681 lines
25 KiB
C++
681 lines
25 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) 2007-2017 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 "resource.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;
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virtual float get_total_angular_damp() const = 0;
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virtual float get_total_linear_damp() const = 0;
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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 PhysicsShapeQueryParameters : public Reference {
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OBJ_TYPE(PhysicsShapeQueryParameters, Reference);
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friend class PhysicsDirectSpaceState;
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RID shape;
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Transform transform;
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float margin;
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Set<RID> exclude;
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uint32_t layer_mask;
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uint32_t object_type_mask;
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protected:
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static void _bind_methods();
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public:
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void set_shape(const RES &p_shape);
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void set_shape_rid(const RID &p_shape);
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RID get_shape_rid() const;
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void set_transform(const Transform &p_transform);
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Transform get_transform() const;
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void set_margin(float p_margin);
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float get_margin() const;
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void set_layer_mask(int p_layer_mask);
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int get_layer_mask() const;
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void set_object_type_mask(int p_object_type_mask);
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int get_object_type_mask() const;
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void set_exclude(const Vector<RID> &p_exclude);
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Vector<RID> get_exclude() const;
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PhysicsShapeQueryParameters();
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};
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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_collision_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_collision_mask=0);
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public:
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enum ObjectTypeMask {
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TYPE_MASK_STATIC_BODY = 1 << 0,
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TYPE_MASK_KINEMATIC_BODY = 1 << 1,
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TYPE_MASK_RIGID_BODY = 1 << 2,
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TYPE_MASK_CHARACTER_BODY = 1 << 3,
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TYPE_MASK_AREA = 1 << 4,
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TYPE_MASK_COLLISION = TYPE_MASK_STATIC_BODY | TYPE_MASK_CHARACTER_BODY | TYPE_MASK_KINEMATIC_BODY | TYPE_MASK_RIGID_BODY
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};
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private:
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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);
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Array _intersect_shape(const Ref<PhysicsShapeQueryParameters> &p_shape_query, int p_max_results = 32);
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Array _cast_motion(const Ref<PhysicsShapeQueryParameters> &p_shape_query, const Vector3 &p_motion);
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Array _collide_shape(const Ref<PhysicsShapeQueryParameters> &p_shape_query, int p_max_results = 32);
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Dictionary _get_rest_info(const Ref<PhysicsShapeQueryParameters> &p_shape_query);
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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_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false) = 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, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION) = 0;
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struct ShapeRestInfo {
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Vector3 point;
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Vector3 normal;
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RID rid;
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ObjectID collider_id;
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int shape;
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Vector3 linear_velocity; //velocity at contact point
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};
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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_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL) = 0;
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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_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION) = 0;
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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_layer_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION) = 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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virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) = 0;
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virtual Vector<Vector3> space_get_contacts(RID p_space) const = 0;
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virtual int space_get_contact_count(RID p_space) const = 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_DISTANCE_SCALE,
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AREA_PARAM_GRAVITY_POINT_ATTENUATION,
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AREA_PARAM_LINEAR_DAMP,
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AREA_PARAM_ANGULAR_DAMP,
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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_COMBINE_REPLACE,
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AREA_SPACE_OVERRIDE_REPLACE,
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AREA_SPACE_OVERRIDE_REPLACE_COMBINE
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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_collision_mask(RID p_area, uint32_t p_mask) = 0;
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virtual void area_set_layer_mask(RID p_area, uint32_t p_mask) = 0;
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virtual void area_set_monitorable(RID p_area, bool p_monitorable) = 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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virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0;
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virtual void area_set_ray_pickable(RID p_area, bool p_enable) = 0;
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virtual bool area_is_ray_pickable(RID p_area) const = 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) 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_layer_mask(RID p_body, uint32_t p_mask) = 0;
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virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const = 0;
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virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
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virtual uint32_t body_get_collision_mask(RID p_body, uint32_t p_mask) 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_GRAVITY_SCALE,
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BODY_PARAM_LINEAR_DAMP,
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BODY_PARAM_ANGULAR_DAMP,
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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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//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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virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0;
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virtual bool body_is_ray_pickable(RID p_body) const = 0;
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/* JOINT API */
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enum JointType {
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JOINT_PIN,
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JOINT_HINGE,
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JOINT_SLIDER,
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JOINT_CONE_TWIST,
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JOINT_6DOF
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};
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virtual JointType joint_get_type(RID p_joint) const = 0;
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virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0;
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virtual int joint_get_solver_priority(RID p_joint) const = 0;
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virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0;
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enum PinJointParam {
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PIN_JOINT_BIAS,
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PIN_JOINT_DAMPING,
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PIN_JOINT_IMPULSE_CLAMP
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};
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virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) = 0;
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virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0;
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virtual void pin_joint_set_local_A(RID p_joint, const Vector3 &p_A) = 0;
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virtual Vector3 pin_joint_get_local_A(RID p_joint) const = 0;
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virtual void pin_joint_set_local_B(RID p_joint, const Vector3 &p_B) = 0;
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virtual Vector3 pin_joint_get_local_B(RID p_joint) const = 0;
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|
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enum HingeJointParam {
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HINGE_JOINT_BIAS,
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HINGE_JOINT_LIMIT_UPPER,
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HINGE_JOINT_LIMIT_LOWER,
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|
HINGE_JOINT_LIMIT_BIAS,
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|
HINGE_JOINT_LIMIT_SOFTNESS,
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|
HINGE_JOINT_LIMIT_RELAXATION,
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|
HINGE_JOINT_MOTOR_TARGET_VELOCITY,
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|
HINGE_JOINT_MOTOR_MAX_IMPULSE,
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HINGE_JOINT_MAX
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|
};
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|
|
|
enum HingeJointFlag {
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|
HINGE_JOINT_FLAG_USE_LIMIT,
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|
HINGE_JOINT_FLAG_ENABLE_MOTOR,
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|
HINGE_JOINT_FLAG_MAX
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|
};
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|
|
|
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;
|
|
|
|
#if 0
|
|
enum JointType {
|
|
|
|
JOINT_PIN,
|
|
JOINT_GROOVE,
|
|
JOINT_DAMPED_SPRING
|
|
};
|
|
|
|
enum JointParam {
|
|
JOINT_PARAM_BIAS,
|
|
JOINT_PARAM_MAX_BIAS,
|
|
JOINT_PARAM_MAX_FORCE,
|
|
};
|
|
|
|
virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value)=0;
|
|
virtual real_t joint_get_param(RID p_joint,JointParam p_param) const=0;
|
|
|
|
virtual RID pin_joint_create(const Vector3& p_anchor,RID p_body_a,RID p_body_b=RID())=0;
|
|
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;
|
|
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;
|
|
|
|
enum DampedStringParam {
|
|
DAMPED_STRING_REST_LENGTH,
|
|
DAMPED_STRING_STIFFNESS,
|
|
DAMPED_STRING_DAMPING
|
|
};
|
|
virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value)=0;
|
|
virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const=0;
|
|
|
|
virtual JointType joint_get_type(RID p_joint) const=0;
|
|
#endif
|
|
/* 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();
|
|
};
|
|
|
|
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::ObjectType );
|
|
VARIANT_ENUM_CAST(PhysicsServer::AreaBodyStatus);
|
|
VARIANT_ENUM_CAST(PhysicsServer::ProcessInfo);
|
|
|
|
#endif
|