CoCalc -- physics_server

GitHub Repository: godotengine/godot
Path: blob/master/servers/physics_3d/physics_server_3d.cpp
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/**************************************************************************/
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/*  physics_server_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 "physics_server_3d.h"
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#include "core/config/project_settings.h"
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#include "core/variant/typed_array.h"
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void PhysicsServer3DRenderingServerHandler::set_vertex(int p_vertex_id, const Vector3 &p_vertex) {
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	GDVIRTUAL_CALL(_set_vertex, p_vertex_id, p_vertex);
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}
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void PhysicsServer3DRenderingServerHandler::set_normal(int p_vertex_id, const Vector3 &p_normal) {
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	GDVIRTUAL_CALL(_set_normal, p_vertex_id, p_normal);
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}
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void PhysicsServer3DRenderingServerHandler::set_aabb(const AABB &p_aabb) {
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	GDVIRTUAL_CALL(_set_aabb, p_aabb);
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}
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void PhysicsServer3DRenderingServerHandler::_bind_methods() {
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	GDVIRTUAL_BIND(_set_vertex, "vertex_id", "vertex");
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	GDVIRTUAL_BIND(_set_normal, "vertex_id", "normal");
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	GDVIRTUAL_BIND(_set_aabb, "aabb");
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	ClassDB::bind_method(D_METHOD("set_vertex", "vertex_id", "vertex"), &PhysicsServer3DRenderingServerHandler::set_vertex);
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	ClassDB::bind_method(D_METHOD("set_normal", "vertex_id", "normal"), &PhysicsServer3DRenderingServerHandler::set_normal);
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	ClassDB::bind_method(D_METHOD("set_aabb", "aabb"), &PhysicsServer3DRenderingServerHandler::set_aabb);
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}
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PhysicsServer3D *PhysicsServer3D::singleton = nullptr;
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void PhysicsDirectBodyState3D::integrate_forces() {
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	real_t step = get_step();
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	Vector3 lv = get_linear_velocity();
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	lv += get_total_gravity() * step;
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	Vector3 av = get_angular_velocity();
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	real_t linear_damp = 1.0 - step * get_total_linear_damp();
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	if (linear_damp < 0) { // reached zero in the given time
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		linear_damp = 0;
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	}
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	real_t angular_damp = 1.0 - step * get_total_angular_damp();
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	if (angular_damp < 0) { // reached zero in the given time
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		angular_damp = 0;
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	}
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	lv *= linear_damp;
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	av *= angular_damp;
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	set_linear_velocity(lv);
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	set_angular_velocity(av);
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}
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Object *PhysicsDirectBodyState3D::get_contact_collider_object(int p_contact_idx) const {
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	ObjectID objid = get_contact_collider_id(p_contact_idx);
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	Object *obj = ObjectDB::get_instance(objid);
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	return obj;
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}
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PhysicsServer3D *PhysicsServer3D::get_singleton() {
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	return singleton;
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}
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void PhysicsDirectBodyState3D::_bind_methods() {
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	ClassDB::bind_method(D_METHOD("get_total_gravity"), &PhysicsDirectBodyState3D::get_total_gravity);
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	ClassDB::bind_method(D_METHOD("get_total_linear_damp"), &PhysicsDirectBodyState3D::get_total_linear_damp);
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	ClassDB::bind_method(D_METHOD("get_total_angular_damp"), &PhysicsDirectBodyState3D::get_total_angular_damp);
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	ClassDB::bind_method(D_METHOD("get_center_of_mass"), &PhysicsDirectBodyState3D::get_center_of_mass);
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	ClassDB::bind_method(D_METHOD("get_center_of_mass_local"), &PhysicsDirectBodyState3D::get_center_of_mass_local);
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	ClassDB::bind_method(D_METHOD("get_principal_inertia_axes"), &PhysicsDirectBodyState3D::get_principal_inertia_axes);
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	ClassDB::bind_method(D_METHOD("get_inverse_mass"), &PhysicsDirectBodyState3D::get_inverse_mass);
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	ClassDB::bind_method(D_METHOD("get_inverse_inertia"), &PhysicsDirectBodyState3D::get_inverse_inertia);
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	ClassDB::bind_method(D_METHOD("get_inverse_inertia_tensor"), &PhysicsDirectBodyState3D::get_inverse_inertia_tensor);
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	ClassDB::bind_method(D_METHOD("set_linear_velocity", "velocity"), &PhysicsDirectBodyState3D::set_linear_velocity);
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	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &PhysicsDirectBodyState3D::get_linear_velocity);
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	ClassDB::bind_method(D_METHOD("set_angular_velocity", "velocity"), &PhysicsDirectBodyState3D::set_angular_velocity);
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	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &PhysicsDirectBodyState3D::get_angular_velocity);
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	ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsDirectBodyState3D::set_transform);
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	ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsDirectBodyState3D::get_transform);
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	ClassDB::bind_method(D_METHOD("get_velocity_at_local_position", "local_position"), &PhysicsDirectBodyState3D::get_velocity_at_local_position);
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	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_central_impulse, Vector3());
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	ClassDB::bind_method(D_METHOD("apply_impulse", "impulse", "position"), &PhysicsDirectBodyState3D::apply_impulse, Vector3());
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	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &PhysicsDirectBodyState3D::apply_torque_impulse);
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	ClassDB::bind_method(D_METHOD("apply_central_force", "force"), &PhysicsDirectBodyState3D::apply_central_force, Vector3());
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	ClassDB::bind_method(D_METHOD("apply_force", "force", "position"), &PhysicsDirectBodyState3D::apply_force, Vector3());
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	ClassDB::bind_method(D_METHOD("apply_torque", "torque"), &PhysicsDirectBodyState3D::apply_torque);
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	ClassDB::bind_method(D_METHOD("add_constant_central_force", "force"), &PhysicsDirectBodyState3D::add_constant_central_force, Vector3());
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	ClassDB::bind_method(D_METHOD("add_constant_force", "force", "position"), &PhysicsDirectBodyState3D::add_constant_force, Vector3());
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	ClassDB::bind_method(D_METHOD("add_constant_torque", "torque"), &PhysicsDirectBodyState3D::add_constant_torque);
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	ClassDB::bind_method(D_METHOD("set_constant_force", "force"), &PhysicsDirectBodyState3D::set_constant_force);
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	ClassDB::bind_method(D_METHOD("get_constant_force"), &PhysicsDirectBodyState3D::get_constant_force);
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	ClassDB::bind_method(D_METHOD("set_constant_torque", "torque"), &PhysicsDirectBodyState3D::set_constant_torque);
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	ClassDB::bind_method(D_METHOD("get_constant_torque"), &PhysicsDirectBodyState3D::get_constant_torque);
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	ClassDB::bind_method(D_METHOD("set_sleep_state", "enabled"), &PhysicsDirectBodyState3D::set_sleep_state);
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	ClassDB::bind_method(D_METHOD("is_sleeping"), &PhysicsDirectBodyState3D::is_sleeping);
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	ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsDirectBodyState3D::set_collision_layer);
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	ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsDirectBodyState3D::get_collision_layer);
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	ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsDirectBodyState3D::set_collision_mask);
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	ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsDirectBodyState3D::get_collision_mask);
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	ClassDB::bind_method(D_METHOD("get_contact_count"), &PhysicsDirectBodyState3D::get_contact_count);
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	ClassDB::bind_method(D_METHOD("get_contact_local_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_position);
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	ClassDB::bind_method(D_METHOD("get_contact_local_normal", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_normal);
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	ClassDB::bind_method(D_METHOD("get_contact_impulse", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_impulse);
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	ClassDB::bind_method(D_METHOD("get_contact_local_shape", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_shape);
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	ClassDB::bind_method(D_METHOD("get_contact_local_velocity_at_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_local_velocity_at_position);
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	ClassDB::bind_method(D_METHOD("get_contact_collider", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider);
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	ClassDB::bind_method(D_METHOD("get_contact_collider_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_position);
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	ClassDB::bind_method(D_METHOD("get_contact_collider_id", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_id);
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	ClassDB::bind_method(D_METHOD("get_contact_collider_object", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_object);
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	ClassDB::bind_method(D_METHOD("get_contact_collider_shape", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_shape);
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	ClassDB::bind_method(D_METHOD("get_contact_collider_velocity_at_position", "contact_idx"), &PhysicsDirectBodyState3D::get_contact_collider_velocity_at_position);
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	ClassDB::bind_method(D_METHOD("get_step"), &PhysicsDirectBodyState3D::get_step);
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	ClassDB::bind_method(D_METHOD("integrate_forces"), &PhysicsDirectBodyState3D::integrate_forces);
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	ClassDB::bind_method(D_METHOD("get_space_state"), &PhysicsDirectBodyState3D::get_space_state);
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	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "step"), "", "get_step");
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	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "inverse_mass"), "", "get_inverse_mass");
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	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "total_angular_damp"), "", "get_total_angular_damp");
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	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "total_linear_damp"), "", "get_total_linear_damp");
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "inverse_inertia"), "", "get_inverse_inertia");
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	ADD_PROPERTY(PropertyInfo(Variant::BASIS, "inverse_inertia_tensor"), "", "get_inverse_inertia_tensor");
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "total_gravity"), "", "get_total_gravity");
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass"), "", "get_center_of_mass");
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "center_of_mass_local"), "", "get_center_of_mass_local");
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	ADD_PROPERTY(PropertyInfo(Variant::BASIS, "principal_inertia_axes"), "", "get_principal_inertia_axes");
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
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	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleep_state", "is_sleeping");
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	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer"), "set_collision_layer", "get_collision_layer");
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	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask"), "set_collision_mask", "get_collision_mask");
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	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "transform"), "set_transform", "get_transform");
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}
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PhysicsDirectBodyState3D::PhysicsDirectBodyState3D() {}
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///////////////////////////////////////////////////////
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void PhysicsRayQueryParameters3D::set_exclude(const TypedArray<RID> &p_exclude) {
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	parameters.exclude.clear();
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	for (int i = 0; i < p_exclude.size(); i++) {
