GODOT IS OPEN SOURCE

1 files changed, 741 insertions, 0 deletions

diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp
new file mode 100644
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+++ b/scene/3d/physics_body.cpp
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+/*************************************************************************/
+/*  physics_body.cpp                                                     */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                    http://www.godotengine.org                         */
+/*************************************************************************/
+/* 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.h"
+#include "scene/scene_string_names.h"
+
+void PhysicsBody::_notification(int p_what) {
+
+/*
+	switch(p_what) {
+
+		case NOTIFICATION_TRANSFORM_CHANGED: {
+
+			PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_TRANSFORM,get_global_transform());
+
+		} break;
+	}
+	*/
+}
+
+PhysicsBody::PhysicsBody(PhysicsServer::BodyMode p_mode) : CollisionObject( PhysicsServer::get_singleton()->body_create(p_mode), false) {
+
+
+
+}
+
+void StaticBody::set_constant_linear_velocity(const Vector3& p_vel) {
+
+	constant_linear_velocity=p_vel;
+	PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_LINEAR_VELOCITY,constant_linear_velocity);
+
+}
+
+void StaticBody::set_constant_angular_velocity(const Vector3& p_vel) {
+
+	constant_angular_velocity=p_vel;
+	PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_ANGULAR_VELOCITY,constant_angular_velocity);
+}
+
+Vector3 StaticBody::get_constant_linear_velocity() const {
+
+	return constant_linear_velocity;
+}
+Vector3 StaticBody::get_constant_angular_velocity() const {
+
+	return constant_angular_velocity;
+}
+
+
+void StaticBody::_state_notify(Object *p_object) {
+
+	if (!pre_xform)
+		return;
+
+	PhysicsDirectBodyState *p2d = (PhysicsDirectBodyState*)p_object;
+	setting=true;
+
+	Transform new_xform = p2d->get_transform();
+	*pre_xform=new_xform;
+	set_ignore_transform_notification(true);
+	set_global_transform(new_xform);
+	set_ignore_transform_notification(false);
+
+	setting=false;
+
+
+}
+
+void StaticBody::_update_xform() {
+
+	if (!pre_xform || !pending)
+		return;
+
+	setting=true;
+
+
+	Transform new_xform = get_global_transform(); //obtain the new one
+
+	//set_block_transform_notify(true);
+	set_ignore_transform_notification(true);
+	PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_TRANSFORM,*pre_xform); //then simulate motion!
+	set_global_transform(*pre_xform); //but restore state to previous one in both visual and physics
+	set_ignore_transform_notification(false);
+
+	PhysicsServer::get_singleton()->body_static_simulate_motion(get_rid(),new_xform); //then simulate motion!
+
+	setting=false;
+	pending=false;
+
+}
+
+void StaticBody::_notification(int p_what) {
+
+	switch(p_what) {
+
+		case NOTIFICATION_ENTER_SCENE: {
+
+			if (pre_xform)
+				*pre_xform = get_global_transform();
+			pending=false;
+		} break;
+		case NOTIFICATION_TRANSFORM_CHANGED: {
+
+			if (simulating_motion && !pending && is_inside_scene() && !setting && !get_scene()->is_editor_hint()) {
+
+				call_deferred(SceneStringNames::get_singleton()->_update_xform);
+				pending=true;
+			}
+
+		} break;
+	}
+
+
+}
+
+void StaticBody::set_simulate_motion(bool p_enable) {
+
+	if (p_enable==simulating_motion)
+		return;
+	simulating_motion=p_enable;
+
+	if (p_enable) {
+		pre_xform = memnew( Transform );
+		if (is_inside_scene())
+			*pre_xform=get_transform();
+//		query = PhysicsServer::get_singleton()->query_create(this,"_state_notify",Variant());
