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bullet_physics_server.cpp
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bullet_physics_server.cpp
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/*************************************************************************/
/* bullet_physics_server.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 "bullet_physics_server.h"
#include "bullet_utilities.h"
#include "cone_twist_joint_bullet.h"
#include "core/error/error_macros.h"
#include "core/object/class_db.h"
#include "core/string/ustring.h"
#include "generic_6dof_joint_bullet.h"
#include "hinge_joint_bullet.h"
#include "pin_joint_bullet.h"
#include "shape_bullet.h"
#include "slider_joint_bullet.h"
#include <LinearMath/btVector3.h>
#include <assert.h>
/**
@author AndreaCatania
*/
#define CreateThenReturnRID(owner, ridData) \
RID rid = owner.make_rid(ridData); \
ridData->set_self(rid); \
ridData->_set_physics_server(this); \
return rid;
// <--------------- Joint creation asserts
/// Assert the body is assigned to a space
#define JointAssertSpace(body, bIndex, ret) \
if (!body->get_space()) { \
ERR_PRINT("Before create a joint the Body" + String(bIndex) + " must be added to a space!"); \
return ret; \
}
/// Assert the two bodies of joint are in the same space
#define JointAssertSameSpace(bodyA, bodyB, ret) \
if (bodyA->get_space() != bodyB->get_space()) { \
ERR_PRINT("In order to create a joint the Body_A and Body_B must be in the same space!"); \
return RID(); \
}
#define AddJointToSpace(body, joint) \
body->get_space()->add_constraint(joint, joint->is_disabled_collisions_between_bodies());
// <--------------- Joint creation asserts
void BulletPhysicsServer3D::_bind_methods() {
//ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer3D::DoTest);
}
BulletPhysicsServer3D::BulletPhysicsServer3D() :
PhysicsServer3D() {}
BulletPhysicsServer3D::~BulletPhysicsServer3D() {}
RID BulletPhysicsServer3D::shape_create(ShapeType p_shape) {
ShapeBullet *shape = nullptr;
switch (p_shape) {
case SHAPE_PLANE: {
shape = bulletnew(PlaneShapeBullet);
} break;
case SHAPE_SPHERE: {
shape = bulletnew(SphereShapeBullet);
} break;
case SHAPE_BOX: {
shape = bulletnew(BoxShapeBullet);
} break;
case SHAPE_CAPSULE: {
shape = bulletnew(CapsuleShapeBullet);
} break;
case SHAPE_CYLINDER: {
shape = bulletnew(CylinderShapeBullet);
} break;
case SHAPE_CONVEX_POLYGON: {
shape = bulletnew(ConvexPolygonShapeBullet);
} break;
case SHAPE_CONCAVE_POLYGON: {
shape = bulletnew(ConcavePolygonShapeBullet);
} break;
case SHAPE_HEIGHTMAP: {
shape = bulletnew(HeightMapShapeBullet);
} break;
case SHAPE_RAY: {
shape = bulletnew(RayShapeBullet);
} break;
case SHAPE_CUSTOM:
default:
ERR_FAIL_V(RID());
break;
}
CreateThenReturnRID(shape_owner, shape)
}
void BulletPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) {
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND(!shape);
shape->set_data(p_data);
}
void BulletPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
//WARN_PRINT("Bias not supported by Bullet physics engine");
}
PhysicsServer3D::ShapeType BulletPhysicsServer3D::shape_get_type(RID p_shape) const {
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, PhysicsServer3D::SHAPE_CUSTOM);
return shape->get_type();
}
Variant BulletPhysicsServer3D::shape_get_data(RID p_shape) const {
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, Variant());
return shape->get_data();
}
void BulletPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) {
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND(!shape);
shape->set_margin(p_margin);
}
real_t BulletPhysicsServer3D::shape_get_margin(RID p_shape) const {
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, 0.0);
return shape->get_margin();
}
real_t BulletPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const {
//WARN_PRINT("Bias not supported by Bullet physics engine");
return 0.;
}
RID BulletPhysicsServer3D::space_create() {
SpaceBullet *space = bulletnew(SpaceBullet);
CreateThenReturnRID(space_owner, space);
}
void BulletPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
SpaceBullet *space = space_owner.getornull(p_space);
ERR_FAIL_COND(!space);
if (space_is_active(p_space) == p_active) {
return;
}
if (p_active) {
++active_spaces_count;
active_spaces.push_back(space);
} else {
--active_spaces_count;
active_spaces.erase(space);
}
}
bool BulletPhysicsServer3D::space_is_active(RID p_space) const {
SpaceBullet *space = space_owner.getornull(p_space);
ERR_FAIL_COND_V(!space, false);
return -1 != active_spaces.find(space);
}
void BulletPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
SpaceBullet *space = space_owner.getornull(p_space);
ERR_FAIL_COND(!space);
space->set_param(p_param, p_value);
}
real_t BulletPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const {
SpaceBullet *space = space_owner.getornull(p_space);
ERR_FAIL_COND_V(!space, 0);
return space->get_param(p_param);
}
PhysicsDirectSpaceState3D *BulletPhysicsServer3D::space_get_direct_state(RID p_space) {
SpaceBullet *space = space_owner.getornull(p_space);
ERR_FAIL_COND_V(!space, nullptr);
return space->get_direct_state();
}
void BulletPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
