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virtualx-engine/servers/physics_server.cpp
Juan Linietsky 8cab401d08 3D Physics Rework, Other Stuff 
-=-=-=-=-=-=-=-=-=-=-=-=-=-

3D Physics:
-Fixed "Bounce" parameter in 3D
-Fixed bug affecting Area (sometims it would not detect properly)
-Vehicle Body has seen heavy work
-Added Query API for doing space queries in 3D. Needs some docs though.
-Added JOINTS! Adapted Bullet Joints: and created easy gizmos for setting them up:
   -PinJoint
   -HingeJoint (with motor)
   -SliderJoint
   -ConeTwistJoint
   -Generic6DOFJoint
-Added OBJECT PICKING! based on the new query API. Any physics object now (Area or Body) has the following signals and virtual functions:
    -input_event (mouse or multitouch input over the body)
    -mouse_enter (mouse entered the body area)
    -mouse_exit (mouse exited body area)
   For Area it needs to be activated manually, as it isn't by default (ray goes thru).

Other:

-Begun working on Windows 8 (RT) port. Compiles but does not work yet.
-Added TheoraPlayer library for improved to-texture and portable video support.
-Fixed a few bugs in the renderer, collada importer, collada exporter, etc.
2014-09-15 11:33:30 -03:00

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/*************************************************************************/
/* physics_server.cpp */
/*************************************************************************/
/* 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. */
/*************************************************************************/
#include "physics_server.h"
#include "print_string.h"
PhysicsServer * PhysicsServer::singleton=NULL;
void PhysicsDirectBodyState::integrate_forces() {
real_t step = get_step();
Vector3 lv = get_linear_velocity();
lv+=get_total_gravity() * step;
Vector3 av = get_angular_velocity();
float damp = 1.0 - step * get_total_density();
if (damp<0) // reached zero in the given time
damp=0;
lv*=damp;
av*=damp;
set_linear_velocity(lv);
set_angular_velocity(av);
}
Object* PhysicsDirectBodyState::get_contact_collider_object(int p_contact_idx) const {
ObjectID objid = get_contact_collider_id(p_contact_idx);
Object *obj = ObjectDB::get_instance( objid );
return obj;
}
PhysicsServer * PhysicsServer::get_singleton() {
return singleton;
}
void PhysicsDirectBodyState::_bind_methods() {
ObjectTypeDB::bind_method(_MD("get_total_gravity"),&PhysicsDirectBodyState::get_total_gravity);
ObjectTypeDB::bind_method(_MD("get_total_density"),&PhysicsDirectBodyState::get_total_density);
ObjectTypeDB::bind_method(_MD("get_inverse_mass"),&PhysicsDirectBodyState::get_inverse_mass);
ObjectTypeDB::bind_method(_MD("get_inverse_inertia"),&PhysicsDirectBodyState::get_inverse_inertia);
ObjectTypeDB::bind_method(_MD("set_linear_velocity","velocity"),&PhysicsDirectBodyState::set_linear_velocity);
ObjectTypeDB::bind_method(_MD("get_linear_velocity"),&PhysicsDirectBodyState::get_linear_velocity);
ObjectTypeDB::bind_method(_MD("set_angular_velocity","velocity"),&PhysicsDirectBodyState::set_angular_velocity);
ObjectTypeDB::bind_method(_MD("get_angular_velocity"),&PhysicsDirectBodyState::get_angular_velocity);
ObjectTypeDB::bind_method(_MD("set_transform","transform"),&PhysicsDirectBodyState::set_transform);
ObjectTypeDB::bind_method(_MD("get_transform"),&PhysicsDirectBodyState::get_transform);
ObjectTypeDB::bind_method(_MD("add_force","force","pos"),&PhysicsDirectBodyState::add_force);
ObjectTypeDB::bind_method(_MD("apply_impulse","pos","j"),&PhysicsDirectBodyState::apply_impulse);
ObjectTypeDB::bind_method(_MD("set_sleep_state","enabled"),&PhysicsDirectBodyState::set_sleep_state);
ObjectTypeDB::bind_method(_MD("is_sleeping"),&PhysicsDirectBodyState::is_sleeping);
ObjectTypeDB::bind_method(_MD("get_contact_count"),&PhysicsDirectBodyState::get_contact_count);
