940f3fde5c
Makes the API for forces and impulses more flexible, easier to understand and harmonized between 2D and 3D. Rigid bodies now have 3 sets of methods for forces and impulses: -apply_impulse() for impulses (one-shot and time independent) -apply_force() for forces (time dependent) applied for the current step -add_constant_force() for forces that keeps being applied each step Also updated the documentation to clarify the different methods and parameters in rigid body nodes, body direct state and physics servers.
231 lines
8.3 KiB
C++
231 lines
8.3 KiB
C++
/*************************************************************************/
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/* godot_body_direct_state_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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "godot_body_direct_state_3d.h"
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#include "godot_body_3d.h"
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#include "godot_space_3d.h"
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Vector3 GodotPhysicsDirectBodyState3D::get_total_gravity() const {
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return body->gravity;
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}
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real_t GodotPhysicsDirectBodyState3D::get_total_angular_damp() const {
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return body->total_angular_damp;
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}
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real_t GodotPhysicsDirectBodyState3D::get_total_linear_damp() const {
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return body->total_linear_damp;
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_center_of_mass() const {
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return body->get_center_of_mass();
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_center_of_mass_local() const {
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return body->get_center_of_mass_local();
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}
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Basis GodotPhysicsDirectBodyState3D::get_principal_inertia_axes() const {
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return body->get_principal_inertia_axes();
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}
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real_t GodotPhysicsDirectBodyState3D::get_inverse_mass() const {
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return body->get_inv_mass();
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_inverse_inertia() const {
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return body->get_inv_inertia();
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}
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Basis GodotPhysicsDirectBodyState3D::get_inverse_inertia_tensor() const {
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return body->get_inv_inertia_tensor();
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}
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void GodotPhysicsDirectBodyState3D::set_linear_velocity(const Vector3 &p_velocity) {
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body->wakeup();
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body->set_linear_velocity(p_velocity);
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_linear_velocity() const {
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return body->get_linear_velocity();
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}
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void GodotPhysicsDirectBodyState3D::set_angular_velocity(const Vector3 &p_velocity) {
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body->wakeup();
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body->set_angular_velocity(p_velocity);
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_angular_velocity() const {
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return body->get_angular_velocity();
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}
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void GodotPhysicsDirectBodyState3D::set_transform(const Transform3D &p_transform) {
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body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform);
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}
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Transform3D GodotPhysicsDirectBodyState3D::get_transform() const {
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return body->get_transform();
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const {
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return body->get_velocity_in_local_point(p_position);
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}
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void GodotPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) {
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body->wakeup();
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body->apply_central_impulse(p_impulse);
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}
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void GodotPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
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body->wakeup();
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body->apply_impulse(p_impulse, p_position);
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}
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void GodotPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) {
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body->wakeup();
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body->apply_torque_impulse(p_impulse);
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}
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void GodotPhysicsDirectBodyState3D::apply_central_force(const Vector3 &p_force) {
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body->wakeup();
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body->apply_central_force(p_force);
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}
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void GodotPhysicsDirectBodyState3D::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
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body->wakeup();
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body->apply_force(p_force, p_position);
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}
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void GodotPhysicsDirectBodyState3D::apply_torque(const Vector3 &p_torque) {
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body->wakeup();
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body->apply_torque(p_torque);
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}
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void GodotPhysicsDirectBodyState3D::add_constant_central_force(const Vector3 &p_force) {
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body->wakeup();
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body->add_constant_central_force(p_force);
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}
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void GodotPhysicsDirectBodyState3D::add_constant_force(const Vector3 &p_force, const Vector3 &p_position) {
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body->wakeup();
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body->add_constant_force(p_force, p_position);
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}
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void GodotPhysicsDirectBodyState3D::add_constant_torque(const Vector3 &p_torque) {
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body->wakeup();
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body->add_constant_torque(p_torque);
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}
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void GodotPhysicsDirectBodyState3D::set_constant_force(const Vector3 &p_force) {
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if (!p_force.is_equal_approx(Vector3())) {
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body->wakeup();
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}
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body->set_constant_force(p_force);
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_constant_force() const {
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return body->get_constant_force();
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}
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void GodotPhysicsDirectBodyState3D::set_constant_torque(const Vector3 &p_torque) {
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if (!p_torque.is_equal_approx(Vector3())) {
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body->wakeup();
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}
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body->set_constant_torque(p_torque);
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_constant_torque() const {
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return body->get_constant_torque();
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}
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void GodotPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) {
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body->set_active(!p_sleep);
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}
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bool GodotPhysicsDirectBodyState3D::is_sleeping() const {
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return !body->is_active();
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}
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int GodotPhysicsDirectBodyState3D::get_contact_count() const {
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return body->contact_count;
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_position(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
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return body->contacts[p_contact_idx].local_pos;
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
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return body->contacts[p_contact_idx].local_normal;
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}
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real_t GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
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return 0.0f; // Only implemented for bullet
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}
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int GodotPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
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return body->contacts[p_contact_idx].local_shape;
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}
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RID GodotPhysicsDirectBodyState3D::get_contact_collider(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
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return body->contacts[p_contact_idx].collider;
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_position(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
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return body->contacts[p_contact_idx].collider_pos;
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}
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ObjectID GodotPhysicsDirectBodyState3D::get_contact_collider_id(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID());
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return body->contacts[p_contact_idx].collider_instance_id;
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}
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int GodotPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
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return body->contacts[p_contact_idx].collider_shape;
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}
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Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
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return body->contacts[p_contact_idx].collider_velocity_at_pos;
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}
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PhysicsDirectSpaceState3D *GodotPhysicsDirectBodyState3D::get_space_state() {
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return body->get_space()->get_direct_state();
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}
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real_t GodotPhysicsDirectBodyState3D::get_step() const {
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return body->get_space()->get_last_step();
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}
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