+	//	PhysicsServer::get_singleton()->query_body_direct_state(query,get_rid());
+		PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),this,"_state_notify");
+
+	} else {
+		memdelete( pre_xform );
+		pre_xform=NULL;
+		PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),NULL,StringName());
+		pending=false;
+	}
+}
+
+bool StaticBody::is_simulating_motion() const {
+
+	return simulating_motion;
+}
+
+void StaticBody::_bind_methods() {
+
+	ObjectTypeDB::bind_method(_MD("set_simulate_motion","enabled"),&StaticBody::set_simulate_motion);
+	ObjectTypeDB::bind_method(_MD("is_simulating_motion"),&StaticBody::is_simulating_motion);
+	ObjectTypeDB::bind_method(_MD("_update_xform"),&StaticBody::_update_xform);
+	ObjectTypeDB::bind_method(_MD("_state_notify"),&StaticBody::_state_notify);
+	ObjectTypeDB::bind_method(_MD("set_constant_linear_velocity","vel"),&StaticBody::set_constant_linear_velocity);
+	ObjectTypeDB::bind_method(_MD("set_constant_angular_velocity","vel"),&StaticBody::set_constant_angular_velocity);
+	ObjectTypeDB::bind_method(_MD("get_constant_linear_velocity"),&StaticBody::get_constant_linear_velocity);
+	ObjectTypeDB::bind_method(_MD("get_constant_angular_velocity"),&StaticBody::get_constant_angular_velocity);
+
+	ADD_PROPERTY(PropertyInfo(Variant::BOOL,"simulate_motion"),_SCS("set_simulate_motion"),_SCS("is_simulating_motion"));
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3,"constant_linear_velocity"),_SCS("set_constant_linear_velocity"),_SCS("get_constant_linear_velocity"));
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3,"constant_angular_velocity"),_SCS("set_constant_angular_velocity"),_SCS("get_constant_angular_velocity"));
+}
+
+StaticBody::StaticBody() : PhysicsBody(PhysicsServer::BODY_MODE_STATIC) {
+
+	simulating_motion=false;
+	pre_xform=NULL;
+	setting=false;
+	pending=false;
+	//constant_angular_velocity=0;
+
+}
+
+StaticBody::~StaticBody() {
+
+	if (pre_xform)
+		memdelete(pre_xform);
+	//if (query.is_valid())
+	//	PhysicsServer::get_singleton()->free(query);
+}
+
+
+
+
+void RigidBody::_body_enter_scene(ObjectID p_id) {
+
+	Object *obj = ObjectDB::get_instance(p_id);
+	Node *node = obj ? obj->cast_to<Node>() : NULL;
+	ERR_FAIL_COND(!node);
+
+	Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(p_id);
+	ERR_FAIL_COND(!E);
+	ERR_FAIL_COND(E->get().in_scene);
+
+	E->get().in_scene=true;
+	emit_signal(SceneStringNames::get_singleton()->body_enter,node);
+
+	for(int i=0;i<E->get().shapes.size();i++) {
+
+		emit_signal(SceneStringNames::get_singleton()->body_enter_shape,p_id,node,E->get().shapes[i].body_shape,E->get().shapes[i].local_shape);
+	}
+
+}
+
+void RigidBody::_body_exit_scene(ObjectID p_id) {
+
+	Object *obj = ObjectDB::get_instance(p_id);
+	Node *node = obj ? obj->cast_to<Node>() : NULL;
+	ERR_FAIL_COND(!node);
+	Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(p_id);
+	ERR_FAIL_COND(!E);
+	ERR_FAIL_COND(!E->get().in_scene);
+	E->get().in_scene=false;
+	emit_signal(SceneStringNames::get_singleton()->body_exit,node);
+	for(int i=0;i<E->get().shapes.size();i++) {
+
+		emit_signal(SceneStringNames::get_singleton()->body_exit_shape,p_id,node,E->get().shapes[i].body_shape,E->get().shapes[i].local_shape);
+	}
+}
+
+void RigidBody::_body_inout(int p_status, 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 = obj ? obj->cast_to<Node>() : NULL;
+
+	Map<ObjectID,BodyState>::Element *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->get().rc=0;
+			E->get().in_scene=node && node->is_inside_scene();
+			if (node) {
