1/**************************************************************************/
2/* godot_physics_server_3d.cpp */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
6/* https://godotengine.org */
7/**************************************************************************/
8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
10/* */
11/* Permission is hereby granted, free of charge, to any person obtaining */
12/* a copy of this software and associated documentation files (the */
13/* "Software"), to deal in the Software without restriction, including */
14/* without limitation the rights to use, copy, modify, merge, publish, */
15/* distribute, sublicense, and/or sell copies of the Software, and to */
16/* permit persons to whom the Software is furnished to do so, subject to */
17/* the following conditions: */
18/* */
19/* The above copyright notice and this permission notice shall be */
20/* included in all copies or substantial portions of the Software. */
21/* */
22/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
23/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
24/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
25/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
26/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
27/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
28/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
29/**************************************************************************/
30
31#include "godot_physics_server_3d.h"
32
33#include "godot_body_direct_state_3d.h"
34#include "godot_broad_phase_3d_bvh.h"
35#include "joints/godot_cone_twist_joint_3d.h"
36#include "joints/godot_generic_6dof_joint_3d.h"
37#include "joints/godot_hinge_joint_3d.h"
38#include "joints/godot_pin_joint_3d.h"
39#include "joints/godot_slider_joint_3d.h"
40
41#include "core/debugger/engine_debugger.h"
42#include "core/os/os.h"
43
44#define FLUSH_QUERY_CHECK(m_object) \
45 ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
46
47RID GodotPhysicsServer3D::world_boundary_shape_create() {
48 GodotShape3D *shape = memnew(GodotWorldBoundaryShape3D);
49 RID rid = shape_owner.make_rid(shape);
50 shape->set_self(rid);
51 return rid;
52}
53RID GodotPhysicsServer3D::separation_ray_shape_create() {
54 GodotShape3D *shape = memnew(GodotSeparationRayShape3D);
55 RID rid = shape_owner.make_rid(shape);
56 shape->set_self(rid);
57 return rid;
58}
59RID GodotPhysicsServer3D::sphere_shape_create() {
60 GodotShape3D *shape = memnew(GodotSphereShape3D);
61 RID rid = shape_owner.make_rid(shape);
62 shape->set_self(rid);
63 return rid;
64}
65RID GodotPhysicsServer3D::box_shape_create() {
66 GodotShape3D *shape = memnew(GodotBoxShape3D);
67 RID rid = shape_owner.make_rid(shape);
68 shape->set_self(rid);
69 return rid;
70}
71RID GodotPhysicsServer3D::capsule_shape_create() {
72 GodotShape3D *shape = memnew(GodotCapsuleShape3D);
73 RID rid = shape_owner.make_rid(shape);
74 shape->set_self(rid);
75 return rid;
76}
77RID GodotPhysicsServer3D::cylinder_shape_create() {
78 GodotShape3D *shape = memnew(GodotCylinderShape3D);
79 RID rid = shape_owner.make_rid(shape);
80 shape->set_self(rid);
81 return rid;
82}
83RID GodotPhysicsServer3D::convex_polygon_shape_create() {
84 GodotShape3D *shape = memnew(GodotConvexPolygonShape3D);
85 RID rid = shape_owner.make_rid(shape);
86 shape->set_self(rid);
87 return rid;
88}
89RID GodotPhysicsServer3D::concave_polygon_shape_create() {
90 GodotShape3D *shape = memnew(GodotConcavePolygonShape3D);
91 RID rid = shape_owner.make_rid(shape);
92 shape->set_self(rid);
93 return rid;
94}
95RID GodotPhysicsServer3D::heightmap_shape_create() {
96 GodotShape3D *shape = memnew(GodotHeightMapShape3D);
97 RID rid = shape_owner.make_rid(shape);
98 shape->set_self(rid);
99 return rid;
100}
101RID GodotPhysicsServer3D::custom_shape_create() {
102 ERR_FAIL_V(RID());
103}
104
105void GodotPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) {
106 GodotShape3D *shape = shape_owner.get_or_null(p_shape);
107 ERR_FAIL_COND(!shape);
108 shape->set_data(p_data);
109};
110
111void GodotPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
112 GodotShape3D *shape = shape_owner.get_or_null(p_shape);
113 ERR_FAIL_COND(!shape);
114 shape->set_custom_bias(p_bias);
115}
116
117PhysicsServer3D::ShapeType GodotPhysicsServer3D::shape_get_type(RID p_shape) const {
118 const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
119 ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
120 return shape->get_type();
121};
122
123Variant GodotPhysicsServer3D::shape_get_data(RID p_shape) const {
124 const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
125 ERR_FAIL_COND_V(!shape, Variant());
126 ERR_FAIL_COND_V(!shape->is_configured(), Variant());
127 return shape->get_data();
128};
129
130void GodotPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) {
131}
132
133real_t GodotPhysicsServer3D::shape_get_margin(RID p_shape) const {
134 return 0.0;
135}
136
137real_t GodotPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const {
138 const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
139 ERR_FAIL_COND_V(!shape, 0);
140 return shape->get_custom_bias();
141}
142
143RID GodotPhysicsServer3D::space_create() {
144 GodotSpace3D *space = memnew(GodotSpace3D);
145 RID id = space_owner.make_rid(space);
146 space->set_self(id);
147 RID area_id = area_create();
148 GodotArea3D *area = area_owner.get_or_null(area_id);
149 ERR_FAIL_COND_V(!area, RID());
150 space->set_default_area(area);
151 area->set_space(space);
152 area->set_priority(-1);
153 RID sgb = body_create();
154 body_set_space(sgb, id);
155 body_set_mode(sgb, BODY_MODE_STATIC);
156 space->set_static_global_body(sgb);
157
158 return id;
159};
160
161void GodotPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
162 GodotSpace3D *space = space_owner.get_or_null(p_space);
163 ERR_FAIL_COND(!space);
164 if (p_active) {
165 active_spaces.insert(space);
166 } else {
167 active_spaces.erase(space);
168 }
169}
170
171bool GodotPhysicsServer3D::space_is_active(RID p_space) const {
172 const GodotSpace3D *space = space_owner.get_or_null(p_space);
173 ERR_FAIL_COND_V(!space, false);
174
175 return active_spaces.has(space);
176}
177
178void GodotPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
179 GodotSpace3D *space = space_owner.get_or_null(p_space);
180 ERR_FAIL_COND(!space);
181
182 space->set_param(p_param, p_value);
183}
184
185real_t GodotPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const {
186 const GodotSpace3D *space = space_owner.get_or_null(p_space);
187 ERR_FAIL_COND_V(!space, 0);
188 return space->get_param(p_param);
189}
190
191PhysicsDirectSpaceState3D *GodotPhysicsServer3D::space_get_direct_state(RID p_space) {
192 GodotSpace3D *space = space_owner.get_or_null(p_space);
193 ERR_FAIL_COND_V(!space, nullptr);
194 ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
195
196 return space->get_direct_state();
197}
198
199void GodotPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
200 GodotSpace3D *space = space_owner.get_or_null(p_space);
201 ERR_FAIL_COND(!space);
202 space->set_debug_contacts(p_max_contacts);
203}
204
205Vector<Vector3> GodotPhysicsServer3D::space_get_contacts(RID p_space) const {
