82ea2a7045
Changes: -Added support for custom inertia and center of mass in 3D -Added support for custom center of mass in 2D -Calculated center of mass from shapes in 2D (same as in 3D) -Fixed mass properties calculation with disabled shapes in 2D/3D -Removed first_integration which is not used in 2D and doesn't seem to make a lot of sense (prevents omit_force_integration to work during the first frame) -Support for custom inertia on different axes for RigidBody3D
437 lines
13 KiB
C++
437 lines
13 KiB
C++
/*************************************************************************/
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/* physics_body_2d.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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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_2D_H
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#define PHYSICS_BODY_2D_H
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#include "core/templates/vset.h"
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#include "scene/2d/collision_object_2d.h"
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#include "scene/resources/physics_material.h"
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#include "servers/physics_server_2d.h"
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class KinematicCollision2D;
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class PhysicsBody2D : public CollisionObject2D {
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GDCLASS(PhysicsBody2D, CollisionObject2D);
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protected:
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static void _bind_methods();
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PhysicsBody2D(PhysicsServer2D::BodyMode p_mode);
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Ref<KinematicCollision2D> motion_cache;
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Ref<KinematicCollision2D> _move(const Vector2 &p_motion, bool p_test_only = false, real_t p_margin = 0.08);
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public:
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bool move_and_collide(const Vector2 &p_motion, PhysicsServer2D::MotionResult &r_result, real_t p_margin, bool p_test_only = false, bool p_cancel_sliding = true, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>());
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bool test_move(const Transform2D &p_from, const Vector2 &p_motion, const Ref<KinematicCollision2D> &r_collision = Ref<KinematicCollision2D>(), real_t p_margin = 0.08);
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TypedArray<PhysicsBody2D> 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 ~PhysicsBody2D();
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};
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class StaticBody2D : public PhysicsBody2D {
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GDCLASS(StaticBody2D, PhysicsBody2D);
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private:
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Vector2 constant_linear_velocity;
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real_t constant_angular_velocity = 0.0;
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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 Vector2 &p_vel);
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void set_constant_angular_velocity(real_t p_vel);
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Vector2 get_constant_linear_velocity() const;
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real_t get_constant_angular_velocity() const;
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StaticBody2D(PhysicsServer2D::BodyMode p_mode = PhysicsServer2D::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 AnimatableBody2D : public StaticBody2D {
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GDCLASS(AnimatableBody2D, StaticBody2D);
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private:
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bool sync_to_physics = false;
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Transform2D last_valid_transform;
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static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState2D *p_state);
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void _body_state_changed(PhysicsDirectBodyState2D *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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AnimatableBody2D();
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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 RigidBody2D : public PhysicsBody2D {
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GDCLASS(RigidBody2D, PhysicsBody2D);
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public:
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enum Mode {
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MODE_DYNAMIC,
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MODE_STATIC,
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MODE_DYNAMIC_LOCKED,
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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 CCDMode {
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CCD_MODE_DISABLED,
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CCD_MODE_CAST_RAY,
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CCD_MODE_CAST_SHAPE,
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};
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private:
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bool can_sleep = true;
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Mode mode = MODE_DYNAMIC;
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real_t mass = 1.0;
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real_t inertia = 0.0;
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CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
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Vector2 center_of_mass;
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Ref<PhysicsMaterial> physics_material_override;
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real_t gravity_scale = 1.0;
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real_t linear_damp = -1.0;
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real_t angular_damp = -1.0;
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Vector2 linear_velocity;
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real_t angular_velocity = 0.0;
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bool sleeping = false;
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int max_contacts_reported = 0;
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bool custom_integrator = false;
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CCDMode ccd_mode = CCD_MODE_DISABLED;
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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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}
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return body_shape < p_sp.body_shape;
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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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}
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};
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struct RigidBody2D_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_scene = 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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Map<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, PhysicsDirectBodyState2D *p_state);
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void _body_state_changed(PhysicsDirectBodyState2D *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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virtual void _validate_property(PropertyInfo &property) const override;
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GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState2D *)
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public:
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void set_mode(Mode p_mode);
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Mode get_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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void set_inertia(real_t p_inertia);
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real_t 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 Vector2 &p_center_of_mass);
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const Vector2 &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_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(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_linear_velocity(const Vector2 &p_velocity);
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Vector2 get_linear_velocity() const;
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void set_axis_velocity(const Vector2 &p_axis);
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void set_angular_velocity(real_t p_velocity);
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real_t get_angular_velocity() 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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void set_continuous_collision_detection_mode(CCDMode p_mode);
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CCDMode get_continuous_collision_detection_mode() const;
