code: /*************************************************************************/
  /*  physics_body_3d.cpp                                                  */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                      https://godotengine.org                          */
  /*************************************************************************/
  /* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
  /* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md).   */
  /*                                                                       */
  /* Permission is hereby granted, free of charge, to any person obtaining */
  /* a copy of this software and associated documentation files (the       */
  /* "Software"), to deal in the Software without restriction, including   */
  /* without limitation the rights to use, copy, modify, merge, publish,   */
  /* distribute, sublicense, and/or sell copies of the Software, and to    */
  /* permit persons to whom the Software is furnished to do so, subject to */
  /* the following conditions:                                             */
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  /* The above copyright notice and this permission notice shall be        */
  /* included in all copies or substantial portions of the Software.       */
  /*                                                                       */
  /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
  /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
  /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
  /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
  /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
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  /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
  /*************************************************************************/
  
  #include "physics_body_3d.h"
  
  #include "core/core_string_names.h"
  #include "core/engine.h"
  #include "core/list.h"
  #include "core/method_bind_ext.gen.inc"
  #include "core/object.h"
  #include "core/rid.h"
  #include "scene/3d/collision_shape_3d.h"
  #include "scene/scene_string_names.h"
  #include "servers/navigation_server_3d.h"
  
  #ifdef TOOLS_ENABLED
  #include "editor/plugins/node_3d_editor_plugin.h"
  #endif
  
  Vector3 PhysicsBody3D::get_linear_velocity() const {
  
  	return Vector3();
  }
  Vector3 PhysicsBody3D::get_angular_velocity() const {
  
  	return Vector3();
  }
  
  float PhysicsBody3D::get_inverse_mass() const {
  
  	return 0;
  }
  
  void PhysicsBody3D::set_collision_layer(uint32_t p_layer) {
  
  	collision_layer = p_layer;
  	PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), p_layer);
  }
  
  uint32_t PhysicsBody3D::get_collision_layer() const {
  
  	return collision_layer;
  }
  
  void PhysicsBody3D::set_collision_mask(uint32_t p_mask) {
  
  	collision_mask = p_mask;
  	PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), p_mask);
  }
  
  uint32_t PhysicsBody3D::get_collision_mask() const {
  
  	return collision_mask;
  }
  
  void PhysicsBody3D::set_collision_mask_bit(int p_bit, bool p_value) {
  
  	uint32_t mask = get_collision_mask();
  	if (p_value)
  		mask |= 1 << p_bit;
  	else
  		mask &= ~(1 << p_bit);
  	set_collision_mask(mask);
  }
  
  bool PhysicsBody3D::get_collision_mask_bit(int p_bit) const {
  
  	return get_collision_mask() & (1 << p_bit);
  }
  
  void PhysicsBody3D::set_collision_layer_bit(int p_bit, bool p_value) {
  
  	uint32_t mask = get_collision_layer();
  	if (p_value)
  		mask |= 1 << p_bit;
  	else
  		mask &= ~(1 << p_bit);
  	set_collision_layer(mask);
  }
  
  bool PhysicsBody3D::get_collision_layer_bit(int p_bit) const {
  
  	return get_collision_layer() & (1 << p_bit);
  }
  
  Array PhysicsBody3D::get_collision_exceptions() {
  	List<RID> exceptions;
  	PhysicsServer3D::get_singleton()->body_get_collision_exceptions(get_rid(), &exceptions);
  	Array ret;
  	for (List<RID>::Element *E = exceptions.front(); E; E = E->next()) {
  		RID body = E->get();
  		ObjectID instance_id = PhysicsServer3D::get_singleton()->body_get_object_instance_id(body);
  		Object *obj = ObjectDB::get_instance(instance_id);
  		PhysicsBody3D *physics_body = Object::cast_to<PhysicsBody3D>(obj);
  		ret.append(physics_body);
  	}
  	return ret;
  }
  
  void PhysicsBody3D::add_collision_exception_with(Node *p_node) {
  
  	ERR_FAIL_NULL(p_node);
  	CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
  	ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject.");
  	PhysicsServer3D::get_singleton()->body_add_collision_exception(get_rid(), collision_object->get_rid());
  }
  
  void PhysicsBody3D::remove_collision_exception_with(Node *p_node) {
  
  	ERR_FAIL_NULL(p_node);
  	CollisionObject3D *collision_object = Object::cast_to<CollisionObject3D>(p_node);
  	ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject.");
  	PhysicsServer3D::get_singleton()->body_remove_collision_exception(get_rid(), collision_object->get_rid());
  }
  
  void PhysicsBody3D::_set_layers(uint32_t p_mask) {
  	set_collision_layer(p_mask);
  	set_collision_mask(p_mask);
  }
  
  uint32_t PhysicsBody3D::_get_layers() const {
  
  	return get_collision_layer();
  }
  
  void PhysicsBody3D::_bind_methods() {
  	ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &PhysicsBody3D::set_collision_layer);
  	ClassDB::bind_method(D_METHOD("get_collision_layer"), &PhysicsBody3D::get_collision_layer);
  
  	ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &PhysicsBody3D::set_collision_mask);
  	ClassDB::bind_method(D_METHOD("get_collision_mask"), &PhysicsBody3D::get_collision_mask);
  
  	ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &PhysicsBody3D::set_collision_mask_bit);
  	ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &PhysicsBody3D::get_collision_mask_bit);
  
  	ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &PhysicsBody3D::set_collision_layer_bit);
  	ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &PhysicsBody3D::get_collision_layer_bit);
  
  	ClassDB::bind_method(D_METHOD("_set_layers", "mask"), &PhysicsBody3D::_set_layers);
  	ClassDB::bind_method(D_METHOD("_get_layers"), &PhysicsBody3D::_get_layers);
  
  	ADD_GROUP("Collision", "collision_");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
  }
  
  PhysicsBody3D::PhysicsBody3D(PhysicsServer3D::BodyMode p_mode) :
  		CollisionObject3D(PhysicsServer3D::get_singleton()->body_create(p_mode), false) {
  
  	collision_layer = 1;
  	collision_mask = 1;
  }
  
  void StaticBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
  	if (physics_material_override.is_valid()) {
  		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics))) {
  			physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
  		}
  	}
  
  	physics_material_override = p_physics_material_override;
  
  	if (physics_material_override.is_valid()) {
  		physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &StaticBody3D::_reload_physics_characteristics));
  	}
  	_reload_physics_characteristics();
  }
  