206 GodotSpace3D *space = space_owner.get_or_null(p_space);
207 ERR_FAIL_COND_V(!space, Vector<Vector3>());
208 return space->get_debug_contacts();
209}
210
211int GodotPhysicsServer3D::space_get_contact_count(RID p_space) const {
212 GodotSpace3D *space = space_owner.get_or_null(p_space);
213 ERR_FAIL_COND_V(!space, 0);
214 return space->get_debug_contact_count();
215}
216
217RID GodotPhysicsServer3D::area_create() {
218 GodotArea3D *area = memnew(GodotArea3D);
219 RID rid = area_owner.make_rid(area);
220 area->set_self(rid);
221 return rid;
222}
223
224void GodotPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
225 GodotArea3D *area = area_owner.get_or_null(p_area);
226 ERR_FAIL_COND(!area);
227
228 GodotSpace3D *space = nullptr;
229 if (p_space.is_valid()) {
230 space = space_owner.get_or_null(p_space);
231 ERR_FAIL_COND(!space);
232 }
233
234 if (area->get_space() == space) {
235 return; //pointless
236 }
237
238 area->clear_constraints();
239 area->set_space(space);
240}
241
242RID GodotPhysicsServer3D::area_get_space(RID p_area) const {
243 GodotArea3D *area = area_owner.get_or_null(p_area);
244 ERR_FAIL_COND_V(!area, RID());
245
246 GodotSpace3D *space = area->get_space();
247 if (!space) {
248 return RID();
249 }
250 return space->get_self();
251}
252
253void GodotPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
254 GodotArea3D *area = area_owner.get_or_null(p_area);
255 ERR_FAIL_COND(!area);
256
257 GodotShape3D *shape = shape_owner.get_or_null(p_shape);
258 ERR_FAIL_COND(!shape);
259
260 area->add_shape(shape, p_transform, p_disabled);
261}
262
263void GodotPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
264 GodotArea3D *area = area_owner.get_or_null(p_area);
265 ERR_FAIL_COND(!area);
266
267 GodotShape3D *shape = shape_owner.get_or_null(p_shape);
268 ERR_FAIL_COND(!shape);
269 ERR_FAIL_COND(!shape->is_configured());
270
271 area->set_shape(p_shape_idx, shape);
272}
273
274void GodotPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
275 GodotArea3D *area = area_owner.get_or_null(p_area);
276 ERR_FAIL_COND(!area);
277
278 area->set_shape_transform(p_shape_idx, p_transform);
279}
280
281int GodotPhysicsServer3D::area_get_shape_count(RID p_area) const {
282 GodotArea3D *area = area_owner.get_or_null(p_area);
283 ERR_FAIL_COND_V(!area, -1);
284
285 return area->get_shape_count();
286}
287
288RID GodotPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const {
289 GodotArea3D *area = area_owner.get_or_null(p_area);
290 ERR_FAIL_COND_V(!area, RID());
291
292 GodotShape3D *shape = area->get_shape(p_shape_idx);
293 ERR_FAIL_COND_V(!shape, RID());
294
295 return shape->get_self();
296}
297
298Transform3D GodotPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
299 GodotArea3D *area = area_owner.get_or_null(p_area);
300 ERR_FAIL_COND_V(!area, Transform3D());
301
302 return area->get_shape_transform(p_shape_idx);
303}
304
305void GodotPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) {
306 GodotArea3D *area = area_owner.get_or_null(p_area);
307 ERR_FAIL_COND(!area);
308
309 area->remove_shape(p_shape_idx);
310}
311
312void GodotPhysicsServer3D::area_clear_shapes(RID p_area) {
313 GodotArea3D *area = area_owner.get_or_null(p_area);
314 ERR_FAIL_COND(!area);
315
316 while (area->get_shape_count()) {
317 area->remove_shape(0);
318 }
319}
320
321void GodotPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
322 GodotArea3D *area = area_owner.get_or_null(p_area);
323 ERR_FAIL_COND(!area);
324 ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
325 FLUSH_QUERY_CHECK(area);
326 area->set_shape_disabled(p_shape_idx, p_disabled);
327}
328
329void GodotPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
330 if (space_owner.owns(p_area)) {
331 GodotSpace3D *space = space_owner.get_or_null(p_area);
332 p_area = space->get_default_area()->get_self();
333 }
334 GodotArea3D *area = area_owner.get_or_null(p_area);
335 ERR_FAIL_COND(!area);
336 area->set_instance_id(p_id);
337}
338
339ObjectID GodotPhysicsServer3D::area_get_object_instance_id(RID p_area) const {
340 if (space_owner.owns(p_area)) {
341 GodotSpace3D *space = space_owner.get_or_null(p_area);
342 p_area = space->get_default_area()->get_self();
343 }
344 GodotArea3D *area = area_owner.get_or_null(p_area);
345 ERR_FAIL_COND_V(!area, ObjectID());
346 return area->get_instance_id();
347}
348
349void GodotPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
350 if (space_owner.owns(p_area)) {
351 GodotSpace3D *space = space_owner.get_or_null(p_area);
352 p_area = space->get_default_area()->get_self();
353 }
354 GodotArea3D *area = area_owner.get_or_null(p_area);
355 ERR_FAIL_COND(!area);
356 area->set_param(p_param, p_value);
357};
358
359void GodotPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) {
360 GodotArea3D *area = area_owner.get_or_null(p_area);
361 ERR_FAIL_COND(!area);
362 area->set_transform(p_transform);
363};
364
365Variant GodotPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const {
366 if (space_owner.owns(p_area)) {
367 GodotSpace3D *space = space_owner.get_or_null(p_area);
368 p_area = space->get_default_area()->get_self();
369 }
370 GodotArea3D *area = area_owner.get_or_null(p_area);
371 ERR_FAIL_COND_V(!area, Variant());
372
373 return area->get_param(p_param);
374};
375
376Transform3D GodotPhysicsServer3D::area_get_transform(RID p_area) const {
377 GodotArea3D *area = area_owner.get_or_null(p_area);
378 ERR_FAIL_COND_V(!area, Transform3D());
379
380 return area->get_transform();
381};
382
383void GodotPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
384 GodotArea3D *area = area_owner.get_or_null(p_area);
385 ERR_FAIL_COND(!area);
386
387 area->set_collision_layer(p_layer);
388}
389
390uint32_t GodotPhysicsServer3D::area_get_collision_layer(RID p_area) const {
391 GodotArea3D *area = area_owner.get_or_null(p_area);
392 ERR_FAIL_COND_V(!area, 0);
393
394 return area->get_collision_layer();
395}
396
397void GodotPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
398 GodotArea3D *area = area_owner.get_or_null(p_area);
399 ERR_FAIL_COND(!area);
400
401 area->set_collision_mask(p_mask);
402}
403
404uint32_t GodotPhysicsServer3D::area_get_collision_mask(RID p_area) const {
405 GodotArea3D *area = area_owner.get_or_null(p_area);
406 ERR_FAIL_COND_V(!area, 0);
407
408 return area->get_collision_mask();
409}
410
411void GodotPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) {
412 GodotArea3D *area = area_owner.get_or_null(p_area);
413 ERR_FAIL_COND(!area);
414 FLUSH_QUERY_CHECK(area);
415
416 area->set_monitorable(p_monitorable);
417}
418
419void GodotPhysicsServer3D::area_set_monitor_callback(RID p_area, const Callable &p_callback) {
420 GodotArea3D *area = area_owner.get_or_null(p_area);
421 ERR_FAIL_COND(!area);
422
423 area->set_monitor_callback(p_callback.is_valid() ? p_callback : Callable());
424}
425
426void GodotPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
427 GodotArea3D *area = area_owner.get_or_null(p_area);
428 ERR_FAIL_COND(!area);
429
430 area->set_ray_pickable(p_enable);
431}
432
433void GodotPhysicsServer3D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) {