ObjectTypeDB::bind_method(_MD("get_contact_local_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_local_pos);
ObjectTypeDB::bind_method(_MD("get_contact_local_normal","contact_idx"),&PhysicsDirectBodyState::get_contact_local_normal);
ObjectTypeDB::bind_method(_MD("get_contact_local_shape","contact_idx"),&PhysicsDirectBodyState::get_contact_local_shape);
ObjectTypeDB::bind_method(_MD("get_contact_collider","contact_idx"),&PhysicsDirectBodyState::get_contact_collider);
ObjectTypeDB::bind_method(_MD("get_contact_collider_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_pos);
ObjectTypeDB::bind_method(_MD("get_contact_collider_id","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_id);
ObjectTypeDB::bind_method(_MD("get_contact_collider_object","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_object);
ObjectTypeDB::bind_method(_MD("get_contact_collider_shape","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_shape);
ObjectTypeDB::bind_method(_MD("get_contact_collider_velocity_at_pos","contact_idx"),&PhysicsDirectBodyState::get_contact_collider_velocity_at_pos);
ObjectTypeDB::bind_method(_MD("get_step"),&PhysicsDirectBodyState::get_step);
ObjectTypeDB::bind_method(_MD("integrate_forces"),&PhysicsDirectBodyState::integrate_forces);
ObjectTypeDB::bind_method(_MD("get_space_state:PhysicsDirectSpaceState"),&PhysicsDirectBodyState::get_space_state);
}
PhysicsDirectBodyState::PhysicsDirectBodyState() {}
///////////////////////////////////////////////////////
void PhysicsShapeQueryParameters::set_shape(const RES &p_shape) {
ERR_FAIL_COND(p_shape.is_null());
shape=p_shape->get_rid();
}
void PhysicsShapeQueryParameters::set_shape_rid(const RID& p_shape) {
shape=p_shape;
}
RID PhysicsShapeQueryParameters::get_shape_rid() const {
return shape;
}
void PhysicsShapeQueryParameters::set_transform(const Transform& p_transform){
transform=p_transform;
}
Transform PhysicsShapeQueryParameters::get_transform() const{
return transform;
}
void PhysicsShapeQueryParameters::set_margin(float p_margin){
margin=p_margin;
}
float PhysicsShapeQueryParameters::get_margin() const{
return margin;
}
void PhysicsShapeQueryParameters::set_layer_mask(int p_layer_mask){
layer_mask=p_layer_mask;
}
int PhysicsShapeQueryParameters::get_layer_mask() const{
return layer_mask;
}
void PhysicsShapeQueryParameters::set_object_type_mask(int p_object_type_mask){
object_type_mask=p_object_type_mask;
}
int PhysicsShapeQueryParameters::get_object_type_mask() const{
return object_type_mask;
}
void PhysicsShapeQueryParameters::set_exclude(const Vector<RID>& p_exclude) {
exclude.clear();;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
}
Vector<RID> PhysicsShapeQueryParameters::get_exclude() const{
Vector<RID> ret;
ret.resize(exclude.size());
int idx=0;
for(Set<RID>::Element *E=exclude.front();E;E=E->next()) {
ret[idx]=E->get();
}
return ret;
}
void PhysicsShapeQueryParameters::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_shape","shape:Shape"),&PhysicsShapeQueryParameters::set_shape);
ObjectTypeDB::bind_method(_MD("set_shape_rid","shape"),&PhysicsShapeQueryParameters::set_shape_rid);
ObjectTypeDB::bind_method(_MD("get_shape_rid"),&PhysicsShapeQueryParameters::get_shape_rid);
ObjectTypeDB::bind_method(_MD("set_transform","transform"),&PhysicsShapeQueryParameters::set_transform);
ObjectTypeDB::bind_method(_MD("get_transform"),&PhysicsShapeQueryParameters::get_transform);
ObjectTypeDB::bind_method(_MD("set_margin","margin"),&PhysicsShapeQueryParameters::set_margin);
ObjectTypeDB::bind_method(_MD("get_margin"),&PhysicsShapeQueryParameters::get_margin);
ObjectTypeDB::bind_method(_MD("set_layer_mask","layer_mask"),&PhysicsShapeQueryParameters::set_layer_mask);
ObjectTypeDB::bind_method(_MD("get_layer_mask"),&PhysicsShapeQueryParameters::get_layer_mask);
