1/**************************************************************************/
2/* physics_body_3d.h */
3/**************************************************************************/
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30
31#ifndef PHYSICS_BODY_3D_H
32#define PHYSICS_BODY_3D_H
33
34#include "core/templates/vset.h"
35#include "scene/3d/collision_object_3d.h"
36#include "scene/resources/physics_material.h"
37#include "servers/physics_server_3d.h"
38#include "skeleton_3d.h"
39
40class KinematicCollision3D;
41
42class PhysicsBody3D : public CollisionObject3D {
43 GDCLASS(PhysicsBody3D, CollisionObject3D);
44
45protected:
46 static void _bind_methods();
47 PhysicsBody3D(PhysicsServer3D::BodyMode p_mode);
48
49 Ref<KinematicCollision3D> motion_cache;
50
51 uint16_t locked_axis = 0;
52
53 Ref<KinematicCollision3D> _move(const Vector3 &p_motion, bool p_test_only = false, real_t p_margin = 0.001, bool p_recovery_as_collision = false, int p_max_collisions = 1);
54
55public:
56 bool move_and_collide(const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult &r_result, bool p_test_only = false, bool p_cancel_sliding = true);
57 bool test_move(const Transform3D &p_from, const Vector3 &p_motion, const Ref<KinematicCollision3D> &r_collision = Ref<KinematicCollision3D>(), real_t p_margin = 0.001, bool p_recovery_as_collision = false, int p_max_collisions = 1);
58
59 void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock);
60 bool get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const;
61
62 virtual Vector3 get_linear_velocity() const;
63 virtual Vector3 get_angular_velocity() const;
64 virtual real_t get_inverse_mass() const;
65
66 TypedArray<PhysicsBody3D> get_collision_exceptions();
67 void add_collision_exception_with(Node *p_node); //must be physicsbody
68 void remove_collision_exception_with(Node *p_node);
69
70 virtual ~PhysicsBody3D();
71};
72
73class StaticBody3D : public PhysicsBody3D {
74 GDCLASS(StaticBody3D, PhysicsBody3D);
75
76private:
77 Vector3 constant_linear_velocity;
78 Vector3 constant_angular_velocity;
79
80 Ref<PhysicsMaterial> physics_material_override;
81
82protected:
83 static void _bind_methods();
84
85public:
86 void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
87 Ref<PhysicsMaterial> get_physics_material_override() const;
88
89 void set_constant_linear_velocity(const Vector3 &p_vel);
90 void set_constant_angular_velocity(const Vector3 &p_vel);
91
92 Vector3 get_constant_linear_velocity() const;
93 Vector3 get_constant_angular_velocity() const;
94
95 StaticBody3D(PhysicsServer3D::BodyMode p_mode = PhysicsServer3D::BODY_MODE_STATIC);
96
97private:
98 void _reload_physics_characteristics();
99};
100
101class AnimatableBody3D : public StaticBody3D {
102 GDCLASS(AnimatableBody3D, StaticBody3D);
103
104private:
105 Vector3 linear_velocity;
106 Vector3 angular_velocity;
107
108 bool sync_to_physics = true;
109
110 Transform3D last_valid_transform;
111
112 static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
113 void _body_state_changed(PhysicsDirectBodyState3D *p_state);
114
115protected:
116 void _notification(int p_what);
117 static void _bind_methods();
118
119public:
120 virtual Vector3 get_linear_velocity() const override;
121 virtual Vector3 get_angular_velocity() const override;
122
123 AnimatableBody3D();
124
125private:
126 void _update_kinematic_motion();
127
128 void set_sync_to_physics(bool p_enable);
129 bool is_sync_to_physics_enabled() const;
