789 lines
24 KiB
C++
789 lines
24 KiB
C++
/*************************************************************************/
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/* physics_body_3d.h */
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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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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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#ifndef PHYSICS_BODY_3D_H
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#define PHYSICS_BODY_3D_H
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#include "core/templates/vset.h"
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#include "scene/3d/collision_object_3d.h"
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#include "scene/resources/physics_material.h"
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#include "servers/physics_server_3d.h"
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#include "skeleton_3d.h"
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class KinematicCollision3D;
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class PhysicsBody3D : public CollisionObject3D {
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GDCLASS(PhysicsBody3D, CollisionObject3D);
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protected:
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static void _bind_methods();
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PhysicsBody3D(PhysicsServer3D::BodyMode p_mode);
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Ref<KinematicCollision3D> motion_cache;
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uint16_t locked_axis = 0;
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Ref<KinematicCollision3D> _move(const Vector3 &p_distance, bool p_test_only = false, real_t p_margin = 0.001, int p_max_collisions = 1);
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public:
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bool move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only = false, bool p_cancel_sliding = true);
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bool test_move(const Transform3D &p_from, const Vector3 &p_distance, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001, int p_max_collisions = 1);
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void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
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bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
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virtual Vector3 get_linear_velocity() const;
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virtual Vector3 get_angular_velocity() const;
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virtual real_t get_inverse_mass() const;
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TypedArray<PhysicsBody3D> get_collision_exceptions();
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void add_collision_exception_with(Node *p_node); //must be physicsbody
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void remove_collision_exception_with(Node *p_node);
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virtual ~PhysicsBody3D();
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};
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class StaticBody3D : public PhysicsBody3D {
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GDCLASS(StaticBody3D, PhysicsBody3D);
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private:
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Vector3 constant_linear_velocity;
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Vector3 constant_angular_velocity;
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Ref<PhysicsMaterial> physics_material_override;
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protected:
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static void _bind_methods();
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public:
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void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
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Ref<PhysicsMaterial> get_physics_material_override() const;
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void set_constant_linear_velocity(const Vector3 &p_vel);
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void set_constant_angular_velocity(const Vector3 &p_vel);
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Vector3 get_constant_linear_velocity() const;
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Vector3 get_constant_angular_velocity() const;
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StaticBody3D(PhysicsServer3D::BodyMode p_mode = PhysicsServer3D::BODY_MODE_STATIC);
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private:
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void _reload_physics_characteristics();
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};
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class AnimatableBody3D : public StaticBody3D {
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GDCLASS(AnimatableBody3D, StaticBody3D);
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private:
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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bool sync_to_physics = true;
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Transform3D last_valid_transform;
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
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void _body_state_changed(PhysicsDirectBodyState3D *p_state);
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protected:
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void _notification(int p_what);
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static void _bind_methods();
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public:
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virtual Vector3 get_linear_velocity() const override;
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virtual Vector3 get_angular_velocity() const override;
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AnimatableBody3D();
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private:
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void _update_kinematic_motion();
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void set_sync_to_physics(bool p_enable);
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bool is_sync_to_physics_enabled() const;
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};
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class RigidDynamicBody3D : public PhysicsBody3D {
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GDCLASS(RigidDynamicBody3D, PhysicsBody3D);
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public:
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enum FreezeMode {
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FREEZE_MODE_STATIC,
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FREEZE_MODE_KINEMATIC,
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};
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enum CenterOfMassMode {
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CENTER_OF_MASS_MODE_AUTO,
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CENTER_OF_MASS_MODE_CUSTOM,
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};
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enum DampMode {
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DAMP_MODE_COMBINE,
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DAMP_MODE_REPLACE,
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};
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private:
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bool can_sleep = true;
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bool lock_rotation = false;
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bool freeze = false;
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FreezeMode freeze_mode = FREEZE_MODE_STATIC;
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real_t mass = 1.0;
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Vector3 inertia;
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CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
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Vector3 center_of_mass;
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Ref<PhysicsMaterial> physics_material_override;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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Basis inverse_inertia_tensor;
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real_t gravity_scale = 1.0;
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DampMode linear_damp_mode = DAMP_MODE_COMBINE;
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DampMode angular_damp_mode = DAMP_MODE_COMBINE;
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real_t linear_damp = 0.0;
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real_t angular_damp = 0.0;
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bool sleeping = false;
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bool ccd = false;
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int max_contacts_reported = 0;
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bool custom_integrator = false;
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struct ShapePair {
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int body_shape = 0;