ObjectTypeDB::bind_method(_MD("set_object_type_mask","object_type_mask"),&PhysicsShapeQueryParameters::set_object_type_mask);
ObjectTypeDB::bind_method(_MD("get_object_type_mask"),&PhysicsShapeQueryParameters::get_object_type_mask);
ObjectTypeDB::bind_method(_MD("set_exclude","exclude"),&PhysicsShapeQueryParameters::set_exclude);
ObjectTypeDB::bind_method(_MD("get_exclude"),&PhysicsShapeQueryParameters::get_exclude);
}
PhysicsShapeQueryParameters::PhysicsShapeQueryParameters() {
margin=0;
layer_mask=0x7FFFFFFF;
object_type_mask=PhysicsDirectSpaceState::TYPE_MASK_COLLISION;
}
/////////////////////////////////////
/*
Variant PhysicsDirectSpaceState::_intersect_shape(const RID& p_shape, const Transform& p_xform,int p_result_max,const Vector<RID>& p_exclude,uint32_t p_user_mask) {
ERR_FAIL_INDEX_V(p_result_max,4096,Variant());
if (p_result_max<=0)
return Variant();
Set<RID> exclude;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
ShapeResult *res=(ShapeResult*)alloca(p_result_max*sizeof(ShapeResult));
int rc = intersect_shape(p_shape,p_xform,0,res,p_result_max,exclude);
if (rc==0)
return Variant();
Ref<PhysicsShapeQueryResult> result = memnew( PhysicsShapeQueryResult );
result->result.resize(rc);
for(int i=0;i<rc;i++)
result->result[i]=res[i];
return result;
}
*/
Dictionary PhysicsDirectSpaceState::_intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector<RID>& p_exclude,uint32_t p_layers,uint32_t p_object_type_mask) {
RayResult inters;
Set<RID> exclude;
for(int i=0;i<p_exclude.size();i++)
exclude.insert(p_exclude[i]);
bool res = intersect_ray(p_from,p_to,inters,exclude,p_layers,p_object_type_mask);
if (!res)
return Dictionary(true);
Dictionary d(true);
d["position"]=inters.position;
d["normal"]=inters.normal;
d["collider_id"]=inters.collider_id;
d["collider"]=inters.collider;
d["shape"]=inters.shape;
d["rid"]=inters.rid;
return d;
}
Array PhysicsDirectSpaceState::_intersect_shape(const Ref<PhysicsShapeQueryParameters> &psq, int p_max_results) {
Vector<ShapeResult> sr;
sr.resize(p_max_results);
int rc = intersect_shape(psq->shape,psq->transform,psq->margin,sr.ptr(),sr.size(),psq->exclude,psq->layer_mask,psq->object_type_mask);
Array ret;
ret.resize(rc);
for(int i=0;i<rc;i++) {
Dictionary d;
d["rid"]=sr[i].rid;
d["collider_id"]=sr[i].collider_id;
d["collider"]=sr[i].collider;
d["shape"]=sr[i].shape;
ret[i]=d;
}
return ret;
}
Array PhysicsDirectSpaceState::_cast_motion(const Ref<PhysicsShapeQueryParameters> &psq,const Vector3& p_motion){
float closest_safe,closest_unsafe;
bool res = cast_motion(psq->shape,psq->transform,p_motion,psq->margin,closest_safe,closest_unsafe,psq->exclude,psq->layer_mask,psq->object_type_mask);
if (!res)
return Array();
Array ret(true);
ret.resize(2);
ret[0]=closest_safe;
ret[0]=closest_unsafe;
return ret;
}
Array PhysicsDirectSpaceState::_collide_shape(const Ref<PhysicsShapeQueryParameters> &psq, int p_max_results){
Vector<Vector3> ret;
ret.resize(p_max_results*2);
int rc=0;
bool res = collide_shape(psq->shape,psq->transform,psq->margin,ret.ptr(),p_max_results,rc,psq->exclude,psq->layer_mask,psq->object_type_mask);
if (!res)
return Array();
Array r;
r.resize(rc*2);
for(int i=0;i<rc*2;i++)
r[i]=ret[i];
return r;
}
Dictionary PhysicsDirectSpaceState::_get_rest_info(const Ref<PhysicsShapeQueryParameters> &psq){
ShapeRestInfo sri;
bool res = rest_info(psq->shape,psq->transform,psq->margin,&sri,psq->exclude,psq->layer_mask,psq->object_type_mask);
Dictionary r(true);
if (!res)
return r;
r["point"]=sri.point;
r["normal"]=sri.normal;
r["rid"]=sri.rid;
r["collider_id"]=sri.collider_id;
r["shape"]=sri.shape;
r["linear_velocity"]=sri.linear_velocity;
return r;
}
PhysicsDirectSpaceState::PhysicsDirectSpaceState() {
}
void PhysicsDirectSpaceState::_bind_methods() {
