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virtualx-engine/servers/physics_server_3d.cpp
PouleyKetchoupp fc8c766ef9 Expose local center of mass in physics servers 
Center of mass in body's local space is more useful than the transformed
one in some cases, like drawing its position for debug.

It's especially useful to get the generated local center of mass when
in auto mode (by default).

Physics Server BODY_PARAM_CENTER_OF_MASS:
Now always returns the local center of mass, instead of setting a local
center of mass and getting a transformed one.
This causes compatibility breaking, but it makes more sense for the
parameter to be consistent between getter and setter.

Direct Body State:
There are now two properties, because both of them can be useful in
different situations.
center_of_mass: relative position in global coordinates (same as before)
center_of_mass_local: position in local coordinates
2021-11-08 16:17:57 -07:00

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/*************************************************************************/
/* physics_server_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "physics_server_3d.h"
#include "core/config/project_settings.h"
#include "core/string/print_string.h"
PhysicsServer3D *PhysicsServer3D::singleton = nullptr;
void PhysicsDirectBodyState3D::integrate_forces() {
real_t step = get_step();
Vector3 lv = get_linear_velocity();
lv += get_total_gravity() * step;
Vector3 av = get_angular_velocity();
real_t linear_damp = 1.0 - step * get_total_linear_damp();
if (linear_damp < 0) { // reached zero in the given time
linear_damp = 0;
}
real_t angular_damp = 1.0 - step * get_total_angular_damp();
if (angular_damp < 0) { // reached zero in the given time
angular_damp = 0;
}
lv *= linear_damp;
av *= angular_damp;
set_linear_velocity(lv);
set_angular_velocity(av);
}
Object *PhysicsDirectBodyState3D::get_contact_collider_object(int p_contact_idx) const {
ObjectID objid = get_contact_collider_id(p_contact_idx);
Object *obj = ObjectDB::get_instance(objid);
return obj;
}
PhysicsServer3D *PhysicsServer3D::get_singleton() {
return singleton;
}
void PhysicsDirectBodyState3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_total_gravity"), &PhysicsDirectBodyState3D::get_total_gravity);
ClassDB::bind_method(D_METHOD("get_total_linear_damp"), &PhysicsDirectBodyState3D::get_total_linear_damp);
ClassDB::bind_method(D_METHOD("get_total_angular_damp"), &PhysicsDirectBodyState3D::get_total_angular_damp);
ClassDB::bind_method(D_METHOD("get_center_of_mass"), &PhysicsDirectBodyState3D::get_center_of_mass);
ClassDB::bind_method(D_METHOD("get_center_of_mass_local"), &PhysicsDirectBodyState3D::get_center_of_mass_local);
ClassDB::bind_method(D_METHOD("get_principal_inertia_axes"), &PhysicsDirectBodyState3D::get_principal_inertia_axes);
ClassDB::bind_method(D_METHOD("get_inverse_mass"), &PhysicsDirectBodyState3D::get_inverse_mass);
ClassDB::bind_method(D_METHOD("get_inverse_inertia"), &PhysicsDirectBodyState3D::get_inverse_inertia);
ClassDB::bind_method(D_METHOD("set_linear_velocity", "velocity"), &PhysicsDirectBodyState3D::set_linear_velocity);
ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicsDirectBodyState3D::get_linear_velocity);
ClassDB::bind_method(D_METHOD("set_angular_velocity", "velocity"), &PhysicsDirectBodyState3D::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicsDirectBodyState3D::get_angular_velocity);
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState3D::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState3D::get_transform);
ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState3D::get_velocity_at_local_position);
ClassDB::bind_method(D_METHOD("add_central_force", "force"), &PhysicsDirectBodyState3D::add_central_force, Vector3());
ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &PhysicsDirectBodyState3D::add_force, Vector3());
ClassDB::bind_method(D_METHOD("add_torque", "torque"), &PhysicsDirectBodyState3D::add_torque);
ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_central_impulse, Vector3());
ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState3D::apply_impulse, Vector3());
ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_torque_impulse);
ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState3D::set_sleep_state);
ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState3D::is_sleeping);
ClassDB::bind_method(D_METHOD("get_contact_count"), &PhysicsDirectBodyState3D::get_contact_count);
ClassDB::bind_method(D_METHOD("get_contact_local_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_position);
ClassDB::bind_method(D_METHOD("get_contact_local_normal", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_normal);
ClassDB::bind_method(D_METHOD("get_contact_impulse", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_impulse);
ClassDB::bind_method(D_METHOD("get_contact_local_shape", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_shape);
ClassDB::bind_method(D_METHOD("get_contact_collider", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider);
ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_position);
ClassDB::bind_method(D_METHOD("get_contact_collider_id", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_id);
ClassDB::bind_method(D_METHOD("get_contact_collider_object", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_object);
ClassDB::bind_method(D_METHOD("get_contact_collider_shape", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_shape);
ClassDB::bind_method(D_METHOD("get_contact_collider_velocity_at_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_velocity_at_position);
