mirror of
https://github.com/godotengine/godot
synced 2024-09-05 02:58:26 +00:00
fffc6aba58
Resolved a problem with PhysicsDirectBodyState3D sometimes returning incorrect contact positions and added a new get_contact_local_velocity_at_position method to compliment the existing one for the collider.
432 lines
18 KiB
C++
432 lines
18 KiB
C++
/**************************************************************************/
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/* physics_server_3d_extension.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "physics_server_3d_extension.h"
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bool PhysicsDirectSpaceState3DExtension::is_body_excluded_from_query(const RID &p_body) const {
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return exclude && exclude->has(p_body);
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}
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thread_local const HashSet<RID> *PhysicsDirectSpaceState3DExtension::exclude = nullptr;
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void PhysicsDirectSpaceState3DExtension::_bind_methods() {
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ClassDB::bind_method(D_METHOD("is_body_excluded_from_query", "body"), &PhysicsDirectSpaceState3DExtension::is_body_excluded_from_query);
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GDVIRTUAL_BIND(_intersect_ray, "from", "to", "collision_mask", "collide_with_bodies", "collide_with_areas", "hit_from_inside", "hit_back_faces", "pick_ray", "result");
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GDVIRTUAL_BIND(_intersect_point, "position", "collision_mask", "collide_with_bodies", "collide_with_areas", "results", "max_results");
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GDVIRTUAL_BIND(_intersect_shape, "shape_rid", "transform", "motion", "margin", "collision_mask", "collide_with_bodies", "collide_with_areas", "result_count", "max_results");
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GDVIRTUAL_BIND(_cast_motion, "shape_rid", "transform", "motion", "margin", "collision_mask", "collide_with_bodies", "collide_with_areas", "closest_safe", "closest_unsafe", "info");
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GDVIRTUAL_BIND(_collide_shape, "shape_rid", "transform", "motion", "margin", "collision_mask", "collide_with_bodies", "collide_with_areas", "results", "max_results", "result_count");
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GDVIRTUAL_BIND(_rest_info, "shape_rid", "transform", "motion", "margin", "collision_mask", "collide_with_bodies", "collide_with_areas", "rest_info");
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GDVIRTUAL_BIND(_get_closest_point_to_object_volume, "object", "point");
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}
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PhysicsDirectSpaceState3DExtension::PhysicsDirectSpaceState3DExtension() {
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}
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void PhysicsDirectBodyState3DExtension::_bind_methods() {
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GDVIRTUAL_BIND(_get_total_gravity);
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GDVIRTUAL_BIND(_get_total_linear_damp);
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GDVIRTUAL_BIND(_get_total_angular_damp);
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GDVIRTUAL_BIND(_get_center_of_mass);
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GDVIRTUAL_BIND(_get_center_of_mass_local);
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GDVIRTUAL_BIND(_get_principal_inertia_axes);
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GDVIRTUAL_BIND(_get_inverse_mass);
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GDVIRTUAL_BIND(_get_inverse_inertia);
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GDVIRTUAL_BIND(_get_inverse_inertia_tensor);
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GDVIRTUAL_BIND(_set_linear_velocity, "velocity");
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GDVIRTUAL_BIND(_get_linear_velocity);
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GDVIRTUAL_BIND(_set_angular_velocity, "velocity");
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GDVIRTUAL_BIND(_get_angular_velocity);
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GDVIRTUAL_BIND(_set_transform, "transform");
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GDVIRTUAL_BIND(_get_transform);
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GDVIRTUAL_BIND(_get_velocity_at_local_position, "local_position");
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GDVIRTUAL_BIND(_apply_central_impulse, "impulse");
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GDVIRTUAL_BIND(_apply_impulse, "impulse", "position");
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GDVIRTUAL_BIND(_apply_torque_impulse, "impulse");
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GDVIRTUAL_BIND(_apply_central_force, "force");
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GDVIRTUAL_BIND(_apply_force, "force", "position");
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GDVIRTUAL_BIND(_apply_torque, "torque");
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GDVIRTUAL_BIND(_add_constant_central_force, "force");
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GDVIRTUAL_BIND(_add_constant_force, "force", "position");
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GDVIRTUAL_BIND(_add_constant_torque, "torque");
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GDVIRTUAL_BIND(_set_constant_force, "force");
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GDVIRTUAL_BIND(_get_constant_force);
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GDVIRTUAL_BIND(_set_constant_torque, "torque");
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GDVIRTUAL_BIND(_get_constant_torque);
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GDVIRTUAL_BIND(_set_sleep_state, "enabled");
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GDVIRTUAL_BIND(_is_sleeping);
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GDVIRTUAL_BIND(_get_contact_count);
