initial commit, 4.5 stable

modules/jolt_physics/objects/jolt_body_3d.h

@@ -0,0 +1,309 @@
+/**************************************************************************/
+/*  jolt_body_3d.h                                                        */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#pragma once
+
+#include "jolt_physics_direct_body_state_3d.h"
+#include "jolt_shaped_object_3d.h"
+
+class JoltArea3D;
+class JoltJoint3D;
+class JoltSoftBody3D;
+
+class JoltBody3D final : public JoltShapedObject3D {
+public:
+	typedef PhysicsServer3D::BodyDampMode DampMode;
+
+	struct Contact {
+		Vector3 normal;
+		Vector3 position;
+		Vector3 collider_position;
+		Vector3 velocity;
+		Vector3 collider_velocity;
+		Vector3 impulse;
+		ObjectID collider_id;
+		RID collider_rid;
+		float depth = 0.0f;
+		int shape_index = 0;
+		int collider_shape_index = 0;
+	};
+
+private:
+	friend class JoltBodyActivationListener3D;
+
+	SelfList<JoltBody3D> call_queries_element;
+
+	LocalVector<RID> exceptions;
+	LocalVector<Contact> contacts;
+	LocalVector<JoltArea3D *> areas;
+	LocalVector<JoltJoint3D *> joints;
+
+	Variant custom_integration_userdata;
+
+	Transform3D kinematic_transform;
+
+	Vector3 inertia;
+	Vector3 center_of_mass_custom;
+	Vector3 constant_force;
+	Vector3 constant_torque;
+	Vector3 linear_surface_velocity;
+	Vector3 angular_surface_velocity;
+	Vector3 gravity;
+
+	Callable state_sync_callback;
+	Callable custom_integration_callback;
+
+	JoltPhysicsDirectBodyState3D *direct_state = nullptr;
+
+	PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_RIGID;
+
+	DampMode linear_damp_mode = PhysicsServer3D::BODY_DAMP_MODE_COMBINE;
+	DampMode angular_damp_mode = PhysicsServer3D::BODY_DAMP_MODE_COMBINE;
+
+	float mass = 1.0f;
+	float linear_damp = 0.0f;
+	float angular_damp = 0.0f;
+	float total_linear_damp = 0.0f;
+	float total_angular_damp = 0.0f;
+	float gravity_scale = 1.0f;
+	float collision_priority = 1.0f;
+
+	int contact_count = 0;
+
+	uint32_t locked_axes = 0;
+
+	bool sleep_allowed = true;
+	bool sleep_initially = false;
+	bool custom_center_of_mass = false;
+	bool custom_integrator = false;
+
+	virtual JPH::BroadPhaseLayer _get_broad_phase_layer() const override;
+	virtual JPH::ObjectLayer _get_object_layer() const override;
+
+	virtual JPH::EMotionType _get_motion_type() const override;
+
+	virtual void _add_to_space() override;
+
+	bool _should_call_queries() const { return state_sync_callback.is_valid() || custom_integration_callback.is_valid(); }
+	void _enqueue_call_queries();
+	void _dequeue_call_queries();
+
+	void _integrate_forces(float p_step, JPH::Body &p_jolt_body);
+	void _move_kinematic(float p_step, JPH::Body &p_jolt_body);
+
+	JPH::EAllowedDOFs _calculate_allowed_dofs() const;
+
+	JPH::MassProperties _calculate_mass_properties(const JPH::Shape &p_shape) const;
+	JPH::MassProperties _calculate_mass_properties() const;
+
+	void _on_wake_up();
+
+	void _update_mass_properties();
+	void _update_gravity(JPH::Body &p_jolt_body);
+	void _update_damp();
+	void _update_kinematic_transform();
+	void _update_group_filter();
+	void _update_joint_constraints();
+	void _update_possible_kinematic_contacts();
+	void _update_sleep_allowed();
+
+	void _destroy_joint_constraints();
+
+	void _exit_all_areas();
+
+	void _mode_changed();
+	virtual void _shapes_committed() override;
+	virtual void _space_changing() override;
+	virtual void _space_changed() override;
+	void _areas_changed();
+	void _joints_changed();
+	void _transform_changed();
+	void _motion_changed();
+	void _exceptions_changed();
+	void _axis_lock_changed();
+	void _contact_reporting_changed();
+	void _sleep_allowed_changed();
+
+public:
+	JoltBody3D();
+	virtual ~JoltBody3D() override;
+
+	void set_transform(Transform3D p_transform);
+
+	Variant get_state(PhysicsServer3D::BodyState p_state) const;
+	void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_value);
+
+	Variant get_param(PhysicsServer3D::BodyParameter p_param) const;
+	void set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value);
+
+	bool has_state_sync_callback() const { return state_sync_callback.is_valid(); }
+	void set_state_sync_callback(const Callable &p_callback) { state_sync_callback = p_callback; }
+
+	bool has_custom_integration_callback() const { return custom_integration_callback.is_valid(); }
+	void set_custom_integration_callback(const Callable &p_callback, const Variant &p_userdata) {
+		custom_integration_callback = p_callback;
+		custom_integration_userdata = p_userdata;
+	}
+
+	bool has_custom_integrator() const { return custom_integrator; }
+	void set_custom_integrator(bool p_enabled);
+
+	bool is_sleeping() const;
+	void set_is_sleeping(bool p_enabled);
+
+	void put_to_sleep() { set_is_sleeping(true); }
+	void wake_up() { set_is_sleeping(false); }
+
+	bool is_sleep_allowed() const { return sleep_allowed; }
+	bool is_sleep_actually_allowed() const;
+	void set_is_sleep_allowed(bool p_enabled);
+
+	Basis get_principal_inertia_axes() const;