  Ref<PhysicsMaterial> StaticBody3D::get_physics_material_override() const {
  	return physics_material_override;
  }
  
  void StaticBody3D::set_constant_linear_velocity(const Vector3 &p_vel) {
  
  	constant_linear_velocity = p_vel;
  	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, constant_linear_velocity);
  }
  
  void StaticBody3D::set_constant_angular_velocity(const Vector3 &p_vel) {
  
  	constant_angular_velocity = p_vel;
  	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, constant_angular_velocity);
  }
  
  Vector3 StaticBody3D::get_constant_linear_velocity() const {
  
  	return constant_linear_velocity;
  }
  Vector3 StaticBody3D::get_constant_angular_velocity() const {
  
  	return constant_angular_velocity;
  }
  
  void StaticBody3D::_bind_methods() {
  
  	ClassDB::bind_method(D_METHOD("set_constant_linear_velocity", "vel"), &StaticBody3D::set_constant_linear_velocity);
  	ClassDB::bind_method(D_METHOD("set_constant_angular_velocity", "vel"), &StaticBody3D::set_constant_angular_velocity);
  	ClassDB::bind_method(D_METHOD("get_constant_linear_velocity"), &StaticBody3D::get_constant_linear_velocity);
  	ClassDB::bind_method(D_METHOD("get_constant_angular_velocity"), &StaticBody3D::get_constant_angular_velocity);
  
  	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &StaticBody3D::set_physics_material_override);
  	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &StaticBody3D::get_physics_material_override);
  
  	ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &PhysicsBody3D::get_collision_exceptions);
  	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &PhysicsBody3D::add_collision_exception_with);
  	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &PhysicsBody3D::remove_collision_exception_with);
  
  	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_linear_velocity"), "set_constant_linear_velocity", "get_constant_linear_velocity");
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "constant_angular_velocity"), "set_constant_angular_velocity", "get_constant_angular_velocity");
  }
  
  StaticBody3D::StaticBody3D() :
  		PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC) {
  }
  
  StaticBody3D::~StaticBody3D() {}
  
  void StaticBody3D::_reload_physics_characteristics() {
  	if (physics_material_override.is_null()) {
  		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
  		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1);
  	} else {
  		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce());
  		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction());
  	}
  }
  
  void RigidBody3D::_body_enter_tree(ObjectID p_id) {
  
  	Object *obj = ObjectDB::get_instance(p_id);
  	Node *node = Object::cast_to<Node>(obj);
  	ERR_FAIL_COND(!node);
  
  	ERR_FAIL_COND(!contact_monitor);
  	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
  	ERR_FAIL_COND(!E);
  	ERR_FAIL_COND(E->get().in_tree);
  
  	E->get().in_tree = true;
  
  	contact_monitor->locked = true;
  
  	emit_signal(SceneStringNames::get_singleton()->body_entered, node);
  
  	for (int i = 0; i < E->get().shapes.size(); i++) {
  
  		emit_signal(SceneStringNames::get_singleton()->body_shape_entered, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
  	}
  
  	contact_monitor->locked = false;
  }
  
  void RigidBody3D::_body_exit_tree(ObjectID p_id) {
  
  	Object *obj = ObjectDB::get_instance(p_id);
  	Node *node = Object::cast_to<Node>(obj);
  	ERR_FAIL_COND(!node);
  	ERR_FAIL_COND(!contact_monitor);
  	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(p_id);
  	ERR_FAIL_COND(!E);
  	ERR_FAIL_COND(!E->get().in_tree);
  	E->get().in_tree = false;
  
  	contact_monitor->locked = true;
  
  	emit_signal(SceneStringNames::get_singleton()->body_exited, node);
  
  	for (int i = 0; i < E->get().shapes.size(); i++) {
  
  		emit_signal(SceneStringNames::get_singleton()->body_shape_exited, p_id, node, E->get().shapes[i].body_shape, E->get().shapes[i].local_shape);
  	}
  
  	contact_monitor->locked = false;
  }
  
  void RigidBody3D::_body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape) {
  
  	bool body_in = p_status == 1;
  	ObjectID objid = p_instance;
  
  	Object *obj = ObjectDB::get_instance(objid);
  	Node *node = Object::cast_to<Node>(obj);
  
  	ERR_FAIL_COND(!contact_monitor);
  	Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(objid);
  
  	ERR_FAIL_COND(!body_in && !E);
  
  	if (body_in) {
  		if (!E) {
  
  			E = contact_monitor->body_map.insert(objid, BodyState());
  			//E->get().rc=0;
  			E->get().in_tree = node && node->is_inside_tree();
  			if (node) {
  				node->connect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree), make_binds(objid));
  				node->connect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree), make_binds(objid));
  				if (E->get().in_tree) {
  					emit_signal(SceneStringNames::get_singleton()->body_entered, node);
  				}
  			}
  		}
  		//E->get().rc++;
  		if (node)
  			E->get().shapes.insert(ShapePair(p_body_shape, p_local_shape));
  
  		if (E->get().in_tree) {
  			emit_signal(SceneStringNames::get_singleton()->body_shape_entered, objid, node, p_body_shape, p_local_shape);
  		}
  
  	} else {
  
  		//E->get().rc--;
  
  		if (node)
  			E->get().shapes.erase(ShapePair(p_body_shape, p_local_shape));
  
  		bool in_tree = E->get().in_tree;
  
  		if (E->get().shapes.empty()) {
  
  			if (node) {
  				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
  				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
  				if (in_tree)
  					emit_signal(SceneStringNames::get_singleton()->body_exited, node);
  			}
  
  			contact_monitor->body_map.erase(E);
  		}
  		if (node && in_tree) {
  			emit_signal(SceneStringNames::get_singleton()->body_shape_exited, objid, obj, p_body_shape, p_local_shape);
  		}
  	}
  }
  
  struct _RigidBodyInOut {
  
  	ObjectID id;
  	int shape;
  	int local_shape;
  };
  
  void RigidBody3D::_direct_state_changed(Object *p_state) {
  
  #ifdef DEBUG_ENABLED
  	state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
  #else
  	state = (PhysicsDirectBodyState3D *)p_state; //trust it
  #endif
  
  	set_ignore_transform_notification(true);
  	set_global_transform(state->get_transform());
  	linear_velocity = state->get_linear_velocity();
  	angular_velocity = state->get_angular_velocity();
  	if (sleeping != state->is_sleeping()) {
  		sleeping = state->is_sleeping();
  		emit_signal(SceneStringNames::get_singleton()->sleeping_state_changed);
  	}
  	if (get_script_instance())
  		get_script_instance()->call("_integrate_forces", state);
  	set_ignore_transform_notification(false);
  
  	if (contact_monitor) {
  
  		contact_monitor->locked = true;
  