130};
131
132class RigidBody3D : public PhysicsBody3D {
133 GDCLASS(RigidBody3D, PhysicsBody3D);
134
135public:
136 enum FreezeMode {
137 FREEZE_MODE_STATIC,
138 FREEZE_MODE_KINEMATIC,
139 };
140
141 enum CenterOfMassMode {
142 CENTER_OF_MASS_MODE_AUTO,
143 CENTER_OF_MASS_MODE_CUSTOM,
144 };
145
146 enum DampMode {
147 DAMP_MODE_COMBINE,
148 DAMP_MODE_REPLACE,
149 };
150
151private:
152 bool can_sleep = true;
153 bool lock_rotation = false;
154 bool freeze = false;
155 FreezeMode freeze_mode = FREEZE_MODE_STATIC;
156
157 real_t mass = 1.0;
158 Vector3 inertia;
159 CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
160 Vector3 center_of_mass;
161
162 Ref<PhysicsMaterial> physics_material_override;
163
164 Vector3 linear_velocity;
165 Vector3 angular_velocity;
166 Basis inverse_inertia_tensor;
167 real_t gravity_scale = 1.0;
168
169 DampMode linear_damp_mode = DAMP_MODE_COMBINE;
170 DampMode angular_damp_mode = DAMP_MODE_COMBINE;
171
172 real_t linear_damp = 0.0;
173 real_t angular_damp = 0.0;
174
175 bool sleeping = false;
176 bool ccd = false;
177
178 int max_contacts_reported = 0;
179
180 bool custom_integrator = false;
181
182 struct ShapePair {
183 int body_shape = 0;
184 int local_shape = 0;
185 bool tagged = false;
186 bool operator<(const ShapePair &p_sp) const {
187 if (body_shape == p_sp.body_shape) {
188 return local_shape < p_sp.local_shape;
189 } else {
190 return body_shape < p_sp.body_shape;
191 }
192 }
193
194 ShapePair() {}
195 ShapePair(int p_bs, int p_ls) {
196 body_shape = p_bs;
197 local_shape = p_ls;
198 tagged = false;
199 }
200 };
201 struct RigidBody3D_RemoveAction {
202 RID rid;
203 ObjectID body_id;
204 ShapePair pair;
205 };
206 struct BodyState {
207 RID rid;
208 //int rc;
209 bool in_tree = false;
210 VSet<ShapePair> shapes;
211 };
212
213 struct ContactMonitor {
214 bool locked = false;
215 HashMap<ObjectID, BodyState> body_map;
216 };
217
218 ContactMonitor *contact_monitor = nullptr;
219 void _body_enter_tree(ObjectID p_id);
220 void _body_exit_tree(ObjectID p_id);
221
222 void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
223 static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
224
225 void _sync_body_state(PhysicsDirectBodyState3D *p_state);
226
227protected:
228 void _notification(int p_what);
229 static void _bind_methods();
230
231 void _validate_property(PropertyInfo &p_property) const;
232
233 GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
234
235 virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);
236
237 void _apply_body_mode();
238
239public:
240 void set_lock_rotation_enabled(bool p_lock_rotation);
241 bool is_lock_rotation_enabled() const;
242
243 void set_freeze_enabled(bool p_freeze);
244 bool is_freeze_enabled() const;
245
246 void set_freeze_mode(FreezeMode p_freeze_mode);
247 FreezeMode get_freeze_mode() const;
248
249 void set_mass(real_t p_mass);
250 real_t get_mass() const;
251
252 virtual real_t get_inverse_mass() const override { return 1.0 / mass; }
253
254 void set_inertia(const Vector3 &p_inertia);
255 const Vector3 &get_inertia() const;
256
257 void set_center_of_mass_mode(CenterOfMassMode p_mode);
258 CenterOfMassMode get_center_of_mass_mode() const;
259
260 void set_center_of_mass(const Vector3 &p_center_of_mass);
261 const Vector3 &get_center_of_mass() const;
262
263 void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
264 Ref<PhysicsMaterial> get_physics_material_override() const;
265