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GDVIRTUAL_BIND(_get_contact_local_position, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_local_normal, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_impulse, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_local_shape, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_local_velocity_at_position, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_collider, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_collider_position, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_collider_id, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_collider_object, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_collider_shape, "contact_idx");
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GDVIRTUAL_BIND(_get_contact_collider_velocity_at_position, "contact_idx");
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GDVIRTUAL_BIND(_get_step);
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GDVIRTUAL_BIND(_integrate_forces);
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GDVIRTUAL_BIND(_get_space_state);
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}
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PhysicsDirectBodyState3DExtension::PhysicsDirectBodyState3DExtension() {
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}
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thread_local const HashSet<RID> *PhysicsServer3DExtension::exclude_bodies = nullptr;
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thread_local const HashSet<ObjectID> *PhysicsServer3DExtension::exclude_objects = nullptr;
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bool PhysicsServer3DExtension::body_test_motion_is_excluding_body(RID p_body) const {
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return exclude_bodies && exclude_bodies->has(p_body);
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}
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bool PhysicsServer3DExtension::body_test_motion_is_excluding_object(ObjectID p_object) const {
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return exclude_objects && exclude_objects->has(p_object);
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}
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void PhysicsServer3DExtension::_bind_methods() {
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/* SHAPE API */
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GDVIRTUAL_BIND(_world_boundary_shape_create);
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GDVIRTUAL_BIND(_separation_ray_shape_create);
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GDVIRTUAL_BIND(_sphere_shape_create);
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GDVIRTUAL_BIND(_box_shape_create);
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GDVIRTUAL_BIND(_capsule_shape_create);
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GDVIRTUAL_BIND(_cylinder_shape_create);
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GDVIRTUAL_BIND(_convex_polygon_shape_create);
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GDVIRTUAL_BIND(_concave_polygon_shape_create);
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GDVIRTUAL_BIND(_heightmap_shape_create);
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GDVIRTUAL_BIND(_custom_shape_create);
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GDVIRTUAL_BIND(_shape_set_data, "shape", "data");
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GDVIRTUAL_BIND(_shape_set_custom_solver_bias, "shape", "bias");
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GDVIRTUAL_BIND(_shape_set_margin, "shape", "margin");
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GDVIRTUAL_BIND(_shape_get_margin, "shape");
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GDVIRTUAL_BIND(_shape_get_type, "shape");
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GDVIRTUAL_BIND(_shape_get_data, "shape");
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GDVIRTUAL_BIND(_shape_get_custom_solver_bias, "shape");
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/* SPACE API */
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GDVIRTUAL_BIND(_space_create);
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GDVIRTUAL_BIND(_space_set_active, "space", "active");
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GDVIRTUAL_BIND(_space_is_active, "space");
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GDVIRTUAL_BIND(_space_set_param, "space", "param", "value");
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GDVIRTUAL_BIND(_space_get_param, "space", "param");
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GDVIRTUAL_BIND(_space_get_direct_state, "space");
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GDVIRTUAL_BIND(_space_set_debug_contacts, "space", "max_contacts");
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GDVIRTUAL_BIND(_space_get_contacts, "space");
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GDVIRTUAL_BIND(_space_get_contact_count, "space");
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/* AREA API */
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GDVIRTUAL_BIND(_area_create);
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GDVIRTUAL_BIND(_area_set_space, "area", "space");
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GDVIRTUAL_BIND(_area_get_space, "area");
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GDVIRTUAL_BIND(_area_add_shape, "area", "shape", "transform", "disabled");
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GDVIRTUAL_BIND(_area_set_shape, "area", "shape_idx", "shape");
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GDVIRTUAL_BIND(_area_set_shape_transform, "area", "shape_idx", "transform");
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GDVIRTUAL_BIND(_area_set_shape_disabled, "area", "shape_idx", "disabled");
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GDVIRTUAL_BIND(_area_get_shape_count, "area");
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GDVIRTUAL_BIND(_area_get_shape, "area", "shape_idx");
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GDVIRTUAL_BIND(_area_get_shape_transform, "area", "shape_idx");