ClassDB::bind_method(D_METHOD("get_step"), &PhysicsDirectBodyState3D::get_step);
ClassDB::bind_method(D_METHOD("integrate_forces"), &PhysicsDirectBodyState3D::integrate_forces);
ClassDB::bind_method(D_METHOD("get_space_state"), &PhysicsDirectBodyState3D::get_space_state);
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "step"), "", "get_step");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "inverse_mass"), "", "get_inverse_mass");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "total_angular_damp"), "", "get_total_angular_damp");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "total_linear_damp"), "", "get_total_linear_damp");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inverse_inertia"), "", "get_inverse_inertia");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "total_gravity"), "", "get_total_gravity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass"), "", "get_center_of_mass");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass_local"), "", "get_center_of_mass_local");
ADD_PROPERTY(PropertyInfo(Variant::BASIS, "principal_inertia_axes"), "", "get_principal_inertia_axes");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleep_state", "is_sleeping");
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "transform"), "set_transform", "get_transform");
}
PhysicsDirectBodyState3D::PhysicsDirectBodyState3D() {}
///////////////////////////////////////////////////////
void PhysicsShapeQueryParameters3D::set_shape(const RES &p_shape_ref) {
ERR_FAIL_COND(p_shape_ref.is_null());
shape_ref = p_shape_ref;
shape = p_shape_ref->get_rid();
}
RES PhysicsShapeQueryParameters3D::get_shape() const {
return shape_ref;
}
void PhysicsShapeQueryParameters3D::set_shape_rid(const RID &p_shape) {
if (shape != p_shape) {
shape_ref = RES();
shape = p_shape;
}
}
RID PhysicsShapeQueryParameters3D::get_shape_rid() const {
return shape;
}
void PhysicsShapeQueryParameters3D::set_transform(const Transform3D &p_transform) {
transform = p_transform;
}
Transform3D PhysicsShapeQueryParameters3D::get_transform() const {
return transform;
}
void PhysicsShapeQueryParameters3D::set_margin(real_t p_margin) {
margin = p_margin;
}
real_t PhysicsShapeQueryParameters3D::get_margin() const {
return margin;
}
void PhysicsShapeQueryParameters3D::set_collision_mask(uint32_t p_collision_mask) {
collision_mask = p_collision_mask;
}
uint32_t PhysicsShapeQueryParameters3D::get_collision_mask() const {
return collision_mask;
}
void PhysicsShapeQueryParameters3D::set_exclude(const Vector<RID> &p_exclude) {
exclude.clear();
for (int i = 0; i < p_exclude.size(); i++) {
exclude.insert(p_exclude[i]);
}
}
Vector<RID> PhysicsShapeQueryParameters3D::get_exclude() const {
Vector<RID> ret;
ret.resize(exclude.size());
int idx = 0;
for (Set<RID>::Element *E = exclude.front(); E; E = E->next()) {
ret.write[idx++] = E->get();
}
return ret;
}
void PhysicsShapeQueryParameters3D::set_collide_with_bodies(bool p_enable) {
collide_with_bodies = p_enable;
}
bool PhysicsShapeQueryParameters3D::is_collide_with_bodies_enabled() const {
return collide_with_bodies;
}
void PhysicsShapeQueryParameters3D::set_collide_with_areas(bool p_enable) {
collide_with_areas = p_enable;
}
bool PhysicsShapeQueryParameters3D::is_collide_with_areas_enabled() const {
return collide_with_areas;
}
void PhysicsShapeQueryParameters3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_shape", "shape"), &PhysicsShapeQueryParameters3D::set_shape);
ClassDB::bind_method(D_METHOD("get_shape"), &PhysicsShapeQueryParameters3D::get_shape);
ClassDB::bind_method(D_METHOD("set_shape_rid", "shape"), &PhysicsShapeQueryParameters3D::set_shape_rid);
ClassDB::bind_method(D_METHOD("get_shape_rid"), &PhysicsShapeQueryParameters3D::get_shape_rid);
ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsShapeQueryParameters3D::set_transform);
ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsShapeQueryParameters3D::get_transform);
ClassDB::bind_method(D_METHOD("set_margin", "margin"), &PhysicsShapeQueryParameters3D::set_margin);
ClassDB::bind_method(D_METHOD("get_margin"), &PhysicsShapeQueryParameters3D::get_margin);
ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &PhysicsShapeQueryParameters3D::set_collision_mask);
ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsShapeQueryParameters3D::get_collision_mask);
ClassDB::bind_method(D_METHOD("set_exclude", "exclude"), &PhysicsShapeQueryParameters3D::set_exclude);
ClassDB::bind_method(D_METHOD("get_exclude"), &PhysicsShapeQueryParameters3D::get_exclude);
ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &PhysicsShapeQueryParameters3D::set_collide_with_bodies);
ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &PhysicsShapeQueryParameters3D::is_collide_with_bodies_enabled);
ClassDB::bind_method(D_METHOD("set_collide_with_areas", "enable"), &PhysicsShapeQueryParameters3D::set_collide_with_areas);
ClassDB::bind_method(D_METHOD("is_collide_with_areas_enabled"), &PhysicsShapeQueryParameters3D::is_collide_with_areas_enabled);
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude", PROPERTY_HINT_NONE, itos(Variant::RID) + ":"), "set_exclude", "get_exclude");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin", PROPERTY_HINT_RANGE, "0,100,0.01"), "set_margin", "get_margin");
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "shape", PROPERTY_HINT_RESOURCE_TYPE, "Shape3D"), "set_shape", "get_shape");
ADD_PROPERTY(PropertyInfo(Variant::RID, "shape_rid"), "set_shape_rid", "get_shape_rid");
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "transform"), "set_transform", "get_transform");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_bodies"), "set_collide_with_bodies", "is_collide_with_bodies_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas"), "set_collide_with_areas", "is_collide_with_areas_enabled");
