mirror of
https://github.com/godotengine/godot.git
synced 2025-10-31 05:31:01 +00:00
82ea2a7045
Changes: -Added support for custom inertia and center of mass in 3D -Added support for custom center of mass in 2D -Calculated center of mass from shapes in 2D (same as in 3D) -Fixed mass properties calculation with disabled shapes in 2D/3D -Removed first_integration which is not used in 2D and doesn't seem to make a lot of sense (prevents omit_force_integration to work during the first frame) -Support for custom inertia on different axes for RigidBody3D
849 lines
33 KiB
C++
849 lines
33 KiB
C++
/*************************************************************************/
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/* physics_server_3d.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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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 PHYSICS_SERVER_H
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#define PHYSICS_SERVER_H
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#include "core/io/resource.h"
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#include "core/object/class_db.h"
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class PhysicsDirectSpaceState3D;
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class PhysicsDirectBodyState3D : public Object {
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GDCLASS(PhysicsDirectBodyState3D, Object);
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protected:
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static void _bind_methods();
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public:
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virtual Vector3 get_total_gravity() const = 0;
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virtual real_t get_total_angular_damp() const = 0;
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virtual real_t get_total_linear_damp() const = 0;
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virtual Vector3 get_center_of_mass() const = 0;
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virtual Basis get_principal_inertia_axes() const = 0;
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virtual real_t get_inverse_mass() const = 0; // get the mass
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virtual Vector3 get_inverse_inertia() const = 0; // get density of this body space
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virtual Basis get_inverse_inertia_tensor() const = 0; // get density of this body space
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virtual void set_linear_velocity(const Vector3 &p_velocity) = 0;
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virtual Vector3 get_linear_velocity() const = 0;
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virtual void set_angular_velocity(const Vector3 &p_velocity) = 0;
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virtual Vector3 get_angular_velocity() const = 0;
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virtual void set_transform(const Transform3D &p_transform) = 0;
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virtual Transform3D get_transform() const = 0;
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virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const = 0;
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virtual void add_central_force(const Vector3 &p_force) = 0;
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virtual void add_force(const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0;
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virtual void add_torque(const Vector3 &p_torque) = 0;
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virtual void apply_central_impulse(const Vector3 &p_impulse) = 0;
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virtual void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0;
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virtual void apply_torque_impulse(const Vector3 &p_impulse) = 0;
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virtual void set_sleep_state(bool p_sleep) = 0;
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virtual bool is_sleeping() const = 0;
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virtual int get_contact_count() const = 0;
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virtual Vector3 get_contact_local_position(int p_contact_idx) const = 0;
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virtual Vector3 get_contact_local_normal(int p_contact_idx) const = 0;
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virtual real_t get_contact_impulse(int p_contact_idx) const = 0;
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virtual int get_contact_local_shape(int p_contact_idx) const = 0;
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virtual RID get_contact_collider(int p_contact_idx) const = 0;
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virtual Vector3 get_contact_collider_position(int p_contact_idx) const = 0;
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virtual ObjectID get_contact_collider_id(int p_contact_idx) const = 0;
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virtual Object *get_contact_collider_object(int p_contact_idx) const;
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virtual int get_contact_collider_shape(int p_contact_idx) const = 0;
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virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const = 0;
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virtual real_t get_step() const = 0;
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virtual void integrate_forces();
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virtual PhysicsDirectSpaceState3D *get_space_state() = 0;
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PhysicsDirectBodyState3D();
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};
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class PhysicsShapeQueryParameters3D : public RefCounted {
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GDCLASS(PhysicsShapeQueryParameters3D, RefCounted);
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friend class PhysicsDirectSpaceState3D;
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RES shape_ref;
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RID shape;
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Transform3D transform;
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real_t margin = 0.0;
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Set<RID> exclude;
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uint32_t collision_mask = UINT32_MAX;
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bool collide_with_bodies = true;
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bool collide_with_areas = false;
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protected:
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static void _bind_methods();
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public:
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void set_shape(const RES &p_shape_ref);
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RES get_shape() const;
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void set_shape_rid(const RID &p_shape);
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RID get_shape_rid() const;
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void set_transform(const Transform3D &p_transform);
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Transform3D get_transform() const;
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void set_margin(real_t p_margin);
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real_t get_margin() const;
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void set_collision_mask(uint32_t p_collision_mask);
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uint32_t get_collision_mask() const;
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void set_exclude(const Vector<RID> &p_exclude);
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Vector<RID> get_exclude() const;
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void set_collide_with_bodies(bool p_enable);
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bool is_collide_with_bodies_enabled() const;
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void set_collide_with_areas(bool p_enable);
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bool is_collide_with_areas_enabled() const;
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};
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class PhysicsDirectSpaceState3D : public Object {
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GDCLASS(PhysicsDirectSpaceState3D, Object);
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private:
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Dictionary _intersect_ray(const Vector3 &p_from, const Vector3 &p_to, const Vector<RID> &p_exclude = Vector<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false);
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Array _intersect_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32);
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Array _cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, const Vector3 &p_motion);
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Array _collide_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results = 32);
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Dictionary _get_rest_info(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query);
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protected:
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static void _bind_methods();