+				node->connect(SceneStringNames::get_singleton()->enter_scene,this,SceneStringNames::get_singleton()->_body_enter_scene,make_binds(objid));
+				node->connect(SceneStringNames::get_singleton()->exit_scene,this,SceneStringNames::get_singleton()->_body_exit_scene,make_binds(objid));
+				if (E->get().in_scene) {
+					emit_signal(SceneStringNames::get_singleton()->body_enter,node);
+				}
+			}
+
+		}
+		E->get().rc++;
+		if (node)
+			E->get().shapes.insert(ShapePair(p_body_shape,p_local_shape));
+
+
+		if (E->get().in_scene) {
+			emit_signal(SceneStringNames::get_singleton()->body_enter_shape,objid,node,p_body_shape,p_local_shape);
+		}
+
+	} else {
+
+		E->get().rc--;
+
+		if (node)
+			E->get().shapes.erase(ShapePair(p_body_shape,p_local_shape));
+
+		if (E->get().rc==0) {
+
+			if (node) {
+				node->disconnect(SceneStringNames::get_singleton()->enter_scene,this,SceneStringNames::get_singleton()->_body_enter_scene);
+				node->disconnect(SceneStringNames::get_singleton()->exit_scene,this,SceneStringNames::get_singleton()->_body_exit_scene);
+				if (E->get().in_scene)
+					emit_signal(SceneStringNames::get_singleton()->body_exit,obj);
+
+			}
+
+			contact_monitor->body_map.erase(E);
+		}
+		if (node && E->get().in_scene) {
+			emit_signal(SceneStringNames::get_singleton()->body_exit_shape,objid,obj,p_body_shape,p_local_shape);
+		}
+
+	}
+
+}
+
+
+struct _RigidBodyInOut {
+
+	ObjectID id;
+	int shape;
+	int local_shape;
+};
+
+void RigidBody::_direct_state_changed(Object *p_state) {
+
+	//eh.. fuck
+#ifdef DEBUG_ENABLED
+
+	state=p_state->cast_to<PhysicsDirectBodyState>();
+#else
+	state=(PhysicsDirectBodyState*)p_state; //trust it
+#endif
+
+	if (contact_monitor) {
+
+		//untag all
+		int rc=0;
+		for( Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
+
+			for(int i=0;i<E->get().shapes.size();i++) {
+
+				E->get().shapes[i].tagged=false;
+				rc++;
+			}
+		}
+
+		_RigidBodyInOut *toadd=(_RigidBodyInOut*)alloca(state->get_contact_count()*sizeof(_RigidBodyInOut));
+		int toadd_count=0;//state->get_contact_count();
+		RigidBody_RemoveAction *toremove=(RigidBody_RemoveAction*)alloca(rc*sizeof(RigidBody_RemoveAction));
+		int toremove_count=0;
+
+		//put the ones to add
+
+		for(int i=0;i<state->get_contact_count();i++) {
+
+			ObjectID obj = state->get_contact_collider_id(i);
+			int local_shape = state->get_contact_local_shape(i);
+			int shape = state->get_contact_collider_shape(i);
+			toadd[i].local_shape=local_shape;
+			toadd[i].id=obj;
+			toadd[i].shape=shape;
+
+			bool found=false;
+
+			Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(obj);
+			if (!E) {
+				toadd_count++;
+				continue;
+			}
+
+			ShapePair sp( shape,local_shape );
+			int idx = E->get().shapes.find(sp);
+			if (idx==-1) {
+
+				toadd_count++;
+				continue;
+			}
+
+			E->get().shapes[idx].tagged=true;
+		}
+
+		//put the ones to remove
+
+		for( Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
+
+			for(int i=0;i<E->get().shapes.size();i++) {
+
+				if (!E->get().shapes[i].tagged) {
+
+					toremove[toremove_count].body_id=E->key();
+					toremove[toremove_count].pair=E->get().shapes[i];
+					toremove_count++;
+				}
+			}
+		}
+
+
+		//process remotions
+
+		for(int i=0;i<toremove_count;i++) {
+
+			_body_inout(0,toremove[i].body_id,toremove[i].pair.body_shape,toremove[i].pair.local_shape);
+		}
+
+		//process aditions
+
+		for(int i=0;i<toadd_count;i++) {
+
+			_body_inout(1,toadd[i].id,toadd[i].shape,toadd[i].local_shape);
+		}
+
+	}
+
+	set_ignore_transform_notification(true);
+	set_global_transform(state->get_transform());
+	linear_velocity=state->get_linear_velocity();