}
/////////////////////////////////////
Dictionary PhysicsDirectSpaceState3D::_intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
RayResult inters;
Set<RID> exclude;
for (int i = 0; i < p_exclude.size(); i++) {
exclude.insert(p_exclude[i]);
}
bool res = intersect_ray(p_from, p_to, inters, exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas);
if (!res) {
return Dictionary();
}
Dictionary d;
d["position"] = inters.position;
d["normal"] = inters.normal;
d["collider_id"] = inters.collider_id;
d["collider"] = inters.collider;
d["shape"] = inters.shape;
d["rid"] = inters.rid;
return d;
}
Array PhysicsDirectSpaceState3D::_intersect_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results) {
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
Vector<ShapeResult> sr;
sr.resize(p_max_results);
int rc = intersect_shape(p_shape_query->shape, p_shape_query->transform, p_shape_query->margin, sr.ptrw(), sr.size(), p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
Array ret;
ret.resize(rc);
for (int i = 0; i < rc; i++) {
Dictionary d;
d["rid"] = sr[i].rid;
d["collider_id"] = sr[i].collider_id;
d["collider"] = sr[i].collider;
d["shape"] = sr[i].shape;
ret[i] = d;
}
return ret;
}
Array PhysicsDirectSpaceState3D::_cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, const Vector3 &p_motion) {
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
real_t closest_safe = 1.0f, closest_unsafe = 1.0f;
bool res = cast_motion(p_shape_query->shape, p_shape_query->transform, p_motion, p_shape_query->margin, closest_safe, closest_unsafe, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
if (!res) {
return Array();
}
Array ret;
ret.resize(2);
ret[0] = closest_safe;
ret[1] = closest_unsafe;
return ret;
}
Array PhysicsDirectSpaceState3D::_collide_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results) {
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Array());
Vector<Vector3> ret;
ret.resize(p_max_results * 2);
int rc = 0;
bool res = collide_shape(p_shape_query->shape, p_shape_query->transform, p_shape_query->margin, ret.ptrw(), p_max_results, rc, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
if (!res) {
return Array();
}
Array r;
r.resize(rc * 2);
for (int i = 0; i < rc * 2; i++) {
r[i] = ret[i];
}
return r;
}
Dictionary PhysicsDirectSpaceState3D::_get_rest_info(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query) {
ERR_FAIL_COND_V(!p_shape_query.is_valid(), Dictionary());
ShapeRestInfo sri;
bool res = rest_info(p_shape_query->shape, p_shape_query->transform, p_shape_query->margin, &sri, p_shape_query->exclude, p_shape_query->collision_mask, p_shape_query->collide_with_bodies, p_shape_query->collide_with_areas);
Dictionary r;
if (!res) {
return r;
}
r["point"] = sri.point;
r["normal"] = sri.normal;
r["rid"] = sri.rid;
r["collider_id"] = sri.collider_id;
r["shape"] = sri.shape;
r["linear_velocity"] = sri.linear_velocity;
return r;
}
PhysicsDirectSpaceState3D::PhysicsDirectSpaceState3D() {
}
void PhysicsDirectSpaceState3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("intersect_ray", "from", "to", "exclude", "collision_mask", "collide_with_bodies", "collide_with_areas"), &PhysicsDirectSpaceState3D::_intersect_ray, DEFVAL(Array()), DEFVAL(UINT32_MAX), DEFVAL(true), DEFVAL(false));
ClassDB::bind_method(D_METHOD("intersect_shape", "shape", "max_results"), &PhysicsDirectSpaceState3D::_intersect_shape, DEFVAL(32));
ClassDB::bind_method(D_METHOD("cast_motion", "shape", "motion"), &PhysicsDirectSpaceState3D::_cast_motion);
ClassDB::bind_method(D_METHOD("collide_shape", "shape", "max_results"), &PhysicsDirectSpaceState3D::_collide_shape, DEFVAL(32));
ClassDB::bind_method(D_METHOD("get_rest_info", "shape"), &PhysicsDirectSpaceState3D::_get_rest_info);
}
///////////////////////////////
Vector<RID> PhysicsTestMotionParameters3D::get_exclude_bodies() const {
Vector<RID> exclude;
exclude.resize(parameters.exclude_bodies.size());
int body_index = 0;
for (RID body : parameters.exclude_bodies) {
exclude.write[body_index++] = body;
}
return exclude;
}
void PhysicsTestMotionParameters3D::set_exclude_bodies(const Vector<RID> &p_exclude) {
for (RID body : p_exclude) {
parameters.exclude_bodies.insert(body);
}
}
Array PhysicsTestMotionParameters3D::get_exclude_objects() const {
Array exclude;
exclude.resize(parameters.exclude_objects.size());
int object_index = 0;
for (ObjectID object_id : parameters.exclude_objects) {
exclude[object_index++] = object_id;
}
return exclude;
}
void PhysicsTestMotionParameters3D::set_exclude_objects(const Array &p_exclude) {
for (int i = 0; i < p_exclude.size(); ++i) {
ObjectID object_id = p_exclude[i];
ERR_CONTINUE(object_id.is_null());
parameters.exclude_objects.insert(object_id);
}
}
void PhysicsTestMotionParameters3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_from"), &PhysicsTestMotionParameters3D::get_from);
ClassDB::bind_method(D_METHOD("set_from", "from"), &PhysicsTestMotionParameters3D::set_from);
ClassDB::bind_method(D_METHOD("get_motion"), &PhysicsTestMotionParameters3D::get_motion);
ClassDB::bind_method(D_METHOD("set_motion", "motion"), &PhysicsTestMotionParameters3D::set_motion);
ClassDB::bind_method(D_METHOD("get_margin"), &PhysicsTestMotionParameters3D::get_margin);
ClassDB::bind_method(D_METHOD("set_margin", "margin"), &PhysicsTestMotionParameters3D::set_margin);
ClassDB::bind_method(D_METHOD("get_max_collisions"), &PhysicsTestMotionParameters3D::get_max_collisions);
ClassDB::bind_method(D_METHOD("set_max_collisions", "max_collisions"), &PhysicsTestMotionParameters3D::set_max_collisions);