434 GodotArea3D *area = area_owner.get_or_null(p_area);
435 ERR_FAIL_COND(!area);
436
437 area->set_area_monitor_callback(p_callback.is_valid() ? p_callback : Callable());
438}
439
440/* BODY API */
441
442RID GodotPhysicsServer3D::body_create() {
443 GodotBody3D *body = memnew(GodotBody3D);
444 RID rid = body_owner.make_rid(body);
445 body->set_self(rid);
446 return rid;
447};
448
449void GodotPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
450 GodotBody3D *body = body_owner.get_or_null(p_body);
451 ERR_FAIL_COND(!body);
452
453 GodotSpace3D *space = nullptr;
454 if (p_space.is_valid()) {
455 space = space_owner.get_or_null(p_space);
456 ERR_FAIL_COND(!space);
457 }
458
459 if (body->get_space() == space) {
460 return; //pointless
461 }
462
463 body->clear_constraint_map();
464 body->set_space(space);
465};
466
467RID GodotPhysicsServer3D::body_get_space(RID p_body) const {
468 GodotBody3D *body = body_owner.get_or_null(p_body);
469 ERR_FAIL_COND_V(!body, RID());
470
471 GodotSpace3D *space = body->get_space();
472 if (!space) {
473 return RID();
474 }
475 return space->get_self();
476};
477
478void GodotPhysicsServer3D::body_set_mode(RID p_body, BodyMode p_mode) {
479 GodotBody3D *body = body_owner.get_or_null(p_body);
480 ERR_FAIL_COND(!body);
481
482 body->set_mode(p_mode);
483};
484
485PhysicsServer3D::BodyMode GodotPhysicsServer3D::body_get_mode(RID p_body) const {
486 GodotBody3D *body = body_owner.get_or_null(p_body);
487 ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
488
489 return body->get_mode();
490};
491
492void GodotPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
493 GodotBody3D *body = body_owner.get_or_null(p_body);
494 ERR_FAIL_COND(!body);
495
496 GodotShape3D *shape = shape_owner.get_or_null(p_shape);
497 ERR_FAIL_COND(!shape);
498
499 body->add_shape(shape, p_transform, p_disabled);
500}
501
502void GodotPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
503 GodotBody3D *body = body_owner.get_or_null(p_body);
504 ERR_FAIL_COND(!body);
505
506 GodotShape3D *shape = shape_owner.get_or_null(p_shape);
507 ERR_FAIL_COND(!shape);
508 ERR_FAIL_COND(!shape->is_configured());
509
510 body->set_shape(p_shape_idx, shape);
511}
512void GodotPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
513 GodotBody3D *body = body_owner.get_or_null(p_body);
514 ERR_FAIL_COND(!body);
515
516 body->set_shape_transform(p_shape_idx, p_transform);
517}
518
519int GodotPhysicsServer3D::body_get_shape_count(RID p_body) const {
520 GodotBody3D *body = body_owner.get_or_null(p_body);
521 ERR_FAIL_COND_V(!body, -1);
522
523 return body->get_shape_count();
524}
525
526RID GodotPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
527 GodotBody3D *body = body_owner.get_or_null(p_body);
528 ERR_FAIL_COND_V(!body, RID());
529
530 GodotShape3D *shape = body->get_shape(p_shape_idx);
531 ERR_FAIL_COND_V(!shape, RID());
532
533 return shape->get_self();
534}
535
536void GodotPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
537 GodotBody3D *body = body_owner.get_or_null(p_body);
538 ERR_FAIL_COND(!body);
539 ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
540 FLUSH_QUERY_CHECK(body);
541
542 body->set_shape_disabled(p_shape_idx, p_disabled);
543}
544
545Transform3D GodotPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
546 GodotBody3D *body = body_owner.get_or_null(p_body);
547 ERR_FAIL_COND_V(!body, Transform3D());
548
549 return body->get_shape_transform(p_shape_idx);
550}
551
552void GodotPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) {
553 GodotBody3D *body = body_owner.get_or_null(p_body);
554 ERR_FAIL_COND(!body);
555
556 body->remove_shape(p_shape_idx);
557}
558
559void GodotPhysicsServer3D::body_clear_shapes(RID p_body) {
560 GodotBody3D *body = body_owner.get_or_null(p_body);
561 ERR_FAIL_COND(!body);
562
563 while (body->get_shape_count()) {
564 body->remove_shape(0);
565 }
566}
567
568void GodotPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
569 GodotBody3D *body = body_owner.get_or_null(p_body);
570 ERR_FAIL_COND(!body);
571
572 body->set_continuous_collision_detection(p_enable);
573}
574
575bool GodotPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const {
576 GodotBody3D *body = body_owner.get_or_null(p_body);
577 ERR_FAIL_COND_V(!body, false);
578
579 return body->is_continuous_collision_detection_enabled();
580}
581
582void GodotPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
583 GodotBody3D *body = body_owner.get_or_null(p_body);
584 ERR_FAIL_COND(!body);
585
586 body->set_collision_layer(p_layer);
587}
588
589uint32_t GodotPhysicsServer3D::body_get_collision_layer(RID p_body) const {
590 const GodotBody3D *body = body_owner.get_or_null(p_body);
591 ERR_FAIL_COND_V(!body, 0);
592
593 return body->get_collision_layer();
594}
595
596void GodotPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
597 GodotBody3D *body = body_owner.get_or_null(p_body);
598 ERR_FAIL_COND(!body);
599
600 body->set_collision_mask(p_mask);
601}
602
603uint32_t GodotPhysicsServer3D::body_get_collision_mask(RID p_body) const {
604 const GodotBody3D *body = body_owner.get_or_null(p_body);
605 ERR_FAIL_COND_V(!body, 0);
606
607 return body->get_collision_mask();
608}
609
610void GodotPhysicsServer3D::body_set_collision_priority(RID p_body, real_t p_priority) {
611 GodotBody3D *body = body_owner.get_or_null(p_body);
612 ERR_FAIL_COND(!body);
613
614 body->set_collision_priority(p_priority);
615}
616
617real_t GodotPhysicsServer3D::body_get_collision_priority(RID p_body) const {
618 const GodotBody3D *body = body_owner.get_or_null(p_body);
619 ERR_FAIL_COND_V(!body, 0);
620
621 return body->get_collision_priority();
622}
623
624void GodotPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
625 GodotBody3D *body = body_owner.get_or_null(p_body);
626 if (body) {
627 body->set_instance_id(p_id);
628 return;
629 }
630
631 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
632 if (soft_body) {
633 soft_body->set_instance_id(p_id);
634 return;
635 }
636
637 ERR_FAIL_MSG("Invalid ID.");
638}
639
640ObjectID GodotPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
641 GodotBody3D *body = body_owner.get_or_null(p_body);
642 ERR_FAIL_COND_V(!body, ObjectID());
643
644 return body->get_instance_id();
645}
646
647void GodotPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
648 GodotBody3D *body = body_owner.get_or_null(p_body);
649 ERR_FAIL_COND(!body);
650}
651
652uint32_t GodotPhysicsServer3D::body_get_user_flags(RID p_body) const {
653 GodotBody3D *body = body_owner.get_or_null(p_body);
654 ERR_FAIL_COND_V(!body, 0);
655
656 return 0;
657}
658
659void GodotPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
660 GodotBody3D *body = body_owner.get_or_null(p_body);
661 ERR_FAIL_COND(!body);
662
663 body->set_param(p_param, p_value);
664}
665
666Variant GodotPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
667 GodotBody3D *body = body_owner.get_or_null(p_body);
668 ERR_FAIL_COND_V(!body, 0);
669
670 return body->get_param(p_param);
671}
672
673void GodotPhysicsServer3D::body_reset_mass_properties(RID p_body) {
674 GodotBody3D *body = body_owner.get_or_null(p_body);
675 ERR_FAIL_COND(!body);
676
