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physics_body_3d.cpp
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physics_body_3d.cpp
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/**************************************************************************/
/* physics_body_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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_body_3d.h"
#include "scene/scene_string_names.h"
void PhysicsBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("move_and_collide", "motion", "test_only", "safe_margin", "recovery_as_collision", "max_collisions"), &PhysicsBody3D::_move, DEFVAL(false), DEFVAL(0.001), DEFVAL(false), DEFVAL(1));
ClassDB::bind_method(D_METHOD("test_move", "from", "motion", "collision", "safe_margin", "recovery_as_collision", "max_collisions"), &PhysicsBody3D::test_move, DEFVAL(Variant()), DEFVAL(0.001), DEFVAL(false), DEFVAL(1));
ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &PhysicsBody3D::set_axis_lock);
ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &PhysicsBody3D::get_axis_lock);
ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions);
ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with);
ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with);
ADD_GROUP("Axis Lock", "axis_lock_");
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);
}
PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) :
CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(), false) {
set_body_mode(p_mode);
}
PhysicsBody3D::~PhysicsBody3D() {
if (motion_cache.is_valid()) {
motion_cache->owner = nullptr;
}
}
TypedArray<PhysicsBody3D> PhysicsBody3D::get_collision_exceptions() {
List<RID> exceptions;
PhysicsServer3D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions);
Array ret;
for (const RID &body : exceptions) {
ObjectID instance_id = PhysicsServer3D::get_singleton()->body_get_object_instance_id(body);
Object *obj = ObjectDB::get_instance(instance_id);
PhysicsBody3D *physics_body = Object::cast_to<PhysicsBody3D>(obj);
ret.append(physics_body);
}
return ret;
}
void PhysicsBody3D::add_collision_exception_with(Node *p_node) {
ERR_FAIL_NULL(p_node);
CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
ERR_FAIL_NULL_MSG(collision_object, "Collision exception only works between two nodes that inherit from CollisionObject3D (such as Area3D or PhysicsBody3D).");
PhysicsServer3D::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid());
}
void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
ERR_FAIL_NULL(p_node);
CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
ERR_FAIL_NULL_MSG(collision_object, "Collision exception only works between two nodes that inherit from CollisionObject3D (such as Area3D or PhysicsBody3D).");
PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
}
Ref<KinematicCollision3D> PhysicsBody3D::_move(const Vector3 &p_motion, bool p_test_only, real_t p_margin, bool p_recovery_as_collision, int p_max_collisions) {
PhysicsServer3D::MotionParameters parameters(get_global_transform(), p_motion, p_margin);
parameters.max_collisions = p_max_collisions;
parameters.recovery_as_collision = p_recovery_as_collision;
PhysicsServer3D::MotionResult result;
if (move_and_collide(parameters, result, p_test_only)) {
// Create a new instance when the cached reference is invalid or still in use in script.
if (motion_cache.is_null() || motion_cache->get_reference_count() > 1) {
motion_cache.instantiate();
motion_cache->owner = this;
}
motion_cache->result = result;
return motion_cache;
}
return Ref<KinematicCollision3D>();
}
bool PhysicsBody3D::move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only, bool p_cancel_sliding) {
bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_parameters, &r_result);
// Restore direction of motion to be along original motion,
// in order to avoid sliding due to recovery,
// but only if collision depth is low enough to avoid tunneling.
if (p_cancel_sliding) {
real_t motion_length = p_parameters.motion.length();
real_t precision = 0.001;
if (colliding) {
// Can't just use margin as a threshold because collision depth is calculated on unsafe motion,
// so even in normal resting cases the depth can be a bit more than the margin.
precision += motion_length * (r_result.collision_unsafe_fraction - r_result.collision_safe_fraction);
if (r_result.collisions[0].depth > p_parameters.margin + precision) {
p_cancel_sliding = false;
}
}
if (p_cancel_sliding) {
// When motion is null, recovery is the resulting motion.