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int local_shape = 0;
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bool tagged = false;
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bool operator<(const ShapePair &p_sp) const {
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if (body_shape == p_sp.body_shape) {
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return local_shape < p_sp.local_shape;
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} else {
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return body_shape < p_sp.body_shape;
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}
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}
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ShapePair() {}
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ShapePair(int p_bs, int p_ls) {
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body_shape = p_bs;
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local_shape = p_ls;
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tagged = false;
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}
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};
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struct RigidDynamicBody3D_RemoveAction {
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RID rid;
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ObjectID body_id;
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ShapePair pair;
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};
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struct BodyState {
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RID rid;
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//int rc;
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bool in_tree = false;
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VSet<ShapePair> shapes;
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};
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struct ContactMonitor {
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bool locked = false;
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HashMap<ObjectID, BodyState> body_map;
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};
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ContactMonitor *contact_monitor = nullptr;
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void _body_enter_tree(ObjectID p_id);
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void _body_exit_tree(ObjectID p_id);
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void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
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protected:
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void _notification(int p_what);
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static void _bind_methods();
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void _validate_property(PropertyInfo &p_property) const;
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GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
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virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
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void _apply_body_mode();
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public:
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void set_lock_rotation_enabled(bool p_lock_rotation);
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bool is_lock_rotation_enabled() const;
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void set_freeze_enabled(bool p_freeze);
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bool is_freeze_enabled() const;
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void set_freeze_mode(FreezeMode p_freeze_mode);
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FreezeMode get_freeze_mode() const;
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
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void set_inertia(const Vector3 &p_inertia);
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const Vector3 &get_inertia() const;
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void set_center_of_mass_mode(CenterOfMassMode p_mode);
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CenterOfMassMode get_center_of_mass_mode() const;
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void set_center_of_mass(const Vector3 &p_center_of_mass);
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const Vector3 &get_center_of_mass() const;
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void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
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Ref<PhysicsMaterial> get_physics_material_override() const;
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void set_linear_velocity(const Vector3 &p_velocity);
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Vector3 get_linear_velocity() const override;
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void set_axis_velocity(const Vector3 &p_axis);
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void set_angular_velocity(const Vector3 &p_velocity);
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Vector3 get_angular_velocity() const override;
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Basis get_inverse_inertia_tensor() const;
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void set_gravity_scale(real_t p_gravity_scale);
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real_t get_gravity_scale() const;
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void set_linear_damp_mode(DampMode p_mode);
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DampMode get_linear_damp_mode() const;
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void set_angular_damp_mode(DampMode p_mode);
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DampMode get_angular_damp_mode() const;
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void set_linear_damp(real_t p_linear_damp);
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real_t get_linear_damp() const;
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void set_angular_damp(real_t p_angular_damp);
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real_t get_angular_damp() const;
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void set_use_custom_integrator(bool p_enable);
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bool is_using_custom_integrator();
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void set_sleeping(bool p_sleeping);
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bool is_sleeping() const;
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void set_can_sleep(bool p_active);
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bool is_able_to_sleep() const;
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void set_contact_monitor(bool p_enabled);
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bool is_contact_monitor_enabled() const;
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void set_max_contacts_reported(int p_amount);
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int get_max_contacts_reported() const;
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int get_contact_count() const;
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void set_use_continuous_collision_detection(bool p_enable);
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bool is_using_continuous_collision_detection() const;
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TypedArray<Node3D> get_colliding_bodies() const;
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
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void apply_torque_impulse(const Vector3 &p_impulse);
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void apply_central_force(const Vector3 &p_force);
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void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
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void apply_torque(const Vector3 &p_torque);
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void add_constant_central_force(const Vector3 &p_force);
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void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
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void add_constant_torque(const Vector3 &p_torque);
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void set_constant_force(const Vector3 &p_force);
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Vector3 get_constant_force() const;
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void set_constant_torque(const Vector3 &p_torque);
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Vector3 get_constant_torque() const;
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virtual TypedArray<String> get_configuration_warnings() const override;
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RigidDynamicBody3D();
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~RigidDynamicBody3D();
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private:
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void _reload_physics_characteristics();
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};
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VARIANT_ENUM_CAST(RigidDynamicBody3D::FreezeMode);
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VARIANT_ENUM_CAST(RigidDynamicBody3D::CenterOfMassMode);
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VARIANT_ENUM_CAST(RigidDynamicBody3D::DampMode);
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class KinematicCollision3D;