// ObjectTypeDB::bind_method(_MD("intersect_ray","from","to","exclude","umask"),&PhysicsDirectSpaceState::_intersect_ray,DEFVAL(Array()),DEFVAL(0));
// ObjectTypeDB::bind_method(_MD("intersect_shape:PhysicsShapeQueryResult","shape","xform","result_max","exclude","umask"),&PhysicsDirectSpaceState::_intersect_shape,DEFVAL(Array()),DEFVAL(0));
ObjectTypeDB::bind_method(_MD("intersect_ray:Dictionary","from","to","exclude","layer_mask","type_mask"),&PhysicsDirectSpaceState::_intersect_ray,DEFVAL(Array()),DEFVAL(0x7FFFFFFF),DEFVAL(TYPE_MASK_COLLISION));
ObjectTypeDB::bind_method(_MD("intersect_shape","shape:PhysicsShapeQueryParameters","max_results"),&PhysicsDirectSpaceState::_intersect_shape,DEFVAL(32));
ObjectTypeDB::bind_method(_MD("cast_motion","shape:PhysicsShapeQueryParameters","motion"),&PhysicsDirectSpaceState::_cast_motion);
ObjectTypeDB::bind_method(_MD("collide_shape","shape:PhysicsShapeQueryParameters","max_results"),&PhysicsDirectSpaceState::_collide_shape,DEFVAL(32));
ObjectTypeDB::bind_method(_MD("get_rest_info","shape:PhysicsShapeQueryParameters"),&PhysicsDirectSpaceState::_get_rest_info);
BIND_CONSTANT( TYPE_MASK_STATIC_BODY );
BIND_CONSTANT( TYPE_MASK_KINEMATIC_BODY );
BIND_CONSTANT( TYPE_MASK_RIGID_BODY );
BIND_CONSTANT( TYPE_MASK_CHARACTER_BODY );
BIND_CONSTANT( TYPE_MASK_AREA );
BIND_CONSTANT( TYPE_MASK_COLLISION );
}
int PhysicsShapeQueryResult::get_result_count() const {
return result.size();
}
RID PhysicsShapeQueryResult::get_result_rid(int p_idx) const {
return result[p_idx].rid;
}
ObjectID PhysicsShapeQueryResult::get_result_object_id(int p_idx) const {
return result[p_idx].collider_id;
}
Object* PhysicsShapeQueryResult::get_result_object(int p_idx) const {
return result[p_idx].collider;
}
int PhysicsShapeQueryResult::get_result_object_shape(int p_idx) const {
return result[p_idx].shape;
}
PhysicsShapeQueryResult::PhysicsShapeQueryResult() {
}
void PhysicsShapeQueryResult::_bind_methods() {
ObjectTypeDB::bind_method(_MD("get_result_count"),&PhysicsShapeQueryResult::get_result_count);
ObjectTypeDB::bind_method(_MD("get_result_rid","idx"),&PhysicsShapeQueryResult::get_result_rid);
ObjectTypeDB::bind_method(_MD("get_result_object_id","idx"),&PhysicsShapeQueryResult::get_result_object_id);
ObjectTypeDB::bind_method(_MD("get_result_object","idx"),&PhysicsShapeQueryResult::get_result_object);
ObjectTypeDB::bind_method(_MD("get_result_object_shape","idx"),&PhysicsShapeQueryResult::get_result_object_shape);
}
///////////////////////////////////////
void PhysicsServer::_bind_methods() {
ObjectTypeDB::bind_method(_MD("shape_create","type"),&PhysicsServer::shape_create);
ObjectTypeDB::bind_method(_MD("shape_set_data","shape","data"),&PhysicsServer::shape_set_data);
ObjectTypeDB::bind_method(_MD("shape_get_type","shape"),&PhysicsServer::shape_get_type);
ObjectTypeDB::bind_method(_MD("shape_get_data","shape"),&PhysicsServer::shape_get_data);
ObjectTypeDB::bind_method(_MD("space_create"),&PhysicsServer::space_create);
ObjectTypeDB::bind_method(_MD("space_set_active","space","active"),&PhysicsServer::space_set_active);
ObjectTypeDB::bind_method(_MD("space_is_active","space"),&PhysicsServer::space_is_active);
ObjectTypeDB::bind_method(_MD("space_set_param","space","param","value"),&PhysicsServer::space_set_param);
ObjectTypeDB::bind_method(_MD("space_get_param","space","param"),&PhysicsServer::space_get_param);
ObjectTypeDB::bind_method(_MD("space_get_direct_state:PhysicsDirectSpaceState","space"),&PhysicsServer::space_get_direct_state);
ObjectTypeDB::bind_method(_MD("area_create"),&PhysicsServer::area_create);
ObjectTypeDB::bind_method(_MD("area_set_space","area","space"),&PhysicsServer::area_set_space);
ObjectTypeDB::bind_method(_MD("area_get_space","area"),&PhysicsServer::area_get_space);
