1/**************************************************************************/
2/* godot_collision_object_3d.h */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
6/* https://godotengine.org */
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8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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17/* the following conditions: */
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20/* included in all copies or substantial portions of the Software. */
21/* */
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29/**************************************************************************/
30
31#ifndef GODOT_COLLISION_OBJECT_3D_H
32#define GODOT_COLLISION_OBJECT_3D_H
33
34#include "godot_broad_phase_3d.h"
35#include "godot_shape_3d.h"
36
37#include "core/templates/self_list.h"
38#include "servers/physics_server_3d.h"
39
40#ifdef DEBUG_ENABLED
41#define MAX_OBJECT_DISTANCE 3.1622776601683791e+18
42
43#define MAX_OBJECT_DISTANCE_X2 (MAX_OBJECT_DISTANCE * MAX_OBJECT_DISTANCE)
44#endif
45
46class GodotSpace3D;
47
48class GodotCollisionObject3D : public GodotShapeOwner3D {
49public:
50 enum Type {
51 TYPE_AREA,
52 TYPE_BODY,
53 TYPE_SOFT_BODY,
54 };
55
56private:
57 Type type;
58 RID self;
59 ObjectID instance_id;
60 uint32_t collision_layer = 1;
61 uint32_t collision_mask = 1;
62 real_t collision_priority = 1.0;
63
64 struct Shape {
65 Transform3D xform;
66 Transform3D xform_inv;
67 GodotBroadPhase3D::ID bpid;
68 AABB aabb_cache; //for rayqueries
69 real_t area_cache = 0.0;
70 GodotShape3D *shape = nullptr;
71 bool disabled = false;
72 };
73
74 Vector<Shape> shapes;
75 GodotSpace3D *space = nullptr;
76 Transform3D transform;
77 Transform3D inv_transform;
78 bool _static = true;
79
80 SelfList<GodotCollisionObject3D> pending_shape_update_list;
81
82 void _update_shapes();
83
84protected:
85 void _update_shapes_with_motion(const Vector3 &p_motion);
86 void _unregister_shapes();
87
88 _FORCE_INLINE_ void _set_transform(const Transform3D &p_transform, bool p_update_shapes = true) {
89#ifdef DEBUG_ENABLED
90
91 ERR_FAIL_COND_MSG(p_transform.origin.length_squared() > MAX_OBJECT_DISTANCE_X2, "Object went too far away (more than '" + itos(MAX_OBJECT_DISTANCE) + "' units from origin).");
92#endif
93
94 transform = p_transform;
95 if (p_update_shapes) {
96 _update_shapes();
97 }
98 }
99 _FORCE_INLINE_ void _set_inv_transform(const Transform3D &p_transform) { inv_transform = p_transform; }
100 void _set_static(bool p_static);
101
102 virtual void _shapes_changed() = 0;
103 void _set_space(GodotSpace3D *p_space);
104
105 bool ray_pickable = true;
106
107 GodotCollisionObject3D(Type p_type);
108
109public:
110 _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
111 _FORCE_INLINE_ RID get_self() const { return self; }
112
113 _FORCE_INLINE_ void set_instance_id(const ObjectID &p_instance_id) { instance_id = p_instance_id; }
114 _FORCE_INLINE_ ObjectID get_instance_id() const { return instance_id; }
115
116 void _shape_changed() override;
117
118 _FORCE_INLINE_ Type get_type() const { return type; }
119 void add_shape(GodotShape3D *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false);
120 void set_shape(int p_index, GodotShape3D *p_shape);
121 void set_shape_transform(int p_index, const Transform3D &p_transform);
122 _FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
123 _FORCE_INLINE_ GodotShape3D *get_shape(int p_index) const {
124 CRASH_BAD_INDEX(p_index, shapes.size());
125 return shapes[p_index].shape;
126 }
127 _FORCE_INLINE_ const Transform3D &get_shape_transform(int p_index) const {
128 CRASH_BAD_INDEX(p_index, shapes.size());
129 return shapes[p_index].xform;
130 }
131 _FORCE_INLINE_ const Transform3D &get_shape_inv_transform(int p_index) const {
132 CRASH_BAD_INDEX(p_index, shapes.size());
133 return shapes[p_index].xform_inv;
134 }
135 _FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const {
136 CRASH_BAD_INDEX(p_index, shapes.size());
137 return shapes[p_index].aabb_cache;
138 }
139 _FORCE_INLINE_ real_t get_shape_area(int p_index) const {
140 CRASH_BAD_INDEX(p_index, shapes.size());
141 return shapes[p_index].area_cache;
142 }
143
144 _FORCE_INLINE_ const Transform3D &get_transform() const { return transform; }
145 _FORCE_INLINE_ const Transform3D &get_inv_transform() const { return inv_transform; }
146 _FORCE_INLINE_ GodotSpace3D *get_space() const { return space; }
147
148 _FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; }
149 _FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
150
151 void set_shape_disabled(int p_idx, bool p_disabled);
152 _FORCE_INLINE_ bool is_shape_disabled(int p_idx) const {
153 ERR_FAIL_INDEX_V(p_idx, shapes.size(), false);
154 return shapes[p_idx].disabled;
155 }
156
157 _FORCE_INLINE_ void set_collision_layer(uint32_t p_layer) {
158 collision_layer = p_layer;
159 _shape_changed();
160 }
161 _FORCE_INLINE_ uint32_t get_collision_layer() const { return collision_layer; }
162
163 _FORCE_INLINE_ void set_collision_mask(uint32_t p_mask) {
164 collision_mask = p_mask;
165 _shape_changed();
166 }
167 _FORCE_INLINE_ uint32_t get_collision_mask() const { return collision_mask; }
168
169 _FORCE_INLINE_ void set_collision_priority(real_t p_priority) {
170 ERR_FAIL_COND_MSG(p_priority <= 0, "Priority must be greater than 0.");
171 collision_priority = p_priority;
172 _shape_changed();
173 }
174 _FORCE_INLINE_ real_t get_collision_priority() const { return collision_priority; }
175
176 _FORCE_INLINE_ bool collides_with(GodotCollisionObject3D *p_other) const {
177 return p_other->collision_layer & collision_mask;
178 }
179
180 _FORCE_INLINE_ bool interacts_with(const GodotCollisionObject3D *p_other) const {
181 return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
182 }
183
184 void remove_shape(GodotShape3D *p_shape) override;
185 void remove_shape(int p_index);
186
187 virtual void set_space(GodotSpace3D *p_space) = 0;
188
189 _FORCE_INLINE_ bool is_static() const { return _static; }
190
191 virtual ~GodotCollisionObject3D() {}
192};
193
194#endif // GODOT_COLLISION_OBJECT_3D_H
195