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virtualx-engine/servers/physics_server.h
AndreaCatania fb4871c919 Bullet physics engine implementation 
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features.
Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc..
It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
2017-11-04 20:52:59 +01:00

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/*************************************************************************/
/* physics_server.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS_SERVER_H
#define PHYSICS_SERVER_H
#include "object.h"
#include "resource.h"
class PhysicsDirectSpaceState;
class PhysicsDirectBodyState : public Object {
GDCLASS(PhysicsDirectBodyState, Object);
protected:
static void _bind_methods();
public:
virtual Vector3 get_total_gravity() const = 0;
virtual float get_total_angular_damp() const = 0;
virtual float get_total_linear_damp() const = 0;
virtual Vector3 get_center_of_mass() const = 0;
virtual Basis get_principal_inertia_axes() const = 0;
virtual float get_inverse_mass() const = 0; // get the mass
virtual Vector3 get_inverse_inertia() const = 0; // get density of this body space
virtual Basis get_inverse_inertia_tensor() const = 0; // get density of this body space
virtual void set_linear_velocity(const Vector3 &p_velocity) = 0;
virtual Vector3 get_linear_velocity() const = 0;
virtual void set_angular_velocity(const Vector3 &p_velocity) = 0;
virtual Vector3 get_angular_velocity() const = 0;
virtual void set_transform(const Transform &p_transform) = 0;
virtual Transform get_transform() const = 0;
virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) = 0;
virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) = 0;
virtual void apply_torque_impulse(const Vector3 &p_j) = 0;
virtual void set_sleep_state(bool p_enable) = 0;
virtual bool is_sleeping() const = 0;
virtual int get_contact_count() const = 0;
virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0;
virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0;
virtual int get_contact_local_shape(int p_contact_idx) const = 0;
virtual RID get_contact_collider(int p_contact_idx) const = 0;
virtual Vector3 get_contact_collider_position(int p_contact_idx) const = 0;
virtual ObjectID get_contact_collider_id(int p_contact_idx) const = 0;
virtual Object *get_contact_collider_object(int p_contact_idx) const;
virtual int get_contact_collider_shape(int p_contact_idx) const = 0;
virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const = 0;
virtual real_t get_step() const = 0;
virtual void integrate_forces();
virtual PhysicsDirectSpaceState *get_space_state() = 0;
PhysicsDirectBodyState();
};
class PhysicsShapeQueryResult;
class PhysicsShapeQueryParameters : public Reference {
GDCLASS(PhysicsShapeQueryParameters, Reference);
friend class PhysicsDirectSpaceState;
RID shape;
Transform transform;
float margin;
Set<RID> exclude;
uint32_t collision_layer;
uint32_t object_type_mask;
protected:
static void _bind_methods();
public:
void set_shape(const RES &p_shape);
void set_shape_rid(const RID &p_shape);
RID get_shape_rid() const;
void set_transform(const Transform &p_transform);
Transform get_transform() const;
void set_margin(float p_margin);
float get_margin() const;
void set_collision_layer(int p_collision_layer);
int get_collision_layer() const;
void set_object_type_mask(int p_object_type_mask);
int get_object_type_mask() const;
void set_exclude(const Vector<RID> &p_exclude);
Vector<RID> get_exclude() const;
PhysicsShapeQueryParameters();
};
class PhysicsDirectSpaceState : public Object {
GDCLASS(PhysicsDirectSpaceState, Object);
public:
enum ObjectTypeMask {
TYPE_MASK_STATIC_BODY = 1 << 0,
TYPE_MASK_KINEMATIC_BODY = 1 << 1,
TYPE_MASK_RIGID_BODY = 1 << 2,
TYPE_MASK_CHARACTER_BODY = 1 << 3,
TYPE_MASK_AREA = 1 << 4,
