247 lines
12 KiB
C++
247 lines
12 KiB
C++
/**************************************************************************/
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/* static_body_3d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "static_body_3d.h"
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#include "core/math/convex_hull.h"
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#include "scene/resources/3d/box_shape_3d.h"
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#include "scene/resources/3d/capsule_shape_3d.h"
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#include "scene/resources/3d/concave_polygon_shape_3d.h"
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#include "scene/resources/3d/convex_polygon_shape_3d.h"
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#include "scene/resources/3d/cylinder_shape_3d.h"
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#include "scene/resources/3d/height_map_shape_3d.h"
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#include "scene/resources/3d/navigation_mesh_source_geometry_data_3d.h"
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#include "scene/resources/3d/primitive_meshes.h"
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#include "scene/resources/3d/shape_3d.h"
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#include "scene/resources/3d/sphere_shape_3d.h"
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#include "scene/resources/3d/world_boundary_shape_3d.h"
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#include "scene/resources/navigation_mesh.h"
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#include "servers/navigation_server_3d.h"
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Callable StaticBody3D::_navmesh_source_geometry_parsing_callback;
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RID StaticBody3D::_navmesh_source_geometry_parser;
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void StaticBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
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if (physics_material_override.is_valid()) {
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physics_material_override->disconnect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
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}
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physics_material_override = p_physics_material_override;
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if (physics_material_override.is_valid()) {
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physics_material_override->connect_changed(callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
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}
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_reload_physics_characteristics();
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}
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Ref<PhysicsMaterial> StaticBody3D::get_physics_material_override() const {
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return physics_material_override;
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}
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void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) {
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constant_linear_velocity = p_vel;
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PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
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}
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void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) {
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constant_angular_velocity = p_vel;
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PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
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}
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Vector3 StaticBody3D::get_constant_linear_velocity() const {
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return constant_linear_velocity;
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}
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Vector3 StaticBody3D::get_constant_angular_velocity() const {
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return constant_angular_velocity;
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}
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void StaticBody3D::_reload_physics_characteristics() {
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if (physics_material_override.is_null()) {
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1);
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} else {
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce());
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PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction());
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}
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}
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void StaticBody3D::navmesh_parse_init() {
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ERR_FAIL_NULL(NavigationServer3D::get_singleton());
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if (!_navmesh_source_geometry_parser.is_valid()) {
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_navmesh_source_geometry_parsing_callback = callable_mp_static(&StaticBody3D::navmesh_parse_source_geometry);
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_navmesh_source_geometry_parser = NavigationServer3D::get_singleton()->source_geometry_parser_create();
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NavigationServer3D::get_singleton()->source_geometry_parser_set_callback(_navmesh_source_geometry_parser, _navmesh_source_geometry_parsing_callback);
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}
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}
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void StaticBody3D::navmesh_parse_source_geometry(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
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StaticBody3D *static_body = Object::cast_to<StaticBody3D>(p_node);
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if (static_body == nullptr) {
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return;
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}
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NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
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uint32_t parsed_collision_mask = p_navigation_mesh->get_collision_mask();
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if ((parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) && (static_body->get_collision_layer() & parsed_collision_mask)) {
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List<uint32_t> shape_owners;
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static_body->get_shape_owners(&shape_owners);
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for (uint32_t shape_owner : shape_owners) {
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if (static_body->is_shape_owner_disabled(shape_owner)) {
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continue;
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}
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const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
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for (int shape_index = 0; shape_index < shape_count; shape_index++) {
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Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, shape_index);
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if (s.is_null()) {
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continue;
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}
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const Transform3D transform = static_body->get_global_transform() * static_body->shape_owner_get_transform(shape_owner);
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BoxShape3D *box = Object::cast_to<BoxShape3D>(*s);
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if (box) {
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Array arr;
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arr.resize(RS::ARRAY_MAX);
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BoxMesh::create_mesh_array(arr, box->get_size());
