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412 lines
19 KiB
C++
412 lines
19 KiB
C++
/*************************************************************************/
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/* bullet_physics_server.h */
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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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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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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#ifndef BULLET_PHYSICS_SERVER_H
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#define BULLET_PHYSICS_SERVER_H
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#include "area_bullet.h"
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#include "core/rid.h"
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#include "joint_bullet.h"
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#include "rigid_body_bullet.h"
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#include "servers/physics_server.h"
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#include "shape_bullet.h"
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#include "soft_body_bullet.h"
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#include "space_bullet.h"
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/**
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@author AndreaCatania
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*/
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class BulletPhysicsServer : public PhysicsServer {
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GDCLASS(BulletPhysicsServer, PhysicsServer);
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friend class BulletPhysicsDirectSpaceState;
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bool active;
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char active_spaces_count;
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Vector<SpaceBullet *> active_spaces;
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mutable RID_Owner<SpaceBullet> space_owner;
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mutable RID_Owner<ShapeBullet> shape_owner;
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mutable RID_Owner<AreaBullet> area_owner;
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mutable RID_Owner<RigidBodyBullet> rigid_body_owner;
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mutable RID_Owner<SoftBodyBullet> soft_body_owner;
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mutable RID_Owner<JointBullet> joint_owner;
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protected:
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static void _bind_methods();
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public:
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BulletPhysicsServer();
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~BulletPhysicsServer();
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_FORCE_INLINE_ RID_Owner<SpaceBullet> *get_space_owner() {
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return &space_owner;
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}
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_FORCE_INLINE_ RID_Owner<ShapeBullet> *get_shape_owner() {
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return &shape_owner;
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}
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_FORCE_INLINE_ RID_Owner<AreaBullet> *get_area_owner() {
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return &area_owner;
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}
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_FORCE_INLINE_ RID_Owner<RigidBodyBullet> *get_rigid_body_owner() {
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return &rigid_body_owner;
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}
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_FORCE_INLINE_ RID_Owner<SoftBodyBullet> *get_soft_body_owner() {
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return &soft_body_owner;
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}
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_FORCE_INLINE_ RID_Owner<JointBullet> *get_joint_owner() {
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return &joint_owner;
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}
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/* SHAPE API */
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virtual RID shape_create(ShapeType p_shape);
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virtual void shape_set_data(RID p_shape, const Variant &p_data);
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virtual ShapeType shape_get_type(RID p_shape) const;
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virtual Variant shape_get_data(RID p_shape) const;
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virtual void shape_set_margin(RID p_shape, real_t p_margin);
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virtual real_t shape_get_margin(RID p_shape) const;
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/// Not supported
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virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
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/// Not supported
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virtual real_t shape_get_custom_solver_bias(RID p_shape) const;
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/* SPACE API */
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virtual RID space_create();
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virtual void space_set_active(RID p_space, bool p_active);
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virtual bool space_is_active(RID p_space) const;
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/// Not supported
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virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value);
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/// Not supported
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virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const;
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virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space);
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virtual void space_set_debug_contacts(RID p_space, int p_max_contacts);
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virtual Vector<Vector3> space_get_contacts(RID p_space) const;
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virtual int space_get_contact_count(RID p_space) const;
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/* AREA API */
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/// Bullet Physics Engine not support "Area", this must be handled by the game developer in another way.
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/// Since godot Physics use the concept of area even to define the main world, the API area_set_param is used to set initial physics world information.
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/// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console.
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/// All other APIs returns a warning message if used
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virtual RID area_create();
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virtual void area_set_space(RID p_area, RID p_space);
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virtual RID area_get_space(RID p_area) const;
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virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
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virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;
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virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
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virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
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virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
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virtual int area_get_shape_count(RID p_area) const;
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virtual RID area_get_shape(RID p_area, int p_shape_idx) const;
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virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const;
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virtual void area_remove_shape(RID p_area, int p_shape_idx);
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virtual void area_clear_shapes(RID p_area);
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virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled);
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virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id);
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virtual ObjectID area_get_object_instance_id(RID p_area) const;
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/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
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/// AREA_PARAM_GRAVITY
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/// AREA_PARAM_GRAVITY_VECTOR
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/// Otherwise you can set area parameters
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virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value);
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virtual Variant area_get_param(RID p_area, AreaParameter p_param) const;
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virtual void area_set_transform(RID p_area, const Transform &p_transform);
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virtual Transform area_get_transform(RID p_area) const;
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virtual void area_set_collision_mask(RID p_area, uint32_t p_mask);
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virtual void area_set_collision_layer(RID p_area, uint32_t p_layer);
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virtual void area_set_monitorable(RID p_area, bool p_monitorable);
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virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method);
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virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method);
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virtual void area_set_ray_pickable(RID p_area, bool p_enable);
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virtual bool area_is_ray_pickable(RID p_area) const;
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/* RIGID BODY API */
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virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false);
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virtual void body_set_space(RID p_body, RID p_space);
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virtual RID body_get_space(RID p_body) const;
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virtual void body_set_mode(RID p_body, BodyMode p_mode);
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virtual BodyMode body_get_mode(RID p_body) const;
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virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false);
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// Not supported, Please remove and add new shape
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virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
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virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
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virtual int body_get_shape_count(RID p_body) const;
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virtual RID body_get_shape(RID p_body, int p_shape_idx) const;
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virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const;
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virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled);
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virtual void body_remove_shape(RID p_body, int p_shape_idx);
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virtual void body_clear_shapes(RID p_body);
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// Used for Rigid and Soft Bodies
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virtual void body_attach_object_instance_id(RID p_body, uint32_t p_id);
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virtual uint32_t body_get_object_instance_id(RID p_body) const;
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virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
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virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const;
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virtual void body_set_collision_layer(RID p_body, uint32_t p_layer);
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virtual uint32_t body_get_collision_layer(RID p_body) const;
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virtual void body_set_collision_mask(RID p_body, uint32_t p_mask);
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virtual uint32_t body_get_collision_mask(RID p_body) const;
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/// This is not supported by physics server
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virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
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/// This is not supported by physics server
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virtual uint32_t body_get_user_flags(RID p_body) const;
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virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value);
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virtual float body_get_param(RID p_body, BodyParameter p_param) const;
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virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin);
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virtual real_t body_get_kinematic_safe_margin(RID p_body) const;