+	angular_velocity=state->get_angular_velocity();
+	active=!state->is_sleeping();
+	if (get_script_instance())
+		get_script_instance()->call("_integrate_forces",state);
+	set_ignore_transform_notification(false);
+
+	state=NULL;
+}
+
+void RigidBody::_notification(int p_what) {
+
+
+}
+
+void RigidBody::set_mode(Mode p_mode) {
+
+	mode=p_mode;
+	switch(p_mode) {
+
+		case MODE_RIGID: {
+
+			PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_RIGID);
+		} break;
+		case MODE_STATIC: {
+
+			PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_STATIC);
+
+		} break;
+		case MODE_CHARACTER: {
+			PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_CHARACTER);
+
+		} break;
+		case MODE_STATIC_ACTIVE: {
+
+			PhysicsServer::get_singleton()->body_set_mode(get_rid(),PhysicsServer::BODY_MODE_STATIC_ACTIVE);
+		} break;
+
+	}
+}
+
+RigidBody::Mode RigidBody::get_mode() const{
+
+	return mode;
+}
+
+void RigidBody::set_mass(real_t p_mass){
+
+	ERR_FAIL_COND(p_mass<=0);
+	mass=p_mass;
+	_change_notify("mass");
+	_change_notify("weight");
+	PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_MASS,mass);
+
+}
+real_t RigidBody::get_mass() const{
+
+	return mass;
+}
+
+void RigidBody::set_weight(real_t p_weight){
+
+	set_mass(p_weight/9.8);
+}
+real_t RigidBody::get_weight() const{
+
+	return mass*9.8;
+}
+
+
+void RigidBody::set_friction(real_t p_friction){
+
+	ERR_FAIL_COND(p_friction<0 || p_friction>1);
+
+	friction=p_friction;
+	PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_FRICTION,friction);
+
+}
+real_t RigidBody::get_friction() const{
+
+	return friction;
+}
+
+void RigidBody::set_bounce(real_t p_bounce){
+
+	ERR_FAIL_COND(p_bounce<0 || p_bounce>1);
+
+	bounce=p_bounce;
+	PhysicsServer::get_singleton()->body_set_param(get_rid(),PhysicsServer::BODY_PARAM_BOUNCE,bounce);
+
+}
+real_t RigidBody::get_bounce() const{
+
+	return bounce;
+}
+
+void RigidBody::set_axis_velocity(const Vector3& p_axis) {
+
+	Vector3 v = state? state->get_linear_velocity() : linear_velocity;
+	Vector3 axis = p_axis.normalized();
+	v-=axis*axis.dot(v);
+	v+=p_axis;
+	if (state) {
+		set_linear_velocity(v);
+	} else {
+		PhysicsServer::get_singleton()->body_set_axis_velocity(get_rid(),p_axis);
+		linear_velocity=v;
+	}
+}
+
+void RigidBody::set_linear_velocity(const Vector3& p_velocity){
+
+	linear_velocity=p_velocity;
+	if (state)
+		state->set_linear_velocity(linear_velocity);
+	else
+		PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_LINEAR_VELOCITY,linear_velocity);
+
+}
+
+Vector3 RigidBody::get_linear_velocity() const{
+
+	return linear_velocity;
+}
+
+void RigidBody::set_angular_velocity(const Vector3& p_velocity){
+
+	angular_velocity=p_velocity;
+	if (state)
+		state->set_angular_velocity(angular_velocity);
+	else
+		PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_ANGULAR_VELOCITY,angular_velocity);
+}
+Vector3 RigidBody::get_angular_velocity() const{
+
+	return angular_velocity;
+}
+
+void RigidBody::set_use_custom_integrator(bool p_enable){
+
+	if (custom_integrator==p_enable)
+		return;
+
+	custom_integrator=p_enable;
+	PhysicsServer::get_singleton()->body_set_omit_force_integration(get_rid(),p_enable);
+
+
+}
+bool RigidBody::is_using_custom_integrator(){
+
+	return custom_integrator;
+}
+
+void RigidBody::set_active(bool p_active) {
+
+	active=p_active;
+	PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_SLEEPING,!active);
+
+}
+
+void RigidBody::set_can_sleep(bool p_active) {
+
+	can_sleep=p_active;
+	PhysicsServer::get_singleton()->body_set_state(get_rid(),PhysicsServer::BODY_STATE_CAN_SLEEP,p_active);
+}
+
+bool RigidBody::is_able_to_sleep() const {
