2ee4ac183b
-=-=-=-=-=- -Fixed small bugs all around -Added ability to show/hide entire sections of the spatial (3D) tree -WIP new vehicle (not ready yet) based on Bullet
441 lines
16 KiB
C++
441 lines
16 KiB
C++
/*************************************************************************/
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/* physics_server.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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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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#ifndef PHYSICS_SERVER_H
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#define PHYSICS_SERVER_H
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#include "object.h"
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#include "reference.h"
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class PhysicsDirectSpaceState;
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class PhysicsDirectBodyState : public Object {
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OBJ_TYPE( PhysicsDirectBodyState, Object );
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protected:
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static void _bind_methods();
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public:
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virtual Vector3 get_total_gravity() const=0; // get gravity vector working on this body space/area
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virtual float get_total_density() const=0; // get density of this body space/area
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virtual float get_inverse_mass() const=0; // get the mass
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virtual Vector3 get_inverse_inertia() const=0; // get density of this body space
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virtual Matrix3 get_inverse_inertia_tensor() const=0; // get density of this body space
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virtual void set_linear_velocity(const Vector3& p_velocity)=0;
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virtual Vector3 get_linear_velocity() const=0;
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virtual void set_angular_velocity(const Vector3& p_velocity)=0;
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virtual Vector3 get_angular_velocity() const=0;
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virtual void set_transform(const Transform& p_transform)=0;
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virtual Transform get_transform() const=0;
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virtual void add_force(const Vector3& p_force, const Vector3& p_pos)=0;
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virtual void apply_impulse(const Vector3& p_pos, const Vector3& p_j)=0;
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virtual void set_sleep_state(bool p_enable)=0;
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virtual bool is_sleeping() const=0;
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virtual int get_contact_count() const=0;
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virtual Vector3 get_contact_local_pos(int p_contact_idx) const=0;
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virtual Vector3 get_contact_local_normal(int p_contact_idx) const=0;
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virtual int get_contact_local_shape(int p_contact_idx) const=0;
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virtual RID get_contact_collider(int p_contact_idx) const=0;
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virtual Vector3 get_contact_collider_pos(int p_contact_idx) const=0;
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virtual ObjectID get_contact_collider_id(int p_contact_idx) const=0;
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virtual Object* get_contact_collider_object(int p_contact_idx) const;
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virtual int get_contact_collider_shape(int p_contact_idx) const=0;
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virtual Vector3 get_contact_collider_velocity_at_pos(int p_contact_idx) const=0;
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virtual real_t get_step() const=0;
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virtual void integrate_forces();
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virtual PhysicsDirectSpaceState* get_space_state()=0;
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PhysicsDirectBodyState();
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};
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class PhysicsShapeQueryResult;
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class PhysicsDirectSpaceState : public Object {
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OBJ_TYPE( PhysicsDirectSpaceState, Object );
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Variant _intersect_ray(const Vector3& p_from, const Vector3& p_to,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_user_mask=0);
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Variant _intersect_shape(const RID& p_shape, const Transform& p_xform,int p_result_max=64,const Vector<RID>& p_exclude=Vector<RID>(),uint32_t p_user_mask=0);
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protected:
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static void _bind_methods();
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public:
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struct RayResult {
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Vector3 position;
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Vector3 normal;
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RID rid;
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ObjectID collider_id;
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Object *collider;
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int shape;
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};
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virtual bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
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struct ShapeResult {
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RID rid;
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ObjectID collider_id;
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Object *collider;
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int shape;
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};
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virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_user_mask=0)=0;
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PhysicsDirectSpaceState();
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};
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class PhysicsShapeQueryResult : public Reference {
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OBJ_TYPE( PhysicsShapeQueryResult, Reference );
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Vector<PhysicsDirectSpaceState::ShapeResult> result;
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friend class PhysicsDirectSpaceState;
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protected:
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static void _bind_methods();
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public:
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int get_result_count() const;
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RID get_result_rid(int p_idx) const;
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ObjectID get_result_object_id(int p_idx) const;
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Object* get_result_object(int p_idx) const;
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int get_result_object_shape(int p_idx) const;
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PhysicsShapeQueryResult();
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};
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class PhysicsServer : public Object {
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OBJ_TYPE( PhysicsServer, Object );
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static PhysicsServer * singleton;
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protected:
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static void _bind_methods();
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public:
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static PhysicsServer * get_singleton();
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enum ShapeType {
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SHAPE_PLANE, ///< plane:"plane"
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SHAPE_RAY, ///< float:"length"
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SHAPE_SPHERE, ///< float:"radius"
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SHAPE_BOX, ///< vec3:"extents"
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SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule
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SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
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SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
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SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
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SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
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};
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virtual RID shape_create(ShapeType p_shape)=0;
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virtual void shape_set_data(RID p_shape, const Variant& p_data)=0;
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virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias)=0;
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virtual ShapeType shape_get_type(RID p_shape) const=0;
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virtual Variant shape_get_data(RID p_shape) const=0;
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virtual real_t shape_get_custom_solver_bias(RID p_shape) const=0;
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/* SPACE API */
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virtual RID space_create()=0;
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virtual void space_set_active(RID p_space,bool p_active)=0;
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virtual bool space_is_active(RID p_space) const=0;
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enum SpaceParameter {
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SPACE_PARAM_CONTACT_RECYCLE_RADIUS,
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SPACE_PARAM_CONTACT_MAX_SEPARATION,
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SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION,
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SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD,
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SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD,
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SPACE_PARAM_BODY_TIME_TO_SLEEP,
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SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
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SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
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};
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virtual void space_set_param(RID p_space,SpaceParameter p_param, real_t p_value)=0;
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virtual real_t space_get_param(RID p_space,SpaceParameter p_param) const=0;
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// this function only works on fixed process, errors and returns null otherwise
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virtual PhysicsDirectSpaceState* space_get_direct_state(RID p_space)=0;
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//missing space parameters
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/* AREA API */
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//missing attenuation? missing better override?