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public:
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struct ShapeResult {
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RID rid;
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ObjectID collider_id;
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Object *collider = nullptr;
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int shape = 0;
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};
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virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
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struct RayResult {
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Vector3 position;
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Vector3 normal;
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RID rid;
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ObjectID collider_id;
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Object *collider = nullptr;
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int shape = 0;
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};
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virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) = 0;
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virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
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struct ShapeRestInfo {
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Vector3 point;
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Vector3 normal;
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RID rid;
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ObjectID collider_id;
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int shape = 0;
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Vector3 linear_velocity; //velocity at contact point
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};
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virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) = 0;
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virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
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virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) = 0;
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virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const = 0;
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PhysicsDirectSpaceState3D();
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};
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class RenderingServerHandler {
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public:
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virtual void set_vertex(int p_vertex_id, const void *p_vector3) = 0;
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virtual void set_normal(int p_vertex_id, const void *p_vector3) = 0;
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virtual void set_aabb(const AABB &p_aabb) = 0;
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virtual ~RenderingServerHandler() {}
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};
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class PhysicsTestMotionResult3D;
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class PhysicsServer3D : public Object {
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GDCLASS(PhysicsServer3D, Object);
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static PhysicsServer3D *singleton;
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virtual bool _body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, const Ref<PhysicsTestMotionResult3D> &p_result = Ref<PhysicsTestMotionResult3D>(), bool p_collide_separation_ray = false, const Vector<RID> &p_exclude = Vector<RID>());
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protected:
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static void _bind_methods();
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public:
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static PhysicsServer3D *get_singleton();
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enum ShapeType {
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SHAPE_PLANE, ///< plane:"plane"
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SHAPE_SEPARATION_RAY, ///< float:"length"
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SHAPE_SPHERE, ///< float:"radius"
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SHAPE_BOX, ///< vec3:"extents"
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SHAPE_CAPSULE, ///< dict( float:"radius", float:"height"):capsule
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SHAPE_CYLINDER, ///< dict( float:"radius", float:"height"):cylinder
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SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
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SHAPE_CONCAVE_POLYGON, ///< vector3 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector3 array)
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SHAPE_HEIGHTMAP, ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
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SHAPE_SOFT_BODY, ///< Used internally, can't be created from the physics server.
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SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
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};
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RID shape_create(ShapeType p_shape);
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virtual RID plane_shape_create() = 0;
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virtual RID separation_ray_shape_create() = 0;
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virtual RID sphere_shape_create() = 0;
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virtual RID box_shape_create() = 0;
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virtual RID capsule_shape_create() = 0;
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virtual RID cylinder_shape_create() = 0;
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virtual RID convex_polygon_shape_create() = 0;
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virtual RID concave_polygon_shape_create() = 0;
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virtual RID heightmap_shape_create() = 0;
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virtual RID custom_shape_create() = 0;
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virtual void shape_set_data(RID p_shape, const Variant &p_data) = 0;
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virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) = 0;
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virtual ShapeType shape_get_type(RID p_shape) const = 0;
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virtual Variant shape_get_data(RID p_shape) const = 0;
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virtual void shape_set_margin(RID p_shape, real_t p_margin) = 0;
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virtual real_t shape_get_margin(RID p_shape) const = 0;
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virtual real_t shape_get_custom_solver_bias(RID p_shape) const = 0;
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/* SPACE API */
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virtual RID space_create() = 0;
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virtual void space_set_active(RID p_space, bool p_active) = 0;
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virtual bool space_is_active(RID p_space) const = 0;
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enum SpaceParameter {
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SPACE_PARAM_CONTACT_RECYCLE_RADIUS,
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SPACE_PARAM_CONTACT_MAX_SEPARATION,
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SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION,
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SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD,
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SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD,
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SPACE_PARAM_BODY_TIME_TO_SLEEP,
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SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO,
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SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS,
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SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH
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};
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virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) = 0;
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virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const = 0;
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// this function only works on physics process, errors and returns null otherwise
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virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) = 0;
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virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) = 0;
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virtual Vector<Vector3> space_get_contacts(RID p_space) const = 0;
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virtual int space_get_contact_count(RID p_space) const = 0;
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//missing space parameters
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/* AREA API */
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//missing attenuation? missing better override?
