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bullet_physics_server.h
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/*************************************************************************/
/* bullet_physics_server.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BULLET_PHYSICS_SERVER_H
#define BULLET_PHYSICS_SERVER_H
#include "area_bullet.h"
#include "core/templates/rid.h"
#include "core/templates/rid_owner.h"
#include "joint_bullet.h"
#include "rigid_body_bullet.h"
#include "servers/physics_server_3d.h"
#include "shape_bullet.h"
#include "soft_body_bullet.h"
#include "space_bullet.h"
/**
@author AndreaCatania
*/
class BulletPhysicsServer3D : public PhysicsServer3D {
GDCLASS(BulletPhysicsServer3D, PhysicsServer3D);
friend class BulletPhysicsDirectSpaceState;
bool active = true;
char active_spaces_count = 0;
Vector<SpaceBullet *> active_spaces;
mutable RID_PtrOwner<SpaceBullet> space_owner;
mutable RID_PtrOwner<ShapeBullet> shape_owner;
mutable RID_PtrOwner<AreaBullet> area_owner;
mutable RID_PtrOwner<RigidBodyBullet> rigid_body_owner;
mutable RID_PtrOwner<SoftBodyBullet> soft_body_owner;
mutable RID_PtrOwner<JointBullet> joint_owner;
protected:
static void _bind_methods();
public:
BulletPhysicsServer3D();
~BulletPhysicsServer3D();
_FORCE_INLINE_ RID_PtrOwner<SpaceBullet> *get_space_owner() {
return &space_owner;
}
_FORCE_INLINE_ RID_PtrOwner<ShapeBullet> *get_shape_owner() {
return &shape_owner;
}
_FORCE_INLINE_ RID_PtrOwner<AreaBullet> *get_area_owner() {
return &area_owner;
}
_FORCE_INLINE_ RID_PtrOwner<RigidBodyBullet> *get_rigid_body_owner() {
return &rigid_body_owner;
}
_FORCE_INLINE_ RID_PtrOwner<SoftBodyBullet> *get_soft_body_owner() {
return &soft_body_owner;
}
_FORCE_INLINE_ RID_PtrOwner<JointBullet> *get_joint_owner() {
return &joint_owner;
}
/* SHAPE API */
virtual RID shape_create(ShapeType p_shape) override;
virtual void shape_set_data(RID p_shape, const Variant &p_data) override;
virtual ShapeType shape_get_type(RID p_shape) const override;
virtual Variant shape_get_data(RID p_shape) const override;
virtual void shape_set_margin(RID p_shape, real_t p_margin) override;
virtual real_t shape_get_margin(RID p_shape) const override;
/// Not supported
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias) override;
/// Not supported
virtual real_t shape_get_custom_solver_bias(RID p_shape) const override;
/* SPACE API */
virtual RID space_create() override;
virtual void space_set_active(RID p_space, bool p_active) override;
virtual bool space_is_active(RID p_space) const override;
/// Not supported
virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) override;
/// Not supported
virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const override;
virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) override;
virtual void space_set_debug_contacts(RID p_space, int p_max_contacts) override;
virtual Vector<Vector3> space_get_contacts(RID p_space) const override;
virtual int space_get_contact_count(RID p_space) const override;
/* AREA API */
/// Bullet Physics Engine not support "Area", this must be handled by the game developer in another way.
/// Since godot Physics use the concept of area even to define the main world, the API area_set_param is used to set initial physics world information.
/// The API area_set_param is a bit hacky, and allow Godot to set some parameters on Bullet's world, a different use print a warning to console.
/// All other APIs returns a warning message if used
virtual RID area_create() override;
virtual void area_set_space(RID p_area, RID p_space) override;
virtual RID area_get_space(RID p_area) const override;
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) override;
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const override;
virtual void area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override;
virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape) override;
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) override;
virtual int area_get_shape_count(RID p_area) const override;
virtual RID area_get_shape(RID p_area, int p_shape_idx) const override;
virtual Transform3D area_get_shape_transform(RID p_area, int p_shape_idx) const override;
virtual void area_remove_shape(RID p_area, int p_shape_idx) override;
virtual void area_clear_shapes(RID p_area) override;
virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) override;
virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id) override;
virtual ObjectID area_get_object_instance_id(RID p_area) const override;
/// If you pass as p_area the SpaceBullet you can set some parameters as specified below
/// AREA_PARAM_GRAVITY
/// AREA_PARAM_GRAVITY_VECTOR
/// Otherwise you can set area parameters
virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) override;
virtual Variant area_get_param(RID p_area, AreaParameter p_param) const override;
virtual void area_set_transform(RID p_area, const Transform3D &p_transform) override;
virtual Transform3D area_get_transform(RID p_area) const override;
virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) override;
virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override;
virtual void area_set_monitorable(RID p_area, bool p_monitorable) override;
virtual void area_set_monitor_callback(RID p_area, const Callable &p_callback) override;
virtual void area_set_area_monitor_callback(RID p_area, const Callable &p_callback) override;
virtual void area_set_ray_pickable(RID p_area, bool p_enable) override;
/* RIGID BODY API */
virtual RID body_create(BodyMode p_mode = BODY_MODE_DYNAMIC, bool p_init_sleeping = false) override;
virtual void body_set_space(RID p_body, RID p_space) override;
virtual RID body_get_space(RID p_body) const override;
virtual void body_set_mode(RID p_body, BodyMode p_mode) override;
virtual BodyMode body_get_mode(RID p_body) const override;
virtual void body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false) override;
// Not supported, Please remove and add new shape
virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) override;
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) override;
virtual int body_get_shape_count(RID p_body) const override;
virtual RID body_get_shape(RID p_body, int p_shape_idx) const override;
virtual Transform3D body_get_shape_transform(RID p_body, int p_shape_idx) const override;
virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) override;
virtual void body_remove_shape(RID p_body, int p_shape_idx) override;
virtual void body_clear_shapes(RID p_body) override;
// Used for Rigid and Soft Bodies
virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id) override;
virtual ObjectID body_get_object_instance_id(RID p_body) const override;
virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) override;
virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const override;
virtual void body_set_collision_layer(RID p_body, uint32_t p_layer) override;
virtual uint32_t body_get_collision_layer(RID p_body) const override;
virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override;
virtual uint32_t body_get_collision_mask(RID p_body) const override;
/// This is not supported by physics server
virtual void body_set_user_flags(RID p_body, uint32_t p_flags) override;
/// This is not supported by physics server
virtual uint32_t body_get_user_flags(RID p_body) const override;
virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override;
virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override;
virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin) override;
virtual real_t body_get_kinematic_safe_margin(RID p_body) const override;
virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