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enum AreaParameter {
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AREA_PARAM_GRAVITY,
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AREA_PARAM_GRAVITY_VECTOR,
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AREA_PARAM_GRAVITY_IS_POINT,
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AREA_PARAM_GRAVITY_POINT_ATTENUATION,
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AREA_PARAM_DENSITY,
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AREA_PARAM_PRIORITY
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};
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virtual RID area_create()=0;
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virtual void area_set_space(RID p_area, RID p_space)=0;
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virtual RID area_get_space(RID p_area) const=0;
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enum AreaSpaceOverrideMode {
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AREA_SPACE_OVERRIDE_DISABLED,
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AREA_SPACE_OVERRIDE_COMBINE,
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AREA_SPACE_OVERRIDE_REPLACE,
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};
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virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode)=0;
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virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const=0;
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virtual void area_add_shape(RID p_area, RID p_shape, const Transform& p_transform=Transform())=0;
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virtual void area_set_shape(RID p_area, int p_shape_idx,RID p_shape)=0;
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virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform& p_transform)=0;
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virtual int area_get_shape_count(RID p_area) const=0;
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virtual RID area_get_shape(RID p_area, int p_shape_idx) const=0;
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virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const=0;
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virtual void area_remove_shape(RID p_area, int p_shape_idx)=0;
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virtual void area_clear_shapes(RID p_area)=0;
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virtual void area_attach_object_instance_ID(RID p_area,ObjectID p_ID)=0;
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virtual ObjectID area_get_object_instance_ID(RID p_area) const=0;
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virtual void area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value)=0;
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virtual void area_set_transform(RID p_area, const Transform& p_transform)=0;
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virtual Variant area_get_param(RID p_parea,AreaParameter p_param) const=0;
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virtual Transform area_get_transform(RID p_area) const=0;
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virtual void area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method)=0;
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/* BODY API */
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//missing ccd?
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enum BodyMode {
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BODY_MODE_STATIC,
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BODY_MODE_KINEMATIC,
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BODY_MODE_RIGID,
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//BODY_MODE_SOFT
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BODY_MODE_CHARACTER
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};
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virtual RID body_create(BodyMode p_mode=BODY_MODE_RIGID,bool p_init_sleeping=false)=0;
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virtual void body_set_space(RID p_body, RID p_space)=0;
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virtual RID body_get_space(RID p_body) const=0;
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virtual void body_set_mode(RID p_body, BodyMode p_mode)=0;
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virtual BodyMode body_get_mode(RID p_body, BodyMode p_mode) const=0;
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virtual void body_add_shape(RID p_body, RID p_shape, const Transform& p_transform=Transform())=0;
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virtual void body_set_shape(RID p_body, int p_shape_idx,RID p_shape)=0;
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virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform& p_transform)=0;
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virtual int body_get_shape_count(RID p_body) const=0;
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virtual RID body_get_shape(RID p_body, int p_shape_idx) const=0;
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virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const=0;
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virtual void body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable)=0;
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virtual bool body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const=0;
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virtual void body_remove_shape(RID p_body, int p_shape_idx)=0;
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virtual void body_clear_shapes(RID p_body)=0;
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virtual void body_attach_object_instance_ID(RID p_body,uint32_t p_ID)=0;
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virtual uint32_t body_get_object_instance_ID(RID p_body) const=0;
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virtual void body_set_enable_continuous_collision_detection(RID p_body,bool p_enable)=0;
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virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const=0;
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virtual void body_set_user_flags(RID p_body, uint32_t p_flags)=0;
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virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const=0;
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// common body variables
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enum BodyParameter {
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BODY_PARAM_BOUNCE,
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BODY_PARAM_FRICTION,
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BODY_PARAM_MASS, ///< unused for static, always infinite
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BODY_PARAM_MAX,
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};
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virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value)=0;
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virtual float body_get_param(RID p_body, BodyParameter p_param) const=0;
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//advanced simulation
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virtual void body_static_simulate_motion(RID p_body,const Transform& p_new_transform)=0;
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//state
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enum BodyState {
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BODY_STATE_TRANSFORM,
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BODY_STATE_LINEAR_VELOCITY,
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BODY_STATE_ANGULAR_VELOCITY,
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BODY_STATE_SLEEPING,
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BODY_STATE_CAN_SLEEP
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};