677 return body->reset_mass_properties();
678}
679
680void GodotPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
681 GodotBody3D *body = body_owner.get_or_null(p_body);
682 ERR_FAIL_COND(!body);
683
684 body->set_state(p_state, p_variant);
685}
686
687Variant GodotPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
688 GodotBody3D *body = body_owner.get_or_null(p_body);
689 ERR_FAIL_COND_V(!body, Variant());
690
691 return body->get_state(p_state);
692}
693
694void GodotPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
695 GodotBody3D *body = body_owner.get_or_null(p_body);
696 ERR_FAIL_COND(!body);
697
698 _update_shapes();
699
700 body->apply_central_impulse(p_impulse);
701 body->wakeup();
702}
703
704void GodotPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
705 GodotBody3D *body = body_owner.get_or_null(p_body);
706 ERR_FAIL_COND(!body);
707
708 _update_shapes();
709
710 body->apply_impulse(p_impulse, p_position);
711 body->wakeup();
712}
713
714void GodotPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
715 GodotBody3D *body = body_owner.get_or_null(p_body);
716 ERR_FAIL_COND(!body);
717
718 _update_shapes();
719
720 body->apply_torque_impulse(p_impulse);
721 body->wakeup();
722}
723
724void GodotPhysicsServer3D::body_apply_central_force(RID p_body, const Vector3 &p_force) {
725 GodotBody3D *body = body_owner.get_or_null(p_body);
726 ERR_FAIL_COND(!body);
727
728 body->apply_central_force(p_force);
729 body->wakeup();
730}
731
732void GodotPhysicsServer3D::body_apply_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
733 GodotBody3D *body = body_owner.get_or_null(p_body);
734 ERR_FAIL_COND(!body);
735
736 body->apply_force(p_force, p_position);
737 body->wakeup();
738}
739
740void GodotPhysicsServer3D::body_apply_torque(RID p_body, const Vector3 &p_torque) {
741 GodotBody3D *body = body_owner.get_or_null(p_body);
742 ERR_FAIL_COND(!body);
743
744 body->apply_torque(p_torque);
745 body->wakeup();
746}
747
748void GodotPhysicsServer3D::body_add_constant_central_force(RID p_body, const Vector3 &p_force) {
749 GodotBody3D *body = body_owner.get_or_null(p_body);
750 ERR_FAIL_COND(!body);
751
752 body->add_constant_central_force(p_force);
753 body->wakeup();
754}
755
756void GodotPhysicsServer3D::body_add_constant_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
757 GodotBody3D *body = body_owner.get_or_null(p_body);
758 ERR_FAIL_COND(!body);
759
760 body->add_constant_force(p_force, p_position);
761 body->wakeup();
762}
763
764void GodotPhysicsServer3D::body_add_constant_torque(RID p_body, const Vector3 &p_torque) {
765 GodotBody3D *body = body_owner.get_or_null(p_body);
766 ERR_FAIL_COND(!body);
767
768 body->add_constant_torque(p_torque);
769 body->wakeup();
770}
771
772void GodotPhysicsServer3D::body_set_constant_force(RID p_body, const Vector3 &p_force) {
773 GodotBody3D *body = body_owner.get_or_null(p_body);
774 ERR_FAIL_COND(!body);
775
776 body->set_constant_force(p_force);
777 if (!p_force.is_zero_approx()) {
778 body->wakeup();
779 }
780}
781
782Vector3 GodotPhysicsServer3D::body_get_constant_force(RID p_body) const {
783 GodotBody3D *body = body_owner.get_or_null(p_body);
784 ERR_FAIL_COND_V(!body, Vector3());
785 return body->get_constant_force();
786}
787
788void GodotPhysicsServer3D::body_set_constant_torque(RID p_body, const Vector3 &p_torque) {
789 GodotBody3D *body = body_owner.get_or_null(p_body);
790 ERR_FAIL_COND(!body);
791
792 body->set_constant_torque(p_torque);
793 if (!p_torque.is_zero_approx()) {
794 body->wakeup();
795 }
796}
797
798Vector3 GodotPhysicsServer3D::body_get_constant_torque(RID p_body) const {
799 GodotBody3D *body = body_owner.get_or_null(p_body);
800 ERR_FAIL_COND_V(!body, Vector3());
801
802 return body->get_constant_torque();
803}
804
805void GodotPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
806 GodotBody3D *body = body_owner.get_or_null(p_body);
807 ERR_FAIL_COND(!body);
808
809 _update_shapes();
810
811 Vector3 v = body->get_linear_velocity();
812 Vector3 axis = p_axis_velocity.normalized();
813 v -= axis * axis.dot(v);
814 v += p_axis_velocity;
815 body->set_linear_velocity(v);
816 body->wakeup();
817}
818
819void GodotPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
820 GodotBody3D *body = body_owner.get_or_null(p_body);
821 ERR_FAIL_COND(!body);
822
823 body->set_axis_lock(p_axis, p_lock);
824 body->wakeup();
825}
826
827bool GodotPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
828 const GodotBody3D *body = body_owner.get_or_null(p_body);
829 ERR_FAIL_COND_V(!body, 0);
830 return body->is_axis_locked(p_axis);
831}
832
833void GodotPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) {
834 GodotBody3D *body = body_owner.get_or_null(p_body);
835 ERR_FAIL_COND(!body);
836
837 body->add_exception(p_body_b);
838 body->wakeup();
839};
840
841void GodotPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) {
842 GodotBody3D *body = body_owner.get_or_null(p_body);
843 ERR_FAIL_COND(!body);
844
845 body->remove_exception(p_body_b);
846 body->wakeup();
847};
848
849void GodotPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
850 GodotBody3D *body = body_owner.get_or_null(p_body);
851 ERR_FAIL_COND(!body);
852
853 for (int i = 0; i < body->get_exceptions().size(); i++) {
854 p_exceptions->push_back(body->get_exceptions()[i]);
855 }
856};
857
858void GodotPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
859 GodotBody3D *body = body_owner.get_or_null(p_body);
860 ERR_FAIL_COND(!body);
861};
862
863real_t GodotPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
864 GodotBody3D *body = body_owner.get_or_null(p_body);
865 ERR_FAIL_COND_V(!body, 0);
866 return 0;
867};
868
869void GodotPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) {
870 GodotBody3D *body = body_owner.get_or_null(p_body);
871 ERR_FAIL_COND(!body);
872
873 body->set_omit_force_integration(p_omit);
874};
875
876bool GodotPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const {
877 GodotBody3D *body = body_owner.get_or_null(p_body);
878 ERR_FAIL_COND_V(!body, false);
879 return body->get_omit_force_integration();
880};
881
882void GodotPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) {
883 GodotBody3D *body = body_owner.get_or_null(p_body);
884 ERR_FAIL_COND(!body);
885 body->set_max_contacts_reported(p_contacts);
886}
887
888int GodotPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
889 GodotBody3D *body = body_owner.get_or_null(p_body);
890 ERR_FAIL_COND_V(!body, -1);
891 return body->get_max_contacts_reported();
892}
893
894void GodotPhysicsServer3D::body_set_state_sync_callback(RID p_body, const Callable &p_callable) {
895 GodotBody3D *body = body_owner.get_or_null(p_body);
896 ERR_FAIL_COND(!body);
897 body->set_state_sync_callback(p_callable);
898}
899
900void GodotPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
901 GodotBody3D *body = body_owner.get_or_null(p_body);
902 ERR_FAIL_COND(!body);
903 body->set_force_integration_callback(p_callable, p_udata);
904}
905
906void GodotPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
907 GodotBody3D *body = body_owner.get_or_null(p_body);
908 ERR_FAIL_COND(!body);
909 body->set_ray_pickable(p_enable);
910}
911