virtual Variant body_get_state(RID p_body, BodyState p_state) const override;
virtual void body_set_applied_force(RID p_body, const Vector3 &p_force) override;
virtual Vector3 body_get_applied_force(RID p_body) const override;
virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque) override;
virtual Vector3 body_get_applied_torque(RID p_body) const override;
virtual void body_add_central_force(RID p_body, const Vector3 &p_force) override;
virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position = Vector3()) override;
virtual void body_add_torque(RID p_body, const Vector3 &p_torque) override;
virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) override;
virtual void body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position = Vector3()) override;
virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) override;
virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) override;
virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) override;
virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const override;
virtual void body_add_collision_exception(RID p_body, RID p_body_b) override;
virtual void body_remove_collision_exception(RID p_body, RID p_body_b) override;
virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override;
virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override;
virtual int body_get_max_contacts_reported(RID p_body) const override;
virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) override;
virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const override;
virtual void body_set_omit_force_integration(RID p_body, bool p_omit) override;
virtual bool body_is_omitting_force_integration(RID p_body) const override;
virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) override;
virtual void body_set_ray_pickable(RID p_body, bool p_enable) override;
// this function only works on physics process, errors and returns null otherwise
virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override;
virtual bool body_test_motion(RID p_body, const Transform3D &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true, const Set<RID> &p_exclude = Set<RID>()) override;
virtual int body_test_ray_separation(RID p_body, const Transform3D &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override;
/* SOFT BODY API */
virtual RID soft_body_create(bool p_init_sleeping = false) override;
virtual void soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) override;
virtual void soft_body_set_space(RID p_body, RID p_space) override;
virtual RID soft_body_get_space(RID p_body) const override;
virtual void soft_body_set_mesh(RID p_body, RID p_mesh) override;
virtual AABB soft_body_get_bounds(RID p_body) const override;
virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) override;
virtual uint32_t soft_body_get_collision_layer(RID p_body) const override;
virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) override;
virtual uint32_t soft_body_get_collision_mask(RID p_body) const override;
virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) override;
virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) override;
virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) override;
virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override;
virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const override;
/// Special function. This function has bad performance
virtual void soft_body_set_transform(RID p_body, const Transform3D &p_transform) override;
virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) override;
virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) override;
virtual int soft_body_get_simulation_precision(RID p_body) const override;
virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) override;
virtual real_t soft_body_get_total_mass(RID p_body) const override;
virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) override;
virtual real_t soft_body_get_linear_stiffness(RID p_body) const override;
virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) override;
virtual real_t soft_body_get_pressure_coefficient(RID p_body) const override;
virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) override;
virtual real_t soft_body_get_damping_coefficient(RID p_body) const override;
virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) override;
virtual real_t soft_body_get_drag_coefficient(RID p_body) const override;
virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) override;
virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) const override;
virtual void soft_body_remove_all_pinned_points(RID p_body) override;
virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) override;
virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) const override;
/* JOINT API */
virtual JointType joint_get_type(RID p_joint) const override;
virtual void joint_set_solver_priority(RID p_joint, int p_priority) override;
virtual int joint_get_solver_priority(RID p_joint) const override;
virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) override;
virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const override;
virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) override;
virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) override;
virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const override;
virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) override;
virtual Vector3 pin_joint_get_local_a(RID p_joint) const override;
virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) override;
virtual Vector3 pin_joint_get_local_b(RID p_joint) const override;
virtual RID joint_create_hinge(RID p_body_A, const Transform3D &p_hinge_A, RID p_body_B, const Transform3D &p_hinge_B) override;
virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) override;
virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) override;
virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const override;
virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) override;
virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const override;
/// Reference frame is A
virtual RID joint_create_slider(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) override;
virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const override;
/// Reference frame is A
virtual RID joint_create_cone_twist(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) override;
virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const override;
/// Reference frame is A
virtual RID joint_create_generic_6dof(RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) override;
virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) override;
virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) override;
virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) override;
virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) override;
/* MISC */
virtual void free(RID p_rid) override;
virtual void set_active(bool p_active) override {
active = p_active;
}
static bool singleton_isActive() {
return static_cast<BulletPhysicsServer3D *>(get_singleton())->active;
}
bool isActive() {
return active;
}
virtual void init() override;
virtual void step(real_t p_deltaTime) override;
virtual void flush_queries() override;
virtual void finish() override;
virtual bool is_flushing_queries() const override { return false; }
virtual int get_process_info(ProcessInfo p_info) override;
SpaceBullet *get_space(RID p_rid) const;
ShapeBullet *get_shape(RID p_rid) const;
CollisionObjectBullet *get_collision_object(RID p_object) const;
RigidCollisionObjectBullet *get_rigid_collision_object(RID p_object) const;
JointBullet *get_joint(RID p_rid) const;
};
#endif