266 void set_linear_velocity(const Vector3 &p_velocity);
267 Vector3 get_linear_velocity() const override;
268
269 void set_axis_velocity(const Vector3 &p_axis);
270
271 void set_angular_velocity(const Vector3 &p_velocity);
272 Vector3 get_angular_velocity() const override;
273
274 Basis get_inverse_inertia_tensor() const;
275
276 void set_gravity_scale(real_t p_gravity_scale);
277 real_t get_gravity_scale() const;
278
279 void set_linear_damp_mode(DampMode p_mode);
280 DampMode get_linear_damp_mode() const;
281
282 void set_angular_damp_mode(DampMode p_mode);
283 DampMode get_angular_damp_mode() const;
284
285 void set_linear_damp(real_t p_linear_damp);
286 real_t get_linear_damp() const;
287
288 void set_angular_damp(real_t p_angular_damp);
289 real_t get_angular_damp() const;
290
291 void set_use_custom_integrator(bool p_enable);
292 bool is_using_custom_integrator();
293
294 void set_sleeping(bool p_sleeping);
295 bool is_sleeping() const;
296
297 void set_can_sleep(bool p_active);
298 bool is_able_to_sleep() const;
299
300 void set_contact_monitor(bool p_enabled);
301 bool is_contact_monitor_enabled() const;
302
303 void set_max_contacts_reported(int p_amount);
304 int get_max_contacts_reported() const;
305 int get_contact_count() const;
306
307 void set_use_continuous_collision_detection(bool p_enable);
308 bool is_using_continuous_collision_detection() const;
309
310 TypedArray<Node3D> get_colliding_bodies() const;
311
312 void apply_central_impulse(const Vector3 &p_impulse);
313 void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
314 void apply_torque_impulse(const Vector3 &p_impulse);
315
316 void apply_central_force(const Vector3 &p_force);
317 void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
318 void apply_torque(const Vector3 &p_torque);
319
320 void add_constant_central_force(const Vector3 &p_force);
321 void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
322 void add_constant_torque(const Vector3 &p_torque);
323
324 void set_constant_force(const Vector3 &p_force);
325 Vector3 get_constant_force() const;
326
327 void set_constant_torque(const Vector3 &p_torque);
328 Vector3 get_constant_torque() const;
329
330 virtual PackedStringArray get_configuration_warnings() const override;
331
332 RigidBody3D();
333 ~RigidBody3D();
334
335private:
336 void _reload_physics_characteristics();
337};
338
339VARIANT_ENUM_CAST(RigidBody3D::FreezeMode);
340VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode);
341VARIANT_ENUM_CAST(RigidBody3D::DampMode);
342
343class KinematicCollision3D;
344
345class CharacterBody3D : public PhysicsBody3D {
346 GDCLASS(CharacterBody3D, PhysicsBody3D);
347
348public:
349 enum MotionMode {
350 MOTION_MODE_GROUNDED,
351 MOTION_MODE_FLOATING,
352 };
353 enum PlatformOnLeave {
354 PLATFORM_ON_LEAVE_ADD_VELOCITY,
355 PLATFORM_ON_LEAVE_ADD_UPWARD_VELOCITY,
356 PLATFORM_ON_LEAVE_DO_NOTHING,
357 };
358 bool move_and_slide();
359 void apply_floor_snap();
360
361 const Vector3 &get_velocity() const;
362 void set_velocity(const Vector3 &p_velocity);
363
364 bool is_on_floor() const;
365 bool is_on_floor_only() const;
366 bool is_on_wall() const;
367 bool is_on_wall_only() const;
368 bool is_on_ceiling() const;
369 bool is_on_ceiling_only() const;
370 const Vector3 &get_last_motion() const;
371 Vector3 get_position_delta() const;
372 const Vector3 &get_floor_normal() const;
373 const Vector3 &get_wall_normal() const;
374 const Vector3 &get_real_velocity() const;