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enum AreaParameter {
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AREA_PARAM_GRAVITY,
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AREA_PARAM_GRAVITY_VECTOR,
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AREA_PARAM_GRAVITY_IS_POINT,
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AREA_PARAM_GRAVITY_DISTANCE_SCALE,
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AREA_PARAM_GRAVITY_POINT_ATTENUATION,
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AREA_PARAM_LINEAR_DAMP,
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AREA_PARAM_ANGULAR_DAMP,
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AREA_PARAM_PRIORITY,
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AREA_PARAM_WIND_FORCE_MAGNITUDE,
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AREA_PARAM_WIND_SOURCE,
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AREA_PARAM_WIND_DIRECTION,
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AREA_PARAM_WIND_ATTENUATION_FACTOR,
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};
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virtual RID area_create() = 0;
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virtual void area_set_space(RID p_area, RID p_space) = 0;
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virtual RID area_get_space(RID p_area) const = 0;
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enum AreaSpaceOverrideMode {
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AREA_SPACE_OVERRIDE_DISABLED,
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AREA_SPACE_OVERRIDE_COMBINE,
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AREA_SPACE_OVERRIDE_COMBINE_REPLACE,
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AREA_SPACE_OVERRIDE_REPLACE,
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AREA_SPACE_OVERRIDE_REPLACE_COMBINE
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};
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virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) = 0;
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virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const = 0;
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virtual void area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) = 0;
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virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) = 0;
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virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) = 0;
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virtual int area_get_shape_count(RID p_area) const = 0;
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virtual RID area_get_shape(RID p_area, int p_shape_idx) const = 0;
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virtual Transform3D area_get_shape_transform(RID p_area, int p_shape_idx) const = 0;
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virtual void area_remove_shape(RID p_area, int p_shape_idx) = 0;
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virtual void area_clear_shapes(RID p_area) = 0;
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virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) = 0;
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virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) = 0;
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virtual ObjectID area_get_object_instance_id(RID p_area) const = 0;
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virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) = 0;
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virtual void area_set_transform(RID p_area, const Transform3D &p_transform) = 0;
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virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const = 0;
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virtual Transform3D area_get_transform(RID p_area) const = 0;
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virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) = 0;
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virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) = 0;
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virtual void area_set_monitorable(RID p_area, bool p_monitorable) = 0;
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virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0;
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virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) = 0;
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virtual void area_set_ray_pickable(RID p_area, bool p_enable) = 0;
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/* BODY API */
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//missing ccd?