ClassDB::bind_method(D_METHOD("is_collide_separation_ray_enabled"), &PhysicsTestMotionParameters3D::is_collide_separation_ray_enabled);
ClassDB::bind_method(D_METHOD("set_collide_separation_ray_enabled", "enabled"), &PhysicsTestMotionParameters3D::set_collide_separation_ray_enabled);
ClassDB::bind_method(D_METHOD("get_exclude_bodies"), &PhysicsTestMotionParameters3D::get_exclude_bodies);
ClassDB::bind_method(D_METHOD("set_exclude_bodies", "exclude_list"), &PhysicsTestMotionParameters3D::set_exclude_bodies);
ClassDB::bind_method(D_METHOD("get_exclude_objects"), &PhysicsTestMotionParameters3D::get_exclude_objects);
ClassDB::bind_method(D_METHOD("set_exclude_objects", "exclude_list"), &PhysicsTestMotionParameters3D::set_exclude_objects);
ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "from"), "set_from", "get_from");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion"), "set_motion", "get_motion");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin"), "set_margin", "get_margin");
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_collisions"), "set_max_collisions", "get_max_collisions");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_separation_ray"), "set_collide_separation_ray_enabled", "is_collide_separation_ray_enabled");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude_bodies"), "set_exclude_bodies", "get_exclude_bodies");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude_objects"), "set_exclude_objects", "get_exclude_objects");
}
///////////////////////////////
Vector3 PhysicsTestMotionResult3D::get_travel() const {
return result.travel;
}
Vector3 PhysicsTestMotionResult3D::get_remainder() const {
return result.remainder;
}
real_t PhysicsTestMotionResult3D::get_collision_safe_fraction() const {
return result.collision_safe_fraction;
}
real_t PhysicsTestMotionResult3D::get_collision_unsafe_fraction() const {
return result.collision_unsafe_fraction;
}
int PhysicsTestMotionResult3D::get_collision_count() const {
return result.collision_count;
}
Vector3 PhysicsTestMotionResult3D::get_collision_point(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3());
return result.collisions[p_collision_index].position;
}
Vector3 PhysicsTestMotionResult3D::get_collision_normal(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3());
return result.collisions[p_collision_index].normal;
}
Vector3 PhysicsTestMotionResult3D::get_collider_velocity(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3());
return result.collisions[p_collision_index].collider_velocity;
}
ObjectID PhysicsTestMotionResult3D::get_collider_id(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, ObjectID());
return result.collisions[p_collision_index].collider_id;
}
RID PhysicsTestMotionResult3D::get_collider_rid(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, RID());
return result.collisions[p_collision_index].collider;
}
Object *PhysicsTestMotionResult3D::get_collider(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr);
return ObjectDB::get_instance(result.collisions[p_collision_index].collider_id);
}
int PhysicsTestMotionResult3D::get_collider_shape(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0);
return result.collisions[p_collision_index].collider_shape;
}
int PhysicsTestMotionResult3D::get_collision_local_shape(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0);
return result.collisions[p_collision_index].local_shape;
}
real_t PhysicsTestMotionResult3D::get_collision_depth(int p_collision_index) const {
ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0.0);
return result.collisions[p_collision_index].depth;
}
void PhysicsTestMotionResult3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_travel"), &PhysicsTestMotionResult3D::get_travel);
ClassDB::bind_method(D_METHOD("get_remainder"), &PhysicsTestMotionResult3D::get_remainder);
ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult3D::get_collision_safe_fraction);
ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult3D::get_collision_unsafe_fraction);
ClassDB::bind_method(D_METHOD("get_collision_count"), &PhysicsTestMotionResult3D::get_collision_count);
ClassDB::bind_method(D_METHOD("get_collision_point", "collision_index"), &PhysicsTestMotionResult3D::get_collision_point, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_collision_normal", "collision_index"), &PhysicsTestMotionResult3D::get_collision_normal, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_collider_velocity", "collision_index"), &PhysicsTestMotionResult3D::get_collider_velocity, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_collider_id", "collision_index"), &PhysicsTestMotionResult3D::get_collider_id, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_collider_rid", "collision_index"), &PhysicsTestMotionResult3D::get_collider_rid, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_collider", "collision_index"), &PhysicsTestMotionResult3D::get_collider, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_collider_shape", "collision_index"), &PhysicsTestMotionResult3D::get_collider_shape, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_collision_local_shape", "collision_index"), &PhysicsTestMotionResult3D::get_collision_local_shape, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_collision_depth", "collision_index"), &PhysicsTestMotionResult3D::get_collision_depth, DEFVAL(0));
}
///////////////////////////////////////
bool PhysicsServer3D::_body_test_motion(RID p_body, const Ref<PhysicsTestMotionParameters3D> &p_parameters, const Ref<PhysicsTestMotionResult3D> &p_result) {
ERR_FAIL_COND_V(!p_parameters.is_valid(), false);
MotionResult *result_ptr = nullptr;