912bool GodotPhysicsServer3D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
913 GodotBody3D *body = body_owner.get_or_null(p_body);
914 ERR_FAIL_COND_V(!body, false);
915 ERR_FAIL_COND_V(!body->get_space(), false);
916 ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
917
918 _update_shapes();
919
920 return body->get_space()->test_body_motion(body, p_parameters, r_result);
921}
922
923PhysicsDirectBodyState3D *GodotPhysicsServer3D::body_get_direct_state(RID p_body) {
924 ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
925
926 if (!body_owner.owns(p_body)) {
927 return nullptr;
928 }
929
930 GodotBody3D *body = body_owner.get_or_null(p_body);
931 ERR_FAIL_NULL_V(body, nullptr);
932
933 if (!body->get_space()) {
934 return nullptr;
935 }
936
937 ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
938
939 return body->get_direct_state();
940}
941
942/* SOFT BODY */
943
944RID GodotPhysicsServer3D::soft_body_create() {
945 GodotSoftBody3D *soft_body = memnew(GodotSoftBody3D);
946 RID rid = soft_body_owner.make_rid(soft_body);
947 soft_body->set_self(rid);
948 return rid;
949}
950
951void GodotPhysicsServer3D::soft_body_update_rendering_server(RID p_body, PhysicsServer3DRenderingServerHandler *p_rendering_server_handler) {
952 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
953 ERR_FAIL_COND(!soft_body);
954
955 soft_body->update_rendering_server(p_rendering_server_handler);
956}
957
958void GodotPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
959 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
960 ERR_FAIL_COND(!soft_body);
961
962 GodotSpace3D *space = nullptr;
963 if (p_space.is_valid()) {
964 space = space_owner.get_or_null(p_space);
965 ERR_FAIL_COND(!space);
966 }
967
968 if (soft_body->get_space() == space) {
969 return;
970 }
971
972 soft_body->set_space(space);
973}
974
975RID GodotPhysicsServer3D::soft_body_get_space(RID p_body) const {
976 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
977 ERR_FAIL_COND_V(!soft_body, RID());
978
979 GodotSpace3D *space = soft_body->get_space();
980 if (!space) {
981 return RID();
982 }
983 return space->get_self();
984}
985
986void GodotPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
987 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
988 ERR_FAIL_COND(!soft_body);
989
990 soft_body->set_collision_layer(p_layer);
991}
992
993uint32_t GodotPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const {
994 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
995 ERR_FAIL_COND_V(!soft_body, 0);
996
997 return soft_body->get_collision_layer();
998}
999
1000void GodotPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
1001 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1002 ERR_FAIL_COND(!soft_body);
1003
1004 soft_body->set_collision_mask(p_mask);
1005}
1006
1007uint32_t GodotPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const {
1008 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1009 ERR_FAIL_COND_V(!soft_body, 0);
1010
1011 return soft_body->get_collision_mask();
1012}
1013
1014void GodotPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
1015 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1016 ERR_FAIL_COND(!soft_body);
1017
1018 soft_body->add_exception(p_body_b);
1019}
1020
1021void GodotPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
1022 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1023 ERR_FAIL_COND(!soft_body);
1024
1025 soft_body->remove_exception(p_body_b);
1026}
1027
1028void GodotPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
1029 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1030 ERR_FAIL_COND(!soft_body);
1031
1032 for (int i = 0; i < soft_body->get_exceptions().size(); i++) {
1033 p_exceptions->push_back(soft_body->get_exceptions()[i]);
1034 }
1035}
1036
1037void GodotPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
1038 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1039 ERR_FAIL_COND(!soft_body);
1040
1041 soft_body->set_state(p_state, p_variant);
1042}
1043
1044Variant GodotPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const {
1045 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1046 ERR_FAIL_COND_V(!soft_body, Variant());
1047
1048 return soft_body->get_state(p_state);
1049}
1050
1051void GodotPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
1052 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1053 ERR_FAIL_COND(!soft_body);
1054
1055 soft_body->set_state(BODY_STATE_TRANSFORM, p_transform);
1056}
1057
1058void GodotPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
1059 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1060 ERR_FAIL_COND(!soft_body);
1061
1062 soft_body->set_ray_pickable(p_enable);
1063}
1064
1065void GodotPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
1066 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1067 ERR_FAIL_COND(!soft_body);
1068
1069 soft_body->set_iteration_count(p_simulation_precision);
1070}
1071
1072int GodotPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
1073 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1074 ERR_FAIL_COND_V(!soft_body, 0.f);
1075
1076 return soft_body->get_iteration_count();
1077}
1078
1079void GodotPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
1080 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1081 ERR_FAIL_COND(!soft_body);
1082
1083 soft_body->set_total_mass(p_total_mass);
1084}
1085
1086real_t GodotPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
1087 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1088 ERR_FAIL_COND_V(!soft_body, 0.f);
1089
1090 return soft_body->get_total_mass();
1091}
1092
1093void GodotPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
1094 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1095 ERR_FAIL_COND(!soft_body);
1096
1097 soft_body->set_linear_stiffness(p_stiffness);
1098}
1099
1100real_t GodotPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) const {
1101 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1102 ERR_FAIL_COND_V(!soft_body, 0.f);
1103
1104 return soft_body->get_linear_stiffness();
1105}
1106
1107void GodotPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
1108 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1109 ERR_FAIL_COND(!soft_body);
1110
1111 soft_body->set_pressure_coefficient(p_pressure_coefficient);
1112}
1113
1114real_t GodotPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
1115 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1116 ERR_FAIL_COND_V(!soft_body, 0.f);
1117
1118 return soft_body->get_pressure_coefficient();
1119}
1120
1121void GodotPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
1122 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1123 ERR_FAIL_COND(!soft_body);
1124
1125 soft_body->set_damping_coefficient(p_damping_coefficient);
1126}
1127
1128real_t GodotPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
1129 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1130 ERR_FAIL_COND_V(!soft_body, 0.f);
1131
1132 return soft_body->get_damping_coefficient();
1133}
1134
1135void GodotPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
1136 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1137 ERR_FAIL_COND(!soft_body);