375 real_t get_floor_angle(const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
376 const Vector3 &get_platform_velocity() const;
377 const Vector3 &get_platform_angular_velocity() const;
378
379 virtual Vector3 get_linear_velocity() const override;
380
381 int get_slide_collision_count() const;
382 PhysicsServer3D::MotionResult get_slide_collision(int p_bounce) const;
383
384 CharacterBody3D();
385 ~CharacterBody3D();
386
387private:
388 real_t margin = 0.001;
389 MotionMode motion_mode = MOTION_MODE_GROUNDED;
390 PlatformOnLeave platform_on_leave = PLATFORM_ON_LEAVE_ADD_VELOCITY;
391 union CollisionState {
392 uint32_t state = 0;
393 struct {
394 bool floor;
395 bool wall;
396 bool ceiling;
397 };
398
399 CollisionState() {
400 }
401
402 CollisionState(bool p_floor, bool p_wall, bool p_ceiling) {
403 floor = p_floor;
404 wall = p_wall;
405 ceiling = p_ceiling;
406 }
407 };
408
409 CollisionState collision_state;
410 bool floor_constant_speed = false;
411 bool floor_stop_on_slope = true;
412 bool floor_block_on_wall = true;
413 bool slide_on_ceiling = true;
414 int max_slides = 6;
415 int platform_layer = 0;
416 RID platform_rid;
417 ObjectID platform_object_id;
418 uint32_t platform_floor_layers = UINT32_MAX;
419 uint32_t platform_wall_layers = 0;
420 real_t floor_snap_length = 0.1;
421 real_t floor_max_angle = Math::deg_to_rad((real_t)45.0);
422 real_t wall_min_slide_angle = Math::deg_to_rad((real_t)15.0);
423 Vector3 up_direction = Vector3(0.0, 1.0, 0.0);
424 Vector3 velocity;
425 Vector3 floor_normal;
426 Vector3 wall_normal;
427 Vector3 ceiling_normal;
428 Vector3 last_motion;
429 Vector3 platform_velocity;
430 Vector3 platform_angular_velocity;
431 Vector3 platform_ceiling_velocity;
432 Vector3 previous_position;
433 Vector3 real_velocity;
434
435 Vector<PhysicsServer3D::MotionResult> motion_results;
436 Vector<Ref<KinematicCollision3D>> slide_colliders;
437
438 void set_safe_margin(real_t p_margin);
439 real_t get_safe_margin() const;
440
441 bool is_floor_stop_on_slope_enabled() const;
442 void set_floor_stop_on_slope_enabled(bool p_enabled);
443
444 bool is_floor_constant_speed_enabled() const;
445 void set_floor_constant_speed_enabled(bool p_enabled);
446
447 bool is_floor_block_on_wall_enabled() const;
448 void set_floor_block_on_wall_enabled(bool p_enabled);
449
450 bool is_slide_on_ceiling_enabled() const;
451 void set_slide_on_ceiling_enabled(bool p_enabled);
452
453 int get_max_slides() const;
454 void set_max_slides(int p_max_slides);
455
456 real_t get_floor_max_angle() const;
457 void set_floor_max_angle(real_t p_radians);
458
459 real_t get_floor_snap_length();
460 void set_floor_snap_length(real_t p_floor_snap_length);
461
462 real_t get_wall_min_slide_angle() const;
463 void set_wall_min_slide_angle(real_t p_radians);
464
465 uint32_t get_platform_floor_layers() const;
466 void set_platform_floor_layers(const uint32_t p_exclude_layer);
467
468 uint32_t get_platform_wall_layers() const;
469 void set_platform_wall_layers(const uint32_t p_exclude_layer);
470
471 void set_motion_mode(MotionMode p_mode);
472 MotionMode get_motion_mode() const;
473
474 void set_platform_on_leave(PlatformOnLeave p_on_leave_velocity);
475 PlatformOnLeave get_platform_on_leave() const;
476
477 void _move_and_slide_floating(double p_delta);
478 void _move_and_slide_grounded(double p_delta, bool p_was_on_floor);
479
480 Ref<KinematicCollision3D> _get_slide_collision(int p_bounce);
481 Ref<KinematicCollision3D> _get_last_slide_collision();