if (p_result.is_valid()) {
result_ptr = p_result->get_result_ptr();
}
return body_test_motion(p_body, p_parameters->get_parameters(), result_ptr);
}
RID PhysicsServer3D::shape_create(ShapeType p_shape) {
switch (p_shape) {
case SHAPE_WORLD_BOUNDARY:
return world_boundary_shape_create();
case SHAPE_SEPARATION_RAY:
return separation_ray_shape_create();
case SHAPE_SPHERE:
return sphere_shape_create();
case SHAPE_BOX:
return box_shape_create();
case SHAPE_CAPSULE:
return capsule_shape_create();
case SHAPE_CYLINDER:
return cylinder_shape_create();
case SHAPE_CONVEX_POLYGON:
return convex_polygon_shape_create();
case SHAPE_CONCAVE_POLYGON:
return concave_polygon_shape_create();
case SHAPE_HEIGHTMAP:
return heightmap_shape_create();
case SHAPE_CUSTOM:
return custom_shape_create();
default:
return RID();
}
}
void PhysicsServer3D::_bind_methods() {
#ifndef _3D_DISABLED
ClassDB::bind_method(D_METHOD("world_boundary_shape_create"), &PhysicsServer3D::world_boundary_shape_create);
ClassDB::bind_method(D_METHOD("separation_ray_shape_create"), &PhysicsServer3D::separation_ray_shape_create);
ClassDB::bind_method(D_METHOD("sphere_shape_create"), &PhysicsServer3D::sphere_shape_create);
ClassDB::bind_method(D_METHOD("box_shape_create"), &PhysicsServer3D::box_shape_create);
ClassDB::bind_method(D_METHOD("capsule_shape_create"), &PhysicsServer3D::capsule_shape_create);
ClassDB::bind_method(D_METHOD("cylinder_shape_create"), &PhysicsServer3D::cylinder_shape_create);
ClassDB::bind_method(D_METHOD("convex_polygon_shape_create"), &PhysicsServer3D::convex_polygon_shape_create);
ClassDB::bind_method(D_METHOD("concave_polygon_shape_create"), &PhysicsServer3D::concave_polygon_shape_create);
ClassDB::bind_method(D_METHOD("heightmap_shape_create"), &PhysicsServer3D::heightmap_shape_create);
ClassDB::bind_method(D_METHOD("custom_shape_create"), &PhysicsServer3D::custom_shape_create);
ClassDB::bind_method(D_METHOD("shape_set_data", "shape", "data"), &PhysicsServer3D::shape_set_data);
ClassDB::bind_method(D_METHOD("shape_get_type", "shape"), &PhysicsServer3D::shape_get_type);
ClassDB::bind_method(D_METHOD("shape_get_data", "shape"), &PhysicsServer3D::shape_get_data);
ClassDB::bind_method(D_METHOD("space_create"), &PhysicsServer3D::space_create);
ClassDB::bind_method(D_METHOD("space_set_active", "space", "active"), &PhysicsServer3D::space_set_active);
ClassDB::bind_method(D_METHOD("space_is_active", "space"), &PhysicsServer3D::space_is_active);
ClassDB::bind_method(D_METHOD("space_set_param", "space", "param", "value"), &PhysicsServer3D::space_set_param);
ClassDB::bind_method(D_METHOD("space_get_param", "space", "param"), &PhysicsServer3D::space_get_param);
ClassDB::bind_method(D_METHOD("space_get_direct_state", "space"), &PhysicsServer3D::space_get_direct_state);
ClassDB::bind_method(D_METHOD("area_create"), &PhysicsServer3D::area_create);
ClassDB::bind_method(D_METHOD("area_set_space", "area", "space"), &PhysicsServer3D::area_set_space);
ClassDB::bind_method(D_METHOD("area_get_space", "area"), &PhysicsServer3D::area_get_space);
ClassDB::bind_method(D_METHOD("area_set_space_override_mode", "area", "mode"), &PhysicsServer3D::area_set_space_override_mode);
ClassDB::bind_method(D_METHOD("area_get_space_override_mode", "area"), &PhysicsServer3D::area_get_space_override_mode);
ClassDB::bind_method(D_METHOD("area_add_shape", "area", "shape", "transform", "disabled"), &PhysicsServer3D::area_add_shape, DEFVAL(Transform3D()), DEFVAL(false));
ClassDB::bind_method(D_METHOD("area_set_shape", "area", "shape_idx", "shape"), &PhysicsServer3D::area_set_shape);
ClassDB::bind_method(D_METHOD("area_set_shape_transform", "area", "shape_idx", "transform"), &PhysicsServer3D::area_set_shape_transform);
ClassDB::bind_method(D_METHOD("area_set_shape_disabled", "area", "shape_idx", "disabled"), &PhysicsServer3D::area_set_shape_disabled);
ClassDB::bind_method(D_METHOD("area_get_shape_count", "area"), &PhysicsServer3D::area_get_shape_count);
ClassDB::bind_method(D_METHOD("area_get_shape", "area", "shape_idx"), &PhysicsServer3D::area_get_shape);
ClassDB::bind_method(D_METHOD("area_get_shape_transform", "area", "shape_idx"), &PhysicsServer3D::area_get_shape_transform);
ClassDB::bind_method(D_METHOD("area_remove_shape", "area", "shape_idx"), &PhysicsServer3D::area_remove_shape);
ClassDB::bind_method(D_METHOD("area_clear_shapes", "area"), &PhysicsServer3D::area_clear_shapes);
ClassDB::bind_method(D_METHOD("area_set_collision_layer", "area", "layer"), &PhysicsServer3D::area_set_collision_layer);
ClassDB::bind_method(D_METHOD("area_set_collision_mask", "area", "mask"), &PhysicsServer3D::area_set_collision_mask);
ClassDB::bind_method(D_METHOD("area_set_param", "area", "param", "value"), &PhysicsServer3D::area_set_param);
ClassDB::bind_method(D_METHOD("area_set_transform", "area", "transform"), &PhysicsServer3D::area_set_transform);
ClassDB::bind_method(D_METHOD("area_get_param", "area", "param"), &PhysicsServer3D::area_get_param);
ClassDB::bind_method(D_METHOD("area_get_transform", "area"), &PhysicsServer3D::area_get_transform);
ClassDB::bind_method(D_METHOD("area_attach_object_instance_id", "area", "id"), &PhysicsServer3D::area_attach_object_instance_id);
ClassDB::bind_method(D_METHOD("area_get_object_instance_id", "area"), &PhysicsServer3D::area_get_object_instance_id);
ClassDB::bind_method(D_METHOD("area_set_monitor_callback", "area", "callback"), &PhysicsServer3D::area_set_monitor_callback);
ClassDB::bind_method(D_METHOD("area_set_area_monitor_callback", "area", "callback"), &PhysicsServer3D::area_set_area_monitor_callback);
ClassDB::bind_method(D_METHOD("area_set_monitorable", "area", "monitorable"), &PhysicsServer3D::area_set_monitorable);