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GDVIRTUAL_BIND(_area_remove_shape, "area", "shape_idx");
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GDVIRTUAL_BIND(_area_clear_shapes, "area");
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GDVIRTUAL_BIND(_area_attach_object_instance_id, "area", "id");
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GDVIRTUAL_BIND(_area_get_object_instance_id, "area");
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GDVIRTUAL_BIND(_area_set_param, "area", "param", "value");
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GDVIRTUAL_BIND(_area_set_transform, "area", "transform");
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GDVIRTUAL_BIND(_area_get_param, "area", "param");
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GDVIRTUAL_BIND(_area_get_transform, "area");
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GDVIRTUAL_BIND(_area_set_collision_layer, "area", "layer");
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GDVIRTUAL_BIND(_area_get_collision_layer, "area");
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GDVIRTUAL_BIND(_area_set_collision_mask, "area", "mask");
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GDVIRTUAL_BIND(_area_get_collision_mask, "area");
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GDVIRTUAL_BIND(_area_set_monitorable, "area", "monitorable");
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GDVIRTUAL_BIND(_area_set_ray_pickable, "area", "enable");
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GDVIRTUAL_BIND(_area_set_monitor_callback, "area", "callback");
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GDVIRTUAL_BIND(_area_set_area_monitor_callback, "area", "callback");
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/* BODY API */
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ClassDB::bind_method(D_METHOD("body_test_motion_is_excluding_body", "body"), &PhysicsServer3DExtension::body_test_motion_is_excluding_body);
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ClassDB::bind_method(D_METHOD("body_test_motion_is_excluding_object", "object"), &PhysicsServer3DExtension::body_test_motion_is_excluding_object);
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GDVIRTUAL_BIND(_body_create);
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GDVIRTUAL_BIND(_body_set_space, "body", "space");
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GDVIRTUAL_BIND(_body_get_space, "body");
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GDVIRTUAL_BIND(_body_set_mode, "body", "mode");
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GDVIRTUAL_BIND(_body_get_mode, "body");
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GDVIRTUAL_BIND(_body_add_shape, "body", "shape", "transform", "disabled");
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GDVIRTUAL_BIND(_body_set_shape, "body", "shape_idx", "shape");
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GDVIRTUAL_BIND(_body_set_shape_transform, "body", "shape_idx", "transform");
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GDVIRTUAL_BIND(_body_set_shape_disabled, "body", "shape_idx", "disabled");
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GDVIRTUAL_BIND(_body_get_shape_count, "body");
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GDVIRTUAL_BIND(_body_get_shape, "body", "shape_idx");
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GDVIRTUAL_BIND(_body_get_shape_transform, "body", "shape_idx");
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GDVIRTUAL_BIND(_body_remove_shape, "body", "shape_idx");
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GDVIRTUAL_BIND(_body_clear_shapes, "body");
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GDVIRTUAL_BIND(_body_attach_object_instance_id, "body", "id");
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GDVIRTUAL_BIND(_body_get_object_instance_id, "body");
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GDVIRTUAL_BIND(_body_set_enable_continuous_collision_detection, "body", "enable");
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GDVIRTUAL_BIND(_body_is_continuous_collision_detection_enabled, "body");
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GDVIRTUAL_BIND(_body_set_collision_layer, "body", "layer");
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GDVIRTUAL_BIND(_body_get_collision_layer, "body");
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GDVIRTUAL_BIND(_body_set_collision_mask, "body", "mask");
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GDVIRTUAL_BIND(_body_get_collision_mask, "body");
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GDVIRTUAL_BIND(_body_set_collision_priority, "body", "priority");
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GDVIRTUAL_BIND(_body_get_collision_priority, "body");
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GDVIRTUAL_BIND(_body_set_user_flags, "body", "flags");
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GDVIRTUAL_BIND(_body_get_user_flags, "body");
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GDVIRTUAL_BIND(_body_set_param, "body", "param", "value");
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GDVIRTUAL_BIND(_body_get_param, "body", "param");
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GDVIRTUAL_BIND(_body_reset_mass_properties, "body");
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GDVIRTUAL_BIND(_body_set_state, "body", "state", "value");
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GDVIRTUAL_BIND(_body_get_state, "body", "state");
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GDVIRTUAL_BIND(_body_apply_central_impulse, "body", "impulse");
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GDVIRTUAL_BIND(_body_apply_impulse, "body", "impulse", "position");
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GDVIRTUAL_BIND(_body_apply_torque_impulse, "body", "impulse");
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GDVIRTUAL_BIND(_body_apply_central_force, "body", "force");
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GDVIRTUAL_BIND(_body_apply_force, "body", "force", "position");