TYPE_MASK_COLLISION = TYPE_MASK_STATIC_BODY | TYPE_MASK_CHARACTER_BODY | TYPE_MASK_KINEMATIC_BODY | TYPE_MASK_RIGID_BODY
};
private:
Dictionary _intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude = Vector<RID>(), uint32_t p_layers = 0, uint32_t p_object_type_mask = TYPE_MASK_COLLISION);
Array _intersect_shape(const Ref<PhysicsShapeQueryParameters> &p_shape_query, int p_max_results = 32);
Array _cast_motion(const Ref<PhysicsShapeQueryParameters> &p_shape_query, const Vector3 &p_motion);
Array _collide_shape(const Ref<PhysicsShapeQueryParameters> &p_shape_query, int p_max_results = 32);
Dictionary _get_rest_info(const Ref<PhysicsShapeQueryParameters> &p_shape_query);
protected:
static void _bind_methods();
public:
struct ShapeResult {
RID rid;
ObjectID collider_id;
Object *collider;
int shape;
};
virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION) = 0;
struct RayResult {
Vector3 position;
Vector3 normal;
RID rid;
ObjectID collider_id;
Object *collider;
int shape;
};
virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false) = 0;
virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION) = 0;
struct ShapeRestInfo {
Vector3 point;
Vector3 normal;
RID rid;
ObjectID collider_id;
int shape;
Vector3 linear_velocity; //velocity at contact point
};
virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL) = 0;
virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION) = 0;
virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION) = 0;
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0;
PhysicsDirectSpaceState();
};
VARIANT_ENUM_CAST(PhysicsDirectSpaceState::ObjectTypeMask);
class PhysicsShapeQueryResult : public Reference {
GDCLASS(PhysicsShapeQueryResult, Reference);
Vector<PhysicsDirectSpaceState::ShapeResult> result;
friend class PhysicsDirectSpaceState;
protected:
static void _bind_methods();
public:
int get_result_count() const;
RID get_result_rid(int p_idx) const;
ObjectID get_result_object_id(int p_idx) const;
Object *get_result_object(int p_idx) const;
int get_result_object_shape(int p_idx) const;
PhysicsShapeQueryResult();
};
class PhysicsServer : public Object {
GDCLASS(PhysicsServer, Object);
static PhysicsServer *singleton;
protected:
static void _bind_methods();
public:
static PhysicsServer *get_singleton();
enum ShapeType {
SHAPE_PLANE, ///< plane:"plane"
SHAPE_RAY, ///< float:"length"
SHAPE_SPHERE, ///< float:"radius"
SHAPE_BOX, ///< vec3:"extents"
SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule
SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
};
virtual RID shape_create(ShapeType p_shape) = 0;
virtual void shape_set_data(RID p_shape, const Variant &p_data) = 0;
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) = 0;
virtual ShapeType shape_get_type(RID p_shape) const = 0;
virtual Variant shape_get_data(RID p_shape) const = 0;
virtual real_t shape_get_custom_solver_bias(RID p_shape) const = 0;
/* SPACE API */
virtual RID space_create() = 0;
virtual void space_set_active(RID p_space, bool p_active) = 0;
virtual bool space_is_active(RID p_space) const = 0;
enum SpaceParameter {
SPACE_PARAM_CONTACT_RECYCLE_RADIUS,
SPACE_PARAM_CONTACT_MAX_SEPARATION,
SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION,
SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
SPACE_PARAM_BODY_TIME_TO_SLEEP,
SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
};
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;
virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const = 0;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space) = 0;
virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) = 0;
virtual Vector<Vector3> space_get_contacts(RID p_space) const = 0;
virtual int space_get_contact_count(RID p_space) const = 0;
//missing space parameters
/* AREA API */
//missing attenuation? missing better override?