ObjectTypeDB::bind_method(_MD("area_set_space_override_mode","area","mode"),&PhysicsServer::area_set_space_override_mode);
ObjectTypeDB::bind_method(_MD("area_get_space_override_mode","area"),&PhysicsServer::area_get_space_override_mode);
ObjectTypeDB::bind_method(_MD("area_add_shape","area","shape","transform"),&PhysicsServer::area_set_shape,DEFVAL(Transform()));
ObjectTypeDB::bind_method(_MD("area_set_shape","area","shape_idx","shape"),&PhysicsServer::area_get_shape);
ObjectTypeDB::bind_method(_MD("area_set_shape_transform","area","shape_idx","transform"),&PhysicsServer::area_set_shape_transform);
ObjectTypeDB::bind_method(_MD("area_get_shape_count","area"),&PhysicsServer::area_get_shape_count);
ObjectTypeDB::bind_method(_MD("area_get_shape","area","shape_idx"),&PhysicsServer::area_get_shape);
ObjectTypeDB::bind_method(_MD("area_get_shape_transform","area","shape_idx"),&PhysicsServer::area_get_shape_transform);
ObjectTypeDB::bind_method(_MD("area_remove_shape","area","shape_idx"),&PhysicsServer::area_remove_shape);
ObjectTypeDB::bind_method(_MD("area_clear_shapes","area"),&PhysicsServer::area_clear_shapes);
ObjectTypeDB::bind_method(_MD("area_set_param","area","param","value"),&PhysicsServer::area_get_param);
ObjectTypeDB::bind_method(_MD("area_set_transform","area","transform"),&PhysicsServer::area_get_transform);
ObjectTypeDB::bind_method(_MD("area_get_param","area","param"),&PhysicsServer::area_get_param);
ObjectTypeDB::bind_method(_MD("area_get_transform","area"),&PhysicsServer::area_get_transform);
ObjectTypeDB::bind_method(_MD("area_attach_object_instance_ID","area","id"),&PhysicsServer::area_attach_object_instance_ID);
ObjectTypeDB::bind_method(_MD("area_get_object_instance_ID","area"),&PhysicsServer::area_get_object_instance_ID);
ObjectTypeDB::bind_method(_MD("area_set_monitor_callback","receiver","method"),&PhysicsServer::area_set_monitor_callback);
ObjectTypeDB::bind_method(_MD("area_set_ray_pickable","area","enable"),&PhysicsServer::area_set_ray_pickable);
ObjectTypeDB::bind_method(_MD("area_is_ray_pickable","area"),&PhysicsServer::area_is_ray_pickable);
ObjectTypeDB::bind_method(_MD("body_create","mode","init_sleeping"),&PhysicsServer::body_create,DEFVAL(BODY_MODE_RIGID),DEFVAL(false));
ObjectTypeDB::bind_method(_MD("body_set_space","body","space"),&PhysicsServer::body_set_space);
ObjectTypeDB::bind_method(_MD("body_get_space","body"),&PhysicsServer::body_get_space);
ObjectTypeDB::bind_method(_MD("body_set_mode","body","mode"),&PhysicsServer::body_set_mode);
ObjectTypeDB::bind_method(_MD("body_get_mode","body"),&PhysicsServer::body_get_mode);
ObjectTypeDB::bind_method(_MD("body_add_shape","body","shape","transform"),&PhysicsServer::body_add_shape,DEFVAL(Transform()));
ObjectTypeDB::bind_method(_MD("body_set_shape","body","shape_idx","shape"),&PhysicsServer::body_set_shape);
ObjectTypeDB::bind_method(_MD("body_set_shape_transform","body","shape_idx","transform"),&PhysicsServer::body_set_shape_transform);
ObjectTypeDB::bind_method(_MD("body_get_shape_count","body"),&PhysicsServer::body_get_shape_count);
ObjectTypeDB::bind_method(_MD("body_get_shape","body","shape_idx"),&PhysicsServer::body_get_shape);
ObjectTypeDB::bind_method(_MD("body_get_shape_transform","body","shape_idx"),&PhysicsServer::body_get_shape_transform);
ObjectTypeDB::bind_method(_MD("body_remove_shape","body","shape_idx"),&PhysicsServer::body_remove_shape);
ObjectTypeDB::bind_method(_MD("body_clear_shapes","body"),&PhysicsServer::body_clear_shapes);
ObjectTypeDB::bind_method(_MD("body_attach_object_instance_ID","body","id"),&PhysicsServer::body_attach_object_instance_ID);
ObjectTypeDB::bind_method(_MD("body_get_object_instance_ID","body"),&PhysicsServer::body_get_object_instance_ID);
ObjectTypeDB::bind_method(_MD("body_set_enable_continuous_collision_detection","body","enable"),&PhysicsServer::body_set_enable_continuous_collision_detection);