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		parameters.exclude.insert(p_exclude[i]);
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	}
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}
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TypedArray<RID> PhysicsRayQueryParameters3D::get_exclude() const {
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	TypedArray<RID> ret;
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	ret.resize(parameters.exclude.size());
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	int idx = 0;
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	for (const RID &E : parameters.exclude) {
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		ret[idx++] = E;
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	}
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	return ret;
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}
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void PhysicsRayQueryParameters3D::_bind_methods() {
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	ClassDB::bind_static_method("PhysicsRayQueryParameters3D", D_METHOD("create", "from", "to", "collision_mask", "exclude"), &PhysicsRayQueryParameters3D::create, DEFVAL(UINT32_MAX), DEFVAL(TypedArray<RID>()));
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	ClassDB::bind_method(D_METHOD("set_from", "from"), &PhysicsRayQueryParameters3D::set_from);
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	ClassDB::bind_method(D_METHOD("get_from"), &PhysicsRayQueryParameters3D::get_from);
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	ClassDB::bind_method(D_METHOD("set_to", "to"), &PhysicsRayQueryParameters3D::set_to);
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	ClassDB::bind_method(D_METHOD("get_to"), &PhysicsRayQueryParameters3D::get_to);
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	ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &PhysicsRayQueryParameters3D::set_collision_mask);
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	ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsRayQueryParameters3D::get_collision_mask);
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	ClassDB::bind_method(D_METHOD("set_exclude", "exclude"), &PhysicsRayQueryParameters3D::set_exclude);
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	ClassDB::bind_method(D_METHOD("get_exclude"), &PhysicsRayQueryParameters3D::get_exclude);
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	ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &PhysicsRayQueryParameters3D::set_collide_with_bodies);
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	ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &PhysicsRayQueryParameters3D::is_collide_with_bodies_enabled);
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	ClassDB::bind_method(D_METHOD("set_collide_with_areas", "enable"), &PhysicsRayQueryParameters3D::set_collide_with_areas);
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	ClassDB::bind_method(D_METHOD("is_collide_with_areas_enabled"), &PhysicsRayQueryParameters3D::is_collide_with_areas_enabled);
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	ClassDB::bind_method(D_METHOD("set_hit_from_inside", "enable"), &PhysicsRayQueryParameters3D::set_hit_from_inside);
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	ClassDB::bind_method(D_METHOD("is_hit_from_inside_enabled"), &PhysicsRayQueryParameters3D::is_hit_from_inside_enabled);
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	ClassDB::bind_method(D_METHOD("set_hit_back_faces", "enable"), &PhysicsRayQueryParameters3D::set_hit_back_faces);
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	ClassDB::bind_method(D_METHOD("is_hit_back_faces_enabled"), &PhysicsRayQueryParameters3D::is_hit_back_faces_enabled);
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "from"), "set_from", "get_from");
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "to"), "set_to", "get_to");
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	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
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	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_exclude", "get_exclude");
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	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_bodies"), "set_collide_with_bodies", "is_collide_with_bodies_enabled");
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	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas"), "set_collide_with_areas", "is_collide_with_areas_enabled");
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	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "hit_from_inside"), "set_hit_from_inside", "is_hit_from_inside_enabled");
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	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "hit_back_faces"), "set_hit_back_faces", "is_hit_back_faces_enabled");
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}
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///////////////////////////////////////////////////////
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Ref<PhysicsRayQueryParameters3D> PhysicsRayQueryParameters3D::create(Vector3 p_from, Vector3 p_to, uint32_t p_mask, const TypedArray<RID> &p_exclude) {
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	Ref<PhysicsRayQueryParameters3D> params;
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	params.instantiate();
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	params->set_from(p_from);
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	params->set_to(p_to);
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	params->set_collision_mask(p_mask);
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	params->set_exclude(p_exclude);
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	return params;
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}
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void PhysicsPointQueryParameters3D::set_exclude(const TypedArray<RID> &p_exclude) {
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	parameters.exclude.clear();
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	for (int i = 0; i < p_exclude.size(); i++) {
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		parameters.exclude.insert(p_exclude[i]);
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	}
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}
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TypedArray<RID> PhysicsPointQueryParameters3D::get_exclude() const {
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	TypedArray<RID> ret;
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	ret.resize(parameters.exclude.size());
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	int idx = 0;
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	for (const RID &E : parameters.exclude) {
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		ret[idx++] = E;
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	}
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	return ret;
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}
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void PhysicsPointQueryParameters3D::_bind_methods() {
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	ClassDB::bind_method(D_METHOD("set_position", "position"), &PhysicsPointQueryParameters3D::set_position);
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	ClassDB::bind_method(D_METHOD("get_position"), &PhysicsPointQueryParameters3D::get_position);
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	ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &PhysicsPointQueryParameters3D::set_collision_mask);
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	ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsPointQueryParameters3D::get_collision_mask);
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	ClassDB::bind_method(D_METHOD("set_exclude", "exclude"), &PhysicsPointQueryParameters3D::set_exclude);
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	ClassDB::bind_method(D_METHOD("get_exclude"), &PhysicsPointQueryParameters3D::get_exclude);
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	ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &PhysicsPointQueryParameters3D::set_collide_with_bodies);
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	ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &PhysicsPointQueryParameters3D::is_collide_with_bodies_enabled);
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	ClassDB::bind_method(D_METHOD("set_collide_with_areas", "enable"), &PhysicsPointQueryParameters3D::set_collide_with_areas);
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	ClassDB::bind_method(D_METHOD("is_collide_with_areas_enabled"), &PhysicsPointQueryParameters3D::is_collide_with_areas_enabled);
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	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "position"), "set_position", "get_position");
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	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
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	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_exclude", "get_exclude");
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	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_bodies"), "set_collide_with_bodies", "is_collide_with_bodies_enabled");
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	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas"), "set_collide_with_areas", "is_collide_with_areas_enabled");
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}
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///////////////////////////////////////////////////////
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void PhysicsShapeQueryParameters3D::set_shape(const Ref<Resource> &p_shape_ref) {
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	ERR_FAIL_COND(p_shape_ref.is_null());
294
	shape_ref = p_shape_ref;
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	parameters.shape_rid = p_shape_ref->get_rid();
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}
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void PhysicsShapeQueryParameters3D::set_shape_rid(const RID &p_shape) {
299
	if (parameters.shape_rid != p_shape) {
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		shape_ref = Ref<Resource>();
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		parameters.shape_rid = p_shape;
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	}
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}
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void PhysicsShapeQueryParameters3D::set_exclude(const TypedArray<RID> &p_exclude) {
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	parameters.exclude.clear();
307
	for (int i = 0; i < p_exclude.size(); i++) {
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		parameters.exclude.insert(p_exclude[i]);
309
	}
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}
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TypedArray<RID> PhysicsShapeQueryParameters3D::get_exclude() const {
313
	TypedArray<RID> ret;
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	ret.resize(parameters.exclude.size());
315
	int idx = 0;
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	for (const RID &E : parameters.exclude) {
317
		ret[idx++] = E;
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	}
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	return ret;
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}
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void PhysicsShapeQueryParameters3D::_bind_methods() {
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	ClassDB::bind_method(D_METHOD("set_shape", "shape"), &PhysicsShapeQueryParameters3D::set_shape);
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	ClassDB::bind_method(D_METHOD("get_shape"), &PhysicsShapeQueryParameters3D::get_shape);
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	ClassDB::bind_method(D_METHOD("set_shape_rid", "shape"), &PhysicsShapeQueryParameters3D::set_shape_rid);
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	ClassDB::bind_method(D_METHOD("get_shape_rid"), &PhysicsShapeQueryParameters3D::get_shape_rid);
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	ClassDB::bind_method(D_METHOD("set_transform", "transform"), &PhysicsShapeQueryParameters3D::set_transform);
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	ClassDB::bind_method(D_METHOD("get_transform"), &PhysicsShapeQueryParameters3D::get_transform);
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	ClassDB::bind_method(D_METHOD("set_motion", "motion"), &PhysicsShapeQueryParameters3D::set_motion);
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	ClassDB::bind_method(D_METHOD("get_motion"), &PhysicsShapeQueryParameters3D::get_motion);
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	ClassDB::bind_method(D_METHOD("set_margin", "margin"), &PhysicsShapeQueryParameters3D::set_margin);
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	ClassDB::bind_method(D_METHOD("get_margin"), &PhysicsShapeQueryParameters3D::get_margin);
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	ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &PhysicsShapeQueryParameters3D::set_collision_mask);
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	ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsShapeQueryParameters3D::get_collision_mask);
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	ClassDB::bind_method(D_METHOD("set_exclude", "exclude"), &PhysicsShapeQueryParameters3D::set_exclude);
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	ClassDB::bind_method(D_METHOD("get_exclude"), &PhysicsShapeQueryParameters3D::get_exclude);
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	ClassDB::bind_method(D_METHOD("set_collide_with_bodies", "enable"), &PhysicsShapeQueryParameters3D::set_collide_with_bodies);
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	ClassDB::bind_method(D_METHOD("is_collide_with_bodies_enabled"), &PhysicsShapeQueryParameters3D::is_collide_with_bodies_enabled);
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	ClassDB::bind_method(D_METHOD("set_collide_with_areas", "enable"), &PhysicsShapeQueryParameters3D::set_collide_with_areas);
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	ClassDB::bind_method(D_METHOD("is_collide_with_areas_enabled"), &PhysicsShapeQueryParameters3D::is_collide_with_areas_enabled);
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	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
351
	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_exclude", "get_exclude");
352
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin", PROPERTY_HINT_RANGE, "0,100,0.01"), "set_margin", "get_margin");
353
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion"), "set_motion", "get_motion");
354
	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "shape", PROPERTY_HINT_RESOURCE_TYPE, "Shape3D"), "set_shape", "get_shape");
355
	ADD_PROPERTY(PropertyInfo(Variant::RID, "shape_rid"), "set_shape_rid", "get_shape_rid");
356
	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "transform"), "set_transform", "get_transform");
357
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_bodies"), "set_collide_with_bodies", "is_collide_with_bodies_enabled");
358
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_with_areas"), "set_collide_with_areas", "is_collide_with_areas_enabled");
359
}
360

