1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
|
/**************************************************************************/
/* rigid_body_3d.h */
/**************************************************************************/
/* This file is part of: */
/* REDOT ENGINE */
/* https://redotengine.org */
/**************************************************************************/
/* Copyright (c) 2024-present Redot Engine contributors */
/* (see REDOT_AUTHORS.md) */
/* 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. */
/**************************************************************************/
#ifndef RIGID_BODY_3D_H
#define RIGID_BODY_3D_H
#include "scene/3d/physics/static_body_3d.h"
class RigidBody3D : public PhysicsBody3D {
GDCLASS(RigidBody3D, PhysicsBody3D);
public:
enum FreezeMode {
FREEZE_MODE_STATIC,
FREEZE_MODE_KINEMATIC,
};
enum CenterOfMassMode {
CENTER_OF_MASS_MODE_AUTO,
CENTER_OF_MASS_MODE_CUSTOM,
};
enum DampMode {
DAMP_MODE_COMBINE,
DAMP_MODE_REPLACE,
};
private:
bool can_sleep = true;
bool lock_rotation = false;
bool freeze = false;
FreezeMode freeze_mode = FREEZE_MODE_STATIC;
real_t mass = 1.0;
Vector3 inertia;
CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
Vector3 center_of_mass;
Ref<PhysicsMaterial> physics_material_override;
Vector3 linear_velocity;
Vector3 angular_velocity;
Basis inverse_inertia_tensor;
real_t gravity_scale = 1.0;
DampMode linear_damp_mode = DAMP_MODE_COMBINE;
DampMode angular_damp_mode = DAMP_MODE_COMBINE;
real_t linear_damp = 0.0;
real_t angular_damp = 0.0;
bool sleeping = false;
bool ccd = false;
int max_contacts_reported = 0;
int contact_count = 0;
bool custom_integrator = false;
struct ShapePair {
int body_shape = 0;
int local_shape = 0;
bool tagged = false;
bool operator<(const ShapePair &p_sp) const {
if (body_shape == p_sp.body_shape) {
return local_shape < p_sp.local_shape;
} else {
return body_shape < p_sp.body_shape;
}
}
ShapePair() {}
ShapePair(int p_bs, int p_ls) {
body_shape = p_bs;
local_shape = p_ls;
tagged = false;
}
};
struct RigidBody3D_RemoveAction {
RID rid;
ObjectID body_id;
ShapePair pair;
};
struct BodyState {
RID rid;
//int rc;
bool in_tree = false;
VSet<ShapePair> shapes;
};
struct ContactMonitor {
bool locked = false;
HashMap<ObjectID, BodyState> body_map;
};
ContactMonitor *contact_monitor = nullptr;
void _body_enter_tree(ObjectID p_id);
void _body_exit_tree(ObjectID p_id);
void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
void _sync_body_state(PhysicsDirectBodyState3D *p_state);
protected:
void _notification(int p_what);
static void _bind_methods();
void _validate_property(PropertyInfo &p_property) const;
GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
void _apply_body_mode();
public:
void set_lock_rotation_enabled(bool p_lock_rotation);
bool is_lock_rotation_enabled() const;
void set_freeze_enabled(bool p_freeze);
bool is_freeze_enabled() const;
void set_freeze_mode(FreezeMode p_freeze_mode);
FreezeMode get_freeze_mode() const;
void set_mass(real_t p_mass);
real_t get_mass() const;
virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
void set_inertia(const Vector3 &p_inertia);
const Vector3 &get_inertia() const;
void set_center_of_mass_mode(CenterOfMassMode p_mode);
CenterOfMassMode get_center_of_mass_mode() const;
void set_center_of_mass(const Vector3 &p_center_of_mass);
const Vector3 &get_center_of_mass() const;
void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
Ref<PhysicsMaterial> get_physics_material_override() const;
void set_linear_velocity(const Vector3 &p_velocity);
Vector3 get_linear_velocity() const override;
void set_axis_velocity(const Vector3 &p_axis);
void set_angular_velocity(const Vector3 &p_velocity);
Vector3 get_angular_velocity() const override;
Basis get_inverse_inertia_tensor() const;
void set_gravity_scale(real_t p_gravity_scale);
real_t get_gravity_scale() const;
void set_linear_damp_mode(DampMode p_mode);
DampMode get_linear_damp_mode() const;
void set_angular_damp_mode(DampMode p_mode);
DampMode get_angular_damp_mode() const;
void set_linear_damp(real_t p_linear_damp);
real_t get_linear_damp() const;
void set_angular_damp(real_t p_angular_damp);
real_t get_angular_damp() const;
void set_use_custom_integrator(bool p_enable);
bool is_using_custom_integrator();
void set_sleeping(bool p_sleeping);
bool is_sleeping() const;
void set_can_sleep(bool p_active);
bool is_able_to_sleep() const;
void set_contact_monitor(bool p_enabled);
bool is_contact_monitor_enabled() const;
void set_max_contacts_reported(int p_amount);
int get_max_contacts_reported() const;
int get_contact_count() const;
void set_use_continuous_collision_detection(bool p_enable);
bool is_using_continuous_collision_detection() const;
TypedArray<Node3D> get_colliding_bodies() const;
void apply_central_impulse(const Vector3 &p_impulse);
void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
void apply_torque_impulse(const Vector3 &p_impulse);
void apply_central_force(const Vector3 &p_force);
void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
void apply_torque(const Vector3 &p_torque);
void add_constant_central_force(const Vector3 &p_force);
void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
void add_constant_torque(const Vector3 &p_torque);
void set_constant_force(const Vector3 &p_force);
Vector3 get_constant_force() const;
void set_constant_torque(const Vector3 &p_torque);
Vector3 get_constant_torque() const;
virtual PackedStringArray get_configuration_warnings() const override;
RigidBody3D();
~RigidBody3D();
private:
void _reload_physics_characteristics();
};
VARIANT_ENUM_CAST(RigidBody3D::FreezeMode);
VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode);
VARIANT_ENUM_CAST(RigidBody3D::DampMode);
#endif // RIGID_BODY_3D_H
|
