();
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}
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Ref<PhysicsMaterial> RigidBody3D::get_physics_material_override() const {
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return physics_material_override;
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}
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void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) {
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gravity_scale = p_gravity_scale;
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
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}
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real_t RigidBody3D::get_gravity_scale() const {
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return gravity_scale;
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}
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void RigidBody3D::set_linear_damp_mode(DampMode p_mode) {
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linear_damp_mode = p_mode;
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode);
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}
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RigidBody3D::DampMode RigidBody3D::get_linear_damp_mode() const {
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return linear_damp_mode;
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}
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void RigidBody3D::set_angular_damp_mode(DampMode p_mode) {
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angular_damp_mode = p_mode;
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode);
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}
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RigidBody3D::DampMode RigidBody3D::get_angular_damp_mode() const {
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return angular_damp_mode;
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}
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void RigidBody3D::set_linear_damp(real_t p_linear_damp) {
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ERR_FAIL_COND(p_linear_damp < 0.0);
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linear_damp = p_linear_damp;
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp);
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}
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real_t RigidBody3D::get_linear_damp() const {
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return linear_damp;
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}
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void RigidBody3D::set_angular_damp(real_t p_angular_damp) {
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ERR_FAIL_COND(p_angular_damp < 0.0);
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angular_damp = p_angular_damp;
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp);
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}
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real_t RigidBody3D::get_angular_damp() const {
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return angular_damp;
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}
|
|
|
|
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<ObjectID, BodyState> &E : contact_monitor->body_map) {
|
|
//clean up mess
|
|
Object *obj = ObjectDB::get_instance(E.key);
|
|
Node *node = Object::cast_to<Node>(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;
|
|
}
|
|
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
bool RigidBody3D::is_contact_monitor_enabled() const {
|
|
return contact_monitor != nullptr;
|
|
}
|
|
|
|
TypedArray<Node3D> RigidBody3D::get_colliding_bodies() const {
|
|
ERR_FAIL_NULL_V(contact_monitor, TypedArray<Node3D>());
|
|
|
|
TypedArray<Node3D> ret;
|
|
ret.resize(contact_monitor->body_map.size());
|
|
int idx = 0;
|
|
for (const KeyValue<ObjectID, BodyState> &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, "0.001,1000,0.001,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"), "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_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::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled");
|
|
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_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");
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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")));
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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")));
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ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
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ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
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ADD_SIGNAL(MethodInfo("sleeping_state_changed"));
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|
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|
BIND_ENUM_CONSTANT(FREEZE_MODE_STATIC);
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|
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);
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|
BIND_ENUM_CONSTANT(DAMP_MODE_REPLACE);
|
|
}
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|
|
|
void RigidBody3D::_validate_property(PropertyInfo &p_property) const {
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|
if (center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM && p_property.name == "center_of_mass") {
|
|
p_property.usage = PROPERTY_USAGE_NO_EDITOR;
|
|
}
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|
|
|
if (!contact_monitor && p_property.name == "max_contacts_reported") {
|
|
p_property.usage = PROPERTY_USAGE_NO_EDITOR;
|
|
}
|
|
}
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|
|
|
RigidBody3D::RigidBody3D() :
|
|
PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) {
|
|
PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &RigidBody3D::_body_state_changed));
|
|
}
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|
|
|
RigidBody3D::~RigidBody3D() {
|
|
if (contact_monitor) {
|
|
memdelete(contact_monitor);
|
|
}
|
|
}
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