361
/////////////////////////////////////
362

363
Dictionary PhysicsDirectSpaceState3D::_intersect_ray(const Ref<PhysicsRayQueryParameters3D> &p_ray_query) {
364
	ERR_FAIL_COND_V(p_ray_query.is_null(), Dictionary());
365

366
	RayResult result;
367
	bool res = intersect_ray(p_ray_query->get_parameters(), result);
368

369
	if (!res) {
370
		return Dictionary();
371
	}
372

373
	Dictionary d;
374
	d["position"] = result.position;
375
	d["normal"] = result.normal;
376
	d["face_index"] = result.face_index;
377
	d["collider_id"] = result.collider_id;
378
	d["collider"] = result.collider;
379
	d["shape"] = result.shape;
380
	d["rid"] = result.rid;
381

382
	return d;
383
}
384

385
TypedArray<Dictionary> PhysicsDirectSpaceState3D::_intersect_point(const Ref<PhysicsPointQueryParameters3D> &p_point_query, int p_max_results) {
386
	ERR_FAIL_COND_V(p_point_query.is_null(), TypedArray<Dictionary>());
387

388
	Vector<ShapeResult> ret;
389
	ret.resize(p_max_results);
390

391
	int rc = intersect_point(p_point_query->get_parameters(), ret.ptrw(), ret.size());
392

393
	if (rc == 0) {
394
		return TypedArray<Dictionary>();
395
	}
396

397
	TypedArray<Dictionary> r;
398
	r.resize(rc);
399
	for (int i = 0; i < rc; i++) {
400
		Dictionary d;
401
		d["rid"] = ret[i].rid;
402
		d["collider_id"] = ret[i].collider_id;
403
		d["collider"] = ret[i].collider;
404
		d["shape"] = ret[i].shape;
405
		r[i] = d;
406
	}
407
	return r;
408
}
409

410
TypedArray<Dictionary> PhysicsDirectSpaceState3D::_intersect_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results) {
411
	ERR_FAIL_COND_V(p_shape_query.is_null(), TypedArray<Dictionary>());
412

413
	Vector<ShapeResult> sr;
414
	sr.resize(p_max_results);
415
	int rc = intersect_shape(p_shape_query->get_parameters(), sr.ptrw(), sr.size());
416
	TypedArray<Dictionary> ret;
417
	ret.resize(rc);
418
	for (int i = 0; i < rc; i++) {
419
		Dictionary d;
420
		d["rid"] = sr[i].rid;
421
		d["collider_id"] = sr[i].collider_id;
422
		d["collider"] = sr[i].collider;
423
		d["shape"] = sr[i].shape;
424
		ret[i] = d;
425
	}
426

427
	return ret;
428
}
429

430
Vector<real_t> PhysicsDirectSpaceState3D::_cast_motion(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query) {
431
	ERR_FAIL_COND_V(p_shape_query.is_null(), Vector<real_t>());
432

433
	real_t closest_safe = 1.0f, closest_unsafe = 1.0f;
434
	bool res = cast_motion(p_shape_query->get_parameters(), closest_safe, closest_unsafe);
435
	if (!res) {
436
		return Vector<real_t>();
437
	}
438
	Vector<real_t> ret;
439
	ret.resize(2);
440
	ret.write[0] = closest_safe;
441
	ret.write[1] = closest_unsafe;
442
	return ret;
443
}
444

445
TypedArray<Vector3> PhysicsDirectSpaceState3D::_collide_shape(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query, int p_max_results) {
446
	ERR_FAIL_COND_V(p_shape_query.is_null(), TypedArray<Vector3>());
447

448
	Vector<Vector3> ret;
449
	ret.resize(p_max_results * 2);
450
	int rc = 0;
451
	bool res = collide_shape(p_shape_query->get_parameters(), ret.ptrw(), p_max_results, rc);
452
	if (!res) {
453
		return TypedArray<Vector3>();
454
	}
455
	TypedArray<Vector3> r;
456
	r.resize(rc * 2);
457
	for (int i = 0; i < rc * 2; i++) {
458
		r[i] = ret[i];
459
	}
460
	return r;
461
}
462

463
Dictionary PhysicsDirectSpaceState3D::_get_rest_info(const Ref<PhysicsShapeQueryParameters3D> &p_shape_query) {
464
	ERR_FAIL_COND_V(p_shape_query.is_null(), Dictionary());
465

466
	ShapeRestInfo sri;
467

468
	bool res = rest_info(p_shape_query->get_parameters(), &sri);
469
	Dictionary r;
470
	if (!res) {
471
		return r;
472
	}
473

474
	r["point"] = sri.point;
475
	r["normal"] = sri.normal;
476
	r["rid"] = sri.rid;
477
	r["collider_id"] = sri.collider_id;
478
	r["shape"] = sri.shape;
479
	r["linear_velocity"] = sri.linear_velocity;
480

481
	return r;
482
}
483

484
PhysicsDirectSpaceState3D::PhysicsDirectSpaceState3D() {
485
}
486

487
void PhysicsDirectSpaceState3D::_bind_methods() {
488
	ClassDB::bind_method(D_METHOD("intersect_point", "parameters", "max_results"), &PhysicsDirectSpaceState3D::_intersect_point, DEFVAL(32));
489
	ClassDB::bind_method(D_METHOD("intersect_ray", "parameters"), &PhysicsDirectSpaceState3D::_intersect_ray);
490
	ClassDB::bind_method(D_METHOD("intersect_shape", "parameters", "max_results"), &PhysicsDirectSpaceState3D::_intersect_shape, DEFVAL(32));
491
	ClassDB::bind_method(D_METHOD("cast_motion", "parameters"), &PhysicsDirectSpaceState3D::_cast_motion);
492
	ClassDB::bind_method(D_METHOD("collide_shape", "parameters", "max_results"), &PhysicsDirectSpaceState3D::_collide_shape, DEFVAL(32));
493
	ClassDB::bind_method(D_METHOD("get_rest_info", "parameters"), &PhysicsDirectSpaceState3D::_get_rest_info);
494
}
495

496
///////////////////////////////
497

498
TypedArray<RID> PhysicsTestMotionParameters3D::get_exclude_bodies() const {
499
	TypedArray<RID> exclude;
500
	exclude.resize(parameters.exclude_bodies.size());
501

502
	int body_index = 0;
503
	for (const RID &body : parameters.exclude_bodies) {
504
		exclude[body_index++] = body;
505
	}
506

507
	return exclude;
508
}
509

510
void PhysicsTestMotionParameters3D::set_exclude_bodies(const TypedArray<RID> &p_exclude) {
511
	parameters.exclude_bodies.clear();
512
	for (int i = 0; i < p_exclude.size(); i++) {
513
		parameters.exclude_bodies.insert(p_exclude[i]);
514
	}
515
}
516

517
TypedArray<uint64_t> PhysicsTestMotionParameters3D::get_exclude_objects() const {
518
	TypedArray<uint64_t> exclude;
519
	exclude.resize(parameters.exclude_objects.size());
520

521
	int object_index = 0;
522
	for (const ObjectID &object_id : parameters.exclude_objects) {
523
		exclude[object_index++] = object_id;
524
	}
525

526
	return exclude;
527
}
528

529
void PhysicsTestMotionParameters3D::set_exclude_objects(const TypedArray<uint64_t> &p_exclude) {
530
	parameters.exclude_objects.clear();
531
	for (int i = 0; i < p_exclude.size(); ++i) {
532
		ObjectID object_id = p_exclude[i];
533
		ERR_CONTINUE(object_id.is_null());
534
		parameters.exclude_objects.insert(object_id);
535
	}
536
}
537

538
void PhysicsTestMotionParameters3D::_bind_methods() {
539
	ClassDB::bind_method(D_METHOD("get_from"), &PhysicsTestMotionParameters3D::get_from);
540
	ClassDB::bind_method(D_METHOD("set_from", "from"), &PhysicsTestMotionParameters3D::set_from);
541

542
	ClassDB::bind_method(D_METHOD("get_motion"), &PhysicsTestMotionParameters3D::get_motion);
543
	ClassDB::bind_method(D_METHOD("set_motion", "motion"), &PhysicsTestMotionParameters3D::set_motion);
544

545
	ClassDB::bind_method(D_METHOD("get_margin"), &PhysicsTestMotionParameters3D::get_margin);
546
	ClassDB::bind_method(D_METHOD("set_margin", "margin"), &PhysicsTestMotionParameters3D::set_margin);
547

548
	ClassDB::bind_method(D_METHOD("get_max_collisions"), &PhysicsTestMotionParameters3D::get_max_collisions);
549
	ClassDB::bind_method(D_METHOD("set_max_collisions", "max_collisions"), &PhysicsTestMotionParameters3D::set_max_collisions);
550

551
	ClassDB::bind_method(D_METHOD("is_collide_separation_ray_enabled"), &PhysicsTestMotionParameters3D::is_collide_separation_ray_enabled);
552
	ClassDB::bind_method(D_METHOD("set_collide_separation_ray_enabled", "enabled"), &PhysicsTestMotionParameters3D::set_collide_separation_ray_enabled);
553

554
	ClassDB::bind_method(D_METHOD("get_exclude_bodies"), &PhysicsTestMotionParameters3D::get_exclude_bodies);
555
	ClassDB::bind_method(D_METHOD("set_exclude_bodies", "exclude_list"), &PhysicsTestMotionParameters3D::set_exclude_bodies);
556

557
	ClassDB::bind_method(D_METHOD("get_exclude_objects"), &PhysicsTestMotionParameters3D::get_exclude_objects);
558
	ClassDB::bind_method(D_METHOD("set_exclude_objects", "exclude_list"), &PhysicsTestMotionParameters3D::set_exclude_objects);
559