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class CharacterBody3D : public PhysicsBody3D {
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GDCLASS(CharacterBody3D, PhysicsBody3D);
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public:
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enum MotionMode {
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MOTION_MODE_GROUNDED,
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MOTION_MODE_FLOATING,
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};
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enum PlatformOnLeave {
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PLATFORM_ON_LEAVE_ADD_VELOCITY,
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PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY,
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PLATFORM_ON_LEAVE_DO_NOTHING,
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};
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bool move_and_slide();
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const Vector3 &get_velocity() const;
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void set_velocity(const Vector3 &p_velocity);
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bool is_on_floor() const;
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bool is_on_floor_only() const;
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bool is_on_wall() const;
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bool is_on_wall_only() const;
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bool is_on_ceiling() const;
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bool is_on_ceiling_only() const;
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const Vector3 &get_last_motion() const;
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Vector3 get_position_delta() const;
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const Vector3 &get_floor_normal() const;
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const Vector3 &get_wall_normal() const;
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const Vector3 &get_real_velocity() const;
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real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
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const Vector3 &get_platform_velocity() const;
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virtual Vector3 get_linear_velocity() const override;
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int get_slide_collision_count() const;
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PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const;
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CharacterBody3D();
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~CharacterBody3D();
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private:
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real_t margin = 0.001;
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MotionMode motion_mode = MOTION_MODE_GROUNDED;
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PlatformOnLeave platform_on_leave = PLATFORM_ON_LEAVE_ADD_VELOCITY;
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union CollisionState {
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uint32_t state = 0;
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struct {
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bool floor;
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bool wall;
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bool ceiling;
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};
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CollisionState() {
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}
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CollisionState(bool p_floor, bool p_wall, bool p_ceiling) {
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floor = p_floor;
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wall = p_wall;
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ceiling = p_ceiling;
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}
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};
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CollisionState collision_state;
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bool floor_constant_speed = false;
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bool floor_stop_on_slope = true;
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bool floor_block_on_wall = true;
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bool slide_on_ceiling = true;
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int max_slides = 6;
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int platform_layer = 0;
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RID platform_rid;
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ObjectID platform_object_id;
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uint32_t platform_floor_layers = UINT32_MAX;
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uint32_t platform_wall_layers = 0;
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real_t floor_snap_length = 0.1;
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real_t floor_max_angle = Math::deg2rad((real_t)45.0);
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real_t wall_min_slide_angle = Math::deg2rad((real_t)15.0);
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Vector3 up_direction = Vector3(0.0, 1.0, 0.0);
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Vector3 velocity;
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Vector3 floor_normal;
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Vector3 wall_normal;
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Vector3 ceiling_normal;
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Vector3 last_motion;
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Vector3 platform_velocity;
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Vector3 platform_ceiling_velocity;
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Vector3 previous_position;
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Vector3 real_velocity;
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Vector<PhysicsServer3D::MotionResult> motion_results;
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Vector<Ref<KinematicCollision3D>> slide_colliders;
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void set_safe_margin(real_t p_margin);
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real_t get_safe_margin() const;
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bool is_floor_stop_on_slope_enabled() const;
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void set_floor_stop_on_slope_enabled(bool p_enabled);
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bool is_floor_constant_speed_enabled() const;
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void set_floor_constant_speed_enabled(bool p_enabled);
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bool is_floor_block_on_wall_enabled() const;
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void set_floor_block_on_wall_enabled(bool p_enabled);
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bool is_slide_on_ceiling_enabled() const;
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void set_slide_on_ceiling_enabled(bool p_enabled);
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int get_max_slides() const;
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void set_max_slides(int p_max_slides);
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real_t get_floor_max_angle() const;
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void set_floor_max_angle(real_t p_radians);
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real_t get_floor_snap_length();
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void set_floor_snap_length(real_t p_floor_snap_length);
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real_t get_wall_min_slide_angle() const;
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void set_wall_min_slide_angle(real_t p_radians);
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uint32_t get_platform_floor_layers() const;
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void set_platform_floor_layers(const uint32_t p_exclude_layer);
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uint32_t get_platform_wall_layers() const;
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void set_platform_wall_layers(const uint32_t p_exclude_layer);
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void set_motion_mode(MotionMode p_mode);
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MotionMode get_motion_mode() const;
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void set_platform_on_leave(PlatformOnLeave p_on_leave_velocity);
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PlatformOnLeave get_platform_on_leave() const;
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void _move_and_slide_floating(double p_delta);
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void _move_and_slide_grounded(double p_delta, bool p_was_on_floor);
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Ref<KinematicCollision3D> _get_slide_collision(int p_bounce);
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Ref<KinematicCollision3D> _get_last_slide_collision();
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const Vector3 &get_up_direction() const;