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virtual void body_set_state(RID p_body, BodyState p_state, const Variant& p_variant)=0;
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virtual Variant body_get_state(RID p_body, BodyState p_state) const=0;
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//do something about it
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virtual void body_set_applied_force(RID p_body, const Vector3& p_force)=0;
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virtual Vector3 body_get_applied_force(RID p_body) const=0;
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virtual void body_set_applied_torque(RID p_body, const Vector3& p_torque)=0;
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virtual Vector3 body_get_applied_torque(RID p_body) const=0;
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virtual void body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse)=0;
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virtual void body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity)=0;
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enum BodyAxisLock {
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BODY_AXIS_LOCK_DISABLED,
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BODY_AXIS_LOCK_X,
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BODY_AXIS_LOCK_Y,
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BODY_AXIS_LOCK_Z,
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};
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virtual void body_set_axis_lock(RID p_body,BodyAxisLock p_lock)=0;
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virtual BodyAxisLock body_get_axis_lock(RID p_body) const=0;
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//fix
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virtual void body_add_collision_exception(RID p_body, RID p_body_b)=0;
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virtual void body_remove_collision_exception(RID p_body, RID p_body_b)=0;
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virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions)=0;
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virtual void body_set_max_contacts_reported(RID p_body, int p_contacts)=0;
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virtual int body_get_max_contacts_reported(RID p_body) const=0;
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//missing remove
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virtual void body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold)=0;
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virtual float body_get_contacts_reported_depth_treshold(RID p_body) const=0;
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virtual void body_set_omit_force_integration(RID p_body,bool p_omit)=0;
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virtual bool body_is_omitting_force_integration(RID p_body) const=0;
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virtual void body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata=Variant())=0;
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/* JOINT API */
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#if 0
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enum JointType {
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JOINT_PIN,
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JOINT_GROOVE,
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JOINT_DAMPED_SPRING
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};
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enum JointParam {
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JOINT_PARAM_BIAS,
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JOINT_PARAM_MAX_BIAS,
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JOINT_PARAM_MAX_FORCE,
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};
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virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value)=0;
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virtual real_t joint_get_param(RID p_joint,JointParam p_param) const=0;
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virtual RID pin_joint_create(const Vector3& p_anchor,RID p_body_a,RID p_body_b=RID())=0;
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virtual RID groove_joint_create(const Vector3& p_a_groove1,const Vector3& p_a_groove2, const Vector3& p_b_anchor, RID p_body_a,RID p_body_b)=0;
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virtual RID damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b=RID())=0;
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enum DampedStringParam {
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DAMPED_STRING_REST_LENGTH,
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DAMPED_STRING_STIFFNESS,
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DAMPED_STRING_DAMPING
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};
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virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value)=0;
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virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const=0;
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virtual JointType joint_get_type(RID p_joint) const=0;
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#endif
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/* QUERY API */
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enum AreaBodyStatus {
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AREA_BODY_ADDED,
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AREA_BODY_REMOVED
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};
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/* MISC */
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virtual void free(RID p_rid)=0;
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virtual void set_active(bool p_active)=0;
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virtual void init()=0;
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virtual void step(float p_step)=0;
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virtual void sync()=0;
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virtual void flush_queries()=0;
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virtual void finish()=0;
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PhysicsServer();
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~PhysicsServer();
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};
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VARIANT_ENUM_CAST( PhysicsServer::ShapeType );
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VARIANT_ENUM_CAST( PhysicsServer::SpaceParameter );
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VARIANT_ENUM_CAST( PhysicsServer::AreaParameter );
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VARIANT_ENUM_CAST( PhysicsServer::AreaSpaceOverrideMode );
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VARIANT_ENUM_CAST( PhysicsServer::BodyMode );
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VARIANT_ENUM_CAST( PhysicsServer::BodyParameter );
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VARIANT_ENUM_CAST( PhysicsServer::BodyState );
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VARIANT_ENUM_CAST( PhysicsServer::BodyAxisLock );
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//VARIANT_ENUM_CAST( PhysicsServer::JointParam );
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//VARIANT_ENUM_CAST( PhysicsServer::JointType );
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//VARIANT_ENUM_CAST( PhysicsServer::DampedStringParam );
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//VARIANT_ENUM_CAST( PhysicsServer::ObjectType );
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VARIANT_ENUM_CAST( PhysicsServer::AreaBodyStatus );
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#endif
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