enum AreaParameter {
AREA_PARAM_GRAVITY,
AREA_PARAM_GRAVITY_VECTOR,
AREA_PARAM_GRAVITY_IS_POINT,
AREA_PARAM_GRAVITY_DISTANCE_SCALE,
AREA_PARAM_GRAVITY_POINT_ATTENUATION,
AREA_PARAM_LINEAR_DAMP,
AREA_PARAM_ANGULAR_DAMP,
AREA_PARAM_PRIORITY
};
virtual RID area_create() = 0;
virtual void area_set_space(RID p_area, RID p_space) = 0;
virtual RID area_get_space(RID p_area) const = 0;
enum AreaSpaceOverrideMode {
AREA_SPACE_OVERRIDE_DISABLED,
AREA_SPACE_OVERRIDE_COMBINE,
AREA_SPACE_OVERRIDE_COMBINE_REPLACE,
AREA_SPACE_OVERRIDE_REPLACE,
AREA_SPACE_OVERRIDE_REPLACE_COMBINE
};
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) = 0;
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const = 0;
virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform()) = 0;
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) = 0;
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) = 0;
virtual int area_get_shape_count(RID p_area) const = 0;
virtual RID area_get_shape(RID p_area, int p_shape_idx) const = 0;
virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const = 0;
virtual void area_remove_shape(RID p_area, int p_shape_idx) = 0;
virtual void area_clear_shapes(RID p_area) = 0;
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) = 0;
virtual void area_attach_object_instance_id(RID p_area, ObjectID p_ID) = 0;
virtual ObjectID area_get_object_instance_id(RID p_area) const = 0;
virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) = 0;
virtual void area_set_transform(RID p_area, const Transform &p_transform) = 0;
virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const = 0;
virtual Transform area_get_transform(RID p_area) const = 0;
virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) = 0;
virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) = 0;
virtual void area_set_monitorable(RID p_area, bool p_monitorable) = 0;
virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0;
virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0;
virtual void area_set_ray_pickable(RID p_area, bool p_enable) = 0;
virtual bool area_is_ray_pickable(RID p_area) const = 0;
/* BODY API */
//missing ccd?
enum BodyMode {
BODY_MODE_STATIC,
BODY_MODE_KINEMATIC,
BODY_MODE_RIGID,
BODY_MODE_SOFT,
BODY_MODE_CHARACTER
};
virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false) = 0;
virtual void body_set_space(RID p_body, RID p_space) = 0;
virtual RID body_get_space(RID p_body) const = 0;
virtual void body_set_mode(RID p_body, BodyMode p_mode) = 0;
virtual BodyMode body_get_mode(RID p_body) const = 0;
virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform()) = 0;
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) = 0;
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) = 0;
virtual int body_get_shape_count(RID p_body) const = 0;
virtual RID body_get_shape(RID p_body, int p_shape_idx) const = 0;
virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const = 0;
virtual void body_remove_shape(RID p_body, int p_shape_idx) = 0;
virtual void body_clear_shapes(RID p_body) = 0;
virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) = 0;
virtual void body_attach_object_instance_id(RID p_body, uint32_t p_ID) = 0;
virtual uint32_t body_get_object_instance_id(RID p_body) const = 0;
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) = 0;
virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const = 0;
virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) = 0;
virtual uint32_t body_get_collision_layer(RID p_body) const = 0;
virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
virtual uint32_t body_get_collision_mask(RID p_body) const = 0;
virtual void body_set_user_flags(RID p_body, uint32_t p_flags) = 0;
virtual uint32_t body_get_user_flags(RID p_body) const = 0;
// common body variables
enum BodyParameter {
BODY_PARAM_BOUNCE,
BODY_PARAM_FRICTION,
BODY_PARAM_MASS, ///< unused for static, always infinite
BODY_PARAM_GRAVITY_SCALE,
BODY_PARAM_LINEAR_DAMP,
BODY_PARAM_ANGULAR_DAMP,
BODY_PARAM_MAX,
};