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bool _on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up);
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void set_up_direction(const Vector3 &p_up_direction);
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void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state = CollisionState(true, true, true));
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void _set_platform_data(const PhysicsServer3D::MotionCollision &p_collision);
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void _snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up);
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protected:
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void _notification(int p_what);
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static void _bind_methods();
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void _validate_property(PropertyInfo &p_property) const;
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};
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VARIANT_ENUM_CAST(CharacterBody3D::MotionMode);
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VARIANT_ENUM_CAST(CharacterBody3D::PlatformOnLeave);
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class KinematicCollision3D : public RefCounted {
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GDCLASS(KinematicCollision3D, RefCounted);
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PhysicsBody3D *owner = nullptr;
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friend class PhysicsBody3D;
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friend class CharacterBody3D;
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PhysicsServer3D::MotionResult result;
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protected:
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static void _bind_methods();
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public:
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Vector3 get_travel() const;
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Vector3 get_remainder() const;
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int get_collision_count() const;
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real_t get_depth() const;
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Vector3 get_position(int p_collision_index = 0) const;
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Vector3 get_normal(int p_collision_index = 0) const;
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real_t get_angle(int p_collision_index = 0, const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
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Object *get_local_shape(int p_collision_index = 0) const;
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Object *get_collider(int p_collision_index = 0) const;
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ObjectID get_collider_id(int p_collision_index = 0) const;
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RID get_collider_rid(int p_collision_index = 0) const;
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Object *get_collider_shape(int p_collision_index = 0) const;
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int get_collider_shape_index(int p_collision_index = 0) const;
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Vector3 get_collider_velocity(int p_collision_index = 0) const;
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};
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class PhysicalBone3D : public PhysicsBody3D {
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GDCLASS(PhysicalBone3D, PhysicsBody3D);
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public:
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enum DampMode {
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DAMP_MODE_COMBINE,
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DAMP_MODE_REPLACE,
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};
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enum JointType {
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JOINT_TYPE_NONE,
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JOINT_TYPE_PIN,
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JOINT_TYPE_CONE,
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JOINT_TYPE_HINGE,
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JOINT_TYPE_SLIDER,
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JOINT_TYPE_6DOF
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};
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struct JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
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/// "j" is used to set the parameter inside the PhysicsServer3D
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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virtual ~JointData() {}
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};
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struct PinJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t bias = 0.3;
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real_t damping = 1.0;
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real_t impulse_clamp = 0.0;
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};
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struct ConeJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t swing_span = Math_PI * 0.25;
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real_t twist_span = Math_PI;
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real_t bias = 0.3;
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real_t softness = 0.8;
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real_t relaxation = 1.;
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};
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struct HingeJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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bool angular_limit_enabled = false;
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real_t angular_limit_upper = Math_PI * 0.5;
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real_t angular_limit_lower = -Math_PI * 0.5;
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real_t angular_limit_bias = 0.3;
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real_t angular_limit_softness = 0.9;
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real_t angular_limit_relaxation = 1.;
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};
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struct SliderJointData : public JointData {
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virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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real_t linear_limit_upper = 1.0;
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real_t linear_limit_lower = -1.0;
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real_t linear_limit_softness = 1.0;
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real_t linear_limit_restitution = 0.7;
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real_t linear_limit_damping = 1.0;
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real_t angular_limit_upper = 0.0;
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real_t angular_limit_lower = 0.0;
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real_t angular_limit_softness = 1.0;
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real_t angular_limit_restitution = 0.7;
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real_t angular_limit_damping = 1.0;
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};
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struct SixDOFJointData : public JointData {
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struct SixDOFAxisData {
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bool linear_limit_enabled = true;
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real_t linear_limit_upper = 0.0;
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real_t linear_limit_lower = 0.0;
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real_t linear_limit_softness = 0.7;
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real_t linear_restitution = 0.5;
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real_t linear_damping = 1.0;
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bool linear_spring_enabled = false;
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real_t linear_spring_stiffness = 0.0;
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real_t linear_spring_damping = 0.0;
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real_t linear_equilibrium_point = 0.0;
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bool angular_limit_enabled = true;
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real_t angular_limit_upper = 0.0;
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real_t angular_limit_lower = 0.0;
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real_t angular_limit_softness = 0.5;
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real_t angular_restitution = 0.0;
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real_t angular_damping = 1.0;
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real_t erp = 0.5;
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bool angular_spring_enabled = false;
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real_t angular_spring_stiffness = 0.0;
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real_t angular_spring_damping = 0.0;