SpaceBullet *space = space_owner.getornull(p_space);
ERR_FAIL_COND(!space);
space->set_debug_contacts(p_max_contacts);
}
Vector<Vector3> BulletPhysicsServer3D::space_get_contacts(RID p_space) const {
SpaceBullet *space = space_owner.getornull(p_space);
ERR_FAIL_COND_V(!space, Vector<Vector3>());
return space->get_debug_contacts();
}
int BulletPhysicsServer3D::space_get_contact_count(RID p_space) const {
SpaceBullet *space = space_owner.getornull(p_space);
ERR_FAIL_COND_V(!space, 0);
return space->get_debug_contact_count();
}
RID BulletPhysicsServer3D::area_create() {
AreaBullet *area = bulletnew(AreaBullet);
area->set_collision_layer(1);
area->set_collision_mask(1);
CreateThenReturnRID(area_owner, area)
}
void BulletPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
SpaceBullet *space = nullptr;
if (p_space.is_valid()) {
space = space_owner.getornull(p_space);
ERR_FAIL_COND(!space);
}
area->set_space(space);
}
RID BulletPhysicsServer3D::area_get_space(RID p_area) const {
AreaBullet *area = area_owner.getornull(p_area);
return area->get_space()->get_self();
}
void BulletPhysicsServer3D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_spOv_mode(p_mode);
}
PhysicsServer3D::AreaSpaceOverrideMode BulletPhysicsServer3D::area_get_space_override_mode(RID p_area) const {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND_V(!area, PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED);
return area->get_spOv_mode();
}
void BulletPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND(!shape);
area->add_shape(shape, p_transform, p_disabled);
}
void BulletPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND(!shape);
area->set_shape(p_shape_idx, shape);
}
void BulletPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_shape_transform(p_shape_idx, p_transform);
}
int BulletPhysicsServer3D::area_get_shape_count(RID p_area) const {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND_V(!area, 0);
return area->get_shape_count();
}
RID BulletPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND_V(!area, RID());
return area->get_shape(p_shape_idx)->get_self();
}
Transform3D BulletPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND_V(!area, Transform3D());
return area->get_shape_transform(p_shape_idx);
}
void BulletPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
return area->remove_shape_full(p_shape_idx);
}
void BulletPhysicsServer3D::area_clear_shapes(RID p_area) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
for (int i = area->get_shape_count(); 0 < i; --i) {
area->remove_shape_full(0);
}
}
void BulletPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_shape_disabled(p_shape_idx, p_disabled);
}
void BulletPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
if (space_owner.owns(p_area)) {
return;
}
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_instance_id(p_id);
}
ObjectID BulletPhysicsServer3D::area_get_object_instance_id(RID p_area) const {
if (space_owner.owns(p_area)) {
return ObjectID();
}
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND_V(!area, ObjectID());
return area->get_instance_id();
}
void BulletPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
if (space_owner.owns(p_area)) {
SpaceBullet *space = space_owner.getornull(p_area);
if (space) {
space->set_param(p_param, p_value);
}
} else {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_param(p_param, p_value);
}
}
Variant BulletPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const {
if (space_owner.owns(p_area)) {
SpaceBullet *space = space_owner.getornull(p_area);
return space->get_param(p_param);
} else {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND_V(!area, Variant());
return area->get_param(p_param);
}
}
void BulletPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_transform(p_transform);
}
Transform3D BulletPhysicsServer3D::area_get_transform(RID p_area) const {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND_V(!area, Transform3D());
return area->get_transform();
}
void BulletPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_collision_mask(p_mask);
}
void BulletPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_collision_layer(p_layer);
}
void BulletPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_monitorable(p_monitorable);
}
void BulletPhysicsServer3D::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
}
void BulletPhysicsServer3D::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
}
void BulletPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
AreaBullet *area = area_owner.getornull(p_area);
ERR_FAIL_COND(!area);
area->set_ray_pickable(p_enable);
}
RID BulletPhysicsServer3D::body_create(BodyMode p_mode, bool p_init_sleeping) {
RigidBodyBullet *body = bulletnew(RigidBodyBullet);
body->set_mode(p_mode);
body->set_collision_layer(1);
body->set_collision_mask(1);
if (p_init_sleeping) {
body->set_state(BODY_STATE_SLEEPING, p_init_sleeping);
}
CreateThenReturnRID(rigid_body_owner, body);
}
void BulletPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
SpaceBullet *space = nullptr;
if (p_space.is_valid()) {
space = space_owner.getornull(p_space);
ERR_FAIL_COND(!space);
}
if (body->get_space() == space) {
return; //pointless
}
body->set_space(space);
}