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enum BodyMode {
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BODY_MODE_STATIC,
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BODY_MODE_KINEMATIC,
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BODY_MODE_DYNAMIC,
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BODY_MODE_DYNAMIC_LOCKED,
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};
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virtual RID body_create() = 0;
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virtual void body_set_space(RID p_body, RID p_space) = 0;
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virtual RID body_get_space(RID p_body) const = 0;
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virtual void body_set_mode(RID p_body, BodyMode p_mode) = 0;
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virtual BodyMode body_get_mode(RID p_body) const = 0;
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virtual void body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) = 0;
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virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) = 0;
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virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) = 0;
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virtual int body_get_shape_count(RID p_body) const = 0;
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virtual RID body_get_shape(RID p_body, int p_shape_idx) const = 0;
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virtual Transform3D body_get_shape_transform(RID p_body, int p_shape_idx) const = 0;
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virtual void body_remove_shape(RID p_body, int p_shape_idx) = 0;
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virtual void body_clear_shapes(RID p_body) = 0;
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virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) = 0;
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virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) = 0;
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virtual ObjectID body_get_object_instance_id(RID p_body) const = 0;
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|
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) = 0;
|
|
virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const = 0;
|
|
|
|
virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) = 0;
|
|
virtual uint32_t body_get_collision_layer(RID p_body) const = 0;
|
|
|
|
virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
|
|
virtual uint32_t body_get_collision_mask(RID p_body) const = 0;
|
|
|
|
virtual void body_set_user_flags(RID p_body, uint32_t p_flags) = 0;
|
|
virtual uint32_t body_get_user_flags(RID p_body) const = 0;
|
|
|
|
// common body variables
|
|
enum BodyParameter {
|
|
BODY_PARAM_BOUNCE,
|
|
BODY_PARAM_FRICTION,
|
|
BODY_PARAM_MASS, ///< unused for static, always infinite
|
|
BODY_PARAM_INERTIA,
|
|
BODY_PARAM_CENTER_OF_MASS,
|
|
BODY_PARAM_GRAVITY_SCALE,
|
|
BODY_PARAM_LINEAR_DAMP,
|
|
BODY_PARAM_ANGULAR_DAMP,
|
|
BODY_PARAM_MAX,
|
|
};
|
|
|
|
virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) = 0;
|
|
virtual Variant body_get_param(RID p_body, BodyParameter p_param) const = 0;
|
|
|
|
virtual void body_reset_mass_properties(RID p_body) = 0;
|
|
|
|
//state
|
|
enum BodyState {
|
|
BODY_STATE_TRANSFORM,
|
|
BODY_STATE_LINEAR_VELOCITY,
|
|
BODY_STATE_ANGULAR_VELOCITY,
|
|
BODY_STATE_SLEEPING,
|
|
BODY_STATE_CAN_SLEEP
|
|
};
|
|
|
|
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0;
|
|
virtual Variant body_get_state(RID p_body, BodyState p_state) const = 0;
|
|
|
|
//do something about it
|
|
virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) = 0;
|
|
virtual Vector3 body_get_applied_force(RID p_body) const = 0;
|
|
|
|
virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) = 0;
|
|
virtual Vector3 body_get_applied_torque(RID p_body) const = 0;
|
|
|
|
virtual void body_add_central_force(RID p_body, const Vector3 &p_force) = 0;
|
|
virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) = 0;
|
|
virtual void body_add_torque(RID p_body, const Vector3 &p_torque) = 0;
|
|
|
|
virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) = 0;
|
|
virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) = 0;
|
|
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) = 0;
|
|
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) = 0;
|
|
|
|
enum BodyAxis {
|
|
BODY_AXIS_LINEAR_X = 1 << 0,
|
|
BODY_AXIS_LINEAR_Y = 1 << 1,
|
|
BODY_AXIS_LINEAR_Z = 1 << 2,
|
|
BODY_AXIS_ANGULAR_X = 1 << 3,
|
|
BODY_AXIS_ANGULAR_Y = 1 << 4,
|
|
BODY_AXIS_ANGULAR_Z = 1 << 5
|
|
};
|
|
|
|
virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) = 0;
|
|
virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const = 0;
|
|
|
|
//fix
|
|
virtual void body_add_collision_exception(RID p_body, RID p_body_b) = 0;
|
|
virtual void body_remove_collision_exception(RID p_body, RID p_body_b) = 0;
|
|
virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0;
|
|
|
|
virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) = 0;
|
|
virtual int body_get_max_contacts_reported(RID p_body) const = 0;
|
|
|
|
//missing remove
|
|
virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) = 0;
|
|
virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const = 0;
|
|
|
|
virtual void body_set_omit_force_integration(RID p_body, bool p_omit) = 0;
|
|
virtual bool body_is_omitting_force_integration(RID p_body) const = 0;
|
|
|
|
// Callback for C++ use only.
