429 lines
15 KiB
C++
429 lines
15 KiB
C++
/*************************************************************************/
|
|
/* physics_server.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
#ifndef PHYSICS_SERVER_H
|
|
#define PHYSICS_SERVER_H
|
|
|
|
#include "object.h"
|
|
#include "reference.h"
|
|
|
|
class PhysicsDirectSpaceState;
|
|
|
|
class PhysicsDirectBodyState : public Object {
|
|
|
|
OBJ_TYPE( PhysicsDirectBodyState, Object );
|
|
protected:
|
|
static void _bind_methods();
|
|
public:
|
|
|
|
virtual Vector3 get_total_gravity() const=0; // get gravity vector working on this body space/area
|
|
virtual float get_total_density() const=0; // get density of this body space/area
|
|
|
|
virtual float get_inverse_mass() const=0; // get the mass
|
|
virtual Vector3 get_inverse_inertia() const=0; // get density of this body space
|
|
virtual Matrix3 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 Transform& p_transform)=0;
|
|
virtual Transform get_transform() const=0;
|
|
|
|
virtual void add_force(const Vector3& p_force, const Vector3& p_pos)=0;
|
|
|
|
virtual void set_sleep_state(bool p_enable)=0;
|
|
virtual bool is_sleeping() const=0;
|
|
|
|
virtual int get_contact_count() const=0;
|
|
|
|
virtual Vector3 get_contact_local_pos(int p_contact_idx) const=0;
|
|
virtual Vector3 get_contact_local_normal(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_pos(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_pos(int p_contact_idx) const=0;
|
|
|
|
virtual real_t get_step() const=0;
|
|
virtual void integrate_forces();
|
|
|
|
virtual PhysicsDirectSpaceState* get_space_state()=0;
|
|
|
|
PhysicsDirectBodyState();
|
|
};
|
|
|
|
|
|
class PhysicsShapeQueryResult;
|
|
|
|
|
|
class PhysicsDirectSpaceState : public Object {
|
|
|
|
OBJ_TYPE( PhysicsDirectSpaceState, Object );
|
|
|
|
Variant _intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_user_mask=0);
|
|
Variant _intersect_shape(const RID& p_shape, const Transform& p_xform,int p_result_max=64,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_user_mask=0);
|
|
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
|
|
struct RayResult {
|
|
|
|
Vector3 position;
|
|
Vector3 normal;
|
|
RID rid;
|
|
ObjectID collider_id;
|
|
Object *collider;
|
|
int shape;
|
|
};
|
|
|
|
virtual bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
|
|
|
|
struct ShapeResult {
|
|
|
|
RID rid;
|
|
ObjectID collider_id;
|
|
Object *collider;
|
|
int shape;
|
|
|
|
};
|
|
|
|
virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
|
|
|
|
PhysicsDirectSpaceState();
|
|
};
|
|
|
|
|
|
class PhysicsShapeQueryResult : public Reference {
|
|
|
|
OBJ_TYPE( PhysicsShapeQueryResult, Reference );
|
|
|
|
Vector<PhysicsDirectSpaceState::ShapeResult> result;
|
|
|
|
friend class PhysicsDirectSpaceState;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
public:
|
|
|
|
int get_result_count() const;
|
|
RID get_result_rid(int p_idx) const;
|
|
ObjectID get_result_object_id(int p_idx) const;
|
|
Object* get_result_object(int p_idx) const;
|
|
int get_result_object_shape(int p_idx) const;
|
|
|
|
PhysicsShapeQueryResult();
|
|
};
|
|
|
|
|
|
class PhysicsServer : public Object {
|
|
|
|
OBJ_TYPE( PhysicsServer, Object );
|
|
|
|
static PhysicsServer * singleton;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
|
|
static PhysicsServer * get_singleton();
|
|
|
|
enum ShapeType {
|
|
SHAPE_PLANE, ///< plane:"plane"
|
|
SHAPE_RAY, ///< float:"length"
|
|
SHAPE_SPHERE, ///< float:"radius"
|
|
SHAPE_BOX, ///< vec3:"extents"
|
|
SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule
|
|
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_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
|
|
};
|
|
|
|
virtual RID shape_create(ShapeType p_shape)=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 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_BODY_MAX_ALLOWED_PENETRATION,
|
|
SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD,
|
|
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD,
|
|
SPACE_PARAM_BODY_TIME_TO_SLEEP,
|
|
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
|
|
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
|
|
};
|
|
|
|
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 fixed process, errors and returns null otherwise
|
|
virtual PhysicsDirectSpaceState* space_get_direct_state(RID p_space)=0;
|
|
|
|
|
|
//missing space parameters
|
|
|
|
/* AREA API */
|
|
|
|
//missing attenuation? missing better override?
|
|
|
|
|
|
|
|
enum AreaParameter {
|
|
AREA_PARAM_GRAVITY,
|
|
AREA_PARAM_GRAVITY_VECTOR,
|
|
AREA_PARAM_GRAVITY_IS_POINT,
|
|
AREA_PARAM_GRAVITY_POINT_ATTENUATION,
|
|
AREA_PARAM_DENSITY,
|
|
AREA_PARAM_PRIORITY
|
|
};
|
|
|
|
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_REPLACE,
|
|
};
|
|
|
|
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode)=0;
|
|
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const=0;
|
|
|
|
virtual void area_add_shape(RID p_area, RID p_shape, const Transform& p_transform=Transform())=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 Transform& 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 Transform 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_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 Transform& p_transform)=0;
|
|
|
|
virtual Variant area_get_param(RID p_parea,AreaParameter p_param) const=0;
|
|
virtual Transform area_get_transform(RID p_area) const=0;
|
|
|
|
virtual void area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method)=0;
|
|
|
|
/* BODY API */
|
|
|
|
//missing ccd?