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GDVIRTUAL_BIND(_body_apply_torque, "body", "torque");
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GDVIRTUAL_BIND(_body_add_constant_central_force, "body", "force");
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GDVIRTUAL_BIND(_body_add_constant_force, "body", "force", "position");
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GDVIRTUAL_BIND(_body_add_constant_torque, "body", "torque");
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GDVIRTUAL_BIND(_body_set_constant_force, "body", "force");
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GDVIRTUAL_BIND(_body_get_constant_force, "body");
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GDVIRTUAL_BIND(_body_set_constant_torque, "body", "torque");
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GDVIRTUAL_BIND(_body_get_constant_torque, "body");
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GDVIRTUAL_BIND(_body_set_axis_velocity, "body", "axis_velocity");
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GDVIRTUAL_BIND(_body_set_axis_lock, "body", "axis", "lock");
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GDVIRTUAL_BIND(_body_is_axis_locked, "body", "axis");
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GDVIRTUAL_BIND(_body_add_collision_exception, "body", "excepted_body");
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GDVIRTUAL_BIND(_body_remove_collision_exception, "body", "excepted_body");
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GDVIRTUAL_BIND(_body_get_collision_exceptions, "body");
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GDVIRTUAL_BIND(_body_set_max_contacts_reported, "body", "amount");
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GDVIRTUAL_BIND(_body_get_max_contacts_reported, "body");
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GDVIRTUAL_BIND(_body_set_contacts_reported_depth_threshold, "body", "threshold");
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GDVIRTUAL_BIND(_body_get_contacts_reported_depth_threshold, "body");
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GDVIRTUAL_BIND(_body_set_omit_force_integration, "body", "enable");
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GDVIRTUAL_BIND(_body_is_omitting_force_integration, "body");
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GDVIRTUAL_BIND(_body_set_state_sync_callback, "body", "callable");
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GDVIRTUAL_BIND(_body_set_force_integration_callback, "body", "callable", "userdata");
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GDVIRTUAL_BIND(_body_set_ray_pickable, "body", "enable");
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GDVIRTUAL_BIND(_body_test_motion, "body", "from", "motion", "margin", "max_collisions", "collide_separation_ray", "recovery_as_collision", "result");
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GDVIRTUAL_BIND(_body_get_direct_state, "body");
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/* SOFT BODY API */
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GDVIRTUAL_BIND(_soft_body_create);
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GDVIRTUAL_BIND(_soft_body_update_rendering_server, "body", "rendering_server_handler");
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GDVIRTUAL_BIND(_soft_body_set_space, "body", "space");
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GDVIRTUAL_BIND(_soft_body_get_space, "body");
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GDVIRTUAL_BIND(_soft_body_set_ray_pickable, "body", "enable");
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GDVIRTUAL_BIND(_soft_body_set_collision_layer, "body", "layer");
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GDVIRTUAL_BIND(_soft_body_get_collision_layer, "body");
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GDVIRTUAL_BIND(_soft_body_set_collision_mask, "body", "mask");
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GDVIRTUAL_BIND(_soft_body_get_collision_mask, "body");
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GDVIRTUAL_BIND(_soft_body_add_collision_exception, "body", "body_b");
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GDVIRTUAL_BIND(_soft_body_remove_collision_exception, "body", "body_b");
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GDVIRTUAL_BIND(_soft_body_get_collision_exceptions, "body");
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GDVIRTUAL_BIND(_soft_body_set_state, "body", "state", "variant");
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GDVIRTUAL_BIND(_soft_body_get_state, "body", "state");
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GDVIRTUAL_BIND(_soft_body_set_transform, "body", "transform");
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GDVIRTUAL_BIND(_soft_body_set_simulation_precision, "body", "simulation_precision");
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GDVIRTUAL_BIND(_soft_body_get_simulation_precision, "body");
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GDVIRTUAL_BIND(_soft_body_set_total_mass, "body", "total_mass");
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GDVIRTUAL_BIND(_soft_body_get_total_mass, "body");
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GDVIRTUAL_BIND(_soft_body_set_linear_stiffness, "body", "linear_stiffness");
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GDVIRTUAL_BIND(_soft_body_get_linear_stiffness, "body");
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GDVIRTUAL_BIND(_soft_body_set_pressure_coefficient, "body", "pressure_coefficient");
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GDVIRTUAL_BIND(_soft_body_get_pressure_coefficient, "body");
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GDVIRTUAL_BIND(_soft_body_set_damping_coefficient, "body", "damping_coefficient");
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GDVIRTUAL_BIND(_soft_body_get_damping_coefficient, "body");
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GDVIRTUAL_BIND(_soft_body_set_drag_coefficient, "body", "drag_coefficient");
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GDVIRTUAL_BIND(_soft_body_get_drag_coefficient, "body");