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real_t angular_equilibrium_point = 0.0;
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};
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virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
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virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
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virtual bool _get(const StringName &p_name, Variant &r_ret) const;
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virtual void _get_property_list(List<PropertyInfo> *p_list) const;
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SixDOFAxisData axis_data[3];
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SixDOFJointData() {}
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};
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private:
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#ifdef TOOLS_ENABLED
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// if false gizmo move body
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bool gizmo_move_joint = false;
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#endif
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JointData *joint_data = nullptr;
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Transform3D joint_offset;
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RID joint;
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Skeleton3D *parent_skeleton = nullptr;
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Transform3D body_offset;
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Transform3D body_offset_inverse;
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bool simulate_physics = false;
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bool _internal_simulate_physics = false;
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int bone_id = -1;
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String bone_name;
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real_t bounce = 0.0;
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real_t mass = 1.0;
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real_t friction = 1.0;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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real_t gravity_scale = 1.0;
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bool can_sleep = true;
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bool custom_integrator = false;
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DampMode linear_damp_mode = DAMP_MODE_COMBINE;
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DampMode angular_damp_mode = DAMP_MODE_COMBINE;
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real_t linear_damp = 0.0;
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real_t angular_damp = 0.0;
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protected:
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bool _set(const StringName &p_name, const Variant &p_value);
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bool _get(const StringName &p_name, Variant &r_ret) const;
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void _get_property_list(List<PropertyInfo> *p_list) const;
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void _notification(int p_what);
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GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
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void _body_state_changed(PhysicsDirectBodyState3D *p_state);
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static void _bind_methods();
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private:
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static Skeleton3D *find_skeleton_parent(Node *p_parent);
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void _update_joint_offset();
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void _fix_joint_offset();
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void _reload_joint();
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public:
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void _on_bone_parent_changed();
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void set_linear_velocity(const Vector3 &p_velocity);
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Vector3 get_linear_velocity() const override;
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void set_angular_velocity(const Vector3 &p_velocity);
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Vector3 get_angular_velocity() const override;
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void set_use_custom_integrator(bool p_enable);
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bool is_using_custom_integrator();
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#ifdef TOOLS_ENABLED
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void _set_gizmo_move_joint(bool p_move_joint);
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virtual Transform3D get_global_gizmo_transform() const override;
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virtual Transform3D get_local_gizmo_transform() const override;
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#endif
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const JointData *get_joint_data() const;
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Skeleton3D *find_skeleton_parent();
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int get_bone_id() const {
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return bone_id;
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}
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void set_joint_type(JointType p_joint_type);
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JointType get_joint_type() const;
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void set_joint_offset(const Transform3D &p_offset);
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const Transform3D &get_joint_offset() const;
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void set_joint_rotation(const Vector3 &p_euler_rad);
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Vector3 get_joint_rotation() const;
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void set_body_offset(const Transform3D &p_offset);
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const Transform3D &get_body_offset() const;
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void set_simulate_physics(bool p_simulate);
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bool get_simulate_physics();
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bool is_simulating_physics();
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void set_bone_name(const String &p_name);
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const String &get_bone_name() const;
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void set_mass(real_t p_mass);
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real_t get_mass() const;
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void set_friction(real_t p_friction);
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real_t get_friction() const;
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void set_bounce(real_t p_bounce);
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real_t get_bounce() const;
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void set_gravity_scale(real_t p_gravity_scale);
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real_t get_gravity_scale() const;
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void set_linear_damp_mode(DampMode p_mode);
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DampMode get_linear_damp_mode() const;
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void set_angular_damp_mode(DampMode p_mode);
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DampMode get_angular_damp_mode() const;
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void set_linear_damp(real_t p_linear_damp);
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real_t get_linear_damp() const;
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void set_angular_damp(real_t p_angular_damp);
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real_t get_angular_damp() const;
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void set_can_sleep(bool p_active);
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bool is_able_to_sleep() const;
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
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void reset_physics_simulation_state();
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void reset_to_rest_position();
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PhysicalBone3D();
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~PhysicalBone3D();
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private:
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void update_bone_id();
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void update_offset();
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void _start_physics_simulation();
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void _stop_physics_simulation();
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};
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VARIANT_ENUM_CAST(PhysicalBone3D::JointType);
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VARIANT_ENUM_CAST(PhysicalBone3D::DampMode);
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#endif // PHYSICS_BODY_3D_H
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