godot/scene/3d/physics/static_body_3d.cpp

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/*  static_body_3d.cpp                                                    */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#include "static_body_3d.h"

#ifndef NAVIGATION_3D_DISABLED
#include "core/math/convex_hull.h"
#include "scene/resources/3d/box_shape_3d.h"
#include "scene/resources/3d/capsule_shape_3d.h"
#include "scene/resources/3d/concave_polygon_shape_3d.h"
#include "scene/resources/3d/convex_polygon_shape_3d.h"
#include "scene/resources/3d/cylinder_shape_3d.h"
#include "scene/resources/3d/height_map_shape_3d.h"
#include "scene/resources/3d/navigation_mesh_source_geometry_data_3d.h"
#include "scene/resources/3d/primitive_meshes.h"
#include "scene/resources/3d/shape_3d.h"
#include "scene/resources/3d/sphere_shape_3d.h"
#include "scene/resources/3d/world_boundary_shape_3d.h"
#include "scene/resources/navigation_mesh.h"
#include "servers/navigation_server_3d.h"

Callable StaticBody3D::_navmesh_source_geometry_parsing_callback;
RID StaticBody3D::_navmesh_source_geometry_parser;
#endif // NAVIGATION_3D_DISABLED

void StaticBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
	if (physics_material_override.is_valid()) {
		physics_material_override->disconnect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
	}

	physics_material_override = p_physics_material_override;

	if (physics_material_override.is_valid()) {
		physics_material_override->connect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
	}
	_reload_physics_characteristics();
}

Ref<PhysicsMaterial> StaticBody3D::get_physics_material_override() const {
	return physics_material_override;
}

void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) {
	constant_linear_velocity = p_vel;

	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
}

void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) {
	constant_angular_velocity = p_vel;

	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
}

Vector3 StaticBody3D::get_constant_linear_velocity() const {
	return constant_linear_velocity;
}

Vector3 StaticBody3D::get_constant_angular_velocity() const {
	return constant_angular_velocity;
}

void StaticBody3D::_reload_physics_characteristics() {
	if (physics_material_override.is_null()) {
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1);
	} else {
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce());
		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction());
	}
}

#ifndef NAVIGATION_3D_DISABLED
void StaticBody3D::navmesh_parse_init() {
	ERR_FAIL_NULL(NavigationServer3D::get_singleton());
	if (!_navmesh_source_geometry_parser.is_valid()) {
		_navmesh_source_geometry_parsing_callback = callable_mp_static(&StaticBody3D::navmesh_parse_source_geometry);
		_navmesh_source_geometry_parser = NavigationServer3D::get_singleton()->source_geometry_parser_create();
		NavigationServer3D::get_singleton()->source_geometry_parser_set_callback(_navmesh_source_geometry_parser, _navmesh_source_geometry_parsing_callback);
	}
}

void StaticBody3D::navmesh_parse_source_geometry(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
	StaticBody3D *static_body = Object::cast_to<StaticBody3D>(p_node);

	if (static_body == nullptr) {
		return;
	}

	NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
	uint32_t parsed_collision_mask = p_navigation_mesh->get_collision_mask();

	if ((parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) && (static_body->get_collision_layer() & parsed_collision_mask)) {
		List<uint32_t> shape_owners;
		static_body->get_shape_owners(&shape_owners);
		for (uint32_t shape_owner : shape_owners) {
			if (static_body->is_shape_owner_disabled(shape_owner)) {
				continue;
			}
			const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
			for (int shape_index = 0; shape_index < shape_count; shape_index++) {
				Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, shape_index);
				if (s.is_null()) {
					continue;
				}

				const Transform3D transform = static_body->get_global_transform() * static_body->shape_owner_get_transform(shape_owner);

				BoxShape3D *box = Object::cast_to<BoxShape3D>(*s);
				if (box) {
					Array arr;
					arr.resize(RS::ARRAY_MAX);
					BoxMesh::create_mesh_array(arr, box->get_size());
					p_source_geometry_data->add_mesh_array(arr, transform);
				}