Vector3 motion_normal;
if (motion_length > CMP_EPSILON) {
motion_normal = p_parameters.motion / motion_length;
}
// Check depth of recovery.
real_t projected_length = r_result.travel.dot(motion_normal);
Vector3 recovery = r_result.travel - motion_normal * projected_length;
real_t recovery_length = recovery.length();
// Fixes cases where canceling slide causes the motion to go too deep into the ground,
// because we're only taking rest information into account and not general recovery.
if (recovery_length < p_parameters.margin + precision) {
// Apply adjustment to motion.
r_result.travel = motion_normal * projected_length;
r_result.remainder = p_parameters.motion - r_result.travel;
}
}
}
for (int i = 0; i < 3; i++) {
if (locked_axis & (1 << i)) {
r_result.travel[i] = 0;
}
}
if (!p_test_only) {
Transform3D gt = p_parameters.from;
gt.origin += r_result.travel;
set_global_transform(gt);
}
return colliding;
}
bool PhysicsBody3D::test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref<KinematicCollision3D> &r_collision, real_t p_margin, bool p_recovery_as_collision, int p_max_collisions) {
ERR_FAIL_COND_V(!is_inside_tree(), false);
PhysicsServer3D::MotionResult *r = nullptr;
PhysicsServer3D::MotionResult temp_result;
if (r_collision.is_valid()) {
// Needs const_cast because method bindings don't support non-const Ref.
r = const_cast<PhysicsServer3D::MotionResult *>(&r_collision->result);
} else {
r = &temp_result;
}
PhysicsServer3D::MotionParameters parameters(p_from, p_motion, p_margin);
parameters.recovery_as_collision = p_recovery_as_collision;
return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), parameters, r);
}
void PhysicsBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
if (p_lock) {
locked_axis |= p_axis;
} else {
locked_axis &= (~p_axis);
}
PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
}
bool PhysicsBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
return (locked_axis & p_axis);
}
Vector3 PhysicsBody3D::get_linear_velocity() const {
return Vector3();
}
Vector3 PhysicsBody3D::get_angular_velocity() const {
return Vector3();
}
real_t PhysicsBody3D::get_inverse_mass() const {
return 0;
}
void StaticBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
if (physics_material_override.is_valid()) {
physics_material_override->disconnect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
}
physics_material_override = p_physics_material_override;
if (physics_material_override.is_valid()) {
physics_material_override->connect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
}
_reload_physics_characteristics();
}
Ref<PhysicsMaterial> StaticBody3D::get_physics_material_override() const {
return physics_material_override;
}
void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) {
constant_linear_velocity = p_vel;
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
}
void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) {
constant_angular_velocity = p_vel;
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
}
Vector3 StaticBody3D::get_constant_linear_velocity() const {
return constant_linear_velocity;
}
Vector3 StaticBody3D::get_constant_angular_velocity() const {
return constant_angular_velocity;
}
void StaticBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity);
ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity);
ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity);
ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity);
ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override);
ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override);
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_constant_linear_velocity", "get_constant_linear_velocity");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_constant_angular_velocity", "get_constant_angular_velocity");
}
StaticBody3D::StaticBody3D(PhysicsServer3D::BodyMode p_mode) :
PhysicsBody3D(p_mode) {
}
void StaticBody3D::_reload_physics_characteristics() {
if (physics_material_override.is_null()) {
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1);
} else {
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce());
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction());
}
}
Vector3 AnimatableBody3D::get_linear_velocity() const {
return linear_velocity;
}
Vector3 AnimatableBody3D::get_angular_velocity() const {
return angular_velocity;
}
void AnimatableBody3D::set_sync_to_physics(bool p_enable) {
if (sync_to_physics == p_enable) {
return;
}
sync_to_physics = p_enable;
_update_kinematic_motion();
}
bool AnimatableBody3D::is_sync_to_physics_enabled() const {
return sync_to_physics;
}
void AnimatableBody3D::_update_kinematic_motion() {
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
return;
}
#endif
if (sync_to_physics) {
set_only_update_transform_changes(true);
set_notify_local_transform(true);
} else {
set_only_update_transform_changes(false);
set_notify_local_transform(false);
}
}
void AnimatableBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
linear_velocity = p_state->get_linear_velocity();
angular_velocity = p_state->get_angular_velocity();
if (!sync_to_physics) {
return;
}
last_valid_transform = p_state->get_transform();
set_notify_local_transform(false);
set_global_transform(last_valid_transform);
set_notify_local_transform(true);
_on_transform_changed();
}
void AnimatableBody3D::_notification(int p_what) {
#ifdef TOOLS_ENABLED
if (Engine::get_singleton()->is_editor_hint()) {
return;
}
#endif
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
last_valid_transform = get_global_transform();
_update_kinematic_motion();
} break;
case NOTIFICATION_EXIT_TREE: {
set_only_update_transform_changes(false);
set_notify_local_transform(false);
} break;
case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: {
// Used by sync to physics, send the new transform to the physics...