ObjectTypeDB::bind_method(_MD("body_is_continuous_collision_detection_enabled","body"),&PhysicsServer::body_is_continuous_collision_detection_enabled);
//ObjectTypeDB::bind_method(_MD("body_set_user_flags","flags""),&PhysicsServer::body_set_shape,DEFVAL(Transform));
//ObjectTypeDB::bind_method(_MD("body_get_user_flags","body","shape_idx","shape"),&PhysicsServer::body_get_shape);
ObjectTypeDB::bind_method(_MD("body_set_param","body","param","value"),&PhysicsServer::body_set_param);
ObjectTypeDB::bind_method(_MD("body_get_param","body","param"),&PhysicsServer::body_get_param);
ObjectTypeDB::bind_method(_MD("body_set_state","body","state","value"),&PhysicsServer::body_set_state);
ObjectTypeDB::bind_method(_MD("body_get_state","body","state"),&PhysicsServer::body_get_state);
ObjectTypeDB::bind_method(_MD("body_apply_impulse","body","pos","impulse"),&PhysicsServer::body_apply_impulse);
ObjectTypeDB::bind_method(_MD("body_set_axis_velocity","body","axis_velocity"),&PhysicsServer::body_set_axis_velocity);
ObjectTypeDB::bind_method(_MD("body_set_axis_lock","body","axis"),&PhysicsServer::body_set_axis_lock);
ObjectTypeDB::bind_method(_MD("body_get_axis_lock","body"),&PhysicsServer::body_set_axis_lock);
ObjectTypeDB::bind_method(_MD("body_add_collision_exception","body","excepted_body"),&PhysicsServer::body_add_collision_exception);
ObjectTypeDB::bind_method(_MD("body_remove_collision_exception","body","excepted_body"),&PhysicsServer::body_remove_collision_exception);
// virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions)=0;
ObjectTypeDB::bind_method(_MD("body_set_max_contacts_reported","body","amount"),&PhysicsServer::body_set_max_contacts_reported);
ObjectTypeDB::bind_method(_MD("body_get_max_contacts_reported","body"),&PhysicsServer::body_get_max_contacts_reported);
ObjectTypeDB::bind_method(_MD("body_set_omit_force_integration","body","enable"),&PhysicsServer::body_set_omit_force_integration);
ObjectTypeDB::bind_method(_MD("body_is_omitting_force_integration","body"),&PhysicsServer::body_is_omitting_force_integration);
ObjectTypeDB::bind_method(_MD("body_set_force_integration_callback","body","receiver","method","userdata"),&PhysicsServer::body_set_force_integration_callback,DEFVAL(Variant()));
/* JOINT API */
BIND_CONSTANT( JOINT_PIN );
BIND_CONSTANT( JOINT_HINGE );
BIND_CONSTANT( JOINT_SLIDER );
BIND_CONSTANT( JOINT_CONE_TWIST );
BIND_CONSTANT( JOINT_6DOF );
ObjectTypeDB::bind_method(_MD("joint_create_pin","body_A","local_A","body_B","local_B"),&PhysicsServer::joint_create_pin);
ObjectTypeDB::bind_method(_MD("pin_joint_set_param","joint","param","value"),&PhysicsServer::pin_joint_set_param);
ObjectTypeDB::bind_method(_MD("pin_joint_get_param","joint","param"),&PhysicsServer::pin_joint_get_param);
ObjectTypeDB::bind_method(_MD("pin_joint_set_local_A","joint","local_A"),&PhysicsServer::pin_joint_set_local_A);
ObjectTypeDB::bind_method(_MD("pin_joint_get_local_A","joint"),&PhysicsServer::pin_joint_get_local_A);
ObjectTypeDB::bind_method(_MD("pin_joint_set_local_B","joint","local_B"),&PhysicsServer::pin_joint_set_local_B);
ObjectTypeDB::bind_method(_MD("pin_joint_get_local_B","joint"),&PhysicsServer::pin_joint_get_local_B);
BIND_CONSTANT(PIN_JOINT_BIAS );
BIND_CONSTANT(PIN_JOINT_DAMPING );
BIND_CONSTANT(PIN_JOINT_IMPULSE_CLAMP );
BIND_CONSTANT(HINGE_JOINT_BIAS);
BIND_CONSTANT(HINGE_JOINT_LIMIT_UPPER);
BIND_CONSTANT(HINGE_JOINT_LIMIT_LOWER);
BIND_CONSTANT(HINGE_JOINT_LIMIT_BIAS);
BIND_CONSTANT(HINGE_JOINT_LIMIT_SOFTNESS);
BIND_CONSTANT(HINGE_JOINT_LIMIT_RELAXATION);
BIND_CONSTANT(HINGE_JOINT_MOTOR_TARGET_VELOCITY);
BIND_CONSTANT(HINGE_JOINT_MOTOR_MAX_IMPULSE);
BIND_CONSTANT(HINGE_JOINT_FLAG_USE_LIMIT);
BIND_CONSTANT(HINGE_JOINT_FLAG_ENABLE_MOTOR);