|
|
typedef void (*BodyStateCallback)(void *p_instance, PhysicsDirectBodyState3D *p_state);
|
|
virtual void body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) = 0;
|
|
|
|
virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) = 0;
|
|
|
|
virtual void body_set_ray_pickable(RID p_body, bool p_enable) = 0;
|
|
|
|
// this function only works on physics process, errors and returns null otherwise
|
|
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) = 0;
|
|
|
|
struct MotionResult {
|
|
Vector3 travel;
|
|
Vector3 remainder;
|
|
|
|
Vector3 collision_point;
|
|
Vector3 collision_normal;
|
|
Vector3 collider_velocity;
|
|
real_t collision_depth = 0.0;
|
|
real_t collision_safe_fraction = 0.0;
|
|
real_t collision_unsafe_fraction = 0.0;
|
|
int collision_local_shape = 0;
|
|
ObjectID collider_id;
|
|
RID collider;
|
|
int collider_shape = 0;
|
|
Variant collider_metadata;
|
|
|
|
real_t get_angle(Vector3 p_up_direction) const {
|
|
return Math::acos(collision_normal.dot(p_up_direction));
|
|
}
|
|
};
|
|
|
|
virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_collide_separation_ray = false, const Set<RID> &p_exclude = Set<RID>()) = 0;
|
|
|
|
/* SOFT BODY */
|
|
|
|
virtual RID soft_body_create() = 0;
|
|
|
|
virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) = 0;
|
|
|
|
virtual void soft_body_set_space(RID p_body, RID p_space) = 0;
|
|
virtual RID soft_body_get_space(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) = 0;
|
|
|
|
virtual AABB soft_body_get_bounds(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) = 0;
|
|
virtual uint32_t soft_body_get_collision_layer(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) = 0;
|
|
virtual uint32_t soft_body_get_collision_mask(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) = 0;
|
|
virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) = 0;
|
|
virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) = 0;
|
|
|
|
virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) = 0;
|
|
virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const = 0;
|
|
|
|
virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) = 0;
|
|
|
|
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) = 0;
|
|
|
|
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) = 0;
|
|
virtual int soft_body_get_simulation_precision(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) = 0;
|
|
virtual real_t soft_body_get_total_mass(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) = 0;
|
|
virtual real_t soft_body_get_linear_stiffness(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) = 0;
|
|
virtual real_t soft_body_get_pressure_coefficient(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) = 0;
|
|
virtual real_t soft_body_get_damping_coefficient(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) = 0;
|
|
virtual real_t soft_body_get_drag_coefficient(RID p_body) const = 0;
|
|
|
|
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) = 0;
|
|
virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const = 0;
|
|
|
|
virtual void soft_body_remove_all_pinned_points(RID p_body) = 0;
|
|
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) = 0;
|
|
virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const = 0;
|
|
|
|
/* JOINT API */
|
|
|
|
enum JointType {
|
|
JOINT_TYPE_PIN,
|
|
JOINT_TYPE_HINGE,
|
|
JOINT_TYPE_SLIDER,
|
|
JOINT_TYPE_CONE_TWIST,
|
|
JOINT_TYPE_6DOF,
|
|
JOINT_TYPE_MAX,
|
|
|
|
};
|
|
|
|
virtual RID joint_create() = 0;
|
|
|
|
virtual void joint_clear(RID p_joint) = 0;
|
|
|
|
virtual JointType joint_get_type(RID p_joint) const = 0;
|
|
|
|
virtual void joint_set_solver_priority(RID p_joint, int p_priority) = 0;
|
|
virtual int joint_get_solver_priority(RID p_joint) const = 0;
|
|
|
|
virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) = 0;
|
|
virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const = 0;
|
|
|
|
virtual void joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) = 0;
|
|
|
|
enum PinJointParam {
|
|
PIN_JOINT_BIAS,
|
|
PIN_JOINT_DAMPING,
|
|
PIN_JOINT_IMPULSE_CLAMP
|
|
};
|
|
|
|
virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) = 0;
|
|
virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const = 0;
|
|
|
|
virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) = 0;
|
|
virtual Vector3 pin_joint_get_local_a(RID p_joint) const = 0;
|
|
|
|
virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) = 0;
|
|
virtual Vector3 pin_joint_get_local_b(RID p_joint) const = 0;
|
|
|
|
enum HingeJointParam {
|
|
HINGE_JOINT_BIAS,
|
|
HINGE_JOINT_LIMIT_UPPER,
|
|
HINGE_JOINT_LIMIT_LOWER,
|
|
HINGE_JOINT_LIMIT_BIAS,
|
|
HINGE_JOINT_LIMIT_SOFTNESS,
|
|
HINGE_JOINT_LIMIT_RELAXATION,
|
|
HINGE_JOINT_MOTOR_TARGET_VELOCITY,
|
|
HINGE_JOINT_MOTOR_MAX_IMPULSE,
|
|
HINGE_JOINT_MAX
|
|
};
|
|
|
|
enum HingeJointFlag {
|
|
HINGE_JOINT_FLAG_USE_LIMIT,
|
|
HINGE_JOINT_FLAG_ENABLE_MOTOR,
|
|
HINGE_JOINT_FLAG_MAX
|