482 const Vector3 &get_up_direction() const;
483 bool _on_floor_if_snapped(bool p_was_on_floor, bool p_vel_dir_facing_up);
484 void set_up_direction(const Vector3 &p_up_direction);
485 void _set_collision_direction(const PhysicsServer3D::MotionResult &p_result, CollisionState &r_state, CollisionState p_apply_state = CollisionState(true, true, true));
486 void _set_platform_data(const PhysicsServer3D::MotionCollision &p_collision);
487 void _snap_on_floor(bool p_was_on_floor, bool p_vel_dir_facing_up);
488
489protected:
490 void _notification(int p_what);
491 static void _bind_methods();
492 void _validate_property(PropertyInfo &p_property) const;
493};
494
495VARIANT_ENUM_CAST(CharacterBody3D::MotionMode);
496VARIANT_ENUM_CAST(CharacterBody3D::PlatformOnLeave);
497
498class KinematicCollision3D : public RefCounted {
499 GDCLASS(KinematicCollision3D, RefCounted);
500
501 PhysicsBody3D *owner = nullptr;
502 friend class PhysicsBody3D;
503 friend class CharacterBody3D;
504 PhysicsServer3D::MotionResult result;
505
506protected:
507 static void _bind_methods();
508
509public:
510 Vector3 get_travel() const;
511 Vector3 get_remainder() const;
512 int get_collision_count() const;
513 real_t get_depth() const;
514 Vector3 get_position(int p_collision_index = 0) const;
515 Vector3 get_normal(int p_collision_index = 0) const;
516 real_t get_angle(int p_collision_index = 0, const Vector3 &p_up_direction = Vector3(0.0, 1.0, 0.0)) const;
517 Object *get_local_shape(int p_collision_index = 0) const;
518 Object *get_collider(int p_collision_index = 0) const;
519 ObjectID get_collider_id(int p_collision_index = 0) const;
520 RID get_collider_rid(int p_collision_index = 0) const;
521 Object *get_collider_shape(int p_collision_index = 0) const;
522 int get_collider_shape_index(int p_collision_index = 0) const;
523 Vector3 get_collider_velocity(int p_collision_index = 0) const;
524};
525
526class PhysicalBone3D : public PhysicsBody3D {
527 GDCLASS(PhysicalBone3D, PhysicsBody3D);
528
529public:
530 enum DampMode {
531 DAMP_MODE_COMBINE,
532 DAMP_MODE_REPLACE,
533 };
534
535 enum JointType {
536 JOINT_TYPE_NONE,
537 JOINT_TYPE_PIN,
538 JOINT_TYPE_CONE,
539 JOINT_TYPE_HINGE,
540 JOINT_TYPE_SLIDER,
541 JOINT_TYPE_6DOF
542 };
543
544 struct JointData {
545 virtual JointType get_joint_type() { return JOINT_TYPE_NONE; }
546
547 /// "j" is used to set the parameter inside the PhysicsServer3D
548 virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
549 virtual bool _get(const StringName &p_name, Variant &r_ret) const;
550 virtual void _get_property_list(List<PropertyInfo> *p_list) const;
551
552 virtual ~JointData() {}
553 };
554
555 struct PinJointData : public JointData {
556 virtual JointType get_joint_type() { return JOINT_TYPE_PIN; }
557
558 virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
559 virtual bool _get(const StringName &p_name, Variant &r_ret) const;
560 virtual void _get_property_list(List<PropertyInfo> *p_list) const;
561
562 real_t bias = 0.3;
563 real_t damping = 1.0;
564 real_t impulse_clamp = 0.0;
565 };
566
567 struct ConeJointData : public JointData {
568 virtual JointType get_joint_type() { return JOINT_TYPE_CONE; }
569
570 virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
571 virtual bool _get(const StringName &p_name, Variant &r_ret) const;
572 virtual void _get_property_list(List<PropertyInfo> *p_list) const;
573
574 real_t swing_span = Math_PI * 0.25;