  		//untag all
  		int rc = 0;
  		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
  
  			for (int i = 0; i < E->get().shapes.size(); i++) {
  
  				E->get().shapes[i].tagged = false;
  				rc++;
  			}
  		}
  
  		_RigidBodyInOut *toadd = (_RigidBodyInOut *)alloca(state->get_contact_count() * sizeof(_RigidBodyInOut));
  		int toadd_count = 0; //state->get_contact_count();
  		RigidBody_RemoveAction *toremove = (RigidBody_RemoveAction *)alloca(rc * sizeof(RigidBody_RemoveAction));
  		int toremove_count = 0;
  
  		//put the ones to add
  
  		for (int i = 0; i < state->get_contact_count(); i++) {
  
  			ObjectID obj = state->get_contact_collider_id(i);
  			int local_shape = state->get_contact_local_shape(i);
  			int shape = state->get_contact_collider_shape(i);
  
  			//bool found=false;
  
  			Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.find(obj);
  			if (!E) {
  				toadd[toadd_count].local_shape = local_shape;
  				toadd[toadd_count].id = obj;
  				toadd[toadd_count].shape = shape;
  				toadd_count++;
  				continue;
  			}
  
  			ShapePair sp(shape, local_shape);
  			int idx = E->get().shapes.find(sp);
  			if (idx == -1) {
  
  				toadd[toadd_count].local_shape = local_shape;
  				toadd[toadd_count].id = obj;
  				toadd[toadd_count].shape = shape;
  				toadd_count++;
  				continue;
  			}
  
  			E->get().shapes[idx].tagged = true;
  		}
  
  		//put the ones to remove
  
  		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
  
  			for (int i = 0; i < E->get().shapes.size(); i++) {
  
  				if (!E->get().shapes[i].tagged) {
  
  					toremove[toremove_count].body_id = E->key();
  					toremove[toremove_count].pair = E->get().shapes[i];
  					toremove_count++;
  				}
  			}
  		}
  
  		//process remotions
  
  		for (int i = 0; i < toremove_count; i++) {
  
  			_body_inout(0, toremove[i].body_id, toremove[i].pair.body_shape, toremove[i].pair.local_shape);
  		}
  
  		//process aditions
  
  		for (int i = 0; i < toadd_count; i++) {
  
  			_body_inout(1, toadd[i].id, toadd[i].shape, toadd[i].local_shape);
  		}
  
  		contact_monitor->locked = false;
  	}
  
  	state = NULL;
  }
  
  void RigidBody3D::_notification(int p_what) {
  
  #ifdef TOOLS_ENABLED
  	if (p_what == NOTIFICATION_ENTER_TREE) {
  		if (Engine::get_singleton()->is_editor_hint()) {
  			set_notify_local_transform(true); //used for warnings and only in editor
  		}
  	}
  
  	if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) {
  		if (Engine::get_singleton()->is_editor_hint()) {
  			update_configuration_warning();
  		}
  	}
  
  #endif
  }
  
  void RigidBody3D::set_mode(Mode p_mode) {
  
  	mode = p_mode;
  	switch (p_mode) {
  
  		case MODE_RIGID: {
  
  			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID);
  		} break;
  		case MODE_STATIC: {
  
  			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC);
  
  		} break;
  		case MODE_CHARACTER: {
  			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_CHARACTER);
  
  		} break;
  		case MODE_KINEMATIC: {
  
  			PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC);
  		} break;
  	}
  	update_configuration_warning();
  }
  
  RigidBody3D::Mode RigidBody3D::get_mode() const {
  
  	return mode;
  }
  
  void RigidBody3D::set_mass(real_t p_mass) {
  
  	ERR_FAIL_COND(p_mass <= 0);
  	mass = p_mass;
  	_change_notify("mass");
  	_change_notify("weight");
  	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass);
  }
  real_t RigidBody3D::get_mass() const {
  
  	return mass;
  }
  
  void RigidBody3D::set_weight(real_t p_weight) {
  
  	set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)));
  }
  real_t RigidBody3D::get_weight() const {
  
  	return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8));
  }
  
  void RigidBody3D::set_physics_material_override(const Ref<PhysicsMaterial> &p_physics_material_override) {
  	if (physics_material_override.is_valid()) {
  		if (physics_material_override->is_connected(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics))) {
  			physics_material_override->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
  		}
  	}
  
  	physics_material_override = p_physics_material_override;
  
  	if (physics_material_override.is_valid()) {
  		physics_material_override->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &RigidBody3D::_reload_physics_characteristics));
  	}
  	_reload_physics_characteristics();
  }
  
  Ref<PhysicsMaterial> RigidBody3D::get_physics_material_override() const {
  	return physics_material_override;
  }
  
  void RigidBody3D::set_gravity_scale(real_t p_gravity_scale) {
  
  	gravity_scale = p_gravity_scale;
  	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
  }
  real_t RigidBody3D::get_gravity_scale() const {
  
  	return gravity_scale;
  }
  
  void RigidBody3D::set_linear_damp(real_t p_linear_damp) {
  
  	ERR_FAIL_COND(p_linear_damp < -1);
  	linear_damp = p_linear_damp;
  	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_LINEAR_DAMP, linear_damp);
  }
  real_t RigidBody3D::get_linear_damp() const {
  
  	return linear_damp;
  }
  
  void RigidBody3D::set_angular_damp(real_t p_angular_damp) {
  
  	ERR_FAIL_COND(p_angular_damp < -1);
  	angular_damp = p_angular_damp;
  	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_ANGULAR_DAMP, angular_damp);
  }
  real_t RigidBody3D::get_angular_damp() const {
  
  	return angular_damp;
  }
  
  void RigidBody3D::set_axis_velocity(const Vector3 &p_axis) {
  
  	Vector3 v = state ? state->get_linear_velocity() : linear_velocity;
  	Vector3 axis = p_axis.normalized();
  	v -= axis * axis.dot(v);
  	v += p_axis;
  	if (state) {
  		set_linear_velocity(v);
  	} else {
  		PhysicsServer3D::get_singleton()->body_set_axis_velocity(get_rid(), p_axis);
  		linear_velocity = v;
  	}
  }
  
  void RigidBody3D::set_linear_velocity(const Vector3 &p_velocity) {
  
  	linear_velocity = p_velocity;
  	if (state)
  		state->set_linear_velocity(linear_velocity);
  	else
  		PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_LINEAR_VELOCITY, linear_velocity);
  }
  