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virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
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virtual Variant body_get_state(RID p_body, BodyState p_state) const;
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virtual void body_set_applied_force(RID p_body, const Vector3 &p_force);
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virtual Vector3 body_get_applied_force(RID p_body) const;
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virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque);
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virtual Vector3 body_get_applied_torque(RID p_body) const;
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virtual void body_add_central_force(RID p_body, const Vector3 &p_force);
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virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos);
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virtual void body_add_torque(RID p_body, const Vector3 &p_torque);
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virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse);
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virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse);
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virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
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virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
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virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock);
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virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const;
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virtual void body_add_collision_exception(RID p_body, RID p_body_b);
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virtual void body_remove_collision_exception(RID p_body, RID p_body_b);
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virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);
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virtual void body_set_max_contacts_reported(RID p_body, int p_contacts);
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virtual int body_get_max_contacts_reported(RID p_body) const;
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virtual void body_set_contacts_reported_depth_threshold(RID p_body, float p_threshold);
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virtual float body_get_contacts_reported_depth_threshold(RID p_body) const;
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virtual void body_set_omit_force_integration(RID p_body, bool p_omit);
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virtual bool body_is_omitting_force_integration(RID p_body) const;
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virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant());
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virtual void body_set_ray_pickable(RID p_body, bool p_enable);
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virtual bool body_is_ray_pickable(RID p_body) const;
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// this function only works on physics process, errors and returns null otherwise
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virtual PhysicsDirectBodyState *body_get_direct_state(RID p_body);
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virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>());
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virtual int body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin = 0.001);
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/* SOFT BODY API */
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virtual RID soft_body_create(bool p_init_sleeping = false);
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virtual void soft_body_update_visual_server(RID p_body, class SoftBodyVisualServerHandler *p_visual_server_handler);
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virtual void soft_body_set_space(RID p_body, RID p_space);
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virtual RID soft_body_get_space(RID p_body) const;
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virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh);
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virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer);
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virtual uint32_t soft_body_get_collision_layer(RID p_body) const;
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virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask);
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virtual uint32_t soft_body_get_collision_mask(RID p_body) const;
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virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b);
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virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b);
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virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);
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virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
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virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const;
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/// Special function. This function has bad performance
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virtual void soft_body_set_transform(RID p_body, const Transform &p_transform);
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virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const;
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virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable);
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virtual bool soft_body_is_ray_pickable(RID p_body) const;
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virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision);
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virtual int soft_body_get_simulation_precision(RID p_body);
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virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass);
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virtual real_t soft_body_get_total_mass(RID p_body);
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virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness);
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virtual real_t soft_body_get_linear_stiffness(RID p_body);
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virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness);
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virtual real_t soft_body_get_areaAngular_stiffness(RID p_body);
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virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness);
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virtual real_t soft_body_get_volume_stiffness(RID p_body);
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virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient);
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virtual real_t soft_body_get_pressure_coefficient(RID p_body);
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virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient);
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virtual real_t soft_body_get_pose_matching_coefficient(RID p_body);
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virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient);
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virtual real_t soft_body_get_damping_coefficient(RID p_body);
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virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient);
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virtual real_t soft_body_get_drag_coefficient(RID p_body);
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virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position);
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virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index);
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virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const;
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virtual void soft_body_remove_all_pinned_points(RID p_body);
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virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin);
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virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index);
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/* JOINT API */
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virtual JointType joint_get_type(RID p_joint) const;
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virtual void joint_set_solver_priority(RID p_joint, int p_priority);
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virtual int joint_get_solver_priority(RID p_joint) const;
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virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable);
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virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const;
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virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);
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virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value);
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virtual float pin_joint_get_param(RID p_joint, PinJointParam p_param) const;
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virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A);
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virtual Vector3 pin_joint_get_local_a(RID p_joint) const;
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virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B);
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virtual Vector3 pin_joint_get_local_b(RID p_joint) const;
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virtual RID joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B);
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virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B);
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virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value);
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virtual float hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const;
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virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value);
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virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const;
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/// Reference frame is A
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virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B);
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virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value);
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virtual float slider_joint_get_param(RID p_joint, SliderJointParam p_param) const;
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/// Reference frame is A
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virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B);
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virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value);
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virtual float cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const;
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/// Reference frame is A
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virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B);
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virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value);
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virtual float generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param);
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virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable);
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virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag);
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/* MISC */
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virtual void free(RID p_rid);
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virtual void set_active(bool p_active) {
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active = p_active;
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}
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static bool singleton_isActive() {
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return static_cast<BulletPhysicsServer *>(get_singleton())->active;
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}
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bool isActive() {
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return active;
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}
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virtual void init();
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virtual void step(float p_deltaTime);
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virtual void flush_queries();
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virtual void finish();
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virtual bool is_flushing_queries() const { return false; }
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virtual void set_collision_iterations(int p_iterations);
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virtual int get_process_info(ProcessInfo p_info);
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CollisionObjectBullet *get_collision_object(RID p_object) const;
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RigidCollisionObjectBullet *get_rigid_collision_object(RID p_object) const;
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/// Internal APIs
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public:
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};
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#endif
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