Transform3D new_transform = get_global_transform();
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_TRANSFORM, new_transform);
// ... but then revert changes.
set_notify_local_transform(false);
set_global_transform(last_valid_transform);
set_notify_local_transform(true);
_on_transform_changed();
} break;
}
}
void AnimatableBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_sync_to_physics", "enable"), &AnimatableBody3D::set_sync_to_physics);
ClassDB::bind_method(D_METHOD("is_sync_to_physics_enabled"), &AnimatableBody3D::is_sync_to_physics_enabled);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sync_to_physics"), "set_sync_to_physics", "is_sync_to_physics_enabled");
}
AnimatableBody3D::AnimatableBody3D() :
StaticBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) {
PhysicsServer3D::get_singleton()->body_set_state_sync_callback(get_rid(), callable_mp(this, &AnimatableBody3D::_body_state_changed));
}
void RigidBody3D::_body_enter_tree(ObjectID p_id) {
Object *obj = ObjectDB::get_instance(p_id);
Node *node = Object::cast_to<Node>(obj);
ERR_FAIL_NULL(node);
ERR_FAIL_NULL(contact_monitor);
HashMap<ObjectID, BodyState>::Iterator E = contact_monitor->body_map.find(p_id);
ERR_FAIL_COND(!E);
ERR_FAIL_COND(E->value.in_tree);
E->value.in_tree = true;
contact_monitor->locked = true;
emit_signal(SceneStringNames::get_singleton()->body_entered, node);
for (int i = 0; i < E->value.shapes.size(); i++) {
emit_signal(SceneStringNames::get_singleton()->body_shape_entered, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape);
}
contact_monitor->locked = false;
}
void RigidBody3D::_body_exit_tree(ObjectID p_id) {
Object *obj = ObjectDB::get_instance(p_id);
Node *node = Object::cast_to<Node>(obj);
ERR_FAIL_NULL(node);
ERR_FAIL_NULL(contact_monitor);
HashMap<ObjectID, BodyState>::Iterator E = contact_monitor->body_map.find(p_id);
ERR_FAIL_COND(!E);
ERR_FAIL_COND(!E->value.in_tree);
E->value.in_tree = false;
contact_monitor->locked = true;
emit_signal(SceneStringNames::get_singleton()->body_exited, node);
for (int i = 0; i < E->value.shapes.size(); i++) {
emit_signal(SceneStringNames::get_singleton()->body_shape_exited, E->value.rid, node, E->value.shapes[i].body_shape, E->value.shapes[i].local_shape);
}
contact_monitor->locked = false;
}
void RigidBody3D::_body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape) {
bool body_in = p_status == 1;
ObjectID objid = p_instance;
Object *obj = ObjectDB::get_instance(objid);
Node *node = Object::cast_to<Node>(obj);
ERR_FAIL_NULL(contact_monitor);
HashMap<ObjectID, BodyState>::Iterator E = contact_monitor->body_map.find(objid);
ERR_FAIL_COND(!body_in && !E);
if (body_in) {
if (!E) {
E = contact_monitor->body_map.insert(objid, BodyState());
E->value.rid = p_body;
//E->value.rc=0;
E->value.in_tree = node && node->is_inside_tree();
if (node) {
node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree).bind(objid));
node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree).bind(objid));
if (E->value.in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_entered, node);
}
}
}
//E->value.rc++;
if (node) {
E->value.shapes.insert(ShapePair(p_body_shape, p_local_shape));
}
if (E->value.in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_body, node, p_body_shape, p_local_shape);
}
} else {
//E->value.rc--;
if (node) {
E->value.shapes.erase(ShapePair(p_body_shape, p_local_shape));
}
bool in_tree = E->value.in_tree;
if (E->value.shapes.is_empty()) {