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void apply_central_impulse(const Vector2 &p_impulse);
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void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2());
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void apply_torque_impulse(real_t p_torque);
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void set_applied_force(const Vector2 &p_force);
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Vector2 get_applied_force() const;
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void set_applied_torque(const real_t p_torque);
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real_t get_applied_torque() const;
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void add_central_force(const Vector2 &p_force);
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void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2());
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void add_torque(real_t p_torque);
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TypedArray<Node2D> get_colliding_bodies() const; //function for script
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virtual TypedArray<String> get_configuration_warnings() const override;
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RigidBody2D();
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~RigidBody2D();
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private:
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void _reload_physics_characteristics();
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};
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VARIANT_ENUM_CAST(RigidBody2D::Mode);
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VARIANT_ENUM_CAST(RigidBody2D::CenterOfMassMode);
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VARIANT_ENUM_CAST(RigidBody2D::CCDMode);
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class CharacterBody2D : public PhysicsBody2D {
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GDCLASS(CharacterBody2D, PhysicsBody2D);
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public:
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enum MotionMode {
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MOTION_MODE_GROUNDED,
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MOTION_MODE_FREE,
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};
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bool move_and_slide();
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const Vector2 &get_linear_velocity() const;
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void set_linear_velocity(const Vector2 &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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Vector2 get_floor_normal() const;
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real_t get_floor_angle(const Vector2 &p_up_direction = Vector2(0.0, -1.0)) const;
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Vector2 get_platform_velocity() const;
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int get_slide_collision_count() const;
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PhysicsServer2D::MotionResult get_slide_collision(int p_bounce) const;
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CharacterBody2D();
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~CharacterBody2D();
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private:
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real_t margin = 0.08;
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MotionMode motion_mode = MOTION_MODE_GROUNDED;
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bool floor_stop_on_slope = false;
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bool floor_constant_speed = false;
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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 = 4;
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int platform_layer;
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real_t floor_max_angle = Math::deg2rad((real_t)45.0);
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float floor_snap_length = 0;
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real_t free_mode_min_slide_angle = Math::deg2rad((real_t)15.0);
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Vector2 up_direction = Vector2(0.0, -1.0);
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uint32_t moving_platform_floor_layers = UINT32_MAX;
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uint32_t moving_platform_wall_layers = 0;
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Vector2 linear_velocity;
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Vector2 floor_normal;
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Vector2 platform_velocity;
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RID platform_rid;
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bool on_floor = false;
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bool on_ceiling = false;
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bool on_wall = false;
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Vector<PhysicsServer2D::MotionResult> motion_results;
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Vector<Ref<KinematicCollision2D>> 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_free_mode_min_slide_angle() const;
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void set_free_mode_min_slide_angle(real_t p_radians);
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uint32_t get_moving_platform_floor_layers() const;
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void set_moving_platform_floor_layers(const uint32_t p_exclude_layer);
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uint32_t get_moving_platform_wall_layers() const;
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void set_moving_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 _move_and_slide_free(double p_delta);
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void _move_and_slide_grounded(double p_delta, bool p_was_on_floor, const Vector2 &p_prev_platform_velocity);
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Ref<KinematicCollision2D> _get_slide_collision(int p_bounce);
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Ref<KinematicCollision2D> _get_last_slide_collision();
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const Vector2 &get_up_direction() const;
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bool _on_floor_if_snapped(bool was_on_floor, bool vel_dir_facing_up);
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void set_up_direction(const Vector2 &p_up_direction);
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void _set_collision_direction(const PhysicsServer2D::MotionResult &p_result);
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void _set_platform_data(const PhysicsServer2D::MotionResult &p_result);
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void _snap_on_floor(bool was_on_floor, bool 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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virtual void _validate_property(PropertyInfo &property) const override;
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};
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VARIANT_ENUM_CAST(CharacterBody2D::MotionMode);
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class KinematicCollision2D : public RefCounted {
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GDCLASS(KinematicCollision2D, RefCounted);
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PhysicsBody2D *owner = nullptr;
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friend class PhysicsBody2D;
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friend class CharacterBody2D;
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PhysicsServer2D::MotionResult result;
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protected:
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static void _bind_methods();
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public:
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Vector2 get_position() const;
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Vector2 get_normal() const;
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Vector2 get_travel() const;
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Vector2 get_remainder() const;
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real_t get_angle(const Vector2 &p_up_direction = Vector2(0.0, -1.0)) const;
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Object *get_local_shape() const;
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Object *get_collider() const;
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ObjectID get_collider_id() const;
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RID get_collider_rid() const;
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Object *get_collider_shape() const;
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int get_collider_shape_index() const;
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Vector2 get_collider_velocity() const;
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Variant get_collider_metadata() const;
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};
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#endif // PHYSICS_BODY_2D_H
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