1138
1139 soft_body->set_drag_coefficient(p_drag_coefficient);
1140}
1141
1142real_t GodotPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
1143 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1144 ERR_FAIL_COND_V(!soft_body, 0.f);
1145
1146 return soft_body->get_drag_coefficient();
1147}
1148
1149void GodotPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) {
1150 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1151 ERR_FAIL_COND(!soft_body);
1152
1153 soft_body->set_mesh(p_mesh);
1154}
1155
1156AABB GodotPhysicsServer3D::soft_body_get_bounds(RID p_body) const {
1157 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1158 ERR_FAIL_COND_V(!soft_body, AABB());
1159
1160 return soft_body->get_bounds();
1161}
1162
1163void GodotPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
1164 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1165 ERR_FAIL_COND(!soft_body);
1166
1167 soft_body->set_vertex_position(p_point_index, p_global_position);
1168}
1169
1170Vector3 GodotPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
1171 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1172 ERR_FAIL_COND_V(!soft_body, Vector3());
1173
1174 return soft_body->get_vertex_position(p_point_index);
1175}
1176
1177void GodotPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
1178 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1179 ERR_FAIL_COND(!soft_body);
1180
1181 soft_body->unpin_all_vertices();
1182}
1183
1184void GodotPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
1185 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1186 ERR_FAIL_COND(!soft_body);
1187
1188 if (p_pin) {
1189 soft_body->pin_vertex(p_point_index);
1190 } else {
1191 soft_body->unpin_vertex(p_point_index);
1192 }
1193}
1194
1195bool GodotPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
1196 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
1197 ERR_FAIL_COND_V(!soft_body, false);
1198
1199 return soft_body->is_vertex_pinned(p_point_index);
1200}
1201
1202/* JOINT API */
1203
1204RID GodotPhysicsServer3D::joint_create() {
1205 GodotJoint3D *joint = memnew(GodotJoint3D);
1206 RID rid = joint_owner.make_rid(joint);
1207 joint->set_self(rid);
1208 return rid;
1209}
1210
1211void GodotPhysicsServer3D::joint_clear(RID p_joint) {
1212 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1213 ERR_FAIL_NULL(joint);
1214 if (joint->get_type() != JOINT_TYPE_MAX) {
1215 GodotJoint3D *empty_joint = memnew(GodotJoint3D);
1216 empty_joint->copy_settings_from(joint);
1217
1218 joint_owner.replace(p_joint, empty_joint);
1219 memdelete(joint);
1220 }
1221}
1222
1223void GodotPhysicsServer3D::joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
1224 GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
1225 ERR_FAIL_COND(!body_A);
1226
1227 if (!p_body_B.is_valid()) {
1228 ERR_FAIL_COND(!body_A->get_space());
1229 p_body_B = body_A->get_space()->get_static_global_body();
1230 }
1231
1232 GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
1233 ERR_FAIL_COND(!body_B);
1234
1235 ERR_FAIL_COND(body_A == body_B);
1236
1237 GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
1238 ERR_FAIL_COND(prev_joint == nullptr);
1239
1240 GodotJoint3D *joint = memnew(GodotPinJoint3D(body_A, p_local_A, body_B, p_local_B));
1241
1242 joint->copy_settings_from(prev_joint);
1243 joint_owner.replace(p_joint, joint);
1244 memdelete(prev_joint);
1245}
1246
1247void GodotPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
1248 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1249 ERR_FAIL_COND(!joint);
1250 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
1251 GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
1252 pin_joint->set_param(p_param, p_value);
1253}
1254
1255real_t GodotPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
1256 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1257 ERR_FAIL_COND_V(!joint, 0);
1258 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0);
1259 GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
1260 return pin_joint->get_param(p_param);
1261}
1262
1263void GodotPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
1264 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1265 ERR_FAIL_COND(!joint);
1266 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
1267 GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
1268 pin_joint->set_pos_a(p_A);
1269}
1270
1271Vector3 GodotPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const {
1272 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1273 ERR_FAIL_COND_V(!joint, Vector3());
1274 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
1275 GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
1276 return pin_joint->get_position_a();
1277}
1278
1279void GodotPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
1280 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1281 ERR_FAIL_COND(!joint);
1282 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
1283 GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
1284 pin_joint->set_pos_b(p_B);
1285}
1286
1287Vector3 GodotPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const {
1288 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1289 ERR_FAIL_COND_V(!joint, Vector3());
1290 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
1291 GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
1292 return pin_joint->get_position_b();
1293}
1294
1295void GodotPhysicsServer3D::joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_frame_A, RID p_body_B, const Transform3D &p_frame_B) {
1296 GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
1297 ERR_FAIL_COND(!body_A);
1298
1299 if (!p_body_B.is_valid()) {
1300 ERR_FAIL_COND(!body_A->get_space());
1301 p_body_B = body_A->get_space()->get_static_global_body();
1302 }
1303
1304 GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
1305 ERR_FAIL_COND(!body_B);
1306
1307 ERR_FAIL_COND(body_A == body_B);
1308
1309 GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
1310 ERR_FAIL_COND(prev_joint == nullptr);
1311
1312 GodotJoint3D *joint = memnew(GodotHingeJoint3D(body_A, body_B, p_frame_A, p_frame_B));
1313
1314 joint->copy_settings_from(prev_joint);
1315 joint_owner.replace(p_joint, joint);
1316 memdelete(prev_joint);
1317}
1318
1319void GodotPhysicsServer3D::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) {
1320 GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
1321 ERR_FAIL_COND(!body_A);
1322
1323 if (!p_body_B.is_valid()) {
1324 ERR_FAIL_COND(!body_A->get_space());
1325 p_body_B = body_A->get_space()->get_static_global_body();
1326 }
1327
1328 GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
1329 ERR_FAIL_COND(!body_B);
1330
1331 ERR_FAIL_COND(body_A == body_B);
1332
1333 GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
1334 ERR_FAIL_COND(prev_joint == nullptr);
1335
1336 GodotJoint3D *joint = memnew(GodotHingeJoint3D(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
1337
1338 joint->copy_settings_from(prev_joint);
1339 joint_owner.replace(p_joint, joint);
1340 memdelete(prev_joint);
1341}
1342
1343void GodotPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
1344 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1345 ERR_FAIL_COND(!joint);