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value) = 0;
virtual float body_get_param(RID p_body, BodyParameter p_param) const = 0;
//state
enum BodyState {
BODY_STATE_TRANSFORM,
BODY_STATE_LINEAR_VELOCITY,
BODY_STATE_ANGULAR_VELOCITY,
BODY_STATE_SLEEPING,
BODY_STATE_CAN_SLEEP
};
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0;
virtual Variant body_get_state(RID p_body, BodyState p_state) const = 0;
//do something about it
virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) = 0;
virtual Vector3 body_get_applied_force(RID p_body) const = 0;
virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) = 0;
virtual Vector3 body_get_applied_torque(RID p_body) const = 0;
virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) = 0;
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0;
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0;
enum BodyAxisLock {
BODY_AXIS_LOCK_DISABLED,
BODY_AXIS_LOCK_X,
BODY_AXIS_LOCK_Y,
BODY_AXIS_LOCK_Z,
};
virtual void body_set_axis_lock(RID p_body, BodyAxisLock p_lock) = 0;
virtual BodyAxisLock body_get_axis_lock(RID p_body) const = 0;
//fix
virtual void body_add_collision_exception(RID p_body, RID p_body_b) = 0;
virtual void body_remove_collision_exception(RID p_body, RID p_body_b) = 0;
virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0;
virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) = 0;
virtual int body_get_max_contacts_reported(RID p_body) const = 0;
//missing remove
virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold) = 0;
virtual float body_get_contacts_reported_depth_threshold(RID p_body) const = 0;
virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0;
virtual bool body_is_omitting_force_integration(RID p_body) const = 0;
virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()) = 0;
virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0;
virtual bool body_is_ray_pickable(RID p_body) const = 0;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body) = 0;
struct MotionResult {
Vector3 motion;
Vector3 remainder;
Vector3 collision_point;
Vector3 collision_normal;
Vector3 collider_velocity;
int collision_local_shape;
ObjectID collider_id;
RID collider;
int collider_shape;
Variant collider_metadata;
};
virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin = 0.001, MotionResult *r_result = NULL) = 0;
/* JOINT API */
enum JointType {
JOINT_PIN,
JOINT_HINGE,
JOINT_SLIDER,
JOINT_CONE_TWIST,
JOINT_6DOF
};
virtual JointType joint_get_type(RID p_joint) const = 0;
virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0;
virtual int joint_get_solver_priority(RID p_joint) const = 0;
virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0;
enum PinJointParam {
PIN_JOINT_BIAS,
PIN_JOINT_DAMPING,
PIN_JOINT_IMPULSE_CLAMP
};
virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) = 0;
virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0;
virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) = 0;
virtual Vector3 pin_joint_get_local_a(RID p_joint) const = 0;
virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) = 0;
virtual Vector3 pin_joint_get_local_b(RID p_joint) const = 0;
enum HingeJointParam {
HINGE_JOINT_BIAS,
HINGE_JOINT_LIMIT_UPPER,
HINGE_JOINT_LIMIT_LOWER,
HINGE_JOINT_LIMIT_BIAS,
HINGE_JOINT_LIMIT_SOFTNESS,
HINGE_JOINT_LIMIT_RELAXATION,
HINGE_JOINT_MOTOR_TARGET_VELOCITY,
HINGE_JOINT_MOTOR_MAX_IMPULSE,
HINGE_JOINT_MAX
};
enum HingeJointFlag {
HINGE_JOINT_FLAG_USE_LIMIT,
HINGE_JOINT_FLAG_ENABLE_MOTOR,
HINGE_JOINT_FLAG_MAX
};
virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) = 0;
virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) = 0;
virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) = 0;
virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0;
virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) = 0;
virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const = 0;
enum SliderJointParam {
SLIDER_JOINT_LINEAR_LIMIT_UPPER,
SLIDER_JOINT_LINEAR_LIMIT_LOWER,
SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
