godot/scene/3d/physics/rigid_body_3d.h

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/*  rigid_body_3d.h                                                       */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#ifndef RIGID_BODY_3D_H
#define RIGID_BODY_3D_H

#include "core/templates/vset.h"
#include "scene/3d/physics/physics_body_3d.h"

class RigidBody3D : public PhysicsBody3D {
	GDCLASS(RigidBody3D, PhysicsBody3D);

public:
	enum FreezeMode {
		FREEZE_MODE_STATIC,
		FREEZE_MODE_KINEMATIC,
	};

	enum CenterOfMassMode {
		CENTER_OF_MASS_MODE_AUTO,
		CENTER_OF_MASS_MODE_CUSTOM,
	};

	enum DampMode {
		DAMP_MODE_COMBINE,
		DAMP_MODE_REPLACE,
	};

private:
	bool can_sleep = true;
	bool lock_rotation = false;
	bool freeze = false;
	FreezeMode freeze_mode = FREEZE_MODE_STATIC;

	real_t mass = 1.0;
	Vector3 inertia;
	CenterOfMassMode center_of_mass_mode = CENTER_OF_MASS_MODE_AUTO;
	Vector3 center_of_mass;

	Ref<PhysicsMaterial> physics_material_override;

	Vector3 linear_velocity;
	Vector3 angular_velocity;
	Basis inverse_inertia_tensor;
	real_t gravity_scale = 1.0;

	DampMode linear_damp_mode = DAMP_MODE_COMBINE;
	DampMode angular_damp_mode = DAMP_MODE_COMBINE;

	real_t linear_damp = 0.0;
	real_t angular_damp = 0.0;

	bool sleeping = false;
	bool ccd = false;

	int max_contacts_reported = 0;
	int contact_count = 0;

	bool custom_integrator = false;

	struct ShapePair {
		int body_shape = 0;
		int local_shape = 0;
		bool tagged = false;
		bool operator<(const ShapePair &p_sp) const {
			if (body_shape == p_sp.body_shape) {
				return local_shape < p_sp.local_shape;
			} else {
				return body_shape < p_sp.body_shape;
			}
		}

		ShapePair() {}
		ShapePair(int p_bs, int p_ls) {
			body_shape = p_bs;
			local_shape = p_ls;
			tagged = false;
		}
	};
	struct RigidBody3D_RemoveAction {
		RID rid;
		ObjectID body_id;
		ShapePair pair;
	};
	struct BodyState {
		RID rid;
		//int rc;
		bool in_tree = false;
		VSet<ShapePair> shapes;
	};

	struct ContactMonitor {
		bool locked = false;
		HashMap<ObjectID, BodyState> body_map;
	};

	ContactMonitor *contact_monitor = nullptr;
	void _body_enter_tree(ObjectID p_id);
	void _body_exit_tree(ObjectID p_id);

	void _body_inout(int p_status, const RID &p_body, ObjectID p_instance, int p_body_shape, int p_local_shape);
	static void _body_state_changed_callback(void *p_instance, PhysicsDirectBodyState3D *p_state);

	void _sync_body_state(PhysicsDirectBodyState3D *p_state);

protected:
	void _notification(int p_what);
	static void _bind_methods();

	void _validate_property(PropertyInfo &p_property) const;

	GDVIRTUAL1(_integrate_forces, PhysicsDirectBodyState3D *)

	virtual void _body_state_changed(PhysicsDirectBodyState3D *p_state);

	void _apply_body_mode();

public:
	void set_lock_rotation_enabled(bool p_lock_rotation);
	bool is_lock_rotation_enabled() const;

	void set_freeze_enabled(bool p_freeze);
	bool is_freeze_enabled() const;

	void set_freeze_mode(FreezeMode p_freeze_mode);
	FreezeMode get_freeze_mode() const;

	void set_mass(real_t p_mass);
	real_t get_mass() const;

	virtual real_t get_inverse_mass() const override { return 1.0 / mass; }

	void set_inertia(const Vector3 &p_inertia);
	const Vector3 &get_inertia() const;

	void set_center_of_mass_mode(CenterOfMassMode p_mode);
	CenterOfMassMode get_center_of_mass_mode() const;

	void set_center_of_mass(const Vector3 &p_center_of_mass);
	const Vector3 &get_center_of_mass() const;

	void set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override);
	Ref<PhysicsMaterial> get_physics_material_override() const;

	void set_linear_velocity(const Vector3 &p_velocity);
	Vector3 get_linear_velocity() const override;

	void set_axis_velocity(const Vector3 &p_axis);

	void set_angular_velocity(const Vector3 &p_velocity);
	Vector3 get_angular_velocity() const override;

	Basis get_inverse_inertia_tensor() const;

	void set_gravity_scale(real_t p_gravity_scale);
	real_t get_gravity_scale() const;

	void set_linear_damp_mode(DampMode p_mode);
	DampMode get_linear_damp_mode() const;

	void set_angular_damp_mode(DampMode p_mode);
	DampMode get_angular_damp_mode() const;

	void set_linear_damp(real_t p_linear_damp);
	real_t get_linear_damp() const;

	void set_angular_damp(real_t p_angular_damp);
	real_t get_angular_damp() const;

	void set_use_custom_integrator(bool p_enable);
	bool is_using_custom_integrator();

	void set_sleeping(bool p_sleeping);
	bool is_sleeping() const;

	void set_can_sleep(bool p_active);
	bool is_able_to_sleep() const;

	void set_contact_monitor(bool p_enabled);
	bool is_contact_monitor_enabled() const;

	void set_max_contacts_reported(int p_amount);
	int get_max_contacts_reported() const;
	int get_contact_count() const;

	void set_use_continuous_collision_detection(bool p_enable);
	bool is_using_continuous_collision_detection() const;

	TypedArray<Node3D> get_colliding_bodies() const;

	void apply_central_impulse(const Vector3 &p_impulse);
	void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position = Vector3());
	void apply_torque_impulse(const Vector3 &p_impulse);

	void apply_central_force(const Vector3 &p_force);
	void apply_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
	void apply_torque(const Vector3 &p_torque);

	void add_constant_central_force(const Vector3 &p_force);
	void add_constant_force(const Vector3 &p_force, const Vector3 &p_position = Vector3());
	void add_constant_torque(const Vector3 &p_torque);

	void set_constant_force(const Vector3 &p_force);
	Vector3 get_constant_force() const;

	void set_constant_torque(const Vector3 &p_torque);
	Vector3 get_constant_torque() const;

	virtual PackedStringArray get_configuration_warnings() const override;

	RigidBody3D();
	~RigidBody3D();

private:
	void _reload_physics_characteristics();
};

VARIANT_ENUM_CAST(RigidBody3D::FreezeMode);
VARIANT_ENUM_CAST(RigidBody3D::CenterOfMassMode);
VARIANT_ENUM_CAST(RigidBody3D::DampMode);

#endif // RIGID_BODY_3D_H