1346 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
1347 GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
1348 hinge_joint->set_param(p_param, p_value);
1349}
1350
1351real_t GodotPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
1352 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1353 ERR_FAIL_COND_V(!joint, 0);
1354 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0);
1355 GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
1356 return hinge_joint->get_param(p_param);
1357}
1358
1359void GodotPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
1360 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1361 ERR_FAIL_COND(!joint);
1362 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
1363 GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
1364 hinge_joint->set_flag(p_flag, p_value);
1365}
1366
1367bool GodotPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
1368 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1369 ERR_FAIL_COND_V(!joint, false);
1370 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, false);
1371 GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
1372 return hinge_joint->get_flag(p_flag);
1373}
1374
1375void GodotPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) {
1376 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1377 ERR_FAIL_COND(!joint);
1378 joint->set_priority(p_priority);
1379}
1380
1381int GodotPhysicsServer3D::joint_get_solver_priority(RID p_joint) const {
1382 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1383 ERR_FAIL_COND_V(!joint, 0);
1384 return joint->get_priority();
1385}
1386
1387void GodotPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, bool p_disable) {
1388 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1389 ERR_FAIL_COND(!joint);
1390
1391 joint->disable_collisions_between_bodies(p_disable);
1392
1393 if (2 == joint->get_body_count()) {
1394 GodotBody3D *body_a = *joint->get_body_ptr();
1395 GodotBody3D *body_b = *(joint->get_body_ptr() + 1);
1396
1397 if (p_disable) {
1398 body_add_collision_exception(body_a->get_self(), body_b->get_self());
1399 body_add_collision_exception(body_b->get_self(), body_a->get_self());
1400 } else {
1401 body_remove_collision_exception(body_a->get_self(), body_b->get_self());
1402 body_remove_collision_exception(body_b->get_self(), body_a->get_self());
1403 }
1404 }
1405}
1406
1407bool GodotPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
1408 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1409 ERR_FAIL_COND_V(!joint, true);
1410
1411 return joint->is_disabled_collisions_between_bodies();
1412}
1413
1414GodotPhysicsServer3D::JointType GodotPhysicsServer3D::joint_get_type(RID p_joint) const {
1415 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1416 ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN);
1417 return joint->get_type();
1418}
1419
1420void GodotPhysicsServer3D::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) {
1421 GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
1422 ERR_FAIL_COND(!body_A);
1423
1424 if (!p_body_B.is_valid()) {
1425 ERR_FAIL_COND(!body_A->get_space());
1426 p_body_B = body_A->get_space()->get_static_global_body();
1427 }
1428
1429 GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
1430 ERR_FAIL_COND(!body_B);
1431
1432 ERR_FAIL_COND(body_A == body_B);
1433
1434 GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
1435 ERR_FAIL_COND(prev_joint == nullptr);
1436
1437 GodotJoint3D *joint = memnew(GodotSliderJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B));
1438
1439 joint->copy_settings_from(prev_joint);
1440 joint_owner.replace(p_joint, joint);
1441 memdelete(prev_joint);
1442}
1443
1444void GodotPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
1445 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1446 ERR_FAIL_COND(!joint);
1447 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER);
1448 GodotSliderJoint3D *slider_joint = static_cast<GodotSliderJoint3D *>(joint);
1449 slider_joint->set_param(p_param, p_value);
1450}
1451
1452real_t GodotPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
1453 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1454 ERR_FAIL_COND_V(!joint, 0);
1455 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0);
1456 GodotSliderJoint3D *slider_joint = static_cast<GodotSliderJoint3D *>(joint);
1457 return slider_joint->get_param(p_param);
1458}
1459
1460void GodotPhysicsServer3D::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) {
1461 GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
1462 ERR_FAIL_COND(!body_A);
1463
1464 if (!p_body_B.is_valid()) {
1465 ERR_FAIL_COND(!body_A->get_space());
1466 p_body_B = body_A->get_space()->get_static_global_body();
1467 }
1468
1469 GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
1470 ERR_FAIL_COND(!body_B);
1471
1472 ERR_FAIL_COND(body_A == body_B);
1473
1474 GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
1475 ERR_FAIL_COND(prev_joint == nullptr);
1476
1477 GodotJoint3D *joint = memnew(GodotConeTwistJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B));
1478
1479 joint->copy_settings_from(prev_joint);
1480 joint_owner.replace(p_joint, joint);
1481 memdelete(prev_joint);
1482}
1483
1484void GodotPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
1485 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1486 ERR_FAIL_COND(!joint);
1487 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST);
1488 GodotConeTwistJoint3D *cone_twist_joint = static_cast<GodotConeTwistJoint3D *>(joint);
1489 cone_twist_joint->set_param(p_param, p_value);
1490}
1491
1492real_t GodotPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
1493 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1494 ERR_FAIL_COND_V(!joint, 0);
1495 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0);
1496 GodotConeTwistJoint3D *cone_twist_joint = static_cast<GodotConeTwistJoint3D *>(joint);
1497 return cone_twist_joint->get_param(p_param);
1498}
1499
1500void GodotPhysicsServer3D::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) {
1501 GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
1502 ERR_FAIL_COND(!body_A);
1503
1504 if (!p_body_B.is_valid()) {
1505 ERR_FAIL_COND(!body_A->get_space());
1506 p_body_B = body_A->get_space()->get_static_global_body();
1507 }
1508
1509 GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
1510 ERR_FAIL_COND(!body_B);
1511
1512 ERR_FAIL_COND(body_A == body_B);
1513
1514 GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
1515 ERR_FAIL_COND(prev_joint == nullptr);
1516
1517 GodotJoint3D *joint = memnew(GodotGeneric6DOFJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
1518
1519 joint->copy_settings_from(prev_joint);
1520 joint_owner.replace(p_joint, joint);
1521 memdelete(prev_joint);
1522}
1523
1524void GodotPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
1525 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1526 ERR_FAIL_COND(!joint);
1527 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
1528 GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
1529 generic_6dof_joint->set_param(p_axis, p_param, p_value);
1530}
1531