ClassDB::bind_method(D_METHOD("area_set_ray_pickable", "area", "enable"), &PhysicsServer3D::area_set_ray_pickable);
ClassDB::bind_method(D_METHOD("body_create"), &PhysicsServer3D::body_create);
ClassDB::bind_method(D_METHOD("body_set_space", "body", "space"), &PhysicsServer3D::body_set_space);
ClassDB::bind_method(D_METHOD("body_get_space", "body"), &PhysicsServer3D::body_get_space);
ClassDB::bind_method(D_METHOD("body_set_mode", "body", "mode"), &PhysicsServer3D::body_set_mode);
ClassDB::bind_method(D_METHOD("body_get_mode", "body"), &PhysicsServer3D::body_get_mode);
ClassDB::bind_method(D_METHOD("body_set_collision_layer", "body", "layer"), &PhysicsServer3D::body_set_collision_layer);
ClassDB::bind_method(D_METHOD("body_get_collision_layer", "body"), &PhysicsServer3D::body_get_collision_layer);
ClassDB::bind_method(D_METHOD("body_set_collision_mask", "body", "mask"), &PhysicsServer3D::body_set_collision_mask);
ClassDB::bind_method(D_METHOD("body_get_collision_mask", "body"), &PhysicsServer3D::body_get_collision_mask);
ClassDB::bind_method(D_METHOD("body_add_shape", "body", "shape", "transform", "disabled"), &PhysicsServer3D::body_add_shape, DEFVAL(Transform3D()), DEFVAL(false));
ClassDB::bind_method(D_METHOD("body_set_shape", "body", "shape_idx", "shape"), &PhysicsServer3D::body_set_shape);
ClassDB::bind_method(D_METHOD("body_set_shape_transform", "body", "shape_idx", "transform"), &PhysicsServer3D::body_set_shape_transform);
ClassDB::bind_method(D_METHOD("body_set_shape_disabled", "body", "shape_idx", "disabled"), &PhysicsServer3D::body_set_shape_disabled);
ClassDB::bind_method(D_METHOD("body_get_shape_count", "body"), &PhysicsServer3D::body_get_shape_count);
ClassDB::bind_method(D_METHOD("body_get_shape", "body", "shape_idx"), &PhysicsServer3D::body_get_shape);
ClassDB::bind_method(D_METHOD("body_get_shape_transform", "body", "shape_idx"), &PhysicsServer3D::body_get_shape_transform);
ClassDB::bind_method(D_METHOD("body_remove_shape", "body", "shape_idx"), &PhysicsServer3D::body_remove_shape);
ClassDB::bind_method(D_METHOD("body_clear_shapes", "body"), &PhysicsServer3D::body_clear_shapes);
ClassDB::bind_method(D_METHOD("body_attach_object_instance_id", "body", "id"), &PhysicsServer3D::body_attach_object_instance_id);
ClassDB::bind_method(D_METHOD("body_get_object_instance_id", "body"), &PhysicsServer3D::body_get_object_instance_id);
ClassDB::bind_method(D_METHOD("body_set_enable_continuous_collision_detection", "body", "enable"), &PhysicsServer3D::body_set_enable_continuous_collision_detection);
ClassDB::bind_method(D_METHOD("body_is_continuous_collision_detection_enabled", "body"), &PhysicsServer3D::body_is_continuous_collision_detection_enabled);
ClassDB::bind_method(D_METHOD("body_set_param", "body", "param", "value"), &PhysicsServer3D::body_set_param);
ClassDB::bind_method(D_METHOD("body_get_param", "body", "param"), &PhysicsServer3D::body_get_param);
ClassDB::bind_method(D_METHOD("body_reset_mass_properties", "body"), &PhysicsServer3D::body_reset_mass_properties);
ClassDB::bind_method(D_METHOD("body_set_state", "body", "state", "value"), &PhysicsServer3D::body_set_state);
ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer3D::body_get_state);
ClassDB::bind_method(D_METHOD("body_add_central_force", "body", "force"), &PhysicsServer3D::body_add_central_force);
ClassDB::bind_method(D_METHOD("body_add_force", "body", "force", "position"), &PhysicsServer3D::body_add_force, Vector3());
ClassDB::bind_method(D_METHOD("body_add_torque", "body", "torque"), &PhysicsServer3D::body_add_torque);
ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_central_impulse);
ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer3D::body_apply_impulse, Vector3());
ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_torque_impulse);
ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer3D::body_set_axis_velocity);
ClassDB::bind_method(D_METHOD("body_set_axis_lock", "body", "axis", "lock"), &PhysicsServer3D::body_set_axis_lock);
ClassDB::bind_method(D_METHOD("body_is_axis_locked", "body", "axis"), &PhysicsServer3D::body_is_axis_locked);
ClassDB::bind_method(D_METHOD("body_add_collision_exception", "body", "excepted_body"), &PhysicsServer3D::body_add_collision_exception);
ClassDB::bind_method(D_METHOD("body_remove_collision_exception", "body", "excepted_body"), &PhysicsServer3D::body_remove_collision_exception);
ClassDB::bind_method(D_METHOD("body_set_max_contacts_reported", "body", "amount"), &PhysicsServer3D::body_set_max_contacts_reported);
ClassDB::bind_method(D_METHOD("body_get_max_contacts_reported", "body"), &PhysicsServer3D::body_get_max_contacts_reported);
ClassDB::bind_method(D_METHOD("body_set_omit_force_integration", "body", "enable"), &PhysicsServer3D::body_set_omit_force_integration);
ClassDB::bind_method(D_METHOD("body_is_omitting_force_integration", "body"), &PhysicsServer3D::body_is_omitting_force_integration);
ClassDB::bind_method(D_METHOD("body_set_force_integration_callback", "body", "callable", "userdata"), &PhysicsServer3D::body_set_force_integration_callback, DEFVAL(Variant()));
ClassDB::bind_method(D_METHOD("body_set_ray_pickable", "body", "enable"), &PhysicsServer3D::body_set_ray_pickable);
ClassDB::bind_method(D_METHOD("body_test_motion", "body", "parameters", "result"), &PhysicsServer3D::_body_test_motion, DEFVAL(Variant()));
ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer3D::body_get_direct_state);
/* SOFT BODY API */
ClassDB::bind_method(D_METHOD("soft_body_get_bounds", "body"), &PhysicsServer3D::soft_body_get_bounds);
/* JOINT API */
ClassDB::bind_method(D_METHOD("joint_create"), &PhysicsServer3D::joint_create);