SLIDER_JOINT_LINEAR_MOTION_DAMPING,
SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
SLIDER_JOINT_MAX
};
virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) = 0;
virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0;
enum ConeTwistJointParam {
CONE_TWIST_JOINT_SWING_SPAN,
CONE_TWIST_JOINT_TWIST_SPAN,
CONE_TWIST_JOINT_BIAS,
CONE_TWIST_JOINT_SOFTNESS,
CONE_TWIST_JOINT_RELAXATION,
CONE_TWIST_MAX
};
virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) = 0;
virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0;
enum G6DOFJointAxisParam {
G6DOF_JOINT_LINEAR_LOWER_LIMIT,
G6DOF_JOINT_LINEAR_UPPER_LIMIT,
G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
G6DOF_JOINT_LINEAR_RESTITUTION,
G6DOF_JOINT_LINEAR_DAMPING,
G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
G6DOF_JOINT_ANGULAR_DAMPING,
G6DOF_JOINT_ANGULAR_RESTITUTION,
G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
G6DOF_JOINT_ANGULAR_ERP,
G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
G6DOF_JOINT_MAX
};
enum G6DOFJointAxisFlag {
G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
G6DOF_JOINT_FLAG_ENABLE_MOTOR,
G6DOF_JOINT_FLAG_MAX
};
virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) = 0; //reference frame is A
virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, float p_value) = 0;
virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) = 0;
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0;
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) = 0;
/* QUERY API */
enum AreaBodyStatus {
AREA_BODY_ADDED,
AREA_BODY_REMOVED
};
/* MISC */
virtual void free(RID p_rid) = 0;
virtual void set_active(bool p_active) = 0;
virtual void init() = 0;
virtual void step(float p_step) = 0;
virtual void sync() = 0;
virtual void flush_queries() = 0;
virtual void finish() = 0;
enum ProcessInfo {
INFO_ACTIVE_OBJECTS,
INFO_COLLISION_PAIRS,
INFO_ISLAND_COUNT
};
virtual int get_process_info(ProcessInfo p_info) = 0;
PhysicsServer();
~PhysicsServer();
};
typedef PhysicsServer *(*CreatePhysicsServerCallback)();
class PhysicsServerManager {
struct ClassInfo {
String name;
CreatePhysicsServerCallback create_callback;
ClassInfo()
: name(""), create_callback(NULL) {}
ClassInfo(String p_name, CreatePhysicsServerCallback p_create_callback)
: name(p_name), create_callback(p_create_callback) {}
ClassInfo(const ClassInfo &p_ci)
: name(p_ci.name), create_callback(p_ci.create_callback) {}
};
static Vector<ClassInfo> physics_servers;
static int default_server_id;
static int default_server_priority;
public:
static const String setting_property_name;
private:
static void on_servers_changed();
public:
static void register_server(const String &p_name, CreatePhysicsServerCallback p_creat_callback);
static void set_default_server(const String &p_name, int p_priority = 0);
static int find_server_id(const String &p_name);
static int get_servers_count();
static String get_server_name(int p_id);
static PhysicsServer *new_default_server();
static PhysicsServer *new_server(const String &p_name);
};
VARIANT_ENUM_CAST(PhysicsServer::ShapeType);
VARIANT_ENUM_CAST(PhysicsServer::SpaceParameter);
VARIANT_ENUM_CAST(PhysicsServer::AreaParameter);
VARIANT_ENUM_CAST(PhysicsServer::AreaSpaceOverrideMode);
VARIANT_ENUM_CAST(PhysicsServer::BodyMode);
VARIANT_ENUM_CAST(PhysicsServer::BodyParameter);
VARIANT_ENUM_CAST(PhysicsServer::BodyState);
VARIANT_ENUM_CAST(PhysicsServer::BodyAxisLock);
VARIANT_ENUM_CAST(PhysicsServer::PinJointParam);
VARIANT_ENUM_CAST(PhysicsServer::JointType);
VARIANT_ENUM_CAST(PhysicsServer::HingeJointParam);
VARIANT_ENUM_CAST(PhysicsServer::HingeJointFlag);
VARIANT_ENUM_CAST(PhysicsServer::SliderJointParam);
VARIANT_ENUM_CAST(PhysicsServer::ConeTwistJointParam);
VARIANT_ENUM_CAST(PhysicsServer::G6DOFJointAxisParam);
VARIANT_ENUM_CAST(PhysicsServer::G6DOFJointAxisFlag);
VARIANT_ENUM_CAST(PhysicsServer::AreaBodyStatus);
VARIANT_ENUM_CAST(PhysicsServer::ProcessInfo);
#endif
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