+
+	return can_sleep;
+}
+
+bool RigidBody::is_active() const {
+
+	return active;
+}
+
+void RigidBody::set_max_contacts_reported(int p_amount) {
+
+	max_contacts_reported=p_amount;
+	PhysicsServer::get_singleton()->body_set_max_contacts_reported(get_rid(),p_amount);
+}
+
+int RigidBody::get_max_contacts_reported() const{
+
+	return max_contacts_reported;
+}
+
+void RigidBody::apply_impulse(const Vector3& p_pos, const Vector3& p_impulse) {
+
+	PhysicsServer::get_singleton()->body_apply_impulse(get_rid(),p_pos,p_impulse);
+}
+
+void RigidBody::set_use_continuous_collision_detection(bool p_enable) {
+
+	ccd=p_enable;
+	PhysicsServer::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(),p_enable);
+}
+
+bool RigidBody::is_using_continuous_collision_detection() const {
+
+
+	return ccd;
+}
+
+
+void RigidBody::set_contact_monitor(bool p_enabled) {
+
+	if (p_enabled==is_contact_monitor_enabled())
+		return;
+
+	if (!p_enabled) {
+
+		for(Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {
+
+			//clean up mess
+		}
+
+		memdelete( contact_monitor );
+		contact_monitor=NULL;
+	} else {
+
+		contact_monitor = memnew( ContactMonitor );
+	}
+
+}
+
+bool RigidBody::is_contact_monitor_enabled() const {
+
+	return contact_monitor!=NULL;
+}
+
+
+
+void RigidBody::_bind_methods() {
+
+	ObjectTypeDB::bind_method(_MD("set_mode","mode"),&RigidBody::set_mode);
+	ObjectTypeDB::bind_method(_MD("get_mode"),&RigidBody::get_mode);
+
+	ObjectTypeDB::bind_method(_MD("set_mass","mass"),&RigidBody::set_mass);
+	ObjectTypeDB::bind_method(_MD("get_mass"),&RigidBody::get_mass);
+
+	ObjectTypeDB::bind_method(_MD("set_weight","weight"),&RigidBody::set_weight);
+	ObjectTypeDB::bind_method(_MD("get_weight"),&RigidBody::get_weight);
+
+	ObjectTypeDB::bind_method(_MD("set_friction","friction"),&RigidBody::set_friction);
+	ObjectTypeDB::bind_method(_MD("get_friction"),&RigidBody::get_friction);
+
+	ObjectTypeDB::bind_method(_MD("set_bounce","bounce"),&RigidBody::set_bounce);
+	ObjectTypeDB::bind_method(_MD("get_bounce"),&RigidBody::get_bounce);
+
+	ObjectTypeDB::bind_method(_MD("set_linear_velocity","linear_velocity"),&RigidBody::set_linear_velocity);
+	ObjectTypeDB::bind_method(_MD("get_linear_velocity"),&RigidBody::get_linear_velocity);
+
+	ObjectTypeDB::bind_method(_MD("set_angular_velocity","angular_velocity"),&RigidBody::set_angular_velocity);
+	ObjectTypeDB::bind_method(_MD("get_angular_velocity"),&RigidBody::get_angular_velocity);
+
+	ObjectTypeDB::bind_method(_MD("set_max_contacts_reported","amount"),&RigidBody::set_max_contacts_reported);
+	ObjectTypeDB::bind_method(_MD("get_max_contacts_reported"),&RigidBody::get_max_contacts_reported);
+
+	ObjectTypeDB::bind_method(_MD("set_use_custom_integrator","enable"),&RigidBody::set_use_custom_integrator);
+	ObjectTypeDB::bind_method(_MD("is_using_custom_integrator"),&RigidBody::is_using_custom_integrator);
+
+	ObjectTypeDB::bind_method(_MD("set_contact_monitor","enabled"),&RigidBody::set_contact_monitor);
+	ObjectTypeDB::bind_method(_MD("is_contact_monitor_enabled"),&RigidBody::is_contact_monitor_enabled);
+
+	ObjectTypeDB::bind_method(_MD("set_use_continuous_collision_detection","enable"),&RigidBody::set_use_continuous_collision_detection);
+	ObjectTypeDB::bind_method(_MD("is_using_continuous_collision_detection"),&RigidBody::is_using_continuous_collision_detection);
+
+	ObjectTypeDB::bind_method(_MD("set_axis_velocity","axis_velocity"),&RigidBody::set_axis_velocity);
+	ObjectTypeDB::bind_method(_MD("apply_impulse","pos","impulse"),&RigidBody::apply_impulse);
+
+	ObjectTypeDB::bind_method(_MD("set_active","active"),&RigidBody::set_active);
