initial commit, 4.5 stable

scene/3d/physics/rigid_body_3d.h

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+/**************************************************************************/
+/*  rigid_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 "core/templates/vset.h"
+#include "scene/3d/physics/physics_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);