228 lines
10 KiB
C++
228 lines
10 KiB
C++
/**************************************************************************/
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/* physics_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 "physics_body_3d.h"
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#include "scene/scene_string_names.h"
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void PhysicsBody3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("move_and_collide", "motion", "test_only", "safe_margin", "recovery_as_collision", "max_collisions"), &PhysicsBody3D::_move, DEFVAL(false), DEFVAL(0.001), DEFVAL(false), DEFVAL(1));
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ClassDB::bind_method(D_METHOD("test_move", "from", "motion", "collision", "safe_margin", "recovery_as_collision", "max_collisions"), &PhysicsBody3D::test_move, DEFVAL(Variant()), DEFVAL(0.001), DEFVAL(false), DEFVAL(1));
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ClassDB::bind_method(D_METHOD("get_gravity"), &PhysicsBody3D::get_gravity);
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ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicsBody3D::set_axis_lock);
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ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicsBody3D::get_axis_lock);
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ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions);
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ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with);
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ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with);
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ADD_GROUP("Axis Lock", "axis_lock_");
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
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ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);
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}
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PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) :
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CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) {
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set_body_mode(p_mode);
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}
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PhysicsBody3D::~PhysicsBody3D() {
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if (motion_cache.is_valid()) {
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motion_cache->owner = nullptr;
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}
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}
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TypedArray<PhysicsBody3D> PhysicsBody3D::get_collision_exceptions() {
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List<RID> exceptions;
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PhysicsServer3D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions);
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Array ret;
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for (const RID &body : exceptions) {
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ObjectID instance_id = PhysicsServer3D::get_singleton()->body_get_object_instance_id(body);
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Object *obj = ObjectDB::get_instance(instance_id);
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PhysicsBody3D *physics_body = Object::cast_to<PhysicsBody3D>(obj);
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ret.append(physics_body);
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}
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return ret;
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}
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void PhysicsBody3D::add_collision_exception_with(Node *p_node) {
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ERR_FAIL_NULL(p_node);
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CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
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ERR_FAIL_NULL_MSG(collision_object, "Collision exception only works between two nodes that inherit from CollisionObject3D (such as Area3D or PhysicsBody3D).");
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PhysicsServer3D::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid());
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}
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void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
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ERR_FAIL_NULL(p_node);
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CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
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ERR_FAIL_NULL_MSG(collision_object, "Collision exception only works between two nodes that inherit from CollisionObject3D (such as Area3D or PhysicsBody3D).");
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PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
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}
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Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_test_only, real_t p_margin, bool p_recovery_as_collision, int p_max_collisions) {
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PhysicsServer3D::MotionParameters parameters(get_global_transform(), p_motion, p_margin);
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parameters.max_collisions = p_max_collisions;
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parameters.recovery_as_collision = p_recovery_as_collision;
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PhysicsServer3D::MotionResult result;
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if (move_and_collide(parameters, result, p_test_only)) {
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// Create a new instance when the cached reference is invalid or still in use in script.
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if (motion_cache.is_null() || motion_cache->get_reference_count() > 1) {
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motion_cache.instantiate();
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motion_cache->owner = this;
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}
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motion_cache->result = result;
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return motion_cache;
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}
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return Ref<KinematicCollision3D>();
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}
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bool PhysicsBody3D::move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only, bool p_cancel_sliding) {
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bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_parameters, &r_result);
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// Restore direction of motion to be along original motion,
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// in order to avoid sliding due to recovery,
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// but only if collision depth is low enough to avoid tunneling.
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if (p_cancel_sliding) {
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real_t motion_length = p_parameters.motion.length();
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real_t precision = 0.001;
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if (colliding) {
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// Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
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// so even in normal resting cases the depth can be a bit more than the margin.
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precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction);
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if (r_result.collisions[0].depth > p_parameters.margin + precision) {
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p_cancel_sliding = false;
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}
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}
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if (p_cancel_sliding) {
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// When motion is null, recovery is the resulting motion.
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Vector3 motion_normal;
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if (motion_length > CMP_EPSILON) {
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motion_normal = p_parameters.motion / motion_length;
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}
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// Check depth of recovery.
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real_t projected_length = r_result.travel.dot(motion_normal);
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Vector3 recovery = r_result.travel - motion_normal * projected_length;
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real_t recovery_length = recovery.length();
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// Fixes cases where canceling slide causes the motion to go too deep into the ground,
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// because we're only taking rest information into account and not general recovery.
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if (recovery_length < p_parameters.margin + precision) {
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// Apply adjustment to motion.
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r_result.travel = motion_normal * projected_length;
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r_result.remainder = p_parameters.motion - r_result.travel;
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}
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}
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}
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for (int i = 0; i < 3; i++) {
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if (locked_axis & (1 << i)) {
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r_result.travel[i] = 0;
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}
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}
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if (!p_test_only) {
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Transform3D gt = p_parameters.from;
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gt.origin += r_result.travel;
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set_global_transform(gt);
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}
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return colliding;
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}
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bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref<KinematicCollision3D> &r_collision, real_t p_margin, bool p_recovery_as_collision, int p_max_collisions) {
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ERR_FAIL_COND_V(!is_inside_tree(), false);
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PhysicsServer3D::MotionResult *r = nullptr;
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PhysicsServer3D::MotionResult temp_result;
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if (r_collision.is_valid()) {
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// Needs const_cast because method bindings don't support non-const Ref.
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r = const_cast<PhysicsServer3D::MotionResult *>(&r_collision->result);
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} else {
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r = &temp_result;
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}
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PhysicsServer3D::MotionParameters parameters(p_from, p_motion, p_margin);
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parameters.recovery_as_collision = p_recovery_as_collision;
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parameters.max_collisions = p_max_collisions;
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return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), parameters, r);
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}
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Vector3 PhysicsBody3D::get_gravity() const {
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PhysicsDirectBodyState3D *state = PhysicsServer3D::get_singleton()->body_get_direct_state(get_rid());
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ERR_FAIL_NULL_V(state, Vector3());
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return state->get_total_gravity();
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}
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void PhysicsBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
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if (p_lock) {
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locked_axis |= p_axis;
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} else {
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locked_axis &= (~p_axis);
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}
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PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
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}
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bool PhysicsBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
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return (locked_axis & p_axis);
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}
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Vector3 PhysicsBody3D::get_linear_velocity() const {
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return Vector3();
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}
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Vector3 PhysicsBody3D::get_angular_velocity() const {
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return Vector3();
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}
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real_t PhysicsBody3D::get_inverse_mass() const {
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return 0;
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}
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///////////////////////////////////////
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//so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
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///////////////////////////////////////
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///////////////////////////////////////
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