+	ObjectTypeDB::bind_method(_MD("is_active"),&RigidBody::is_active);
+
+	ObjectTypeDB::bind_method(_MD("set_can_sleep","able_to_sleep"),&RigidBody::set_can_sleep);
+	ObjectTypeDB::bind_method(_MD("is_able_to_sleep"),&RigidBody::is_able_to_sleep);
+
+	ObjectTypeDB::bind_method(_MD("_direct_state_changed"),&RigidBody::_direct_state_changed);
+	ObjectTypeDB::bind_method(_MD("_body_enter_scene"),&RigidBody::_body_enter_scene);
+	ObjectTypeDB::bind_method(_MD("_body_exit_scene"),&RigidBody::_body_exit_scene);
+
+	BIND_VMETHOD(MethodInfo("_integrate_forces",PropertyInfo(Variant::OBJECT,"state:PhysicsDirectBodyState")));
+
+	ADD_PROPERTY( PropertyInfo(Variant::INT,"mode",PROPERTY_HINT_ENUM,"Rigid,Static,Character,Static Active"),_SCS("set_mode"),_SCS("get_mode"));
+	ADD_PROPERTY( PropertyInfo(Variant::REAL,"mass",PROPERTY_HINT_EXP_RANGE,"0.01,65535,0.01"),_SCS("set_mass"),_SCS("get_mass"));
+	ADD_PROPERTY( PropertyInfo(Variant::REAL,"weight",PROPERTY_HINT_EXP_RANGE,"0.01,65535,0.01",PROPERTY_USAGE_EDITOR),_SCS("set_weight"),_SCS("get_weight"));
+	ADD_PROPERTY( PropertyInfo(Variant::REAL,"friction",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
+	ADD_PROPERTY( PropertyInfo(Variant::REAL,"bounce",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_bounce"),_SCS("get_bounce"));
+	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"custom_integrator"),_SCS("set_use_custom_integrator"),_SCS("is_using_custom_integrator"));
+	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"continuous_cd"),_SCS("set_use_continuous_collision_detection"),_SCS("is_using_continuous_collision_detection"));
+	ADD_PROPERTY( PropertyInfo(Variant::INT,"contacts_reported"),_SCS("set_max_contacts_reported"),_SCS("get_max_contacts_reported"));
+	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"contact_monitor"),_SCS("set_contact_monitor"),_SCS("is_contact_monitor_enabled"));
+	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"active"),_SCS("set_active"),_SCS("is_active"));
+	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"can_sleep"),_SCS("set_can_sleep"),_SCS("is_able_to_sleep"));
+	ADD_PROPERTY( PropertyInfo(Variant::VECTOR3,"velocity/linear"),_SCS("set_linear_velocity"),_SCS("get_linear_velocity"));
+	ADD_PROPERTY( PropertyInfo(Variant::VECTOR3,"velocity/angular"),_SCS("set_angular_velocity"),_SCS("get_angular_velocity"));
+
+	ADD_SIGNAL( MethodInfo("body_enter_shape",PropertyInfo(Variant::INT,"body_id"),PropertyInfo(Variant::OBJECT,"body"),PropertyInfo(Variant::INT,"body_shape"),PropertyInfo(Variant::INT,"local_shape")));
+	ADD_SIGNAL( MethodInfo("body_exit_shape",PropertyInfo(Variant::INT,"body_id"),PropertyInfo(Variant::OBJECT,"body"),PropertyInfo(Variant::INT,"body_shape"),PropertyInfo(Variant::INT,"local_shape")));
+	ADD_SIGNAL( MethodInfo("body_enter",PropertyInfo(Variant::OBJECT,"body")));
+	ADD_SIGNAL( MethodInfo("body_exit",PropertyInfo(Variant::OBJECT,"body")));
+
+	BIND_CONSTANT( MODE_STATIC );
+	BIND_CONSTANT( MODE_STATIC_ACTIVE );
+	BIND_CONSTANT( MODE_RIGID );
+	BIND_CONSTANT( MODE_CHARACTER );
+}
+
+RigidBody::RigidBody() : PhysicsBody(PhysicsServer::BODY_MODE_RIGID) {
+
+	mode=MODE_RIGID;
+
+	bounce=0;
+	mass=1;
+	friction=1;
+	max_contacts_reported=0;
+	state=NULL;
+
+	//angular_velocity=0;
+	active=true;
+	ccd=false;
+
+	custom_integrator=false;
+	contact_monitor=NULL;
+	can_sleep=true;
+
+	PhysicsServer::get_singleton()->body_set_force_integration_callback(get_rid(),this,"_direct_state_changed");
+}
+
+RigidBody::~RigidBody() {
+
+	if (contact_monitor)
+		memdelete( contact_monitor );
+
+
+
+}
+