if (node) {
node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
if (in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_exited, node);
}
}
contact_monitor->body_map.remove(E);
}
if (node && in_tree) {
emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_body, obj, p_body_shape, p_local_shape);
}
}
}
struct _RigidBodyInOut {
RID rid;
ObjectID id;
int shape = 0;
int local_shape = 0;
};
void RigidBody3D::_sync_body_state(PhysicsDirectBodyState3D *p_state) {
set_global_transform(p_state->get_transform());
linear_velocity = p_state->get_linear_velocity();
angular_velocity = p_state->get_angular_velocity();
inverse_inertia_tensor = p_state->get_inverse_inertia_tensor();
if (sleeping != p_state->is_sleeping()) {
sleeping = p_state->is_sleeping();
emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
}
}
void RigidBody3D::_body_state_changed(PhysicsDirectBodyState3D *p_state) {
lock_callback();
set_ignore_transform_notification(true);
_sync_body_state(p_state);
GDVIRTUAL_CALL(_integrate_forces, p_state);
_sync_body_state(p_state);
set_ignore_transform_notification(false);
_on_transform_changed();
if (contact_monitor) {
contact_monitor->locked = true;
//untag all
int rc = 0;
for (KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) {
for (int i = 0; i < E.value.shapes.size(); i++) {
E.value.shapes[i].tagged = false;
rc++;
}
}
_RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(p_state->get_contact_count() * sizeof(_RigidBodyInOut));
int toadd_count = 0;
RigidBody3D_RemoveAction *toremove = (RigidBody3D_RemoveAction *)alloca(rc * sizeof(RigidBody3D_RemoveAction));
int toremove_count = 0;
//put the ones to add
for (int i = 0; i < p_state->get_contact_count(); i++) {
RID col_rid = p_state->get_contact_collider(i);
ObjectID col_obj = p_state->get_contact_collider_id(i);
int local_shape = p_state->get_contact_local_shape(i);
int col_shape = p_state->get_contact_collider_shape(i);
HashMap<ObjectID, BodyState>::Iterator E = contact_monitor->body_map.find(col_obj);
if (!E) {
toadd[toadd_count].rid = col_rid;
toadd[toadd_count].local_shape = local_shape;
toadd[toadd_count].id = col_obj;
toadd[toadd_count].shape = col_shape;
toadd_count++;
continue;
}
ShapePair sp(col_shape, local_shape);
int idx = E->value.shapes.find(sp);
if (idx == -1) {
toadd[toadd_count].rid = col_rid;
toadd[toadd_count].local_shape = local_shape;
toadd[toadd_count].id = col_obj;
toadd[toadd_count].shape = col_shape;
toadd_count++;
continue;
}
E->value.shapes[idx].tagged = true;
}
//put the ones to remove
for (const KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) {
for (int i = 0; i < E.value.shapes.size(); i++) {
if (!E.value.shapes[i].tagged) {
toremove[toremove_count].rid = E.value.rid;
toremove[toremove_count].body_id = E.key;
toremove[toremove_count].pair = E.value.shapes[i];
toremove_count++;
}
}
}
//process removals
for (int i = 0; i < toremove_count; i++) {
_body_inout(0, toremove[i].rid, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape);
}
//process additions
for (int i = 0; i < toadd_count; i++) {
_body_inout(1, toremove[i].rid, toadd[i].id, toadd[i].shape, toadd[i].local_shape);
}
contact_monitor->locked = false;
}
unlock_callback();
}
void RigidBody3D::_notification(int p_what) {
#ifdef TOOLS_ENABLED
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
if (Engine::get_singleton()->is_editor_hint()) {
set_notify_local_transform(true); // Used for warnings and only in editor.
}
} break;
case NOTIFICATION_LOCAL_TRANSFORM_CHANGED: {
update_configuration_warnings();
} break;
}
#endif
}
void RigidBody3D::_apply_body_mode() {
if (freeze) {
switch (freeze_mode) {
case FREEZE_MODE_STATIC: {
set_body_mode(PhysicsServer3D::BODY_MODE_STATIC);
} break;
case FREEZE_MODE_KINEMATIC: {
set_body_mode(PhysicsServer3D::BODY_MODE_KINEMATIC);
} break;
}
} else if (lock_rotation) {
set_body_mode(PhysicsServer3D::BODY_MODE_RIGID_LINEAR);
} else {
set_body_mode(PhysicsServer3D::BODY_MODE_RIGID);
}
}
void RigidBody3D::set_lock_rotation_enabled(bool p_lock_rotation) {
if (p_lock_rotation == lock_rotation) {
return;
}
lock_rotation = p_lock_rotation;
_apply_body_mode();
}
bool RigidBody3D::is_lock_rotation_enabled() const {
return lock_rotation;
}
void RigidBody3D::set_freeze_enabled(bool p_freeze) {
if (p_freeze == freeze) {
return;
}
freeze = p_freeze;
_apply_body_mode();
}
bool RigidBody3D::is_freeze_enabled() const {
return freeze;
}
void RigidBody3D::set_freeze_mode(FreezeMode p_freeze_mode) {
if (p_freeze_mode == freeze_mode) {
return;
}
freeze_mode = p_freeze_mode;
_apply_body_mode();
}
RigidBody3D::FreezeMode RigidBody3D::get_freeze_mode() const {
return freeze_mode;
}
void RigidBody3D::set_mass(real_t p_mass) {
ERR_FAIL_COND(p_mass <= 0);
mass = p_mass;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass);
}
real_t RigidBody3D::get_mass() const {
return mass;
}
void RigidBody3D::set_inertia(const Vector3 &p_inertia) {
ERR_FAIL_COND(p_inertia.x < 0);
ERR_FAIL_COND(p_inertia.y < 0);
ERR_FAIL_COND(p_inertia.z < 0);
inertia = p_inertia;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia);
}
const Vector3 &RigidBody3D::get_inertia() const {
return inertia;
}
void RigidBody3D::set_center_of_mass_mode(CenterOfMassMode p_mode) {
if (center_of_mass_mode == p_mode) {
return;
}
center_of_mass_mode = p_mode;
switch (center_of_mass_mode) {
case CENTER_OF_MASS_MODE_AUTO: {
center_of_mass = Vector3();
PhysicsServer3D::get_singleton()->body_reset_mass_properties(get_rid());
if (inertia != Vector3()) {
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_INERTIA, inertia);
}
} break;
case CENTER_OF_MASS_MODE_CUSTOM: {
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass);
} break;
}
}
RigidBody3D::CenterOfMassMode RigidBody3D::get_center_of_mass_mode() const {
return center_of_mass_mode;
}
void RigidBody3D::set_center_of_mass(const Vector3 &p_center_of_mass) {
if (center_of_mass == p_center_of_mass) {
return;
}
ERR_FAIL_COND(center_of_mass_mode != CENTER_OF_MASS_MODE_CUSTOM);
center_of_mass = p_center_of_mass;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_CENTER_OF_MASS, center_of_mass);
}
const Vector3 &RigidBody3D::get_center_of_mass() const {
return center_of_mass;
}
void RigidBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
if (physics_material_override.is_valid()) {
physics_material_override->disconnect_changed(callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
}
physics_material_override = p_physics_material_override;
if (physics_material_override.is_valid()) {
physics_material_override->connect_changed(callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
}
_reload_physics_characteristics();
}
Ref<PhysicsMaterial> RigidBody3D::get_physics_material_override() const {
return physics_material_override;
}
void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) {
gravity_scale = p_gravity_scale;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
}
real_t RigidBody3D::get_gravity_scale() const {
return gravity_scale;
}
void RigidBody3D::set_linear_damp_mode(DampMode p_mode) {
linear_damp_mode = p_mode;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP_MODE, linear_damp_mode);
}
RigidBody3D::DampMode RigidBody3D::get_linear_damp_mode() const {
return linear_damp_mode;
}
void RigidBody3D::set_angular_damp_mode(DampMode p_mode) {
angular_damp_mode = p_mode;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP_MODE, angular_damp_mode);
}
RigidBody3D::DampMode RigidBody3D::get_angular_damp_mode() const {
return angular_damp_mode;
}
void RigidBody3D::set_linear_damp(real_t p_linear_damp) {
ERR_FAIL_COND(p_linear_damp < 0.0);
linear_damp = p_linear_damp;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp);
}
real_t RigidBody3D::get_linear_damp() const {
return linear_damp;
}
void RigidBody3D::set_angular_damp(real_t p_angular_damp) {
ERR_FAIL_COND(p_angular_damp < 0.0);
angular_damp = p_angular_damp;
PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp);
}
real_t RigidBody3D::get_angular_damp() const {
return angular_damp;
}
void RigidBody3D::set_axis_velocity(const Vector3 &p_axis) {
Vector3 axis = p_axis.normalized();
linear_velocity -= axis * axis.dot(linear_velocity);
linear_velocity += p_axis;
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
}
void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) {
linear_velocity = p_velocity;
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
}
Vector3 RigidBody3D::get_linear_velocity() const {
return linear_velocity;
}
void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) {
angular_velocity = p_velocity;
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
}
Vector3 RigidBody3D::get_angular_velocity() const {
return angular_velocity;
}
Basis RigidBody3D::get_inverse_inertia_tensor() const {
return inverse_inertia_tensor;
}
void RigidBody3D::set_use_custom_integrator(bool p_enable) {
if (custom_integrator == p_enable) {
return;
}
custom_integrator = p_enable;
PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
}
bool RigidBody3D::is_using_custom_integrator() {
return custom_integrator;
}
void RigidBody3D::set_sleeping(bool p_sleeping) {
sleeping = p_sleeping;
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_SLEEPING, sleeping);
}
void RigidBody3D::set_can_sleep(bool p_active) {
can_sleep = p_active;
PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active);
}
bool RigidBody3D::is_able_to_sleep() const {
return can_sleep;
}
bool RigidBody3D::is_sleeping() const {
return sleeping;
}
void RigidBody3D::set_max_contacts_reported(int p_amount) {
max_contacts_reported = p_amount;
PhysicsServer3D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount);
}
int RigidBody3D::get_max_contacts_reported() const {
return max_contacts_reported;
}
int RigidBody3D::get_contact_count() const {
PhysicsDirectBodyState3D *bs = PhysicsServer3D::get_singleton()->body_get_direct_state(get_rid());
ERR_FAIL_NULL_V(bs, 0);
return bs->get_contact_count();
}
void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) {
PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
}
void RigidBody3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
singleton->body_apply_impulse(get_rid(), p_impulse, p_position);
}
void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
PhysicsServer3D::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse);
}
void RigidBody3D::apply_central_force(const Vector3 &p_force) {
PhysicsServer3D::get_singleton()->body_apply_central_force(get_rid(), p_force);
}
void RigidBody3D::apply_force(const Vector3 &p_force, const Vector3 &p_position) {
PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