560
	ClassDB::bind_method(D_METHOD("is_recovery_as_collision_enabled"), &PhysicsTestMotionParameters3D::is_recovery_as_collision_enabled);
561
	ClassDB::bind_method(D_METHOD("set_recovery_as_collision_enabled", "enabled"), &PhysicsTestMotionParameters3D::set_recovery_as_collision_enabled);
562

563
	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM3D, "from"), "set_from", "get_from");
564
	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "motion"), "set_motion", "get_motion");
565
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "margin"), "set_margin", "get_margin");
566
	ADD_PROPERTY(PropertyInfo(Variant::INT, "max_collisions"), "set_max_collisions", "get_max_collisions");
567
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "collide_separation_ray"), "set_collide_separation_ray_enabled", "is_collide_separation_ray_enabled");
568
	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude_bodies", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_exclude_bodies", "get_exclude_bodies");
569
	ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "exclude_objects"), "set_exclude_objects", "get_exclude_objects");
570
	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "recovery_as_collision"), "set_recovery_as_collision_enabled", "is_recovery_as_collision_enabled");
571
}
572

573
///////////////////////////////
574

575
Vector3 PhysicsTestMotionResult3D::get_travel() const {
576
	return result.travel;
577
}
578

579
Vector3 PhysicsTestMotionResult3D::get_remainder() const {
580
	return result.remainder;
581
}
582

583
real_t PhysicsTestMotionResult3D::get_collision_safe_fraction() const {
584
	return result.collision_safe_fraction;
585
}
586

587
real_t PhysicsTestMotionResult3D::get_collision_unsafe_fraction() const {
588
	return result.collision_unsafe_fraction;
589
}
590

591
int PhysicsTestMotionResult3D::get_collision_count() const {
592
	return result.collision_count;
593
}
594

595
Vector3 PhysicsTestMotionResult3D::get_collision_point(int p_collision_index) const {
596
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3());
597
	return result.collisions[p_collision_index].position;
598
}
599

600
Vector3 PhysicsTestMotionResult3D::get_collision_normal(int p_collision_index) const {
601
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3());
602
	return result.collisions[p_collision_index].normal;
603
}
604

605
Vector3 PhysicsTestMotionResult3D::get_collider_velocity(int p_collision_index) const {
606
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, Vector3());
607
	return result.collisions[p_collision_index].collider_velocity;
608
}
609

610
ObjectID PhysicsTestMotionResult3D::get_collider_id(int p_collision_index) const {
611
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, ObjectID());
612
	return result.collisions[p_collision_index].collider_id;
613
}
614

615
RID PhysicsTestMotionResult3D::get_collider_rid(int p_collision_index) const {
616
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, RID());
617
	return result.collisions[p_collision_index].collider;
618
}
619

620
Object *PhysicsTestMotionResult3D::get_collider(int p_collision_index) const {
621
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, nullptr);
622
	return ObjectDB::get_instance(result.collisions[p_collision_index].collider_id);
623
}
624

625
int PhysicsTestMotionResult3D::get_collider_shape(int p_collision_index) const {
626
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0);
627
	return result.collisions[p_collision_index].collider_shape;
628
}
629

630
int PhysicsTestMotionResult3D::get_collision_local_shape(int p_collision_index) const {
631
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0);
632
	return result.collisions[p_collision_index].local_shape;
633
}
634

635
real_t PhysicsTestMotionResult3D::get_collision_depth(int p_collision_index) const {
636
	ERR_FAIL_INDEX_V(p_collision_index, result.collision_count, 0.0);
637
	return result.collisions[p_collision_index].depth;
638
}
639

640
void PhysicsTestMotionResult3D::_bind_methods() {
641
	ClassDB::bind_method(D_METHOD("get_travel"), &PhysicsTestMotionResult3D::get_travel);
642
	ClassDB::bind_method(D_METHOD("get_remainder"), &PhysicsTestMotionResult3D::get_remainder);
643
	ClassDB::bind_method(D_METHOD("get_collision_safe_fraction"), &PhysicsTestMotionResult3D::get_collision_safe_fraction);
644
	ClassDB::bind_method(D_METHOD("get_collision_unsafe_fraction"), &PhysicsTestMotionResult3D::get_collision_unsafe_fraction);
645
	ClassDB::bind_method(D_METHOD("get_collision_count"), &PhysicsTestMotionResult3D::get_collision_count);
646
	ClassDB::bind_method(D_METHOD("get_collision_point", "collision_index"), &PhysicsTestMotionResult3D::get_collision_point, DEFVAL(0));
647
	ClassDB::bind_method(D_METHOD("get_collision_normal", "collision_index"), &PhysicsTestMotionResult3D::get_collision_normal, DEFVAL(0));
648
	ClassDB::bind_method(D_METHOD("get_collider_velocity", "collision_index"), &PhysicsTestMotionResult3D::get_collider_velocity, DEFVAL(0));
649
	ClassDB::bind_method(D_METHOD("get_collider_id", "collision_index"), &PhysicsTestMotionResult3D::get_collider_id, DEFVAL(0));
650
	ClassDB::bind_method(D_METHOD("get_collider_rid", "collision_index"), &PhysicsTestMotionResult3D::get_collider_rid, DEFVAL(0));
651
	ClassDB::bind_method(D_METHOD("get_collider", "collision_index"), &PhysicsTestMotionResult3D::get_collider, DEFVAL(0));
652
	ClassDB::bind_method(D_METHOD("get_collider_shape", "collision_index"), &PhysicsTestMotionResult3D::get_collider_shape, DEFVAL(0));
653
	ClassDB::bind_method(D_METHOD("get_collision_local_shape", "collision_index"), &PhysicsTestMotionResult3D::get_collision_local_shape, DEFVAL(0));
654
	ClassDB::bind_method(D_METHOD("get_collision_depth", "collision_index"), &PhysicsTestMotionResult3D::get_collision_depth, DEFVAL(0));
655
}
656

657
///////////////////////////////////////
658

659
bool PhysicsServer3D::_body_test_motion(RID p_body, const Ref<PhysicsTestMotionParameters3D> &p_parameters, const Ref<PhysicsTestMotionResult3D> &p_result) {
660
	ERR_FAIL_COND_V(p_parameters.is_null(), false);
661

662
	MotionResult *result_ptr = nullptr;
663
	if (p_result.is_valid()) {
664
		result_ptr = p_result->get_result_ptr();
665
	}
666

667
	return body_test_motion(p_body, p_parameters->get_parameters(), result_ptr);
668
}
669

670
RID PhysicsServer3D::shape_create(ShapeType p_shape) {
671
	switch (p_shape) {
672
		case SHAPE_WORLD_BOUNDARY:
673
			return world_boundary_shape_create();
674
		case SHAPE_SEPARATION_RAY:
675
			return separation_ray_shape_create();
676
		case SHAPE_SPHERE:
677
			return sphere_shape_create();
678
		case SHAPE_BOX:
679
			return box_shape_create();
680
		case SHAPE_CAPSULE:
681
			return capsule_shape_create();
682
		case SHAPE_CYLINDER:
683
			return cylinder_shape_create();
684
		case SHAPE_CONVEX_POLYGON:
685
			return convex_polygon_shape_create();
686
		case SHAPE_CONCAVE_POLYGON:
687
			return concave_polygon_shape_create();
688
		case SHAPE_HEIGHTMAP:
689
			return heightmap_shape_create();
690
		case SHAPE_CUSTOM:
691
			return custom_shape_create();
692
		default:
693
			return RID();
694
	}
695
}
696

697
void PhysicsServer3D::_bind_methods() {
698
#ifndef _3D_DISABLED
699

700
	ClassDB::bind_method(D_METHOD("world_boundary_shape_create"), &PhysicsServer3D::world_boundary_shape_create);
701
	ClassDB::bind_method(D_METHOD("separation_ray_shape_create"), &PhysicsServer3D::separation_ray_shape_create);
702
	ClassDB::bind_method(D_METHOD("sphere_shape_create"), &PhysicsServer3D::sphere_shape_create);
703
	ClassDB::bind_method(D_METHOD("box_shape_create"), &PhysicsServer3D::box_shape_create);
704
	ClassDB::bind_method(D_METHOD("capsule_shape_create"), &PhysicsServer3D::capsule_shape_create);
705
	ClassDB::bind_method(D_METHOD("cylinder_shape_create"), &PhysicsServer3D::cylinder_shape_create);
706
	ClassDB::bind_method(D_METHOD("convex_polygon_shape_create"), &PhysicsServer3D::convex_polygon_shape_create);
707
	ClassDB::bind_method(D_METHOD("concave_polygon_shape_create"), &PhysicsServer3D::concave_polygon_shape_create);
708
	ClassDB::bind_method(D_METHOD("heightmap_shape_create"), &PhysicsServer3D::heightmap_shape_create);
709
	ClassDB::bind_method(D_METHOD("custom_shape_create"), &PhysicsServer3D::custom_shape_create);
710

711
	ClassDB::bind_method(D_METHOD("shape_set_data", "shape", "data"), &PhysicsServer3D::shape_set_data);
712
	ClassDB::bind_method(D_METHOD("shape_set_margin", "shape", "margin"), &PhysicsServer3D::shape_set_margin);
713

714
	ClassDB::bind_method(D_METHOD("shape_get_type", "shape"), &PhysicsServer3D::shape_get_type);
715
	ClassDB::bind_method(D_METHOD("shape_get_data", "shape"), &PhysicsServer3D::shape_get_data);
716
	ClassDB::bind_method(D_METHOD("shape_get_margin", "shape"), &PhysicsServer3D::shape_get_margin);
717