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GDVIRTUAL_BIND(_soft_body_set_mesh, "body", "mesh");
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GDVIRTUAL_BIND(_soft_body_get_bounds, "body");
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GDVIRTUAL_BIND(_soft_body_move_point, "body", "point_index", "global_position");
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GDVIRTUAL_BIND(_soft_body_get_point_global_position, "body", "point_index");
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GDVIRTUAL_BIND(_soft_body_remove_all_pinned_points, "body");
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GDVIRTUAL_BIND(_soft_body_pin_point, "body", "point_index", "pin");
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GDVIRTUAL_BIND(_soft_body_is_point_pinned, "body", "point_index");
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/* JOINT API */
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GDVIRTUAL_BIND(_joint_create);
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GDVIRTUAL_BIND(_joint_clear, "joint");
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GDVIRTUAL_BIND(_joint_make_pin, "joint", "body_A", "local_A", "body_B", "local_B");
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GDVIRTUAL_BIND(_pin_joint_set_param, "joint", "param", "value");
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GDVIRTUAL_BIND(_pin_joint_get_param, "joint", "param");
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GDVIRTUAL_BIND(_pin_joint_set_local_a, "joint", "local_A");
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GDVIRTUAL_BIND(_pin_joint_get_local_a, "joint");
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GDVIRTUAL_BIND(_pin_joint_set_local_b, "joint", "local_B");
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GDVIRTUAL_BIND(_pin_joint_get_local_b, "joint");
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GDVIRTUAL_BIND(_joint_make_hinge, "joint", "body_A", "hinge_A", "body_B", "hinge_B");
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GDVIRTUAL_BIND(_joint_make_hinge_simple, "joint", "body_A", "pivot_A", "axis_A", "body_B", "pivot_B", "axis_B");
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GDVIRTUAL_BIND(_hinge_joint_set_param, "joint", "param", "value");
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GDVIRTUAL_BIND(_hinge_joint_get_param, "joint", "param");
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|
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GDVIRTUAL_BIND(_hinge_joint_set_flag, "joint", "flag", "enabled");
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|
GDVIRTUAL_BIND(_hinge_joint_get_flag, "joint", "flag");
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|
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|
GDVIRTUAL_BIND(_joint_make_slider, "joint", "body_A", "local_ref_A", "body_B", "local_ref_B");
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|
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GDVIRTUAL_BIND(_slider_joint_set_param, "joint", "param", "value");
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|
GDVIRTUAL_BIND(_slider_joint_get_param, "joint", "param");
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|
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|
GDVIRTUAL_BIND(_joint_make_cone_twist, "joint", "body_A", "local_ref_A", "body_B", "local_ref_B");
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|
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GDVIRTUAL_BIND(_cone_twist_joint_set_param, "joint", "param", "value");
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|
GDVIRTUAL_BIND(_cone_twist_joint_get_param, "joint", "param");
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|
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|
GDVIRTUAL_BIND(_joint_make_generic_6dof, "joint", "body_A", "local_ref_A", "body_B", "local_ref_B");
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|
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GDVIRTUAL_BIND(_generic_6dof_joint_set_param, "joint", "axis", "param", "value");
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|
GDVIRTUAL_BIND(_generic_6dof_joint_get_param, "joint", "axis", "param");
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|
|
|
GDVIRTUAL_BIND(_generic_6dof_joint_set_flag, "joint", "axis", "flag", "enable");
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|
GDVIRTUAL_BIND(_generic_6dof_joint_get_flag, "joint", "axis", "flag");
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|
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GDVIRTUAL_BIND(_joint_get_type, "joint");
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|
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|
GDVIRTUAL_BIND(_joint_set_solver_priority, "joint", "priority");
|
|
GDVIRTUAL_BIND(_joint_get_solver_priority, "joint");
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|
|
|
GDVIRTUAL_BIND(_joint_disable_collisions_between_bodies, "joint", "disable");
|
|
GDVIRTUAL_BIND(_joint_is_disabled_collisions_between_bodies, "joint");
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|
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|
GDVIRTUAL_BIND(_free_rid, "rid");
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|
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GDVIRTUAL_BIND(_set_active, "active");
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|
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GDVIRTUAL_BIND(_init);
|
|
GDVIRTUAL_BIND(_step, "step");
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|
GDVIRTUAL_BIND(_sync);
|
|
GDVIRTUAL_BIND(_flush_queries);
|
|
GDVIRTUAL_BIND(_end_sync);
|
|
GDVIRTUAL_BIND(_finish);
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|
|
|
GDVIRTUAL_BIND(_is_flushing_queries);
|
|
GDVIRTUAL_BIND(_get_process_info, "process_info");
|
|
}
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|
|
|
PhysicsServer3DExtension::PhysicsServer3DExtension() {
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|
}
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|
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PhysicsServer3DExtension::~PhysicsServer3DExtension() {
|
|
}
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