				CapsuleShape3D *capsule = Object::cast_to<CapsuleShape3D>(*s);
				if (capsule) {
					Array arr;
					arr.resize(RS::ARRAY_MAX);
					CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height());
					p_source_geometry_data->add_mesh_array(arr, transform);
				}

				CylinderShape3D *cylinder = Object::cast_to<CylinderShape3D>(*s);
				if (cylinder) {
					Array arr;
					arr.resize(RS::ARRAY_MAX);
					CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
					p_source_geometry_data->add_mesh_array(arr, transform);
				}

				SphereShape3D *sphere = Object::cast_to<SphereShape3D>(*s);
				if (sphere) {
					Array arr;
					arr.resize(RS::ARRAY_MAX);
					SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
					p_source_geometry_data->add_mesh_array(arr, transform);
				}

				ConcavePolygonShape3D *concave_polygon = Object::cast_to<ConcavePolygonShape3D>(*s);
				if (concave_polygon) {
					p_source_geometry_data->add_faces(concave_polygon->get_faces(), transform);
				}

				ConvexPolygonShape3D *convex_polygon = Object::cast_to<ConvexPolygonShape3D>(*s);
				if (convex_polygon) {
					Vector<Vector3> varr = Variant(convex_polygon->get_points());
					Geometry3D::MeshData md;

					Error err = ConvexHullComputer::convex_hull(varr, md);

					if (err == OK) {
						PackedVector3Array faces;

						for (const Geometry3D::MeshData::Face &face : md.faces) {
							for (uint32_t k = 2; k < face.indices.size(); ++k) {
								faces.push_back(md.vertices[face.indices[0]]);
								faces.push_back(md.vertices[face.indices[k - 1]]);
								faces.push_back(md.vertices[face.indices[k]]);
							}
						}

						p_source_geometry_data->add_faces(faces, transform);
					}
				}

				HeightMapShape3D *heightmap_shape = Object::cast_to<HeightMapShape3D>(*s);
				if (heightmap_shape) {
					int heightmap_depth = heightmap_shape->get_map_depth();
					int heightmap_width = heightmap_shape->get_map_width();

					if (heightmap_depth >= 2 && heightmap_width >= 2) {
						const Vector<real_t> &map_data = heightmap_shape->get_map_data();

						Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
						Vector3 start = Vector3(heightmap_gridsize.x, 0, heightmap_gridsize.y) * -0.5;

						Vector<Vector3> vertex_array;
						vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
						Vector3 *vertex_array_ptrw = vertex_array.ptrw();
						const real_t *map_data_ptr = map_data.ptr();
						int vertex_index = 0;

						for (int d = 0; d < heightmap_depth - 1; d++) {
							for (int w = 0; w < heightmap_width - 1; w++) {
								vertex_array_ptrw[vertex_index] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + w], d);
								vertex_array_ptrw[vertex_index + 1] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
								vertex_array_ptrw[vertex_index + 2] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
								vertex_array_ptrw[vertex_index + 3] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
								vertex_array_ptrw[vertex_index + 4] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + heightmap_width + w + 1], d + 1);
								vertex_array_ptrw[vertex_index + 5] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
								vertex_index += 6;
							}
						}
						if (vertex_array.size() > 0) {
							p_source_geometry_data->add_faces(vertex_array, transform);
						}
					}
				}
			}
		}
	}
}
#endif // NAVIGATION_3D_DISABLED

void StaticBody3D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity);
	ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity);
	ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity);
	ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity);

	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override);
	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override);

	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_constant_linear_velocity", "get_constant_linear_velocity");
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity", PROPERTY_HINT_NONE, U"radians_as_degrees,suffix:\u00B0/s"), "set_constant_angular_velocity", "get_constant_angular_velocity");
}

StaticBody3D::StaticBody3D(PhysicsServer3D::BodyMode p_mode) :
		PhysicsBody3D(p_mode) {
}