  Vector3 RigidBody3D::get_linear_velocity() const {
  
  	return linear_velocity;
  }
  
  void RigidBody3D::set_angular_velocity(const Vector3 &p_velocity) {
  
  	angular_velocity = p_velocity;
  	if (state)
  		state->set_angular_velocity(angular_velocity);
  	else
  		PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_ANGULAR_VELOCITY, angular_velocity);
  }
  Vector3 RigidBody3D::get_angular_velocity() const {
  
  	return angular_velocity;
  }
  
  void RigidBody3D::set_use_custom_integrator(bool p_enable) {
  
  	if (custom_integrator == p_enable)
  		return;
  
  	custom_integrator = p_enable;
  	PhysicsServer3D::get_singleton()->body_set_omit_force_integration(get_rid(), p_enable);
  }
  bool RigidBody3D::is_using_custom_integrator() {
  
  	return custom_integrator;
  }
  
  void RigidBody3D::set_sleeping(bool p_sleeping) {
  
  	sleeping = p_sleeping;
  	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_SLEEPING, sleeping);
  }
  
  void RigidBody3D::set_can_sleep(bool p_active) {
  
  	can_sleep = p_active;
  	PhysicsServer3D::get_singleton()->body_set_state(get_rid(), PhysicsServer3D::BODY_STATE_CAN_SLEEP, p_active);
  }
  
  bool RigidBody3D::is_able_to_sleep() const {
  
  	return can_sleep;
  }
  
  bool RigidBody3D::is_sleeping() const {
  
  	return sleeping;
  }
  
  void RigidBody3D::set_max_contacts_reported(int p_amount) {
  
  	max_contacts_reported = p_amount;
  	PhysicsServer3D::get_singleton()->body_set_max_contacts_reported(get_rid(), p_amount);
  }
  
  int RigidBody3D::get_max_contacts_reported() const {
  
  	return max_contacts_reported;
  }
  
  void RigidBody3D::add_central_force(const Vector3 &p_force) {
  	PhysicsServer3D::get_singleton()->body_add_central_force(get_rid(), p_force);
  }
  
  void RigidBody3D::add_force(const Vector3 &p_force, const Vector3 &p_pos) {
  	PhysicsServer3D::get_singleton()->body_add_force(get_rid(), p_force, p_pos);
  }
  
  void RigidBody3D::add_torque(const Vector3 &p_torque) {
  	PhysicsServer3D::get_singleton()->body_add_torque(get_rid(), p_torque);
  }
  
  void RigidBody3D::apply_central_impulse(const Vector3 &p_impulse) {
  	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
  }
  
  void RigidBody3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
  
  	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
  }
  
  void RigidBody3D::apply_torque_impulse(const Vector3 &p_impulse) {
  	PhysicsServer3D::get_singleton()->body_apply_torque_impulse(get_rid(), p_impulse);
  }
  
  void RigidBody3D::set_use_continuous_collision_detection(bool p_enable) {
  
  	ccd = p_enable;
  	PhysicsServer3D::get_singleton()->body_set_enable_continuous_collision_detection(get_rid(), p_enable);
  }
  
  bool RigidBody3D::is_using_continuous_collision_detection() const {
  
  	return ccd;
  }
  
  void RigidBody3D::set_contact_monitor(bool p_enabled) {
  
  	if (p_enabled == is_contact_monitor_enabled())
  		return;
  
  	if (!p_enabled) {
  
  		ERR_FAIL_COND_MSG(contact_monitor->locked, "Can't disable contact monitoring during in/out callback. Use call_deferred(\"set_contact_monitor\", false) instead.");
  
  		for (Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
  
  			//clean up mess
  			Object *obj = ObjectDB::get_instance(E->key());
  			Node *node = Object::cast_to<Node>(obj);
  
  			if (node) {
  				node->disconnect(SceneStringNames::get_singleton()->tree_entered, callable_mp(this, &RigidBody3D::_body_enter_tree));
  				node->disconnect(SceneStringNames::get_singleton()->tree_exiting, callable_mp(this, &RigidBody3D::_body_exit_tree));
  			}
  		}
  
  		memdelete(contact_monitor);
  		contact_monitor = NULL;
  	} else {
  
  		contact_monitor = memnew(ContactMonitor);
  		contact_monitor->locked = false;
  	}
  }
  
  bool RigidBody3D::is_contact_monitor_enabled() const {
  
  	return contact_monitor != NULL;
  }
  
  void RigidBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
  	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
  }
  
  bool RigidBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
  	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
  }
  
  Array RigidBody3D::get_colliding_bodies() const {
  
  	ERR_FAIL_COND_V(!contact_monitor, Array());
  
  	Array ret;
  	ret.resize(contact_monitor->body_map.size());
  	int idx = 0;
  	for (const Map<ObjectID, BodyState>::Element *E = contact_monitor->body_map.front(); E; E = E->next()) {
  		Object *obj = ObjectDB::get_instance(E->key());
  		if (!obj) {
  			ret.resize(ret.size() - 1); //ops
  		} else {
  			ret[idx++] = obj;
  		}
  	}
  
  	return ret;
  }
  
  String RigidBody3D::get_configuration_warning() const {
  
  	Transform t = get_transform();
  
  	String warning = CollisionObject3D::get_configuration_warning();
  
  	if ((get_mode() == MODE_RIGID || get_mode() == MODE_CHARACTER) && (ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) {
  		if (warning != String()) {
  			warning += "\n\n";
  		}
  		warning += TTR("Size changes to RigidBody (in character or rigid modes) will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.");
  	}
  
  	return warning;
  }
  
  void RigidBody3D::_bind_methods() {
  
  	ClassDB::bind_method(D_METHOD("set_mode", "mode"), &RigidBody3D::set_mode);
  	ClassDB::bind_method(D_METHOD("get_mode"), &RigidBody3D::get_mode);
  
  	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &RigidBody3D::set_mass);
  	ClassDB::bind_method(D_METHOD("get_mass"), &RigidBody3D::get_mass);
  
  	ClassDB::bind_method(D_METHOD("set_weight", "weight"), &RigidBody3D::set_weight);
  	ClassDB::bind_method(D_METHOD("get_weight"), &RigidBody3D::get_weight);
  
  	ClassDB::bind_method(D_METHOD("set_physics_material_override", "physics_material_override"), &RigidBody3D::set_physics_material_override);
  	ClassDB::bind_method(D_METHOD("get_physics_material_override"), &RigidBody3D::get_physics_material_override);
  
  	ClassDB::bind_method(D_METHOD("set_linear_velocity", "linear_velocity"), &RigidBody3D::set_linear_velocity);
  	ClassDB::bind_method(D_METHOD("get_linear_velocity"), &RigidBody3D::get_linear_velocity);
  
  	ClassDB::bind_method(D_METHOD("set_angular_velocity", "angular_velocity"), &RigidBody3D::set_angular_velocity);
  	ClassDB::bind_method(D_METHOD("get_angular_velocity"), &RigidBody3D::get_angular_velocity);
  
  	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &RigidBody3D::set_gravity_scale);
  	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &RigidBody3D::get_gravity_scale);
  
  	ClassDB::bind_method(D_METHOD("set_linear_damp", "linear_damp"), &RigidBody3D::set_linear_damp);
  	ClassDB::bind_method(D_METHOD("get_linear_damp"), &RigidBody3D::get_linear_damp);
  
  	ClassDB::bind_method(D_METHOD("set_angular_damp", "angular_damp"), &RigidBody3D::set_angular_damp);
  	ClassDB::bind_method(D_METHOD("get_angular_damp"), &RigidBody3D::get_angular_damp);
  
  	ClassDB::bind_method(D_METHOD("set_max_contacts_reported", "amount"), &RigidBody3D::set_max_contacts_reported);
  	ClassDB::bind_method(D_METHOD("get_max_contacts_reported"), &RigidBody3D::get_max_contacts_reported);
  
  	ClassDB::bind_method(D_METHOD("set_use_custom_integrator", "enable"), &RigidBody3D::set_use_custom_integrator);
  	ClassDB::bind_method(D_METHOD("is_using_custom_integrator"), &RigidBody3D::is_using_custom_integrator);
  
  	ClassDB::bind_method(D_METHOD("set_contact_monitor", "enabled"), &RigidBody3D::set_contact_monitor);
  	ClassDB::bind_method(D_METHOD("is_contact_monitor_enabled"), &RigidBody3D::is_contact_monitor_enabled);
  
  	ClassDB::bind_method(D_METHOD("set_use_continuous_collision_detection", "enable"), &RigidBody3D::set_use_continuous_collision_detection);
  	ClassDB::bind_method(D_METHOD("is_using_continuous_collision_detection"), &RigidBody3D::is_using_continuous_collision_detection);
  
  	ClassDB::bind_method(D_METHOD("set_axis_velocity", "axis_velocity"), &RigidBody3D::set_axis_velocity);
  
  	ClassDB::bind_method(D_METHOD("add_central_force", "force"), &RigidBody3D::add_central_force);
  	ClassDB::bind_method(D_METHOD("add_force", "force", "position"), &RigidBody3D::add_force);
  	ClassDB::bind_method(D_METHOD("add_torque", "torque"), &RigidBody3D::add_torque);
  
  	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &RigidBody3D::apply_central_impulse);
  	ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &RigidBody3D::apply_impulse);
  	ClassDB::bind_method(D_METHOD("apply_torque_impulse", "impulse"), &RigidBody3D::apply_torque_impulse);
  
  	ClassDB::bind_method(D_METHOD("set_sleeping", "sleeping"), &RigidBody3D::set_sleeping);
  	ClassDB::bind_method(D_METHOD("is_sleeping"), &RigidBody3D::is_sleeping);
  
  	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody3D::set_can_sleep);
  	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody3D::is_able_to_sleep);
  
  	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody3D::_direct_state_changed);
  
  	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &RigidBody3D::set_axis_lock);
  	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &RigidBody3D::get_axis_lock);
  
  	ClassDB::bind_method(D_METHOD("get_colliding_bodies"), &RigidBody3D::get_colliding_bodies);
  
  	BIND_VMETHOD(MethodInfo("_integrate_forces", PropertyInfo(Variant::OBJECT, "state", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsDirectBodyState3D")));
  
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "mode", PROPERTY_HINT_ENUM, "Rigid,Static,Character,Kinematic"), "set_mode", "get_mode");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01", PROPERTY_USAGE_EDITOR), "set_weight", "get_weight");
  	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material_override", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material_override", "get_physics_material_override");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-128,128,0.01"), "set_gravity_scale", "get_gravity_scale");
  	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "custom_integrator"), "set_use_custom_integrator", "is_using_custom_integrator");
  	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "continuous_cd"), "set_use_continuous_collision_detection", "is_using_continuous_collision_detection");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "contacts_reported", PROPERTY_HINT_RANGE, "0,64,1,or_greater"), "set_max_contacts_reported", "get_max_contacts_reported");
  	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "contact_monitor"), "set_contact_monitor", "is_contact_monitor_enabled");
  	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "sleeping"), "set_sleeping", "is_sleeping");
  	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "can_sleep"), "set_can_sleep", "is_able_to_sleep");
  	ADD_GROUP("Axis Lock", "axis_lock_");
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_linear_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_x"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_X);
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_y"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Y);
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "axis_lock_angular_z"), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_ANGULAR_Z);
  	ADD_GROUP("Linear", "linear_");
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "linear_velocity"), "set_linear_velocity", "get_linear_velocity");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "linear_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_linear_damp", "get_linear_damp");
  	ADD_GROUP("Angular", "angular_");
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "angular_damp", PROPERTY_HINT_RANGE, "-1,100,0.001,or_greater"), "set_angular_damp", "get_angular_damp");
  
  	ADD_SIGNAL(MethodInfo("body_shape_entered", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
  	ADD_SIGNAL(MethodInfo("body_shape_exited", PropertyInfo(Variant::INT, "body_id"), PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node"), PropertyInfo(Variant::INT, "body_shape"), PropertyInfo(Variant::INT, "local_shape")));
  	ADD_SIGNAL(MethodInfo("body_entered", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
  	ADD_SIGNAL(MethodInfo("body_exited", PropertyInfo(Variant::OBJECT, "body", PROPERTY_HINT_RESOURCE_TYPE, "Node")));
  	ADD_SIGNAL(MethodInfo("sleeping_state_changed"));
  
  	BIND_ENUM_CONSTANT(MODE_RIGID);
  	BIND_ENUM_CONSTANT(MODE_STATIC);
  	BIND_ENUM_CONSTANT(MODE_CHARACTER);
  	BIND_ENUM_CONSTANT(MODE_KINEMATIC);
  }
  
  RigidBody3D::RigidBody3D() :
  		PhysicsBody3D(PhysicsServer3D::BODY_MODE_RIGID) {
  
  	mode = MODE_RIGID;
  
  	mass = 1;
  	max_contacts_reported = 0;
  	state = NULL;
  
  	gravity_scale = 1;
  	linear_damp = -1;
  	angular_damp = -1;
  
  	//angular_velocity=0;
  	sleeping = false;
  	ccd = false;
  
  	custom_integrator = false;
  	contact_monitor = NULL;
  	can_sleep = true;
  
  	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
  }
  
  RigidBody3D::~RigidBody3D() {
  
  	if (contact_monitor)
  		memdelete(contact_monitor);
  }
  
  void RigidBody3D::_reload_physics_characteristics() {
  	if (physics_material_override.is_null()) {
  		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, 0);
  		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, 1);
  	} else {
  		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material_override->computed_bounce());
  		PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, physics_material_override->computed_friction());
  	}
  }
  
  //////////////////////////////////////////////////////
  //////////////////////////
  
  Ref<KinematicCollision3D> KinematicBody3D::_move(const Vector3 &p_motion, bool p_infinite_inertia, bool p_exclude_raycast_shapes, bool p_test_only) {
  
  	Collision col;
  	if (move_and_collide(p_motion, p_infinite_inertia, col, p_exclude_raycast_shapes, p_test_only)) {
  		if (motion_cache.is_null()) {
  			motion_cache.instance();
  			motion_cache->owner = this;
  		}
  
  		motion_cache->collision = col;
  
  		return motion_cache;
  	}
  
  	return Ref<KinematicCollision3D>();
  }
  
  Vector3 KinematicBody3D::get_linear_velocity() const {
  	return linear_velocity;
  }
  
  Vector3 KinematicBody3D::get_angular_velocity() const {
  	return angular_velocity;
  }
  
  bool KinematicBody3D::move_and_collide(const Vector3 &p_motion, bool p_infinite_inertia, Collision &r_collision, bool p_exclude_raycast_shapes, bool p_test_only) {
  
  	Transform gt = get_global_transform();
  	PhysicsServer3D::MotionResult result;
  	bool colliding = PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), gt, p_motion, p_infinite_inertia, &result, p_exclude_raycast_shapes);
  
  	if (colliding) {
  		r_collision.collider_metadata = result.collider_metadata;
  		r_collision.collider_shape = result.collider_shape;
  		r_collision.collider_vel = result.collider_velocity;
  		r_collision.collision = result.collision_point;
  		r_collision.normal = result.collision_normal;
  		r_collision.collider = result.collider_id;
  		r_collision.collider_rid = result.collider;
  		r_collision.travel = result.motion;
  		r_collision.remainder = result.remainder;
  		r_collision.local_shape = result.collision_local_shape;
  	}
  
  	for (int i = 0; i < 3; i++) {
  		if (locked_axis & (1 << i)) {
  			result.motion[i] = 0;
  		}
  	}
  
  	if (!p_test_only) {
  		gt.origin += result.motion;
  		set_global_transform(gt);
  	}
  
  	return colliding;
  }
  
  //so, if you pass 45 as limit, avoid numerical precision errors when angle is 45.
  #define FLOOR_ANGLE_THRESHOLD 0.01
  
  Vector3 KinematicBody3D::move_and_slide(const Vector3 &p_linear_velocity, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
  
  	Vector3 body_velocity = p_linear_velocity;
  	Vector3 body_velocity_normal = body_velocity.normalized();
  
  	for (int i = 0; i < 3; i++) {
  		if (locked_axis & (1 << i)) {
  			body_velocity[i] = 0;
  		}
  	}
  
  	// Hack in order to work with calling from _process as well as from _physics_process; calling from thread is risky
  	Vector3 motion = (floor_velocity + body_velocity) * (Engine::get_singleton()->is_in_physics_frame() ? get_physics_process_delta_time() : get_process_delta_time());
  
  	on_floor = false;
  	on_floor_body = RID();
  	on_ceiling = false;
  	on_wall = false;
  	colliders.clear();
  	floor_normal = Vector3();
  	floor_velocity = Vector3();
  
  	while (p_max_slides) {
  
  		Collision collision;
  		bool found_collision = false;
  
  		for (int i = 0; i < 2; ++i) {
  			bool collided;
  			if (i == 0) { //collide
  				collided = move_and_collide(motion, p_infinite_inertia, collision);
  				if (!collided) {
  					motion = Vector3(); //clear because no collision happened and motion completed
  				}
  			} else { //separate raycasts (if any)
  				collided = separate_raycast_shapes(p_infinite_inertia, collision);
  				if (collided) {
  					collision.remainder = motion; //keep
  					collision.travel = Vector3();
  				}
  			}
  
  			if (collided) {
  				found_collision = true;
  
  				colliders.push_back(collision);
  				motion = collision.remainder;
  
  				if (p_up_direction == Vector3()) {
  					//all is a wall
  					on_wall = true;
  				} else {
  					if (Math::acos(collision.normal.dot(p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //floor
  
  						on_floor = true;
  						floor_normal = collision.normal;
  						on_floor_body = collision.collider_rid;
  						floor_velocity = collision.collider_vel;
  