575 real_t twist_span = Math_PI;
576 real_t bias = 0.3;
577 real_t softness = 0.8;
578 real_t relaxation = 1.;
579 };
580
581 struct HingeJointData : public JointData {
582 virtual JointType get_joint_type() { return JOINT_TYPE_HINGE; }
583
584 virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
585 virtual bool _get(const StringName &p_name, Variant &r_ret) const;
586 virtual void _get_property_list(List<PropertyInfo> *p_list) const;
587
588 bool angular_limit_enabled = false;
589 real_t angular_limit_upper = Math_PI * 0.5;
590 real_t angular_limit_lower = -Math_PI * 0.5;
591 real_t angular_limit_bias = 0.3;
592 real_t angular_limit_softness = 0.9;
593 real_t angular_limit_relaxation = 1.;
594 };
595
596 struct SliderJointData : public JointData {
597 virtual JointType get_joint_type() { return JOINT_TYPE_SLIDER; }
598
599 virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
600 virtual bool _get(const StringName &p_name, Variant &r_ret) const;
601 virtual void _get_property_list(List<PropertyInfo> *p_list) const;
602
603 real_t linear_limit_upper = 1.0;
604 real_t linear_limit_lower = -1.0;
605 real_t linear_limit_softness = 1.0;
606 real_t linear_limit_restitution = 0.7;
607 real_t linear_limit_damping = 1.0;
608 real_t angular_limit_upper = 0.0;
609 real_t angular_limit_lower = 0.0;
610 real_t angular_limit_softness = 1.0;
611 real_t angular_limit_restitution = 0.7;
612 real_t angular_limit_damping = 1.0;
613 };
614
615 struct SixDOFJointData : public JointData {
616 struct SixDOFAxisData {
617 bool linear_limit_enabled = true;
618 real_t linear_limit_upper = 0.0;
619 real_t linear_limit_lower = 0.0;
620 real_t linear_limit_softness = 0.7;
621 real_t linear_restitution = 0.5;
622 real_t linear_damping = 1.0;
623 bool linear_spring_enabled = false;
624 real_t linear_spring_stiffness = 0.0;
625 real_t linear_spring_damping = 0.0;
626 real_t linear_equilibrium_point = 0.0;
627 bool angular_limit_enabled = true;
628 real_t angular_limit_upper = 0.0;
629 real_t angular_limit_lower = 0.0;
630 real_t angular_limit_softness = 0.5;
631 real_t angular_restitution = 0.0;
632 real_t angular_damping = 1.0;
633 real_t erp = 0.5;
634 bool angular_spring_enabled = false;
635 real_t angular_spring_stiffness = 0.0;
636 real_t angular_spring_damping = 0.0;
637 real_t angular_equilibrium_point = 0.0;
638 };
639
640 virtual JointType get_joint_type() { return JOINT_TYPE_6DOF; }
641
642 virtual bool _set(const StringName &p_name, const Variant &p_value, RID j);
643 virtual bool _get(const StringName &p_name, Variant &r_ret) const;
644 virtual void _get_property_list(List<PropertyInfo> *p_list) const;
645
646 SixDOFAxisData axis_data[3];
647
648 SixDOFJointData() {}
649 };
650
651private:
652#ifdef TOOLS_ENABLED
653 // if false gizmo move body
654 bool gizmo_move_joint = false;
655#endif
656
657 JointData *joint_data = nullptr;
658 Transform3D joint_offset;
659 RID joint;
660
661 Skeleton3D *parent_skeleton = nullptr;
662 Transform3D body_offset;
663 Transform3D body_offset_inverse;
664 bool simulate_physics = false;
665 bool _internal_simulate_physics = false;
666 int bone_id = -1;
667
668 String bone_name;
669 real_t bounce = 0.0;
670 real_t mass = 1.0;
671 real_t friction = 1.0;
672 Vector3 linear_velocity;
673 Vector3 angular_velocity;
674 real_t gravity_scale = 1.0;
675 bool can_sleep = true;
676
677 bool custom_integrator = false;
678
679 DampMode linear_damp_mode = DAMP_MODE_COMBINE;
680 DampMode angular_damp_mode = DAMP_MODE_COMBINE;