RID BulletPhysicsServer3D::body_get_space(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, RID());
SpaceBullet *space = body->get_space();
if (!space) {
return RID();
}
return space->get_self();
}
void BulletPhysicsServer3D::body_set_mode(RID p_body, PhysicsServer3D::BodyMode p_mode) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_mode(p_mode);
}
PhysicsServer3D::BodyMode BulletPhysicsServer3D::body_get_mode(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
return body->get_mode();
}
void BulletPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND(!shape);
body->add_shape(shape, p_transform, p_disabled);
}
void BulletPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
ShapeBullet *shape = shape_owner.getornull(p_shape);
ERR_FAIL_COND(!shape);
body->set_shape(p_shape_idx, shape);
}
void BulletPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_shape_transform(p_shape_idx, p_transform);
}
int BulletPhysicsServer3D::body_get_shape_count(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_shape_count();
}
RID BulletPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, RID());
ShapeBullet *shape = body->get_shape(p_shape_idx);
ERR_FAIL_COND_V(!shape, RID());
return shape->get_self();
}
Transform3D BulletPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, Transform3D());
return body->get_shape_transform(p_shape_idx);
}
void BulletPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_shape_disabled(p_shape_idx, p_disabled);
}
void BulletPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->remove_shape_full(p_shape_idx);
}
void BulletPhysicsServer3D::body_clear_shapes(RID p_body) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->remove_all_shapes();
}
void BulletPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
CollisionObjectBullet *body = get_collision_object(p_body);
ERR_FAIL_COND(!body);
body->set_instance_id(p_id);
}
ObjectID BulletPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
CollisionObjectBullet *body = get_collision_object(p_body);
ERR_FAIL_COND_V(!body, ObjectID());
return body->get_instance_id();
}
void BulletPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_continuous_collision_detection(p_enable);
}
bool BulletPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
return body->is_continuous_collision_detection_enabled();
}
void BulletPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_collision_layer(p_layer);
}
uint32_t BulletPhysicsServer3D::body_get_collision_layer(RID p_body) const {
const RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_layer();
}
void BulletPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_collision_mask(p_mask);
}
uint32_t BulletPhysicsServer3D::body_get_collision_mask(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_mask();
}
void BulletPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
// This function is not currently supported
}
uint32_t BulletPhysicsServer3D::body_get_user_flags(RID p_body) const {
// This function is not currently supported
return 0;
}
void BulletPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_param(p_param, p_value);
}
real_t BulletPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_param(p_param);
}
void BulletPhysicsServer3D::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
if (body->get_kinematic_utilities()) {
body->get_kinematic_utilities()->setSafeMargin(p_margin);
}
}
real_t BulletPhysicsServer3D::body_get_kinematic_safe_margin(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
if (body->get_kinematic_utilities()) {
return body->get_kinematic_utilities()->safe_margin;
}
return 0;
}
void BulletPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_state(p_state, p_variant);
}
Variant BulletPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, Variant());
return body->get_state(p_state);
}
void BulletPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_applied_force(p_force);
}
Vector3 BulletPhysicsServer3D::body_get_applied_force(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, Vector3());
return body->get_applied_force();
}
void BulletPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_applied_torque(p_torque);
}
Vector3 BulletPhysicsServer3D::body_get_applied_torque(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, Vector3());
return body->get_applied_torque();
}
void BulletPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->apply_central_force(p_force);
}
void BulletPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->apply_force(p_force, p_position);
}
void BulletPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->apply_torque(p_torque);
}
void BulletPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->apply_central_impulse(p_impulse);
}
void BulletPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->apply_impulse(p_impulse, p_position);
}
void BulletPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->apply_torque_impulse(p_impulse);
}
void BulletPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
Vector3 v = body->get_linear_velocity();
Vector3 axis = p_axis_velocity.normalized();
v -= axis * axis.dot(v);
v += p_axis_velocity;
body->set_linear_velocity(v);
}
void BulletPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_axis_lock(p_axis, p_lock);