718
	ClassDB::bind_method(D_METHOD("space_create"), &PhysicsServer3D::space_create);
719
	ClassDB::bind_method(D_METHOD("space_set_active", "space", "active"), &PhysicsServer3D::space_set_active);
720
	ClassDB::bind_method(D_METHOD("space_is_active", "space"), &PhysicsServer3D::space_is_active);
721
	ClassDB::bind_method(D_METHOD("space_set_param", "space", "param", "value"), &PhysicsServer3D::space_set_param);
722
	ClassDB::bind_method(D_METHOD("space_get_param", "space", "param"), &PhysicsServer3D::space_get_param);
723
	ClassDB::bind_method(D_METHOD("space_get_direct_state", "space"), &PhysicsServer3D::space_get_direct_state);
724

725
	ClassDB::bind_method(D_METHOD("area_create"), &PhysicsServer3D::area_create);
726
	ClassDB::bind_method(D_METHOD("area_set_space", "area", "space"), &PhysicsServer3D::area_set_space);
727
	ClassDB::bind_method(D_METHOD("area_get_space", "area"), &PhysicsServer3D::area_get_space);
728

729
	ClassDB::bind_method(D_METHOD("area_add_shape", "area", "shape", "transform", "disabled"), &PhysicsServer3D::area_add_shape, DEFVAL(Transform3D()), DEFVAL(false));
730
	ClassDB::bind_method(D_METHOD("area_set_shape", "area", "shape_idx", "shape"), &PhysicsServer3D::area_set_shape);
731
	ClassDB::bind_method(D_METHOD("area_set_shape_transform", "area", "shape_idx", "transform"), &PhysicsServer3D::area_set_shape_transform);
732
	ClassDB::bind_method(D_METHOD("area_set_shape_disabled", "area", "shape_idx", "disabled"), &PhysicsServer3D::area_set_shape_disabled);
733

734
	ClassDB::bind_method(D_METHOD("area_get_shape_count", "area"), &PhysicsServer3D::area_get_shape_count);
735
	ClassDB::bind_method(D_METHOD("area_get_shape", "area", "shape_idx"), &PhysicsServer3D::area_get_shape);
736
	ClassDB::bind_method(D_METHOD("area_get_shape_transform", "area", "shape_idx"), &PhysicsServer3D::area_get_shape_transform);
737

738
	ClassDB::bind_method(D_METHOD("area_remove_shape", "area", "shape_idx"), &PhysicsServer3D::area_remove_shape);
739
	ClassDB::bind_method(D_METHOD("area_clear_shapes", "area"), &PhysicsServer3D::area_clear_shapes);
740

741
	ClassDB::bind_method(D_METHOD("area_set_collision_layer", "area", "layer"), &PhysicsServer3D::area_set_collision_layer);
742
	ClassDB::bind_method(D_METHOD("area_get_collision_layer", "area"), &PhysicsServer3D::area_get_collision_layer);
743

744
	ClassDB::bind_method(D_METHOD("area_set_collision_mask", "area", "mask"), &PhysicsServer3D::area_set_collision_mask);
745
	ClassDB::bind_method(D_METHOD("area_get_collision_mask", "area"), &PhysicsServer3D::area_get_collision_mask);
746

747
	ClassDB::bind_method(D_METHOD("area_set_param", "area", "param", "value"), &PhysicsServer3D::area_set_param);
748
	ClassDB::bind_method(D_METHOD("area_set_transform", "area", "transform"), &PhysicsServer3D::area_set_transform);
749

750
	ClassDB::bind_method(D_METHOD("area_get_param", "area", "param"), &PhysicsServer3D::area_get_param);
751
	ClassDB::bind_method(D_METHOD("area_get_transform", "area"), &PhysicsServer3D::area_get_transform);
752

753
	ClassDB::bind_method(D_METHOD("area_attach_object_instance_id", "area", "id"), &PhysicsServer3D::area_attach_object_instance_id);
754
	ClassDB::bind_method(D_METHOD("area_get_object_instance_id", "area"), &PhysicsServer3D::area_get_object_instance_id);
755

756
	ClassDB::bind_method(D_METHOD("area_set_monitor_callback", "area", "callback"), &PhysicsServer3D::area_set_monitor_callback);
757
	ClassDB::bind_method(D_METHOD("area_set_area_monitor_callback", "area", "callback"), &PhysicsServer3D::area_set_area_monitor_callback);
758
	ClassDB::bind_method(D_METHOD("area_set_monitorable", "area", "monitorable"), &PhysicsServer3D::area_set_monitorable);
759

760
	ClassDB::bind_method(D_METHOD("area_set_ray_pickable", "area", "enable"), &PhysicsServer3D::area_set_ray_pickable);
761

762
	ClassDB::bind_method(D_METHOD("body_create"), &PhysicsServer3D::body_create);
763

764
	ClassDB::bind_method(D_METHOD("body_set_space", "body", "space"), &PhysicsServer3D::body_set_space);
765
	ClassDB::bind_method(D_METHOD("body_get_space", "body"), &PhysicsServer3D::body_get_space);
766

767
	ClassDB::bind_method(D_METHOD("body_set_mode", "body", "mode"), &PhysicsServer3D::body_set_mode);
768
	ClassDB::bind_method(D_METHOD("body_get_mode", "body"), &PhysicsServer3D::body_get_mode);
769

770
	ClassDB::bind_method(D_METHOD("body_set_collision_layer", "body", "layer"), &PhysicsServer3D::body_set_collision_layer);
771
	ClassDB::bind_method(D_METHOD("body_get_collision_layer", "body"), &PhysicsServer3D::body_get_collision_layer);
772

773
	ClassDB::bind_method(D_METHOD("body_set_collision_mask", "body", "mask"), &PhysicsServer3D::body_set_collision_mask);
774
	ClassDB::bind_method(D_METHOD("body_get_collision_mask", "body"), &PhysicsServer3D::body_get_collision_mask);
775

776
	ClassDB::bind_method(D_METHOD("body_set_collision_priority", "body", "priority"), &PhysicsServer3D::body_set_collision_priority);
777
	ClassDB::bind_method(D_METHOD("body_get_collision_priority", "body"), &PhysicsServer3D::body_get_collision_priority);
778

779
	ClassDB::bind_method(D_METHOD("body_add_shape", "body", "shape", "transform", "disabled"), &PhysicsServer3D::body_add_shape, DEFVAL(Transform3D()), DEFVAL(false));
780
	ClassDB::bind_method(D_METHOD("body_set_shape", "body", "shape_idx", "shape"), &PhysicsServer3D::body_set_shape);
781
	ClassDB::bind_method(D_METHOD("body_set_shape_transform", "body", "shape_idx", "transform"), &PhysicsServer3D::body_set_shape_transform);
782
	ClassDB::bind_method(D_METHOD("body_set_shape_disabled", "body", "shape_idx", "disabled"), &PhysicsServer3D::body_set_shape_disabled);
783

784
	ClassDB::bind_method(D_METHOD("body_get_shape_count", "body"), &PhysicsServer3D::body_get_shape_count);
785
	ClassDB::bind_method(D_METHOD("body_get_shape", "body", "shape_idx"), &PhysicsServer3D::body_get_shape);
786
	ClassDB::bind_method(D_METHOD("body_get_shape_transform", "body", "shape_idx"), &PhysicsServer3D::body_get_shape_transform);
787

788
	ClassDB::bind_method(D_METHOD("body_remove_shape", "body", "shape_idx"), &PhysicsServer3D::body_remove_shape);
789
	ClassDB::bind_method(D_METHOD("body_clear_shapes", "body"), &PhysicsServer3D::body_clear_shapes);
790

791
	ClassDB::bind_method(D_METHOD("body_attach_object_instance_id", "body", "id"), &PhysicsServer3D::body_attach_object_instance_id);
792
	ClassDB::bind_method(D_METHOD("body_get_object_instance_id", "body"), &PhysicsServer3D::body_get_object_instance_id);
793

794
	ClassDB::bind_method(D_METHOD("body_set_enable_continuous_collision_detection", "body", "enable"), &PhysicsServer3D::body_set_enable_continuous_collision_detection);
795
	ClassDB::bind_method(D_METHOD("body_is_continuous_collision_detection_enabled", "body"), &PhysicsServer3D::body_is_continuous_collision_detection_enabled);
796

797
	ClassDB::bind_method(D_METHOD("body_set_param", "body", "param", "value"), &PhysicsServer3D::body_set_param);
798
	ClassDB::bind_method(D_METHOD("body_get_param", "body", "param"), &PhysicsServer3D::body_get_param);
799

800
	ClassDB::bind_method(D_METHOD("body_reset_mass_properties", "body"), &PhysicsServer3D::body_reset_mass_properties);
801

802
	ClassDB::bind_method(D_METHOD("body_set_state", "body", "state", "value"), &PhysicsServer3D::body_set_state);
803
	ClassDB::bind_method(D_METHOD("body_get_state", "body", "state"), &PhysicsServer3D::body_get_state);
804

805
	ClassDB::bind_method(D_METHOD("body_apply_central_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_central_impulse);
806
	ClassDB::bind_method(D_METHOD("body_apply_impulse", "body", "impulse", "position"), &PhysicsServer3D::body_apply_impulse, Vector3());
807
	ClassDB::bind_method(D_METHOD("body_apply_torque_impulse", "body", "impulse"), &PhysicsServer3D::body_apply_torque_impulse);
808

809
	ClassDB::bind_method(D_METHOD("body_apply_central_force", "body", "force"), &PhysicsServer3D::body_apply_central_force);
810
	ClassDB::bind_method(D_METHOD("body_apply_force", "body", "force", "position"), &PhysicsServer3D::body_apply_force, Vector3());
811
	ClassDB::bind_method(D_METHOD("body_apply_torque", "body", "torque"), &PhysicsServer3D::body_apply_torque);
812

813
	ClassDB::bind_method(D_METHOD("body_add_constant_central_force", "body", "force"), &PhysicsServer3D::body_add_constant_central_force);
814
	ClassDB::bind_method(D_METHOD("body_add_constant_force", "body", "force", "position"), &PhysicsServer3D::body_add_constant_force, Vector3());
815
	ClassDB::bind_method(D_METHOD("body_add_constant_torque", "body", "torque"), &PhysicsServer3D::body_add_constant_torque);
816

817
	ClassDB::bind_method(D_METHOD("body_set_constant_force", "body", "force"), &PhysicsServer3D::body_set_constant_force);
818
	ClassDB::bind_method(D_METHOD("body_get_constant_force", "body"), &PhysicsServer3D::body_get_constant_force);
819

820
	ClassDB::bind_method(D_METHOD("body_set_constant_torque", "body", "torque"), &PhysicsServer3D::body_set_constant_torque);
821
	ClassDB::bind_method(D_METHOD("body_get_constant_torque", "body"), &PhysicsServer3D::body_get_constant_torque);
822

823
	ClassDB::bind_method(D_METHOD("body_set_axis_velocity", "body", "axis_velocity"), &PhysicsServer3D::body_set_axis_velocity);
824

825
	ClassDB::bind_method(D_METHOD("body_set_axis_lock", "body", "axis", "lock"), &PhysicsServer3D::body_set_axis_lock);
826
	ClassDB::bind_method(D_METHOD("body_is_axis_locked", "body", "axis"), &PhysicsServer3D::body_is_axis_locked);
827

828
	ClassDB::bind_method(D_METHOD("body_add_collision_exception", "body", "excepted_body"), &PhysicsServer3D::body_add_collision_exception);
829
	ClassDB::bind_method(D_METHOD("body_remove_collision_exception", "body", "excepted_body"), &PhysicsServer3D::body_remove_collision_exception);
830

831
	ClassDB::bind_method(D_METHOD("body_set_max_contacts_reported", "body", "amount"), &PhysicsServer3D::body_set_max_contacts_reported);
832
	ClassDB::bind_method(D_METHOD("body_get_max_contacts_reported", "body"), &PhysicsServer3D::body_get_max_contacts_reported);
833

834
	ClassDB::bind_method(D_METHOD("body_set_omit_force_integration", "body", "enable"), &PhysicsServer3D::body_set_omit_force_integration);
835
	ClassDB::bind_method(D_METHOD("body_is_omitting_force_integration", "body"), &PhysicsServer3D::body_is_omitting_force_integration);
836

837
	ClassDB::bind_method(D_METHOD("body_set_state_sync_callback", "body", "callable"), &PhysicsServer3D::body_set_state_sync_callback);
838

839
	ClassDB::bind_method(D_METHOD("body_set_force_integration_callback", "body", "callable", "userdata"), &PhysicsServer3D::body_set_force_integration_callback, DEFVAL(Variant()));
840

841
	ClassDB::bind_method(D_METHOD("body_set_ray_pickable", "body", "enable"), &PhysicsServer3D::body_set_ray_pickable);
842

843
	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "parameters", "result"), &PhysicsServer3D::_body_test_motion, DEFVAL(Variant()));
844

845
	ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &PhysicsServer3D::body_get_direct_state);
846

847
	/* SOFT BODY API */
848

849
	ClassDB::bind_method(D_METHOD("soft_body_create"), &PhysicsServer3D::soft_body_create);
850

851
	ClassDB::bind_method(D_METHOD("soft_body_update_rendering_server", "body", "rendering_server_handler"), &PhysicsServer3D::soft_body_update_rendering_server);
852

853
	ClassDB::bind_method(D_METHOD("soft_body_set_space", "body", "space"), &PhysicsServer3D::soft_body_set_space);
854
	ClassDB::bind_method(D_METHOD("soft_body_get_space", "body"), &PhysicsServer3D::soft_body_get_space);
855

856
	ClassDB::bind_method(D_METHOD("soft_body_set_mesh", "body", "mesh"), &PhysicsServer3D::soft_body_set_mesh);
857

858
	ClassDB::bind_method(D_METHOD("soft_body_get_bounds", "body"), &PhysicsServer3D::soft_body_get_bounds);
859

860
	ClassDB::bind_method(D_METHOD("soft_body_set_collision_layer", "body", "layer"), &PhysicsServer3D::soft_body_set_collision_layer);
861
	ClassDB::bind_method(D_METHOD("soft_body_get_collision_layer", "body"), &PhysicsServer3D::soft_body_get_collision_layer);
862

863
	ClassDB::bind_method(D_METHOD("soft_body_set_collision_mask", "body", "mask"), &PhysicsServer3D::soft_body_set_collision_mask);
864
	ClassDB::bind_method(D_METHOD("soft_body_get_collision_mask", "body"), &PhysicsServer3D::soft_body_get_collision_mask);
865

866
	ClassDB::bind_method(D_METHOD("soft_body_add_collision_exception", "body", "body_b"), &PhysicsServer3D::soft_body_add_collision_exception);
867
	ClassDB::bind_method(D_METHOD("soft_body_remove_collision_exception", "body", "body_b"), &PhysicsServer3D::soft_body_remove_collision_exception);
868

869
	ClassDB::bind_method(D_METHOD("soft_body_set_state", "body", "state", "variant"), &PhysicsServer3D::soft_body_set_state);
870
	ClassDB::bind_method(D_METHOD("soft_body_get_state", "body", "state"), &PhysicsServer3D::soft_body_get_state);
871

872
	ClassDB::bind_method(D_METHOD("soft_body_set_transform", "body", "transform"), &PhysicsServer3D::soft_body_set_transform);
873

874
	ClassDB::bind_method(D_METHOD("soft_body_set_ray_pickable", "body", "enable"), &PhysicsServer3D::soft_body_set_ray_pickable);
875

876
	ClassDB::bind_method(D_METHOD("soft_body_set_simulation_precision", "body", "simulation_precision"), &PhysicsServer3D::soft_body_set_simulation_precision);
877
	ClassDB::bind_method(D_METHOD("soft_body_get_simulation_precision", "body"), &PhysicsServer3D::soft_body_get_simulation_precision);
878

879
	ClassDB::bind_method(D_METHOD("soft_body_set_total_mass", "body", "total_mass"), &PhysicsServer3D::soft_body_set_total_mass);
880
	ClassDB::bind_method(D_METHOD("soft_body_get_total_mass", "body"), &PhysicsServer3D::soft_body_get_total_mass);
881

882
	ClassDB::bind_method(D_METHOD("soft_body_set_linear_stiffness", "body", "stiffness"), &PhysicsServer3D::soft_body_set_linear_stiffness);
883
	ClassDB::bind_method(D_METHOD("soft_body_get_linear_stiffness", "body"), &PhysicsServer3D::soft_body_get_linear_stiffness);
884

885
	ClassDB::bind_method(D_METHOD("soft_body_set_shrinking_factor", "body", "shrinking_factor"), &PhysicsServer3D::soft_body_set_shrinking_factor);
886
	ClassDB::bind_method(D_METHOD("soft_body_get_shrinking_factor", "body"), &PhysicsServer3D::soft_body_get_shrinking_factor);
887

888
	ClassDB::bind_method(D_METHOD("soft_body_set_pressure_coefficient", "body", "pressure_coefficient"), &PhysicsServer3D::soft_body_set_pressure_coefficient);
889
	ClassDB::bind_method(D_METHOD("soft_body_get_pressure_coefficient", "body"), &PhysicsServer3D::soft_body_get_pressure_coefficient);
890

891
	ClassDB::bind_method(D_METHOD("soft_body_set_damping_coefficient", "body", "damping_coefficient"), &PhysicsServer3D::soft_body_set_damping_coefficient);
892
	ClassDB::bind_method(D_METHOD("soft_body_get_damping_coefficient", "body"), &PhysicsServer3D::soft_body_get_damping_coefficient);
893

894
	ClassDB::bind_method(D_METHOD("soft_body_set_drag_coefficient", "body", "drag_coefficient"), &PhysicsServer3D::soft_body_set_drag_coefficient);
895
	ClassDB::bind_method(D_METHOD("soft_body_get_drag_coefficient", "body"), &PhysicsServer3D::soft_body_get_drag_coefficient);
896

897
	ClassDB::bind_method(D_METHOD("soft_body_move_point", "body", "point_index", "global_position"), &PhysicsServer3D::soft_body_move_point);
898
	ClassDB::bind_method(D_METHOD("soft_body_get_point_global_position", "body", "point_index"), &PhysicsServer3D::soft_body_get_point_global_position);
899

900
	ClassDB::bind_method(D_METHOD("soft_body_remove_all_pinned_points", "body"), &PhysicsServer3D::soft_body_remove_all_pinned_points);
901

902
	ClassDB::bind_method(D_METHOD("soft_body_pin_point", "body", "point_index", "pin"), &PhysicsServer3D::soft_body_pin_point);
903

904
	ClassDB::bind_method(D_METHOD("soft_body_is_point_pinned", "body", "point_index"), &PhysicsServer3D::soft_body_is_point_pinned);
905

906
	ClassDB::bind_method(D_METHOD("soft_body_apply_point_impulse", "body", "point_index", "impulse"), &PhysicsServer3D::soft_body_apply_point_impulse);
907
	ClassDB::bind_method(D_METHOD("soft_body_apply_point_force", "body", "point_index", "force"), &PhysicsServer3D::soft_body_apply_point_force);
908
	ClassDB::bind_method(D_METHOD("soft_body_apply_central_impulse", "body", "impulse"), &PhysicsServer3D::soft_body_apply_central_impulse);
909
	ClassDB::bind_method(D_METHOD("soft_body_apply_central_force", "body", "force"), &PhysicsServer3D::soft_body_apply_central_force);
910

911
	/* JOINT API */
912

913
	ClassDB::bind_method(D_METHOD("joint_create"), &PhysicsServer3D::joint_create);
914
	ClassDB::bind_method(D_METHOD("joint_clear", "joint"), &PhysicsServer3D::joint_clear);
915

916
	BIND_ENUM_CONSTANT(JOINT_TYPE_PIN);
917
	BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE);
918
	BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER);
919
	BIND_ENUM_CONSTANT(JOINT_TYPE_CONE_TWIST);
920
	BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF);
921
	BIND_ENUM_CONSTANT(JOINT_TYPE_MAX);
922

923
	ClassDB::bind_method(D_METHOD("joint_make_pin", "joint", "body_A", "local_A", "body_B", "local_B"), &PhysicsServer3D::joint_make_pin);
924
	ClassDB::bind_method(D_METHOD("pin_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::pin_joint_set_param);
925
	ClassDB::bind_method(D_METHOD("pin_joint_get_param", "joint", "param"), &PhysicsServer3D::pin_joint_get_param);
926

927
	ClassDB::bind_method(D_METHOD("pin_joint_set_local_a", "joint", "local_A"), &PhysicsServer3D::pin_joint_set_local_a);
928
	ClassDB::bind_method(D_METHOD("pin_joint_get_local_a", "joint"), &PhysicsServer3D::pin_joint_get_local_a);
929

930
	ClassDB::bind_method(D_METHOD("pin_joint_set_local_b", "joint", "local_B"), &PhysicsServer3D::pin_joint_set_local_b);
931
	ClassDB::bind_method(D_METHOD("pin_joint_get_local_b", "joint"), &PhysicsServer3D::pin_joint_get_local_b);
932

933
	BIND_ENUM_CONSTANT(PIN_JOINT_BIAS);
934
	BIND_ENUM_CONSTANT(PIN_JOINT_DAMPING);
935
	BIND_ENUM_CONSTANT(PIN_JOINT_IMPULSE_CLAMP);
936

937
	BIND_ENUM_CONSTANT(HINGE_JOINT_BIAS);
938
	BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_UPPER);
939
	BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_LOWER);
940
	BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_BIAS);
941
	BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_SOFTNESS);
942
	BIND_ENUM_CONSTANT(HINGE_JOINT_LIMIT_RELAXATION);
943
	BIND_ENUM_CONSTANT(HINGE_JOINT_MOTOR_TARGET_VELOCITY);
944
	BIND_ENUM_CONSTANT(HINGE_JOINT_MOTOR_MAX_IMPULSE);
945

946
	BIND_ENUM_CONSTANT(HINGE_JOINT_FLAG_USE_LIMIT);
947
	BIND_ENUM_CONSTANT(HINGE_JOINT_FLAG_ENABLE_MOTOR);
948

949
	ClassDB::bind_method(D_METHOD("joint_make_hinge", "joint", "body_A", "hinge_A", "body_B", "hinge_B"), &PhysicsServer3D::joint_make_hinge);
950

951
	ClassDB::bind_method(D_METHOD("hinge_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::hinge_joint_set_param);
952
	ClassDB::bind_method(D_METHOD("hinge_joint_get_param", "joint", "param"), &PhysicsServer3D::hinge_joint_get_param);
953

954
	ClassDB::bind_method(D_METHOD("hinge_joint_set_flag", "joint", "flag", "enabled"), &PhysicsServer3D::hinge_joint_set_flag);
955
	ClassDB::bind_method(D_METHOD("hinge_joint_get_flag", "joint", "flag"), &PhysicsServer3D::hinge_joint_get_flag);
956

957
	ClassDB::bind_method(D_METHOD("joint_make_slider", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_slider);
958

959
	ClassDB::bind_method(D_METHOD("slider_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::slider_joint_set_param);
960
	ClassDB::bind_method(D_METHOD("slider_joint_get_param", "joint", "param"), &PhysicsServer3D::slider_joint_get_param);
961

962
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_UPPER);
963
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_LOWER);
964
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS);
965
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION);
966
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_LIMIT_DAMPING);
967
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_SOFTNESS);
968
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_RESTITUTION);
969
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_MOTION_DAMPING);
970
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_SOFTNESS);
971
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_RESTITUTION);
972
	BIND_ENUM_CONSTANT(SLIDER_JOINT_LINEAR_ORTHOGONAL_DAMPING);
973

974
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_UPPER);
975
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_LOWER);
976
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS);
977
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_RESTITUTION);
978
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_LIMIT_DAMPING);
979
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_SOFTNESS);
980
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_RESTITUTION);
981
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_MOTION_DAMPING);
982
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_SOFTNESS);
983
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_RESTITUTION);
984
	BIND_ENUM_CONSTANT(SLIDER_JOINT_ANGULAR_ORTHOGONAL_DAMPING);
985
	BIND_ENUM_CONSTANT(SLIDER_JOINT_MAX);
986

987
	ClassDB::bind_method(D_METHOD("joint_make_cone_twist", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_cone_twist);
988

989
	ClassDB::bind_method(D_METHOD("cone_twist_joint_set_param", "joint", "param", "value"), &PhysicsServer3D::cone_twist_joint_set_param);
990
	ClassDB::bind_method(D_METHOD("cone_twist_joint_get_param", "joint", "param"), &PhysicsServer3D::cone_twist_joint_get_param);
991

992
	BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_SWING_SPAN);
993
	BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_TWIST_SPAN);
994
	BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_BIAS);
995
	BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_SOFTNESS);
996
	BIND_ENUM_CONSTANT(CONE_TWIST_JOINT_RELAXATION);
997

998
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LOWER_LIMIT);
999
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_UPPER_LIMIT);
1000
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS);
1001
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_RESTITUTION);
1002
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_DAMPING);
1003
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY);
1004
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT);
1005
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_SPRING_STIFFNESS);
1006
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_SPRING_DAMPING);
1007
	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT);
1008
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LOWER_LIMIT);
1009
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_UPPER_LIMIT);
1010
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS);
1011
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_DAMPING);
1012
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_RESTITUTION);
1013
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_FORCE_LIMIT);
1014
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_ERP);
1015
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY);
1016
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT);
1017
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS);
1018
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_DAMPING);
1019
	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT);
1020
	BIND_ENUM_CONSTANT(G6DOF_JOINT_MAX);
1021

1022
	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT);
1023
	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT);
1024
	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING);
1025
	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING);
1026
	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_MOTOR);
1027
	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR);
1028
	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_MAX);
1029

1030
	ClassDB::bind_method(D_METHOD("joint_get_type", "joint"), &PhysicsServer3D::joint_get_type);
1031

1032
	ClassDB::bind_method(D_METHOD("joint_set_solver_priority", "joint", "priority"), &PhysicsServer3D::joint_set_solver_priority);
1033
	ClassDB::bind_method(D_METHOD("joint_get_solver_priority", "joint"), &PhysicsServer3D::joint_get_solver_priority);
1034

1035
	ClassDB::bind_method(D_METHOD("joint_disable_collisions_between_bodies", "joint", "disable"), &PhysicsServer3D::joint_disable_collisions_between_bodies);
1036
	ClassDB::bind_method(D_METHOD("joint_is_disabled_collisions_between_bodies", "joint"), &PhysicsServer3D::joint_is_disabled_collisions_between_bodies);
1037

1038
	ClassDB::bind_method(D_METHOD("joint_make_generic_6dof", "joint", "body_A", "local_ref_A", "body_B", "local_ref_B"), &PhysicsServer3D::joint_make_generic_6dof);
1039

1040
	ClassDB::bind_method(D_METHOD("generic_6dof_joint_set_param", "joint", "axis", "param", "value"), &PhysicsServer3D::generic_6dof_joint_set_param);
1041
	ClassDB::bind_method(D_METHOD("generic_6dof_joint_get_param", "joint", "axis", "param"), &PhysicsServer3D::generic_6dof_joint_get_param);
1042

1043
	ClassDB::bind_method(D_METHOD("generic_6dof_joint_set_flag", "joint", "axis", "flag", "enable"), &PhysicsServer3D::generic_6dof_joint_set_flag);
1044
	ClassDB::bind_method(D_METHOD("generic_6dof_joint_get_flag", "joint", "axis", "flag"), &PhysicsServer3D::generic_6dof_joint_get_flag);
1045

1046
	ClassDB::bind_method(D_METHOD("free_rid", "rid"), &PhysicsServer3D::free_rid);
1047

1048
	ClassDB::bind_method(D_METHOD("set_active", "active"), &PhysicsServer3D::set_active);
1049

1050
	ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &PhysicsServer3D::get_process_info);
1051

1052
	BIND_ENUM_CONSTANT(SHAPE_WORLD_BOUNDARY);
1053
	BIND_ENUM_CONSTANT(SHAPE_SEPARATION_RAY);
1054
	BIND_ENUM_CONSTANT(SHAPE_SPHERE);
1055
	BIND_ENUM_CONSTANT(SHAPE_BOX);
1056
	BIND_ENUM_CONSTANT(SHAPE_CAPSULE);
1057
	BIND_ENUM_CONSTANT(SHAPE_CYLINDER);
1058
	BIND_ENUM_CONSTANT(SHAPE_CONVEX_POLYGON);
1059
	BIND_ENUM_CONSTANT(SHAPE_CONCAVE_POLYGON);
1060
	BIND_ENUM_CONSTANT(SHAPE_HEIGHTMAP);
1061
	BIND_ENUM_CONSTANT(SHAPE_SOFT_BODY);
1062
	BIND_ENUM_CONSTANT(SHAPE_CUSTOM);
1063

1064
	BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_OVERRIDE_MODE);
1065
	BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY);
1066
	BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_VECTOR);
1067
	BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_IS_POINT);
1068
	BIND_ENUM_CONSTANT(AREA_PARAM_GRAVITY_POINT_UNIT_DISTANCE);
1069
	BIND_ENUM_CONSTANT(AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE);
1070
	BIND_ENUM_CONSTANT(AREA_PARAM_LINEAR_DAMP);
1071
	BIND_ENUM_CONSTANT(AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE);
1072
	BIND_ENUM_CONSTANT(AREA_PARAM_ANGULAR_DAMP);
1073
	BIND_ENUM_CONSTANT(AREA_PARAM_PRIORITY);
1074
	BIND_ENUM_CONSTANT(AREA_PARAM_WIND_FORCE_MAGNITUDE);
1075
	BIND_ENUM_CONSTANT(AREA_PARAM_WIND_SOURCE);
1076
	BIND_ENUM_CONSTANT(AREA_PARAM_WIND_DIRECTION);
1077
	BIND_ENUM_CONSTANT(AREA_PARAM_WIND_ATTENUATION_FACTOR);
1078