681
682 real_t linear_damp = 0.0;
683 real_t angular_damp = 0.0;
684
685protected:
686 bool _set(const StringName &p_name, const Variant &p_value);
687 bool _get(const StringName &p_name, Variant &r_ret) const;
688 void _get_property_list(List<PropertyInfo> *p_list) const;
689 void _notification(int p_what);
690 GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)
691 static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);
692 void _body_state_changed(PhysicsDirectBodyState3D *p_state);
693
694 static void _bind_methods();
695
696private:
697 void _sync_body_state(PhysicsDirectBodyState3D *p_state);
698 static Skeleton3D *find_skeleton_parent(Node *p_parent);
699
700 void _update_joint_offset();
701 void _fix_joint_offset();
702 void _reload_joint();
703
704public:
705 void _on_bone_parent_changed();
706
707 void set_linear_velocity(const Vector3 &p_velocity);
708 Vector3 get_linear_velocity() const override;
709
710 void set_angular_velocity(const Vector3 &p_velocity);
711 Vector3 get_angular_velocity() const override;
712
713 void set_use_custom_integrator(bool p_enable);
714 bool is_using_custom_integrator();
715
716#ifdef TOOLS_ENABLED
717 void _set_gizmo_move_joint(bool p_move_joint);
718 virtual Transform3D get_global_gizmo_transform() const override;
719 virtual Transform3D get_local_gizmo_transform() const override;
720#endif
721
722 const JointData *get_joint_data() const;
723 Skeleton3D *find_skeleton_parent();
724
725 int get_bone_id() const {
726 return bone_id;
727 }
728
729 void set_joint_type(JointType p_joint_type);
730 JointType get_joint_type() const;
731
732 void set_joint_offset(const Transform3D &p_offset);
733 const Transform3D &get_joint_offset() const;
734
735 void set_joint_rotation(const Vector3 &p_euler_rad);
736 Vector3 get_joint_rotation() const;
737
738 void set_body_offset(const Transform3D &p_offset);
739 const Transform3D &get_body_offset() const;
740
741 void set_simulate_physics(bool p_simulate);
742 bool get_simulate_physics();
743 bool is_simulating_physics();
744
745 void set_bone_name(const String &p_name);
746 const String &get_bone_name() const;
747
748 void set_mass(real_t p_mass);
749 real_t get_mass() const;
750
751 void set_friction(real_t p_friction);
752 real_t get_friction() const;
753
754 void set_bounce(real_t p_bounce);
755 real_t get_bounce() const;
756
757 void set_gravity_scale(real_t p_gravity_scale);
758 real_t get_gravity_scale() const;
759
760 void set_linear_damp_mode(DampMode p_mode);
761 DampMode get_linear_damp_mode() const;
762
763 void set_angular_damp_mode(DampMode p_mode);
764 DampMode get_angular_damp_mode() const;
765
766 void set_linear_damp(real_t p_linear_damp);
767 real_t get_linear_damp() const;
768
769 void set_angular_damp(real_t p_angular_damp);
770 real_t get_angular_damp() const;
771
772 void set_can_sleep(bool p_active);
773 bool is_able_to_sleep() const;
774
775 void apply_central_impulse(const Vector3 &p_impulse);
776 void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
777
778 void reset_physics_simulation_state();
779 void reset_to_rest_position();
780
781 PhysicalBone3D();
782 ~PhysicalBone3D();
783
784private:
785 void update_bone_id();
786 void update_offset();
787
788 void _start_physics_simulation();
789 void _stop_physics_simulation();
790};
791
792VARIANT_ENUM_CAST(PhysicalBone3D::JointType);
793VARIANT_ENUM_CAST(PhysicalBone3D::DampMode);
794
795#endif // PHYSICS_BODY_3D_H
796