}
bool BulletPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
const RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->is_axis_locked(p_axis);
}
void BulletPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
RigidBodyBullet *other_body = rigid_body_owner.getornull(p_body_b);
ERR_FAIL_COND(!other_body);
body->add_collision_exception(other_body);
}
void BulletPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
RigidBodyBullet *other_body = rigid_body_owner.getornull(p_body_b);
ERR_FAIL_COND(!other_body);
body->remove_collision_exception(other_body);
}
void BulletPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
for (int i = 0; i < body->get_exceptions().size(); i++) {
p_exceptions->push_back(body->get_exceptions()[i]);
}
}
void BulletPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_max_collisions_detection(p_contacts);
}
int BulletPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_max_collisions_detection();
}
void BulletPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
// Not supported by bullet and even Godot
}
real_t BulletPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
// Not supported by bullet and even Godot
return 0.;
}
void BulletPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_omit_forces_integration(p_omit);
}
bool BulletPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
return body->get_omit_forces_integration();
}
void BulletPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_force_integration_callback(p_callable, p_udata);
}
void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_ray_pickable(p_enable);
}
PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, nullptr);
return BulletPhysicsDirectBodyState3D::get_singleton(body);
}
bool BulletPhysicsServer3D::body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, r_result, p_exclude_raycast_shapes, p_exclude);
}
int BulletPhysicsServer3D::body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) {
RigidBodyBullet *body = rigid_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
ERR_FAIL_COND_V(!body->get_space(), 0);
return body->get_space()->test_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
RID BulletPhysicsServer3D::soft_body_create(bool p_init_sleeping) {
SoftBodyBullet *body = bulletnew(SoftBodyBullet);
body->set_collision_layer(1);
body->set_collision_mask(1);
if (p_init_sleeping) {
body->set_activation_state(false);
}
CreateThenReturnRID(soft_body_owner, body);
}
void BulletPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->update_rendering_server(p_rendering_server_handler);
}
void BulletPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
SpaceBullet *space = nullptr;
if (p_space.is_valid()) {
space = space_owner.getornull(p_space);
ERR_FAIL_COND(!space);
}
if (body->get_space() == space) {
return; //pointless
}
body->set_space(space);
}
RID BulletPhysicsServer3D::soft_body_get_space(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, RID());
SpaceBullet *space = body->get_space();
if (!space) {
return RID();
}
return space->get_self();
}
void BulletPhysicsServer3D::soft_body_set_mesh(RID p_body, const REF &p_mesh) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_soft_mesh(p_mesh);
}
AABB BulletPhysicsServer::soft_body_get_bounds(RID p_body) const {
SoftBodyBullet *body = soft_body_owner.get(p_body);
ERR_FAIL_COND_V(!body, AABB());
return body->get_bounds();
}
void BulletPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_collision_layer(p_layer);
}
uint32_t BulletPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const {
const SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_layer();
}
void BulletPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_collision_mask(p_mask);
}
uint32_t BulletPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const {
const SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_mask();
}
void BulletPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
CollisionObjectBullet *other_body = rigid_body_owner.getornull(p_body_b);
if (!other_body) {
other_body = soft_body_owner.getornull(p_body_b);
}
ERR_FAIL_COND(!other_body);
body->add_collision_exception(other_body);
}
void BulletPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
CollisionObjectBullet *other_body = rigid_body_owner.getornull(p_body_b);
if (!other_body) {
other_body = soft_body_owner.getornull(p_body_b);
}
ERR_FAIL_COND(!other_body);
body->remove_collision_exception(other_body);
}
void BulletPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
for (int i = 0; i < body->get_exceptions().size(); i++) {
p_exceptions->push_back(body->get_exceptions()[i]);
}
}
void BulletPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
// FIXME: Must be implemented.
WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
}
Variant BulletPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const {
// FIXME: Must be implemented.
WARN_PRINT("soft_body_state is not implemented yet in Bullet backend.");
return Variant();
}
void BulletPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
SoftBodyBullet *body = soft_body_owner.getornull(p_body);
ERR_FAIL_COND(!body);
body->set_soft_transform(p_transform);
}
void BulletPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {