310 lines
11 KiB
C++
310 lines
11 KiB
C++
/**************************************************************************/
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/* jolt_body_3d.h */
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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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#ifndef JOLT_BODY_3D_H
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#define JOLT_BODY_3D_H
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#include "jolt_physics_direct_body_state_3d.h"
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#include "jolt_shaped_object_3d.h"
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class JoltArea3D;
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class JoltJoint3D;
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class JoltSoftBody3D;
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class JoltBody3D final : public JoltShapedObject3D {
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public:
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typedef PhysicsServer3D::BodyDampMode DampMode;
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struct Contact {
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Vector3 normal;
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Vector3 position;
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Vector3 collider_position;
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Vector3 velocity;
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Vector3 collider_velocity;
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Vector3 impulse;
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ObjectID collider_id;
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RID collider_rid;
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float depth = 0.0f;
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int shape_index = 0;
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int collider_shape_index = 0;
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};
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private:
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SelfList<JoltBody3D> call_queries_element;
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LocalVector<RID> exceptions;
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LocalVector<Contact> contacts;
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LocalVector<JoltArea3D *> areas;
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LocalVector<JoltJoint3D *> joints;
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Variant custom_integration_userdata;
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Transform3D kinematic_transform;
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Vector3 inertia;
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Vector3 center_of_mass_custom;
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Vector3 constant_force;
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Vector3 constant_torque;
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Vector3 linear_surface_velocity;
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Vector3 angular_surface_velocity;
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Vector3 gravity;
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Callable state_sync_callback;
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Callable custom_integration_callback;
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JoltPhysicsDirectBodyState3D *direct_state = nullptr;
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PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_RIGID;
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DampMode linear_damp_mode = PhysicsServer3D::BODY_DAMP_MODE_COMBINE;
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DampMode angular_damp_mode = PhysicsServer3D::BODY_DAMP_MODE_COMBINE;
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float mass = 1.0f;
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float linear_damp = 0.0f;
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float angular_damp = 0.0f;
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float total_linear_damp = 0.0f;
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float total_angular_damp = 0.0f;
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float gravity_scale = 1.0f;
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float collision_priority = 1.0f;
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int contact_count = 0;
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uint32_t locked_axes = 0;
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bool sleep_allowed = true;
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bool sleep_initially = false;
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bool custom_center_of_mass = false;
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bool custom_integrator = false;
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virtual JPH::BroadPhaseLayer _get_broad_phase_layer() const override;
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virtual JPH::ObjectLayer _get_object_layer() const override;
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virtual JPH::EMotionType _get_motion_type() const override;
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virtual void _add_to_space() override;
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bool _should_call_queries() const { return state_sync_callback.is_valid() || custom_integration_callback.is_valid(); }
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void _enqueue_call_queries();
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void _dequeue_call_queries();
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void _integrate_forces(float p_step, JPH::Body &p_jolt_body);
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void _move_kinematic(float p_step, JPH::Body &p_jolt_body);
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JPH::EAllowedDOFs _calculate_allowed_dofs() const;
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JPH::MassProperties _calculate_mass_properties(const JPH::Shape &p_shape) const;
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JPH::MassProperties _calculate_mass_properties() const;
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void _update_mass_properties();
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void _update_gravity(JPH::Body &p_jolt_body);
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void _update_damp();
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void _update_kinematic_transform();
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void _update_group_filter();
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void _update_joint_constraints();
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void _update_possible_kinematic_contacts();
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void _update_sleep_allowed();
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void _destroy_joint_constraints();
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void _exit_all_areas();
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void _mode_changed();
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virtual void _shapes_committed() override;
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virtual void _space_changing() override;
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virtual void _space_changed() override;
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void _areas_changed();
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void _joints_changed();
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void _transform_changed();
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void _motion_changed();
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void _exceptions_changed();
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void _axis_lock_changed();
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void _contact_reporting_changed();
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void _sleep_allowed_changed();
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public:
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JoltBody3D();
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virtual ~JoltBody3D() override;
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void set_transform(Transform3D p_transform);
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Variant get_state(PhysicsServer3D::BodyState p_state) const;
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void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_value);
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Variant get_param(PhysicsServer3D::BodyParameter p_param) const;
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void set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value);
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bool has_state_sync_callback() const { return state_sync_callback.is_valid(); }
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void set_state_sync_callback(const Callable &p_callback) { state_sync_callback = p_callback; }
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bool has_custom_integration_callback() const { return custom_integration_callback.is_valid(); }
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void set_custom_integration_callback(const Callable &p_callback, const Variant &p_userdata) {
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custom_integration_callback = p_callback;
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custom_integration_userdata = p_userdata;
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}
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bool has_custom_integrator() const { return custom_integrator; }
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void set_custom_integrator(bool p_enabled);