|
};
|
|
|
|
virtual void joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) = 0;
|
|
virtual void joint_make_hinge_simple(RID p_joint, 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) = 0;
|
|
|
|
virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) = 0;
|
|
virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const = 0;
|
|
|
|
virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) = 0;
|
|
virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const = 0;
|
|
|
|
enum SliderJointParam {
|
|
SLIDER_JOINT_LINEAR_LIMIT_UPPER,
|
|
SLIDER_JOINT_LINEAR_LIMIT_LOWER,
|
|
SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS,
|
|
SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION,
|
|
SLIDER_JOINT_LINEAR_LIMIT_DAMPING,
|
|
SLIDER_JOINT_LINEAR_MOTION_SOFTNESS,
|
|
SLIDER_JOINT_LINEAR_MOTION_RESTITUTION,
|
|
SLIDER_JOINT_LINEAR_MOTION_DAMPING,
|
|
SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS,
|
|
SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION,
|
|
SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING,
|
|
|
|
SLIDER_JOINT_ANGULAR_LIMIT_UPPER,
|
|
SLIDER_JOINT_ANGULAR_LIMIT_LOWER,
|
|
SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS,
|
|
SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION,
|
|
SLIDER_JOINT_ANGULAR_LIMIT_DAMPING,
|
|
SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS,
|
|
SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION,
|
|
SLIDER_JOINT_ANGULAR_MOTION_DAMPING,
|
|
SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS,
|
|
SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION,
|
|
SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING,
|
|
SLIDER_JOINT_MAX
|
|
|
|
};
|
|
|
|
virtual void joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A
|
|
|
|
virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) = 0;
|
|
virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const = 0;
|
|
|
|
enum ConeTwistJointParam {
|
|
CONE_TWIST_JOINT_SWING_SPAN,
|
|
CONE_TWIST_JOINT_TWIST_SPAN,
|
|
CONE_TWIST_JOINT_BIAS,
|
|
CONE_TWIST_JOINT_SOFTNESS,
|
|
CONE_TWIST_JOINT_RELAXATION,
|
|
CONE_TWIST_MAX
|
|
};
|
|
|
|
virtual void joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A
|
|
|
|
virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) = 0;
|
|
virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const = 0;
|
|
|
|
enum G6DOFJointAxisParam {
|
|
G6DOF_JOINT_LINEAR_LOWER_LIMIT,
|
|
G6DOF_JOINT_LINEAR_UPPER_LIMIT,
|
|
G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
|
|
G6DOF_JOINT_LINEAR_RESTITUTION,
|
|
G6DOF_JOINT_LINEAR_DAMPING,
|
|
G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
|
|
G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
|
|
G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
|
|
G6DOF_JOINT_LINEAR_SPRING_DAMPING,
|
|
G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
|
|
G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
|
|
G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
|
|
G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
|
|
G6DOF_JOINT_ANGULAR_DAMPING,
|
|
G6DOF_JOINT_ANGULAR_RESTITUTION,
|
|
G6DOF_JOINT_ANGULAR_FORCE_LIMIT,
|
|
G6DOF_JOINT_ANGULAR_ERP,
|
|
G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
|
|
G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
|
|
G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
|
|
G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
|
|
G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
|
|
G6DOF_JOINT_MAX
|
|
};
|
|
|
|
enum G6DOFJointAxisFlag {
|
|
G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
|
|
G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
|
|
G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
|
|
G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
|
|
G6DOF_JOINT_FLAG_ENABLE_MOTOR,
|
|
G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
|
|
G6DOF_JOINT_FLAG_MAX
|
|
};
|
|
|
|
virtual void joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) = 0; //reference frame is A
|
|
|
|
virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value) = 0;
|
|
virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param) const = 0;
|
|
|
|
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable) = 0;
|
|
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag) const = 0;
|
|
|
|
/* QUERY API */
|
|
|
|
enum AreaBodyStatus {
|
|
AREA_BODY_ADDED,
|
|
AREA_BODY_REMOVED
|
|
};
|
|
|
|
/* MISC */
|
|
|
|
virtual void free(RID p_rid) = 0;
|
|
|
|
virtual void set_active(bool p_active) = 0;
|
|
virtual void init() = 0;
|
|
virtual void step(real_t p_step) = 0;
|
|
virtual void sync() = 0;
|
|
virtual void flush_queries() = 0;
|
|
virtual void end_sync() = 0;
|
|
virtual void finish() = 0;
|
|
|
|
virtual bool is_flushing_queries() const = 0;
|
|
|
|
virtual void set_collision_iterations(int p_iterations) = 0;
|
|
|
|
enum ProcessInfo {
|
|
INFO_ACTIVE_OBJECTS,
|
|
INFO_COLLISION_PAIRS,
|
|
INFO_ISLAND_COUNT