ObjectTypeDB::bind_method(_MD("joint_create_hinge","body_A","hinge_A","body_B","hinge_B"),&PhysicsServer::joint_create_hinge);
ObjectTypeDB::bind_method(_MD("hinge_joint_set_param","joint","param","value"),&PhysicsServer::hinge_joint_set_param);
ObjectTypeDB::bind_method(_MD("hinge_joint_get_param","joint","param"),&PhysicsServer::hinge_joint_get_param);
ObjectTypeDB::bind_method(_MD("hinge_joint_set_flag","joint","flag","enabled"),&PhysicsServer::hinge_joint_set_flag);
ObjectTypeDB::bind_method(_MD("hinge_joint_get_flag","joint","flag"),&PhysicsServer::hinge_joint_get_flag);
ObjectTypeDB::bind_method(_MD("joint_create_slider","body_A","local_ref_A","body_B","local_ref_B"),&PhysicsServer::joint_create_slider);
ObjectTypeDB::bind_method(_MD("slider_joint_set_param","joint","param","value"),&PhysicsServer::slider_joint_set_param);
ObjectTypeDB::bind_method(_MD("slider_joint_get_param","joint","param"),&PhysicsServer::slider_joint_get_param);
BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_UPPER );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_LOWER );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_LIMIT_DAMPING );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_MOTION_SOFTNESS );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_MOTION_RESTITUTION );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_MOTION_DAMPING );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION );
BIND_CONSTANT( SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_UPPER );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_LOWER );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_LIMIT_DAMPING );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_MOTION_DAMPING );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION );
BIND_CONSTANT( SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING );
BIND_CONSTANT( SLIDER_JOINT_MAX );
ObjectTypeDB::bind_method(_MD("joint_create_cone_twist","body_A","local_ref_A","body_B","local_ref_B"),&PhysicsServer::joint_create_cone_twist);
ObjectTypeDB::bind_method(_MD("cone_twist_joint_set_param","joint","param","value"),&PhysicsServer::cone_twist_joint_set_param);
ObjectTypeDB::bind_method(_MD("cone_twist_joint_get_param","joint","param"),&PhysicsServer::cone_twist_joint_get_param);
BIND_CONSTANT( CONE_TWIST_JOINT_SWING_SPAN );
BIND_CONSTANT( CONE_TWIST_JOINT_TWIST_SPAN );
BIND_CONSTANT( CONE_TWIST_JOINT_BIAS );
BIND_CONSTANT( CONE_TWIST_JOINT_SOFTNESS );
BIND_CONSTANT( CONE_TWIST_JOINT_RELAXATION );
BIND_CONSTANT( G6DOF_JOINT_LINEAR_LOWER_LIMIT );
BIND_CONSTANT( G6DOF_JOINT_LINEAR_UPPER_LIMIT );
BIND_CONSTANT( G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS );
BIND_CONSTANT( G6DOF_JOINT_LINEAR_RESTITUTION );
BIND_CONSTANT( G6DOF_JOINT_LINEAR_DAMPING );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_LOWER_LIMIT );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_UPPER_LIMIT );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_DAMPING );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_RESTITUTION );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_FORCE_LIMIT );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_ERP );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY );
BIND_CONSTANT( G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT );
BIND_CONSTANT( G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT );
BIND_CONSTANT( G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT );
BIND_CONSTANT( G6DOF_JOINT_FLAG_ENABLE_MOTOR );
ObjectTypeDB::bind_method(_MD("joint_get_type","joint"),&PhysicsServer::joint_get_type);
ObjectTypeDB::bind_method(_MD("joint_create_generic_6dof","body_A","local_ref_A","body_B","local_ref_B"),&PhysicsServer::joint_create_generic_6dof);
ObjectTypeDB::bind_method(_MD("generic_6dof_joint_set_param","joint","axis","param","value"),&PhysicsServer::generic_6dof_joint_set_param);