1532real_t GodotPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) const {
1533 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1534 ERR_FAIL_COND_V(!joint, 0);
1535 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0);
1536 GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
1537 return generic_6dof_joint->get_param(p_axis, p_param);
1538}
1539
1540void GodotPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
1541 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1542 ERR_FAIL_COND(!joint);
1543 ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
1544 GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
1545 generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
1546}
1547
1548bool GodotPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) const {
1549 GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
1550 ERR_FAIL_COND_V(!joint, false);
1551 ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, false);
1552 GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
1553 return generic_6dof_joint->get_flag(p_axis, p_flag);
1554}
1555
1556void GodotPhysicsServer3D::free(RID p_rid) {
1557 _update_shapes(); //just in case
1558
1559 if (shape_owner.owns(p_rid)) {
1560 GodotShape3D *shape = shape_owner.get_or_null(p_rid);
1561
1562 while (shape->get_owners().size()) {
1563 GodotShapeOwner3D *so = shape->get_owners().begin()->key;
1564 so->remove_shape(shape);
1565 }
1566
1567 shape_owner.free(p_rid);
1568 memdelete(shape);
1569 } else if (body_owner.owns(p_rid)) {
1570 GodotBody3D *body = body_owner.get_or_null(p_rid);
1571
1572 body->set_space(nullptr);
1573
1574 while (body->get_shape_count()) {
1575 body->remove_shape(0);
1576 }
1577
1578 body_owner.free(p_rid);
1579 memdelete(body);
1580 } else if (soft_body_owner.owns(p_rid)) {
1581 GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_rid);
1582
1583 soft_body->set_space(nullptr);
1584
1585 soft_body_owner.free(p_rid);
1586 memdelete(soft_body);
1587 } else if (area_owner.owns(p_rid)) {
1588 GodotArea3D *area = area_owner.get_or_null(p_rid);
1589
1590 area->set_space(nullptr);
1591
1592 while (area->get_shape_count()) {
1593 area->remove_shape(0);
1594 }
1595
1596 area_owner.free(p_rid);
1597 memdelete(area);
1598 } else if (space_owner.owns(p_rid)) {
1599 GodotSpace3D *space = space_owner.get_or_null(p_rid);
1600
1601 while (space->get_objects().size()) {
1602 GodotCollisionObject3D *co = static_cast<GodotCollisionObject3D *>(*space->get_objects().begin());
1603 co->set_space(nullptr);
1604 }
1605
1606 active_spaces.erase(space);
1607 free(space->get_default_area()->get_self());
1608 free(space->get_static_global_body());
1609
1610 space_owner.free(p_rid);
1611 memdelete(space);
1612 } else if (joint_owner.owns(p_rid)) {
1613 GodotJoint3D *joint = joint_owner.get_or_null(p_rid);
1614
1615 joint_owner.free(p_rid);
1616 memdelete(joint);
1617
1618 } else {
1619 ERR_FAIL_MSG("Invalid ID.");
1620 }
1621}
1622
1623void GodotPhysicsServer3D::set_active(bool p_active) {
1624 active = p_active;
1625}
1626
1627void GodotPhysicsServer3D::init() {
1628 stepper = memnew(GodotStep3D);
1629}
1630
1631void GodotPhysicsServer3D::step(real_t p_step) {
1632#ifndef _3D_DISABLED
1633
1634 if (!active) {
1635 return;
1636 }
1637
1638 _update_shapes();
1639
1640 island_count = 0;
1641 active_objects = 0;
1642 collision_pairs = 0;
1643 for (const GodotSpace3D *E : active_spaces) {
1644 stepper->step(const_cast<GodotSpace3D *>(E), p_step);
1645 island_count += E->get_island_count();
1646 active_objects += E->get_active_objects();
1647 collision_pairs += E->get_collision_pairs();
1648 }
1649#endif
1650}
1651
1652void GodotPhysicsServer3D::sync() {
1653 doing_sync = true;
1654}
1655
1656void GodotPhysicsServer3D::flush_queries() {
1657#ifndef _3D_DISABLED
1658
1659 if (!active) {
1660 return;
1661 }
1662
1663 flushing_queries = true;
1664
1665 uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
1666
1667 for (const GodotSpace3D *E : active_spaces) {
1668 GodotSpace3D *space = const_cast<GodotSpace3D *>(E);
1669 space->call_queries();
1670 }
1671
1672 flushing_queries = false;
1673
1674 if (EngineDebugger::is_profiling("servers")) {
1675 uint64_t total_time[GodotSpace3D::ELAPSED_TIME_MAX];
1676 static const char *time_name[GodotSpace3D::ELAPSED_TIME_MAX] = {
1677 "integrate_forces",
1678 "generate_islands",
1679 "setup_constraints",
1680 "solve_constraints",
1681 "integrate_velocities"
1682 };
1683
1684 for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) {
1685 total_time[i] = 0;
1686 }
1687
1688 for (const GodotSpace3D *E : active_spaces) {
1689 for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) {
1690 total_time[i] += E->get_elapsed_time(GodotSpace3D::ElapsedTime(i));
1691 }
1692 }
1693
1694 Array values;
1695 values.resize(GodotSpace3D::ELAPSED_TIME_MAX * 2);
1696 for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) {
1697 values[i * 2 + 0] = time_name[i];
1698 values[i * 2 + 1] = USEC_TO_SEC(total_time[i]);
1699 }
1700 values.push_back("flush_queries");
1701 values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg));
1702
1703 values.push_front("physics_3d");
1704 EngineDebugger::profiler_add_frame_data("servers", values);
1705 }
1706#endif
1707}
1708
1709void GodotPhysicsServer3D::end_sync() {
1710 doing_sync = false;
1711}
1712
1713void GodotPhysicsServer3D::finish() {
1714 memdelete(stepper);
1715}
1716
1717int GodotPhysicsServer3D::get_process_info(ProcessInfo p_info) {
1718 switch (p_info) {
1719 case INFO_ACTIVE_OBJECTS: {
1720 return active_objects;
1721 } break;
1722 case INFO_COLLISION_PAIRS: {
1723 return collision_pairs;
1724 } break;
1725 case INFO_ISLAND_COUNT: {
1726 return island_count;
1727 } break;
1728 }
1729
1730 return 0;
1731}
1732
1733void GodotPhysicsServer3D::_update_shapes() {
1734 while (pending_shape_update_list.first()) {
1735 pending_shape_update_list.first()->self()->_shape_changed();
1736 pending_shape_update_list.remove(pending_shape_update_list.first());
1737 }
1738}
1739
1740void GodotPhysicsServer3D::_shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal, void *p_userdata) {
1741 CollCbkData *cbk = static_cast<CollCbkData *>(p_userdata);
1742
1743 if (cbk->max == 0) {
1744 return;
1745 }
1746
1747 if (cbk->amount == cbk->max) {
1748 //find least deep
1749 real_t min_depth = 1e20;
1750 int min_depth_idx = 0;
1751 for (int i = 0; i < cbk->amount; i++) {
1752 real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]);
1753 if (d < min_depth) {
1754 min_depth = d;
1755 min_depth_idx = i;
1756 }
1757 }
1758
1759 real_t d = p_point_A.distance_squared_to(p_point_B);
1760 if (d < min_depth) {
1761 return;
1762 }
1763 cbk->ptr[min_depth_idx * 2 + 0] = p_point_A;
1764 cbk->ptr[min_depth_idx * 2 + 1] = p_point_B;
1765
1766 } else {
1767 cbk->ptr[cbk->amount * 2 + 0] = p_point_A;
1768 cbk->ptr[cbk->amount * 2 + 1] = p_point_B;
1769 cbk->amount++;
1770 }
1771}
1772
1773GodotPhysicsServer3D *GodotPhysicsServer3D::godot_singleton = nullptr;
1774GodotPhysicsServer3D::GodotPhysicsServer3D(bool p_using_threads) {
1775 godot_singleton = this;
1776 GodotBroadPhase3D::create_func = GodotBroadPhase3DBVH::_create;
1777
1778 using_threads = p_using_threads;
1779};
1780