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p_source_geometry_data->add_mesh_array(arr, transform);
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}
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CapsuleShape3D *capsule = Object::cast_to<CapsuleShape3D>(*s);
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if (capsule) {
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Array arr;
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arr.resize(RS::ARRAY_MAX);
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CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height());
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p_source_geometry_data->add_mesh_array(arr, transform);
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}
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CylinderShape3D *cylinder = Object::cast_to<CylinderShape3D>(*s);
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if (cylinder) {
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Array arr;
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arr.resize(RS::ARRAY_MAX);
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CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
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p_source_geometry_data->add_mesh_array(arr, transform);
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}
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SphereShape3D *sphere = Object::cast_to<SphereShape3D>(*s);
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if (sphere) {
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Array arr;
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arr.resize(RS::ARRAY_MAX);
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SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
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p_source_geometry_data->add_mesh_array(arr, transform);
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}
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ConcavePolygonShape3D *concave_polygon = Object::cast_to<ConcavePolygonShape3D>(*s);
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if (concave_polygon) {
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p_source_geometry_data->add_faces(concave_polygon->get_faces(), transform);
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}
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ConvexPolygonShape3D *convex_polygon = Object::cast_to<ConvexPolygonShape3D>(*s);
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if (convex_polygon) {
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Vector<Vector3> varr = Variant(convex_polygon->get_points());
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Geometry3D::MeshData md;
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Error err = ConvexHullComputer::convex_hull(varr, md);
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if (err == OK) {
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PackedVector3Array faces;
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for (const Geometry3D::MeshData::Face &face : md.faces) {
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for (uint32_t k = 2; k < face.indices.size(); ++k) {
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faces.push_back(md.vertices[face.indices[0]]);
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faces.push_back(md.vertices[face.indices[k - 1]]);
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faces.push_back(md.vertices[face.indices[k]]);
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}
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}
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p_source_geometry_data->add_faces(faces, transform);
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}
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}
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HeightMapShape3D *heightmap_shape = Object::cast_to<HeightMapShape3D>(*s);
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if (heightmap_shape) {
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int heightmap_depth = heightmap_shape->get_map_depth();
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int heightmap_width = heightmap_shape->get_map_width();
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if (heightmap_depth >= 2 && heightmap_width >= 2) {
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const Vector<real_t> &map_data = heightmap_shape->get_map_data();
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Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
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Vector3 start = Vector3(heightmap_gridsize.x, 0, heightmap_gridsize.y) * -0.5;
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Vector<Vector3> vertex_array;
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vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
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Vector3 *vertex_array_ptrw = vertex_array.ptrw();
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const real_t *map_data_ptr = map_data.ptr();
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int vertex_index = 0;
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for (int d = 0; d < heightmap_depth - 1; d++) {
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for (int w = 0; w < heightmap_width - 1; w++) {
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vertex_array_ptrw[vertex_index] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + w], d);
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vertex_array_ptrw[vertex_index + 1] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
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vertex_array_ptrw[vertex_index + 2] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
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vertex_array_ptrw[vertex_index + 3] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
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vertex_array_ptrw[vertex_index + 4] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + heightmap_width + w + 1], d + 1);
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vertex_array_ptrw[vertex_index + 5] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
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vertex_index += 6;
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}
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}
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if (vertex_array.size() > 0) {
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p_source_geometry_data->add_faces(vertex_array, transform);
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}
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}
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}
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}
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}
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}
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}
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void StaticBody3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity);
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ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity);
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ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity);
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ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity);
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ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override);
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ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override);
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity", PROPERTY_HINT_NONE, "suffix:m/s"), "set_constant_linear_velocity", "get_constant_linear_velocity");
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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");
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}
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StaticBody3D::StaticBody3D(PhysicsServer3D::BodyMode p_mode) :
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PhysicsBody3D(p_mode) {
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}
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