ObjectTypeDB::bind_method(_MD("generic_6dof_joint_get_param","joint","axis","param"),&PhysicsServer::generic_6dof_joint_get_param);
ObjectTypeDB::bind_method(_MD("generic_6dof_joint_set_flag","joint","axis","flag","enable"),&PhysicsServer::generic_6dof_joint_set_flag);
ObjectTypeDB::bind_method(_MD("generic_6dof_joint_get_flag","joint","axis","flag"),&PhysicsServer::generic_6dof_joint_get_flag);
/*
ObjectTypeDB::bind_method(_MD("joint_set_param","joint","param","value"),&PhysicsServer::joint_set_param);
ObjectTypeDB::bind_method(_MD("joint_get_param","joint","param"),&PhysicsServer::joint_get_param);
ObjectTypeDB::bind_method(_MD("pin_joint_create","anchor","body_a","body_b"),&PhysicsServer::pin_joint_create,DEFVAL(RID()));
ObjectTypeDB::bind_method(_MD("groove_joint_create","groove1_a","groove2_a","anchor_b","body_a","body_b"),&PhysicsServer::groove_joint_create,DEFVAL(RID()),DEFVAL(RID()));
ObjectTypeDB::bind_method(_MD("damped_spring_joint_create","anchor_a","anchor_b","body_a","body_b"),&PhysicsServer::damped_spring_joint_create,DEFVAL(RID()));
ObjectTypeDB::bind_method(_MD("damped_string_joint_set_param","joint","param","value"),&PhysicsServer::damped_string_joint_set_param,DEFVAL(RID()));
ObjectTypeDB::bind_method(_MD("damped_string_joint_get_param","joint","param"),&PhysicsServer::damped_string_joint_get_param);
ObjectTypeDB::bind_method(_MD("joint_get_type","joint"),&PhysicsServer::joint_get_type);
*/
ObjectTypeDB::bind_method(_MD("free","rid"),&PhysicsServer::free);
ObjectTypeDB::bind_method(_MD("set_active","active"),&PhysicsServer::set_active);
// ObjectTypeDB::bind_method(_MD("init"),&PhysicsServer::init);
// ObjectTypeDB::bind_method(_MD("step"),&PhysicsServer::step);
// ObjectTypeDB::bind_method(_MD("sync"),&PhysicsServer::sync);
//ObjectTypeDB::bind_method(_MD("flush_queries"),&PhysicsServer::flush_queries);
ObjectTypeDB::bind_method(_MD("get_process_info"),&PhysicsServer::get_process_info);
BIND_CONSTANT( SHAPE_PLANE );
BIND_CONSTANT( SHAPE_RAY );
BIND_CONSTANT( SHAPE_SPHERE );
BIND_CONSTANT( SHAPE_BOX );
BIND_CONSTANT( SHAPE_CAPSULE );
BIND_CONSTANT( SHAPE_CONVEX_POLYGON );
BIND_CONSTANT( SHAPE_CONCAVE_POLYGON );
BIND_CONSTANT( SHAPE_HEIGHTMAP );
BIND_CONSTANT( SHAPE_CUSTOM );
BIND_CONSTANT( AREA_PARAM_GRAVITY );
BIND_CONSTANT( AREA_PARAM_GRAVITY_VECTOR );
BIND_CONSTANT( AREA_PARAM_GRAVITY_IS_POINT );
BIND_CONSTANT( AREA_PARAM_GRAVITY_POINT_ATTENUATION );
BIND_CONSTANT( AREA_PARAM_DENSITY );
BIND_CONSTANT( AREA_PARAM_PRIORITY );
BIND_CONSTANT( AREA_SPACE_OVERRIDE_COMBINE );
BIND_CONSTANT( AREA_SPACE_OVERRIDE_DISABLED );
BIND_CONSTANT( AREA_SPACE_OVERRIDE_REPLACE );
BIND_CONSTANT( BODY_MODE_STATIC );
BIND_CONSTANT( BODY_MODE_KINEMATIC );
BIND_CONSTANT( BODY_MODE_RIGID );
BIND_CONSTANT( BODY_MODE_CHARACTER );
BIND_CONSTANT( BODY_PARAM_BOUNCE );
BIND_CONSTANT( BODY_PARAM_FRICTION );
BIND_CONSTANT( BODY_PARAM_MASS );
BIND_CONSTANT( BODY_PARAM_MAX );
BIND_CONSTANT( BODY_STATE_TRANSFORM );
BIND_CONSTANT( BODY_STATE_LINEAR_VELOCITY );
BIND_CONSTANT( BODY_STATE_ANGULAR_VELOCITY );
BIND_CONSTANT( BODY_STATE_SLEEPING );
BIND_CONSTANT( BODY_STATE_CAN_SLEEP );
/*
BIND_CONSTANT( JOINT_PIN );
BIND_CONSTANT( JOINT_GROOVE );
BIND_CONSTANT( JOINT_DAMPED_SPRING );
BIND_CONSTANT( DAMPED_STRING_REST_LENGTH );
BIND_CONSTANT( DAMPED_STRING_STIFFNESS );
BIND_CONSTANT( DAMPED_STRING_DAMPING );
*/
// BIND_CONSTANT( TYPE_BODY );
// BIND_CONSTANT( TYPE_AREA );
BIND_CONSTANT( AREA_BODY_ADDED );
BIND_CONSTANT( AREA_BODY_REMOVED );
BIND_CONSTANT( INFO_ACTIVE_OBJECTS );
BIND_CONSTANT( INFO_COLLISION_PAIRS );
BIND_CONSTANT( INFO_ISLAND_COUNT );
}
PhysicsServer::PhysicsServer() {
ERR_FAIL_COND( singleton!=NULL );
singleton=this;
}
PhysicsServer::~PhysicsServer() {
singleton=NULL;
}
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