1079
	BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_DISABLED);
1080
	BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_COMBINE);
1081
	BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_COMBINE_REPLACE);
1082
	BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_REPLACE);
1083
	BIND_ENUM_CONSTANT(AREA_SPACE_OVERRIDE_REPLACE_COMBINE);
1084

1085
	BIND_ENUM_CONSTANT(BODY_MODE_STATIC);
1086
	BIND_ENUM_CONSTANT(BODY_MODE_KINEMATIC);
1087
	BIND_ENUM_CONSTANT(BODY_MODE_RIGID);
1088
	BIND_ENUM_CONSTANT(BODY_MODE_RIGID_LINEAR);
1089

1090
	BIND_ENUM_CONSTANT(BODY_PARAM_BOUNCE);
1091
	BIND_ENUM_CONSTANT(BODY_PARAM_FRICTION);
1092
	BIND_ENUM_CONSTANT(BODY_PARAM_MASS);
1093
	BIND_ENUM_CONSTANT(BODY_PARAM_INERTIA);
1094
	BIND_ENUM_CONSTANT(BODY_PARAM_CENTER_OF_MASS);
1095
	BIND_ENUM_CONSTANT(BODY_PARAM_GRAVITY_SCALE);
1096
	BIND_ENUM_CONSTANT(BODY_PARAM_LINEAR_DAMP_MODE);
1097
	BIND_ENUM_CONSTANT(BODY_PARAM_ANGULAR_DAMP_MODE);
1098
	BIND_ENUM_CONSTANT(BODY_PARAM_LINEAR_DAMP);
1099
	BIND_ENUM_CONSTANT(BODY_PARAM_ANGULAR_DAMP);
1100
	BIND_ENUM_CONSTANT(BODY_PARAM_MAX);
1101

1102
	BIND_ENUM_CONSTANT(BODY_DAMP_MODE_COMBINE);
1103
	BIND_ENUM_CONSTANT(BODY_DAMP_MODE_REPLACE);
1104

1105
	BIND_ENUM_CONSTANT(BODY_STATE_TRANSFORM);
1106
	BIND_ENUM_CONSTANT(BODY_STATE_LINEAR_VELOCITY);
1107
	BIND_ENUM_CONSTANT(BODY_STATE_ANGULAR_VELOCITY);
1108
	BIND_ENUM_CONSTANT(BODY_STATE_SLEEPING);
1109
	BIND_ENUM_CONSTANT(BODY_STATE_CAN_SLEEP);
1110

1111
	BIND_ENUM_CONSTANT(AREA_BODY_ADDED);
1112
	BIND_ENUM_CONSTANT(AREA_BODY_REMOVED);
1113

1114
	BIND_ENUM_CONSTANT(INFO_ACTIVE_OBJECTS);
1115
	BIND_ENUM_CONSTANT(INFO_COLLISION_PAIRS);
1116
	BIND_ENUM_CONSTANT(INFO_ISLAND_COUNT);
1117

1118
	BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_RECYCLE_RADIUS);
1119
	BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_SEPARATION);
1120
	BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_MAX_ALLOWED_PENETRATION);
1121
	BIND_ENUM_CONSTANT(SPACE_PARAM_CONTACT_DEFAULT_BIAS);
1122
	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD);
1123
	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD);
1124
	BIND_ENUM_CONSTANT(SPACE_PARAM_BODY_TIME_TO_SLEEP);
1125
	BIND_ENUM_CONSTANT(SPACE_PARAM_SOLVER_ITERATIONS);
1126

1127
	BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_X);
1128
	BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Y);
1129
	BIND_ENUM_CONSTANT(BODY_AXIS_LINEAR_Z);
1130
	BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_X);
1131
	BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_Y);
1132
	BIND_ENUM_CONSTANT(BODY_AXIS_ANGULAR_Z);
1133

1134
#endif
1135
}
1136

1137
PhysicsServer3D::PhysicsServer3D() {
1138
	singleton = this;
1139

1140
	// World3D physics space
1141
	GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "physics/3d/default_gravity", PROPERTY_HINT_RANGE, U"-32,32,0.001,or_less,or_greater,suffix:m/s\u00B2"), 9.8);
1142
	GLOBAL_DEF_BASIC(PropertyInfo(Variant::VECTOR3, "physics/3d/default_gravity_vector", PROPERTY_HINT_RANGE, "-10,10,0.001,or_less,or_greater"), Vector3(0, -1, 0));
1143
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/default_linear_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), 0.1);
1144
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/default_angular_damp", PROPERTY_HINT_RANGE, "0,100,0.001,or_greater"), 0.1);
1145

1146
	// PhysicsServer3D
1147
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/sleep_threshold_linear", PROPERTY_HINT_RANGE, "0,1,0.001,or_greater"), 0.1);
1148
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/sleep_threshold_angular", PROPERTY_HINT_RANGE, "0,90,0.1,radians_as_degrees"), Math::deg_to_rad(8.0));
1149
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"), 0.5);
1150
	GLOBAL_DEF(PropertyInfo(Variant::INT, "physics/3d/solver/solver_iterations", PROPERTY_HINT_RANGE, "1,32,1,or_greater"), 16);
1151
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_recycle_radius", PROPERTY_HINT_RANGE, "0,0.1,0.001,or_greater"), 0.01);
1152
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,0.1,0.001,or_greater"), 0.05);
1153
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/solver/contact_max_allowed_penetration", PROPERTY_HINT_RANGE, "0.001,0.1,0.001,or_greater"), 0.01);
1154
	GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "physics/3d/solver/default_contact_bias", PROPERTY_HINT_RANGE, "0,1,0.01"), 0.8);
1155
}
1156

1157
PhysicsServer3D::~PhysicsServer3D() {
1158
	singleton = nullptr;
1159
}
1160

1161
PhysicsServer3DManager *PhysicsServer3DManager::singleton = nullptr;
1162
const String PhysicsServer3DManager::setting_property_name(PNAME("physics/3d/physics_engine"));
1163

1164
void PhysicsServer3DManager::on_servers_changed() {
1165
	String physics_servers2("DEFAULT");
1166
	for (int i = get_servers_count() - 1; 0 <= i; --i) {
1167
		physics_servers2 += "," + get_server_name(i);
1168
	}
1169
	ProjectSettings::get_singleton()->set_custom_property_info(PropertyInfo(Variant::STRING, setting_property_name, PROPERTY_HINT_ENUM, physics_servers2));
1170
	ProjectSettings::get_singleton()->set_restart_if_changed(setting_property_name, true);
1171
	ProjectSettings::get_singleton()->set_as_basic(setting_property_name, true);
1172
}
1173

1174
void PhysicsServer3DManager::_bind_methods() {
1175
	ClassDB::bind_method(D_METHOD("register_server", "name", "create_callback"), &PhysicsServer3DManager::register_server);
1176
	ClassDB::bind_method(D_METHOD("set_default_server", "name", "priority"), &PhysicsServer3DManager::set_default_server);
1177
}
1178

1179
PhysicsServer3DManager *PhysicsServer3DManager::get_singleton() {
1180
	return singleton;
1181
}
1182

1183
void PhysicsServer3DManager::register_server(const String &p_name, const Callable &p_create_callback) {
1184
	//ERR_FAIL_COND(!p_create_callback.is_valid());
1185
	ERR_FAIL_COND(find_server_id(p_name) != -1);
1186
	physics_servers.push_back(ClassInfo(p_name, p_create_callback));
1187
	on_servers_changed();
1188
}
1189

1190
void PhysicsServer3DManager::set_default_server(const String &p_name, int p_priority) {
1191
	const int id = find_server_id(p_name);
1192
	ERR_FAIL_COND(id == -1); // Not found
1193
	if (default_server_priority < p_priority) {
1194
		default_server_id = id;
1195
		default_server_priority = p_priority;
1196
	}
1197
}
1198

1199
int PhysicsServer3DManager::find_server_id(const String &p_name) {
1200
	for (int i = physics_servers.size() - 1; 0 <= i; --i) {
1201
		if (p_name == physics_servers[i].name) {
1202
			return i;
1203
		}
1204
	}
1205
	return -1;
1206
}
1207

1208
int PhysicsServer3DManager::get_servers_count() {
1209
	return physics_servers.size();
1210
}
1211

1212
String PhysicsServer3DManager::get_server_name(int p_id) {
1213
	ERR_FAIL_INDEX_V(p_id, get_servers_count(), "");
1214
	return physics_servers[p_id].name;
1215
}
1216

1217
PhysicsServer3D *PhysicsServer3DManager::new_default_server() {
1218
	if (default_server_id == -1) {
1219
		return nullptr;
1220
	}
1221
	Variant ret;
1222
	Callable::CallError ce;
1223
	physics_servers[default_server_id].create_callback.callp(nullptr, 0, ret, ce);
1224
	ERR_FAIL_COND_V(ce.error != Callable::CallError::CALL_OK, nullptr);
1225
	return Object::cast_to<PhysicsServer3D>(ret.get_validated_object());
1226
}
1227

1228
PhysicsServer3D *PhysicsServer3DManager::new_server(const String &p_name) {
1229
	int id = find_server_id(p_name);
1230
	if (id == -1) {
1231
		return nullptr;
1232
	} else {
1233
		Variant ret;
1234
		Callable::CallError ce;
1235
		physics_servers[id].create_callback.callp(nullptr, 0, ret, ce);
1236
		ERR_FAIL_COND_V(ce.error != Callable::CallError::CALL_OK, nullptr);
1237
		return Object::cast_to<PhysicsServer3D>(ret.get_validated_object());
1238
	}
1239
}
1240

1241
PhysicsServer3DManager::PhysicsServer3DManager() {
1242
	singleton = this;
1243
}
1244

1245
PhysicsServer3DManager::~PhysicsServer3DManager() {
1246
	singleton = nullptr;
1247
}
1248

1249
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