  						if (p_stop_on_slope) {
  							if ((body_velocity_normal + p_up_direction).length() < 0.01 && collision.travel.length() < 1) {
  								Transform gt = get_global_transform();
  								gt.origin -= collision.travel.slide(p_up_direction);
  								set_global_transform(gt);
  								return Vector3();
  							}
  						}
  					} else if (Math::acos(collision.normal.dot(-p_up_direction)) <= p_floor_max_angle + FLOOR_ANGLE_THRESHOLD) { //ceiling
  						on_ceiling = true;
  					} else {
  						on_wall = true;
  					}
  				}
  
  				motion = motion.slide(collision.normal);
  				body_velocity = body_velocity.slide(collision.normal);
  
  				for (int j = 0; j < 3; j++) {
  					if (locked_axis & (1 << j)) {
  						body_velocity[j] = 0;
  					}
  				}
  			}
  		}
  
  		if (!found_collision || motion == Vector3())
  			break;
  
  		--p_max_slides;
  	}
  
  	return body_velocity;
  }
  
  Vector3 KinematicBody3D::move_and_slide_with_snap(const Vector3 &p_linear_velocity, const Vector3 &p_snap, const Vector3 &p_up_direction, bool p_stop_on_slope, int p_max_slides, float p_floor_max_angle, bool p_infinite_inertia) {
  
  	bool was_on_floor = on_floor;
  
  	Vector3 ret = move_and_slide(p_linear_velocity, p_up_direction, p_stop_on_slope, p_max_slides, p_floor_max_angle, p_infinite_inertia);
  	if (!was_on_floor || p_snap == Vector3()) {
  		return ret;
  	}
  
  	Collision col;
  	Transform gt = get_global_transform();
  
  	if (move_and_collide(p_snap, p_infinite_inertia, col, false, true)) {
  
  		bool apply = true;
  		if (p_up_direction != Vector3()) {
  			if (Math::acos(p_up_direction.normalized().dot(col.normal)) < p_floor_max_angle) {
  				on_floor = true;
  				floor_normal = col.normal;
  				on_floor_body = col.collider_rid;
  				floor_velocity = col.collider_vel;
  				if (p_stop_on_slope) {
  					// move and collide may stray the object a bit because of pre un-stucking,
  					// so only ensure that motion happens on floor direction in this case.
  					col.travel = col.travel.project(p_up_direction);
  				}
  			} else {
  				apply = false; //snapped with floor direction, but did not snap to a floor, do not snap.
  			}
  		}
  		if (apply) {
  			gt.origin += col.travel;
  			set_global_transform(gt);
  		}
  	}
  
  	return ret;
  }
  
  bool KinematicBody3D::is_on_floor() const {
  
  	return on_floor;
  }
  
  bool KinematicBody3D::is_on_wall() const {
  
  	return on_wall;
  }
  bool KinematicBody3D::is_on_ceiling() const {
  
  	return on_ceiling;
  }
  
  Vector3 KinematicBody3D::get_floor_normal() const {
  
  	return floor_normal;
  }
  
  Vector3 KinematicBody3D::get_floor_velocity() const {
  
  	return floor_velocity;
  }
  
  bool KinematicBody3D::test_move(const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia) {
  
  	ERR_FAIL_COND_V(!is_inside_tree(), false);
  
  	return PhysicsServer3D::get_singleton()->body_test_motion(get_rid(), p_from, p_motion, p_infinite_inertia);
  }
  
  bool KinematicBody3D::separate_raycast_shapes(bool p_infinite_inertia, Collision &r_collision) {
  
  	PhysicsServer3D::SeparationResult sep_res[8]; //max 8 rays
  
  	Transform gt = get_global_transform();
  
  	Vector3 recover;
  	int hits = PhysicsServer3D::get_singleton()->body_test_ray_separation(get_rid(), gt, p_infinite_inertia, recover, sep_res, 8, margin);
  	int deepest = -1;
  	float deepest_depth;
  	for (int i = 0; i < hits; i++) {
  		if (deepest == -1 || sep_res[i].collision_depth > deepest_depth) {
  			deepest = i;
  			deepest_depth = sep_res[i].collision_depth;
  		}
  	}
  
  	gt.origin += recover;
  	set_global_transform(gt);
  
  	if (deepest != -1) {
  		r_collision.collider = sep_res[deepest].collider_id;
  		r_collision.collider_metadata = sep_res[deepest].collider_metadata;
  		r_collision.collider_shape = sep_res[deepest].collider_shape;
  		r_collision.collider_vel = sep_res[deepest].collider_velocity;
  		r_collision.collision = sep_res[deepest].collision_point;
  		r_collision.normal = sep_res[deepest].collision_normal;
  		r_collision.local_shape = sep_res[deepest].collision_local_shape;
  		r_collision.travel = recover;
  		r_collision.remainder = Vector3();
  
  		return true;
  	} else {
  		return false;
  	}
  }
  
  void KinematicBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool p_lock) {
  	PhysicsServer3D::get_singleton()->body_set_axis_lock(get_rid(), p_axis, p_lock);
  }
  
  bool KinematicBody3D::get_axis_lock(PhysicsServer3D::BodyAxis p_axis) const {
  	return PhysicsServer3D::get_singleton()->body_is_axis_locked(get_rid(), p_axis);
  }
  
  void KinematicBody3D::set_safe_margin(float p_margin) {
  
  	margin = p_margin;
  	PhysicsServer3D::get_singleton()->body_set_kinematic_safe_margin(get_rid(), margin);
  }
  
  float KinematicBody3D::get_safe_margin() const {
  
  	return margin;
  }
  int KinematicBody3D::get_slide_count() const {
  
  	return colliders.size();
  }
  
  KinematicBody3D::Collision KinematicBody3D::get_slide_collision(int p_bounce) const {
  	ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Collision());
  	return colliders[p_bounce];
  }
  