|
|
};
|
|
|
|
virtual int get_process_info(ProcessInfo p_info) = 0;
|
|
|
|
PhysicsServer3D();
|
|
~PhysicsServer3D();
|
|
};
|
|
|
|
class PhysicsTestMotionResult3D : public RefCounted {
|
|
GDCLASS(PhysicsTestMotionResult3D, RefCounted);
|
|
|
|
PhysicsServer3D::MotionResult result;
|
|
friend class PhysicsServer3D;
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
|
|
public:
|
|
PhysicsServer3D::MotionResult *get_result_ptr() const { return const_cast<PhysicsServer3D::MotionResult *>(&result); }
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Vector3 get_travel() const;
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Vector3 get_remainder() const;
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Vector3 get_collision_point() const;
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Vector3 get_collision_normal() const;
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Vector3 get_collider_velocity() const;
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ObjectID get_collider_id() const;
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RID get_collider_rid() const;
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Object *get_collider() const;
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int get_collider_shape() const;
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real_t get_collision_depth() const;
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real_t get_collision_safe_fraction() const;
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real_t get_collision_unsafe_fraction() const;
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};
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typedef PhysicsServer3D *(*CreatePhysicsServer3DCallback)();
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class PhysicsServer3DManager {
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struct ClassInfo {
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String name;
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CreatePhysicsServer3DCallback create_callback = nullptr;
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|
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ClassInfo() {}
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|
|
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ClassInfo(String p_name, CreatePhysicsServer3DCallback p_create_callback) :
|
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name(p_name),
|
|
create_callback(p_create_callback) {}
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|
|
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ClassInfo(const ClassInfo &p_ci) :
|
|
name(p_ci.name),
|
|
create_callback(p_ci.create_callback) {}
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|
|
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ClassInfo &operator=(const ClassInfo &p_ci) {
|
|
name = p_ci.name;
|
|
create_callback = p_ci.create_callback;
|
|
return *this;
|
|
}
|
|
};
|
|
|
|
static Vector<ClassInfo> physics_servers;
|
|
static int default_server_id;
|
|
static int default_server_priority;
|
|
|
|
public:
|
|
static const String setting_property_name;
|
|
|
|
private:
|
|
static void on_servers_changed();
|
|
|
|
public:
|
|
static void register_server(const String &p_name, CreatePhysicsServer3DCallback p_creat_callback);
|
|
static void set_default_server(const String &p_name, int p_priority = 0);
|
|
static int find_server_id(const String &p_name);
|
|
static int get_servers_count();
|
|
static String get_server_name(int p_id);
|
|
static PhysicsServer3D *new_default_server();
|
|
static PhysicsServer3D *new_server(const String &p_name);
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::ShapeType);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::SpaceParameter);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::AreaParameter);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::AreaSpaceOverrideMode);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::BodyMode);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::BodyParameter);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::BodyState);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::BodyAxis);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::PinJointParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::JointType);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::HingeJointParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::HingeJointFlag);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::SliderJointParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::ConeTwistJointParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisParam);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisFlag);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::AreaBodyStatus);
|
|
VARIANT_ENUM_CAST(PhysicsServer3D::ProcessInfo);
|
|
|
|
#endif
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