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bool is_sleeping() const;
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void set_is_sleeping(bool p_enabled);
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void put_to_sleep() { set_is_sleeping(true); }
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void wake_up() { set_is_sleeping(false); }
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bool is_sleep_allowed() const { return sleep_allowed; }
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bool is_sleep_actually_allowed() const;
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void set_is_sleep_allowed(bool p_enabled);
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Basis get_principal_inertia_axes() const;
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Vector3 get_inverse_inertia() const;
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Basis get_inverse_inertia_tensor() const;
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void set_linear_velocity(const Vector3 &p_velocity);
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void set_angular_velocity(const Vector3 &p_velocity);
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void set_axis_velocity(const Vector3 &p_axis_velocity);
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virtual Vector3 get_velocity_at_position(const Vector3 &p_position) const override;
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virtual bool has_custom_center_of_mass() const override { return custom_center_of_mass; }
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virtual Vector3 get_center_of_mass_custom() const override { return center_of_mass_custom; }
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void set_center_of_mass_custom(const Vector3 &p_center_of_mass);
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int get_max_contacts_reported() const { return contacts.size(); }
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void set_max_contacts_reported(int p_count);
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int get_contact_count() const { return contact_count; }
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const Contact &get_contact(int p_index) { return contacts[p_index]; }
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virtual bool reports_contacts() const override { return !contacts.is_empty(); }
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bool reports_all_kinematic_contacts() const;
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void add_contact(const JoltBody3D *p_collider, float p_depth, int p_shape_index, int p_collider_shape_index, const Vector3 &p_normal, const Vector3 &p_position, const Vector3 &p_collider_position, const Vector3 &p_velocity, const Vector3 &p_collider_velocity, const Vector3 &p_impulse);
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void reset_mass_properties();
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void apply_force(const Vector3 &p_force, const Vector3 &p_position);
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void apply_central_force(const Vector3 &p_force);
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void apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position);
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void apply_central_impulse(const Vector3 &p_impulse);
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void apply_torque(const Vector3 &p_torque);
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void apply_torque_impulse(const Vector3 &p_impulse);
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void add_constant_central_force(const Vector3 &p_force);
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void add_constant_force(const Vector3 &p_force, const Vector3 &p_position);
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void add_constant_torque(const Vector3 &p_torque);
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Vector3 get_constant_force() const;
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void set_constant_force(const Vector3 &p_force);
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Vector3 get_constant_torque() const;
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void set_constant_torque(const Vector3 &p_torque);
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Vector3 get_linear_surface_velocity() const { return linear_surface_velocity; }
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Vector3 get_angular_surface_velocity() const { return angular_surface_velocity; }
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void add_collision_exception(const RID &p_excepted_body);
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void remove_collision_exception(const RID &p_excepted_body);
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bool has_collision_exception(const RID &p_excepted_body) const;
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const LocalVector<RID> &get_collision_exceptions() const { return exceptions; }
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void add_area(JoltArea3D *p_area);
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void remove_area(JoltArea3D *p_area);
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void add_joint(JoltJoint3D *p_joint);
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void remove_joint(JoltJoint3D *p_joint);
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void call_queries();
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virtual void pre_step(float p_step, JPH::Body &p_jolt_body) override;
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JoltPhysicsDirectBodyState3D *get_direct_state();
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PhysicsServer3D::BodyMode get_mode() const { return mode; }
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void set_mode(PhysicsServer3D::BodyMode p_mode);
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bool is_static() const { return mode == PhysicsServer3D::BODY_MODE_STATIC; }
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bool is_kinematic() const { return mode == PhysicsServer3D::BODY_MODE_KINEMATIC; }
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bool is_rigid_free() const { return mode == PhysicsServer3D::BODY_MODE_RIGID; }
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bool is_rigid_linear() const { return mode == PhysicsServer3D::BODY_MODE_RIGID_LINEAR; }
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bool is_rigid() const { return is_rigid_free() || is_rigid_linear(); }
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bool is_ccd_enabled() const;
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void set_ccd_enabled(bool p_enabled);
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float get_mass() const { return mass; }
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void set_mass(float p_mass);
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Vector3 get_inertia() const { return inertia; }
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void set_inertia(const Vector3 &p_inertia);
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float get_bounce() const;
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void set_bounce(float p_bounce);
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float get_friction() const;
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void set_friction(float p_friction);
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float get_gravity_scale() const { return gravity_scale; }
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void set_gravity_scale(float p_scale);
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Vector3 get_gravity() const { return gravity; }
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float get_linear_damp() const { return linear_damp; }
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void set_linear_damp(float p_damp);
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float get_angular_damp() const { return angular_damp; }
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void set_angular_damp(float p_damp);
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float get_total_linear_damp() const { return total_linear_damp; }
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float get_total_angular_damp() const { return total_angular_damp; }
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float get_collision_priority() const { return collision_priority; }
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void set_collision_priority(float p_priority) { collision_priority = p_priority; }
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DampMode get_linear_damp_mode() const { return linear_damp_mode; }
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void set_linear_damp_mode(DampMode p_mode);
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DampMode get_angular_damp_mode() const { return angular_damp_mode; }
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void set_angular_damp_mode(DampMode p_mode);
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bool is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const;
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void set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_enabled);
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bool are_axes_locked() const { return locked_axes != 0; }
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virtual bool can_interact_with(const JoltBody3D &p_other) const override;
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virtual bool can_interact_with(const JoltSoftBody3D &p_other) const override;
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virtual bool can_interact_with(const JoltArea3D &p_other) const override;
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};
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#endif // JOLT_BODY_3D_H
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