+	Vector3 get_inverse_inertia() const;
+	Basis get_inverse_inertia_tensor() const;
+
+	void set_linear_velocity(const Vector3 &p_velocity);
+	void set_angular_velocity(const Vector3 &p_velocity);
+	void set_axis_velocity(const Vector3 &p_axis_velocity);
+
+	virtual Vector3 get_velocity_at_position(const Vector3 &p_position) const override;
+
+	virtual bool has_custom_center_of_mass() const override { return custom_center_of_mass; }
+	virtual Vector3 get_center_of_mass_custom() const override { return center_of_mass_custom; }
+	void set_center_of_mass_custom(const Vector3 &p_center_of_mass);
+
+	int get_max_contacts_reported() const { return contacts.size(); }
+	void set_max_contacts_reported(int p_count);
+
+	int get_contact_count() const { return contact_count; }
+	const Contact &get_contact(int p_index) { return contacts[p_index]; }
+	virtual bool reports_contacts() const override { return !contacts.is_empty(); }
+
+	bool reports_all_kinematic_contacts() const;
+
+	void add_contact(const JoltBody3D *p_collider, float p_depth, int p_shape_index, int p_collider_shape_index, const Vector3 &p_normal, const Vector3 &p_position, const Vector3 &p_collider_position, const Vector3 &p_velocity, const Vector3 &p_collider_velocity, const Vector3 &p_impulse);
+
+	void reset_mass_properties();
+
+	void apply_force(const Vector3 &p_force, const Vector3 &p_position);
+	void apply_central_force(const Vector3 &p_force);
+	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position);
+
+	void apply_central_impulse(const Vector3 &p_impulse);
+	void apply_torque(const Vector3 &p_torque);
+	void apply_torque_impulse(const Vector3 &p_impulse);
+
+	void add_constant_central_force(const Vector3 &p_force);
+	void add_constant_force(const Vector3 &p_force, const Vector3 &p_position);
+	void add_constant_torque(const Vector3 &p_torque);
+
+	Vector3 get_constant_force() const;
+	void set_constant_force(const Vector3 &p_force);
+
+	Vector3 get_constant_torque() const;
+	void set_constant_torque(const Vector3 &p_torque);
+
+	Vector3 get_linear_surface_velocity() const { return linear_surface_velocity; }
+	Vector3 get_angular_surface_velocity() const { return angular_surface_velocity; }
+
+	void add_collision_exception(const RID &p_excepted_body);
+	void remove_collision_exception(const RID &p_excepted_body);
+	bool has_collision_exception(const RID &p_excepted_body) const;
+
+	const LocalVector<RID> &get_collision_exceptions() const { return exceptions; }
+
+	void add_area(JoltArea3D *p_area);
+	void remove_area(JoltArea3D *p_area);
+
+	void add_joint(JoltJoint3D *p_joint);
+	void remove_joint(JoltJoint3D *p_joint);
+
+	void call_queries();
+
+	virtual void pre_step(float p_step, JPH::Body &p_jolt_body) override;
+
+	JoltPhysicsDirectBodyState3D *get_direct_state();
+
+	PhysicsServer3D::BodyMode get_mode() const { return mode; }
+
+	void set_mode(PhysicsServer3D::BodyMode p_mode);
+
+	bool is_static() const { return mode == PhysicsServer3D::BODY_MODE_STATIC; }
+	bool is_kinematic() const { return mode == PhysicsServer3D::BODY_MODE_KINEMATIC; }
+	bool is_rigid_free() const { return mode == PhysicsServer3D::BODY_MODE_RIGID; }
+	bool is_rigid_linear() const { return mode == PhysicsServer3D::BODY_MODE_RIGID_LINEAR; }
+	bool is_rigid() const { return is_rigid_free() || is_rigid_linear(); }
+
+	bool is_ccd_enabled() const;
+	void set_ccd_enabled(bool p_enabled);
+
+	float get_mass() const { return mass; }
+	void set_mass(float p_mass);
+
+	Vector3 get_inertia() const { return inertia; }
+	void set_inertia(const Vector3 &p_inertia);
+
+	float get_bounce() const;
+	void set_bounce(float p_bounce);
+
+	float get_friction() const;
+	void set_friction(float p_friction);
+
+	float get_gravity_scale() const { return gravity_scale; }
+	void set_gravity_scale(float p_scale);
+
+	Vector3 get_gravity() const { return gravity; }
+
+	float get_linear_damp() const { return linear_damp; }
+	void set_linear_damp(float p_damp);
+
+	float get_angular_damp() const { return angular_damp; }
+	void set_angular_damp(float p_damp);
+
+	float get_total_linear_damp() const { return total_linear_damp; }
+	float get_total_angular_damp() const { return total_angular_damp; }
+
+	float get_collision_priority() const { return collision_priority; }
+	void set_collision_priority(float p_priority) { collision_priority = p_priority; }
+
+	DampMode get_linear_damp_mode() const { return linear_damp_mode; }
+	void set_linear_damp_mode(DampMode p_mode);
+
+	DampMode get_angular_damp_mode() const { return angular_damp_mode; }
+	void set_angular_damp_mode(DampMode p_mode);
+
+	bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const;
+	void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_enabled);
+	bool are_axes_locked() const { return locked_axes != 0; }
+
+	virtual bool can_interact_with(const JoltBody3D &p_other) const override;
+	virtual bool can_interact_with(const JoltSoftBody3D &p_other) const override;
+	virtual bool can_interact_with(const JoltArea3D &p_other) const override;
+};