singleton->body_apply_force(get_rid(), p_force, p_position);
}
void RigidBody3D::apply_torque(const Vector3 &p_torque) {
PhysicsServer3D::get_singleton()->body_apply_torque(get_rid(), p_torque);
}
void RigidBody3D::add_constant_central_force(const Vector3 &p_force) {
PhysicsServer3D::get_singleton()->body_add_constant_central_force(get_rid(), p_force);
}
void RigidBody3D::add_constant_force(const Vector3 &p_force, const Vector3 &p_position) {
PhysicsServer3D *singleton = PhysicsServer3D::get_singleton();
singleton->body_add_constant_force(get_rid(), p_force, p_position);
}
void RigidBody3D::add_constant_torque(const Vector3 &p_torque) {
PhysicsServer3D::get_singleton()->body_add_constant_torque(get_rid(), p_torque);
}
void RigidBody3D::set_constant_force(const Vector3 &p_force) {
PhysicsServer3D::get_singleton()->body_set_constant_force(get_rid(), p_force);
}
Vector3 RigidBody3D::get_constant_force() const {
return PhysicsServer3D::get_singleton()->body_get_constant_force(get_rid());
}
void RigidBody3D::set_constant_torque(const Vector3 &p_torque) {
PhysicsServer3D::get_singleton()->body_set_constant_torque(get_rid(), p_torque);
}
Vector3 RigidBody3D::get_constant_torque() const {
return PhysicsServer3D::get_singleton()->body_get_constant_torque(get_rid());
}
void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) {
ccd = p_enable;
PhysicsServer3D::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable);
}
bool RigidBody3D::is_using_continuous_collision_detection() const {
return ccd;
}
void RigidBody3D::set_contact_monitor(bool p_enabled) {
if (p_enabled == is_contact_monitor_enabled()) {
return;
}
if (!p_enabled) {
ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead.");
for (const KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) {
//clean up mess
Object *obj = ObjectDB::get_instance(E.key);
Node *node = Object::cast_to<Node>(obj);
if (node) {
node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
}
}
memdelete(contact_monitor);
contact_monitor = nullptr;
} else {
contact_monitor = memnew(ContactMonitor);
contact_monitor->locked = false;
}
}
bool RigidBody3D::is_contact_monitor_enabled() const {
return contact_monitor != nullptr;
}
TypedArray<Node3D> RigidBody3D::get_colliding_bodies() const {
ERR_FAIL_NULL_V(contact_monitor, TypedArray<Node3D>());
TypedArray<Node3D> ret;
ret.resize(contact_monitor->body_map.size());
int idx = 0;
for (const KeyValue<ObjectID, BodyState> &E : contact_monitor->body_map) {
Object *obj = ObjectDB::get_instance(E.key);
if (!obj) {
ret.resize(ret.size() - 1); //ops
} else {
ret[idx++] = obj;
}
}
return ret;
}
PackedStringArray RigidBody3D::get_configuration_warnings() const {
PackedStringArray warnings = CollisionObject3D::get_configuration_warnings();
Vector3 scale = get_transform().get_basis().get_scale();
if (ABS(scale.x - 1.0) > 0.05 || ABS(scale.y - 1.0) > 0.05 || ABS(scale.z - 1.0) > 0.05) {
warnings.push_back(RTR("Scale changes to RigidBody3D will be overridden by the physics engine when running.\nPlease change the size in children collision shapes instead."));
}
return warnings;
}
void RigidBody3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass);
ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass);
ClassDB::bind_method(D_METHOD("set_inertia", "inertia"), &RigidBody3D::set_inertia);
ClassDB::bind_method(D_METHOD("get_inertia"), &RigidBody3D::get_inertia);
ClassDB::bind_method(D_METHOD("set_center_of_mass_mode", "mode"), &RigidBody3D::set_center_of_mass_mode);
ClassDB::bind_method(D_METHOD("get_center_of_mass_mode"), &RigidBody3D::get_center_of_mass_mode);