ClassDB::bind_method(D_METHOD("joint_clear", "joint"), &PhysicsServer3D::joint_clear);
BIND_ENUM_CONSTANT(JOINT_TYPE_PIN);
BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE);
BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER);
BIND_ENUM_CONSTANT(JOINT_TYPE_CONE_TWIST);
BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF);
BIND_ENUM_CONSTANT(JOINT_TYPE_MAX);
ClassDB::bind_method(D_METHOD("joint_make_pin", "joint", "body_A", "local_A", "body_B", "local_B"), &PhysicsServer3D::joint_make_pin);
ClassDB::bind_method(D_METHOD("pin_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::pin_joint_set_param);
ClassDB::bind_method(D_METHOD("pin_joint_get_param", "joint", "param"), &PhysicsServer3D::pin_joint_get_param);
ClassDB::bind_method(D_METHOD("pin_joint_set_local_a", "joint", "local_A"), &PhysicsServer3D::pin_joint_set_local_a);
ClassDB::bind_method(D_METHOD("pin_joint_get_local_a", "joint"), &PhysicsServer3D::pin_joint_get_local_a);
ClassDB::bind_method(D_METHOD("pin_joint_set_local_b", "joint", "local_B"), &PhysicsServer3D::pin_joint_set_local_b);
ClassDB::bind_method(D_METHOD("pin_joint_get_local_b", "joint"), &PhysicsServer3D::pin_joint_get_local_b);
BIND_ENUM_CONSTANT(PIN_JOINT_BIAS);
BIND_ENUM_CONSTANT(PIN_JOINT_DAMPING);
BIND_ENUM_CONSTANT(PIN_JOINT_IMPULSE_CLAMP);
BIND_ENUM_CONSTANT(HINGE_JOINT_BIAS);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_UPPER);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_LOWER);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_BIAS);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_RELAXATION);
BIND_ENUM_CONSTANT(HINGE_JOINT_MOTOR_TARGET_VELOCITY);
BIND_ENUM_CONSTANT(HINGE_JOINT_MOTOR_MAX_IMPULSE);
BIND_ENUM_CONSTANT(HINGE_JOINT_FLAG_USE_LIMIT);
BIND_ENUM_CONSTANT(HINGE_JOINT_FLAG_ENABLE_MOTOR);
ClassDB::bind_method(D_METHOD("joint_make_hinge", "joint", "body_A", "hinge_A", "body_B", "hinge_B"), &PhysicsServer3D::joint_make_hinge);
ClassDB::bind_method(D_METHOD("hinge_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::hinge_joint_set_param);
ClassDB::bind_method(D_METHOD("hinge_joint_get_param", "joint", "param"), &PhysicsServer3D::hinge_joint_get_param);
ClassDB::bind_method(D_METHOD("hinge_joint_set_flag", "joint", "flag", "enabled"), &PhysicsServer3D::hinge_joint_set_flag);
ClassDB::bind_method(D_METHOD("hinge_joint_get_flag", "joint", "flag"), &PhysicsServer3D::hinge_joint_get_flag);
ClassDB::bind_method(D_METHOD("joint_make_slider", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_slider);
ClassDB::bind_method(D_METHOD("slider_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::slider_joint_set_param);
ClassDB::bind_method(D_METHOD("slider_joint_get_param", "joint", "param"), &PhysicsServer3D::slider_joint_get_param);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_UPPER);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_LOWER);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_UPPER);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_LOWER);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION);
BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING);
BIND_ENUM_CONSTANT(SLIDER_JOINT_MAX);
ClassDB::bind_method(D_METHOD("joint_make_cone_twist", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_cone_twist);
ClassDB::bind_method(D_METHOD("cone_twist_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::cone_twist_joint_set_param);
ClassDB::bind_method(D_METHOD("cone_twist_joint_get_param", "joint", "param"), &PhysicsServer3D::cone_twist_joint_get_param);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_SWING_SPAN);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_TWIST_SPAN);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_BIAS);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_SOFTNESS);
BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_RELAXATION);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LOWER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_UPPER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_RESTITUTION);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_DAMPING);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY);
BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LOWER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_UPPER_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_DAMPING);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_RESTITUTION);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_FORCE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_ERP);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY);
BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_MOTOR);
BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR);
ClassDB::bind_method(D_METHOD("joint_get_type", "joint"), &PhysicsServer3D::joint_get_type);
ClassDB::bind_method(D_METHOD("joint_set_solver_priority", "joint", "priority"), &PhysicsServer3D::joint_set_solver_priority);
ClassDB::bind_method(D_METHOD("joint_get_solver_priority", "joint"), &PhysicsServer3D::joint_get_solver_priority);
ClassDB::bind_method(D_METHOD("joint_make_generic_6dof", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_generic_6dof);
ClassDB::bind_method(D_METHOD("generic_6dof_joint_set_param", "joint", "axis", "param", "value"), &PhysicsServer3D::generic_6dof_joint_set_param);
ClassDB::bind_method(D_METHOD("generic_6dof_joint_get_param", "joint", "axis", "param"), &PhysicsServer3D::generic_6dof_joint_get_param);
ClassDB::bind_method(D_METHOD("generic_6dof_joint_set_flag", "joint", "axis", "flag", "enable"), &PhysicsServer3D::generic_6dof_joint_set_flag);