|
|
|
|
enum BodyMode {
|
|
BODY_MODE_STATIC,
|
|
BODY_MODE_STATIC_ACTIVE,
|
|
BODY_MODE_RIGID,
|
|
//BODY_MODE_SOFT
|
|
BODY_MODE_CHARACTER
|
|
};
|
|
|
|
virtual RID body_create(BodyMode p_mode=BODY_MODE_RIGID,bool p_init_sleeping=false)=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, BodyMode p_mode) const=0;
|
|
|
|
virtual void body_add_shape(RID p_body, RID p_shape, const Transform& p_transform=Transform())=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 Transform& 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 Transform body_get_shape_transform(RID p_body, int p_shape_idx) const=0;
|
|
|
|
virtual void body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable)=0;
|
|
virtual bool body_is_shape_set_as_trigger(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_attach_object_instance_ID(RID p_body,uint32_t p_ID)=0;
|
|
virtual uint32_t 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_user_flags(RID p_body, uint32_t p_flags)=0;
|
|
virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const=0;
|
|
|
|
// common body variables
|
|
enum BodyParameter {
|
|
BODY_PARAM_BOUNCE,
|
|
BODY_PARAM_FRICTION,
|
|
BODY_PARAM_MASS, ///< unused for static, always infinite
|
|
BODY_PARAM_MAX,
|
|
};
|
|
|
|
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value)=0;
|
|
virtual float body_get_param(RID p_body, BodyParameter p_param) const=0;
|
|
|
|
//advanced simulation
|
|
virtual void body_static_simulate_motion(RID p_body,const Transform& p_new_transform)=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;
|
|
|
|
//do something about it
|
|
virtual void body_set_applied_force(RID p_body, const Vector3& p_force)=0;
|
|
virtual Vector3 body_get_applied_force(RID p_body) const=0;
|
|
|
|
virtual void body_set_applied_torque(RID p_body, const Vector3& p_torque)=0;
|
|
virtual Vector3 body_get_applied_torque(RID p_body) const=0;
|
|
|
|
virtual void body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse)=0;
|
|
virtual void body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity)=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_treshold(RID p_body, float p_treshold)=0;
|
|
virtual float body_get_contacts_reported_depth_treshold(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_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata=Variant())=0;
|
|
|
|
/* JOINT API */
|
|
#if 0
|
|
enum JointType {
|
|
|
|
JOINT_PIN,
|
|
JOINT_GROOVE,
|
|
JOINT_DAMPED_SPRING
|
|
};
|
|
|
|
enum JointParam {
|
|
JOINT_PARAM_BIAS,
|
|
JOINT_PARAM_MAX_BIAS,
|
|
JOINT_PARAM_MAX_FORCE,
|
|
};
|
|
|
|
virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value)=0;
|
|
virtual real_t joint_get_param(RID p_joint,JointParam p_param) const=0;
|
|
|
|
virtual RID pin_joint_create(const Vector3& p_anchor,RID p_body_a,RID p_body_b=RID())=0;
|
|
virtual RID groove_joint_create(const Vector3& p_a_groove1,const Vector3& p_a_groove2, const Vector3& p_b_anchor, RID p_body_a,RID p_body_b)=0;
|
|
virtual RID damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b=RID())=0;
|
|
|
|
enum DampedStringParam {
|
|
DAMPED_STRING_REST_LENGTH,
|
|
DAMPED_STRING_STIFFNESS,
|
|
DAMPED_STRING_DAMPING
|
|
};
|
|
virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value)=0;
|
|
virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const=0;
|
|
|
|
virtual JointType joint_get_type(RID p_joint) const=0;
|
|
#endif
|
|
/* 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(float p_step)=0;
|
|
virtual void sync()=0;
|
|
virtual void flush_queries()=0;
|
|
virtual void finish()=0;
|
|
|
|
PhysicsServer();
|
|
~PhysicsServer();
|
|
};
|
|
|
|
VARIANT_ENUM_CAST( PhysicsServer::ShapeType );
|
|
VARIANT_ENUM_CAST( PhysicsServer::SpaceParameter );
|
|
VARIANT_ENUM_CAST( PhysicsServer::AreaParameter );
|
|
VARIANT_ENUM_CAST( PhysicsServer::AreaSpaceOverrideMode );
|
|
VARIANT_ENUM_CAST( PhysicsServer::BodyMode );
|
|
VARIANT_ENUM_CAST( PhysicsServer::BodyParameter );
|
|
VARIANT_ENUM_CAST( PhysicsServer::BodyState );
|
|
//VARIANT_ENUM_CAST( PhysicsServer::JointParam );
|
|
//VARIANT_ENUM_CAST( PhysicsServer::JointType );
|
|
//VARIANT_ENUM_CAST( PhysicsServer::DampedStringParam );
|
|
//VARIANT_ENUM_CAST( PhysicsServer::ObjectType );
|
|
VARIANT_ENUM_CAST( PhysicsServer::AreaBodyStatus );
|
|
|
|
#endif
|