ClassDB::bind_method(D_METHOD("generic_6dof_joint_get_flag", "joint", "axis", "flag"), &PhysicsServer3D::generic_6dof_joint_get_flag);
ClassDB::bind_method(D_METHOD("free_rid", "rid"), &PhysicsServer3D::free);
ClassDB::bind_method(D_METHOD("set_active", "active"), &PhysicsServer3D::set_active);
ClassDB::bind_method(D_METHOD("set_collision_iterations", "iterations"), &PhysicsServer3D::set_collision_iterations);
ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer3D::get_process_info);
BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY);
BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY);
BIND_ENUM_CONSTANT(SHAPE_SPHERE);
BIND_ENUM_CONSTANT(SHAPE_BOX);
BIND_ENUM_CONSTANT(SHAPE_CAPSULE);
BIND_ENUM_CONSTANT(SHAPE_CYLINDER);
BIND_ENUM_CONSTANT(SHAPE_CONVEX_POLYGON);
BIND_ENUM_CONSTANT(SHAPE_CONCAVE_POLYGON);
BIND_ENUM_CONSTANT(SHAPE_HEIGHTMAP);
BIND_ENUM_CONSTANT(SHAPE_SOFT_BODY);
BIND_ENUM_CONSTANT(SHAPE_CUSTOM);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_VECTOR);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_IS_POINT);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_DISTANCE_SCALE);
BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_POINT_ATTENUATION);
BIND_ENUM_CONSTANT(AREA_PARAM_LINEAR_DAMP);
BIND_ENUM_CONSTANT(AREA_PARAM_ANGULAR_DAMP);
BIND_ENUM_CONSTANT(AREA_PARAM_PRIORITY);
BIND_ENUM_CONSTANT(AREA_PARAM_WIND_FORCE_MAGNITUDE);
BIND_ENUM_CONSTANT(AREA_PARAM_WIND_SOURCE);
BIND_ENUM_CONSTANT(AREA_PARAM_WIND_DIRECTION);
BIND_ENUM_CONSTANT(AREA_PARAM_WIND_ATTENUATION_FACTOR);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_DISABLED);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_COMBINE);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_COMBINE_REPLACE);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_REPLACE);
BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_REPLACE_COMBINE);
BIND_ENUM_CONSTANT(BODY_MODE_STATIC);
BIND_ENUM_CONSTANT(BODY_MODE_KINEMATIC);
BIND_ENUM_CONSTANT(BODY_MODE_DYNAMIC);
BIND_ENUM_CONSTANT(BODY_MODE_DYNAMIC_LINEAR);
BIND_ENUM_CONSTANT(BODY_PARAM_BOUNCE);
BIND_ENUM_CONSTANT(BODY_PARAM_FRICTION);
BIND_ENUM_CONSTANT(BODY_PARAM_MASS);
BIND_ENUM_CONSTANT(BODY_PARAM_INERTIA);
BIND_ENUM_CONSTANT(BODY_PARAM_CENTER_OF_MASS);
BIND_ENUM_CONSTANT(BODY_PARAM_GRAVITY_SCALE);
BIND_ENUM_CONSTANT(BODY_PARAM_LINEAR_DAMP_MODE);
BIND_ENUM_CONSTANT(BODY_PARAM_ANGULAR_DAMP_MODE);
BIND_ENUM_CONSTANT(BODY_PARAM_LINEAR_DAMP);
BIND_ENUM_CONSTANT(BODY_PARAM_ANGULAR_DAMP);
BIND_ENUM_CONSTANT(BODY_PARAM_MAX);
BIND_ENUM_CONSTANT(BODY_DAMP_MODE_COMBINE);
BIND_ENUM_CONSTANT(BODY_DAMP_MODE_REPLACE);
BIND_ENUM_CONSTANT(BODY_STATE_TRANSFORM);
BIND_ENUM_CONSTANT(BODY_STATE_LINEAR_VELOCITY);
BIND_ENUM_CONSTANT(BODY_STATE_ANGULAR_VELOCITY);
BIND_ENUM_CONSTANT(BODY_STATE_SLEEPING);
BIND_ENUM_CONSTANT(BODY_STATE_CAN_SLEEP);
BIND_ENUM_CONSTANT(AREA_BODY_ADDED);
BIND_ENUM_CONSTANT(AREA_BODY_REMOVED);
BIND_ENUM_CONSTANT(INFO_ACTIVE_OBJECTS);
BIND_ENUM_CONSTANT(INFO_COLLISION_PAIRS);
BIND_ENUM_CONSTANT(INFO_ISLAND_COUNT);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_RECYCLE_RADIUS);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_SEPARATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO);
BIND_ENUM_CONSTANT(SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y);
BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Z);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_X);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_Y);
BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_Z);
#endif
}
PhysicsServer3D::PhysicsServer3D() {
singleton = this;
}
PhysicsServer3D::~PhysicsServer3D() {
singleton = nullptr;
}
Vector<PhysicsServer3DManager::ClassInfo> PhysicsServer3DManager::physics_servers;
int PhysicsServer3DManager::default_server_id = -1;
int PhysicsServer3DManager::default_server_priority = -1;
const String PhysicsServer3DManager::setting_property_name("physics/3d/physics_engine");
void PhysicsServer3DManager::on_servers_changed() {
String physics_servers2("DEFAULT");
for (int i = get_servers_count() - 1; 0 <= i; --i) {
physics_servers2 += "," + get_server_name(i);
}
ProjectSettings::get_singleton()->set_custom_property_info(setting_property_name, PropertyInfo(Variant::STRING, setting_property_name, PROPERTY_HINT_ENUM, physics_servers2));
}
void PhysicsServer3DManager::register_server(const String &p_name, CreatePhysicsServer3DCallback p_creat_callback) {
ERR_FAIL_COND(!p_creat_callback);
ERR_FAIL_COND(find_server_id(p_name) != -1);
physics_servers.push_back(ClassInfo(p_name, p_creat_callback));
on_servers_changed();
}
void PhysicsServer3DManager::set_default_server(const String &p_name, int p_priority) {
const int id = find_server_id(p_name);
ERR_FAIL_COND(id == -1); // Not found
if (default_server_priority < p_priority) {
default_server_id = id;
default_server_priority = p_priority;
}
}
int PhysicsServer3DManager::find_server_id(const String &p_name) {
for (int i = physics_servers.size() - 1; 0 <= i; --i) {
if (p_name == physics_servers[i].name) {
return i;
}
}
return -1;
}
int PhysicsServer3DManager::get_servers_count() {
return physics_servers.size();
}
String PhysicsServer3DManager::get_server_name(int p_id) {
ERR_FAIL_INDEX_V(p_id, get_servers_count(), "");
return physics_servers[p_id].name;
}
PhysicsServer3D *PhysicsServer3DManager::new_default_server() {
ERR_FAIL_COND_V(default_server_id == -1, nullptr);
return physics_servers[default_server_id].create_callback();
}
PhysicsServer3D *PhysicsServer3DManager::new_server(const String &p_name) {
int id = find_server_id(p_name);
if (id == -1) {
return nullptr;
} else {
return physics_servers[id].create_callback();
}
}
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