  Ref<KinematicCollision3D> KinematicBody3D::_get_slide_collision(int p_bounce) {
  
  	ERR_FAIL_INDEX_V(p_bounce, colliders.size(), Ref<KinematicCollision3D>());
  	if (p_bounce >= slide_colliders.size()) {
  		slide_colliders.resize(p_bounce + 1);
  	}
  
  	if (slide_colliders[p_bounce].is_null()) {
  		slide_colliders.write[p_bounce].instance();
  		slide_colliders.write[p_bounce]->owner = this;
  	}
  
  	slide_colliders.write[p_bounce]->collision = colliders[p_bounce];
  	return slide_colliders[p_bounce];
  }
  
  void KinematicBody3D::_notification(int p_what) {
  	if (p_what == NOTIFICATION_ENTER_TREE) {
  		// Reset move_and_slide() data.
  		on_floor = false;
  		on_floor_body = RID();
  		on_ceiling = false;
  		on_wall = false;
  		colliders.clear();
  		floor_velocity = Vector3();
  	}
  }
  
  void KinematicBody3D::_bind_methods() {
  
  	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &KinematicBody3D::_direct_state_changed);
  
  	ClassDB::bind_method(D_METHOD("move_and_collide", "rel_vec", "infinite_inertia", "exclude_raycast_shapes", "test_only"), &KinematicBody3D::_move, DEFVAL(true), DEFVAL(true), DEFVAL(false));
  	ClassDB::bind_method(D_METHOD("move_and_slide", "linear_velocity", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
  	ClassDB::bind_method(D_METHOD("move_and_slide_with_snap", "linear_velocity", "snap", "up_direction", "stop_on_slope", "max_slides", "floor_max_angle", "infinite_inertia"), &KinematicBody3D::move_and_slide_with_snap, DEFVAL(Vector3(0, 0, 0)), DEFVAL(false), DEFVAL(4), DEFVAL(Math::deg2rad((float)45)), DEFVAL(true));
  
  	ClassDB::bind_method(D_METHOD("test_move", "from", "rel_vec", "infinite_inertia"), &KinematicBody3D::test_move, DEFVAL(true));
  
  	ClassDB::bind_method(D_METHOD("is_on_floor"), &KinematicBody3D::is_on_floor);
  	ClassDB::bind_method(D_METHOD("is_on_ceiling"), &KinematicBody3D::is_on_ceiling);
  	ClassDB::bind_method(D_METHOD("is_on_wall"), &KinematicBody3D::is_on_wall);
  	ClassDB::bind_method(D_METHOD("get_floor_normal"), &KinematicBody3D::get_floor_normal);
  	ClassDB::bind_method(D_METHOD("get_floor_velocity"), &KinematicBody3D::get_floor_velocity);
  
  	ClassDB::bind_method(D_METHOD("set_axis_lock", "axis", "lock"), &KinematicBody3D::set_axis_lock);
  	ClassDB::bind_method(D_METHOD("get_axis_lock", "axis"), &KinematicBody3D::get_axis_lock);
  
  	ClassDB::bind_method(D_METHOD("set_safe_margin", "pixels"), &KinematicBody3D::set_safe_margin);
  	ClassDB::bind_method(D_METHOD("get_safe_margin"), &KinematicBody3D::get_safe_margin);
  
  	ClassDB::bind_method(D_METHOD("get_slide_count"), &KinematicBody3D::get_slide_count);
  	ClassDB::bind_method(D_METHOD("get_slide_collision", "slide_idx"), &KinematicBody3D::_get_slide_collision);
  
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_x", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_X);
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_y", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Y);
  	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "move_lock_z", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_axis_lock", "get_axis_lock", PhysicsServer3D::BODY_AXIS_LINEAR_Z);
  
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision/safe_margin", PROPERTY_HINT_RANGE, "0.001,256,0.001"), "set_safe_margin", "get_safe_margin");
  }
  
  void KinematicBody3D::_direct_state_changed(Object *p_state) {
  #ifdef DEBUG_ENABLED
  	PhysicsDirectBodyState3D *state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
  #else
  	PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state; //trust it
  #endif
  
  	linear_velocity = state->get_linear_velocity();
  	angular_velocity = state->get_angular_velocity();
  }
  
  KinematicBody3D::KinematicBody3D() :
  		PhysicsBody3D(PhysicsServer3D::BODY_MODE_KINEMATIC) {
  
  	margin = 0.001;
  	locked_axis = 0;
  	on_floor = false;
  	on_ceiling = false;
  	on_wall = false;
  
  	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
  }
  KinematicBody3D::~KinematicBody3D() {
  
  	if (motion_cache.is_valid()) {
  		motion_cache->owner = NULL;
  	}
  
  	for (int i = 0; i < slide_colliders.size(); i++) {
  		if (slide_colliders[i].is_valid()) {
  			slide_colliders.write[i]->owner = NULL;
  		}
  	}
  }
  ///////////////////////////////////////
  
  Vector3 KinematicCollision3D::get_position() const {
  
  	return collision.collision;
  }
  Vector3 KinematicCollision3D::get_normal() const {
  	return collision.normal;
  }
  Vector3 KinematicCollision3D::get_travel() const {
  	return collision.travel;
  }
  Vector3 KinematicCollision3D::get_remainder() const {
  	return collision.remainder;
  }
  Object *KinematicCollision3D::get_local_shape() const {
  	if (!owner) return NULL;
  	uint32_t ownerid = owner->shape_find_owner(collision.local_shape);
  	return owner->shape_owner_get_owner(ownerid);
  }
  
  Object *KinematicCollision3D::get_collider() const {
  
  	if (collision.collider.is_valid()) {
  		return ObjectDB::get_instance(collision.collider);
  	}
  
  	return NULL;
  }
  ObjectID KinematicCollision3D::get_collider_id() const {
  
  	return collision.collider;
  }
  Object *KinematicCollision3D::get_collider_shape() const {
  
  	Object *collider = get_collider();
  	if (collider) {
  		CollisionObject3D *obj2d = Object::cast_to<CollisionObject3D>(collider);
  		if (obj2d) {
  			uint32_t ownerid = obj2d->shape_find_owner(collision.collider_shape);
  			return obj2d->shape_owner_get_owner(ownerid);
  		}
  	}
  
  	return NULL;
  }
  int KinematicCollision3D::get_collider_shape_index() const {
  
  	return collision.collider_shape;
  }
  Vector3 KinematicCollision3D::get_collider_velocity() const {
  
  	return collision.collider_vel;
  }
  Variant KinematicCollision3D::get_collider_metadata() const {
  
  	return Variant();
  }
  
  void KinematicCollision3D::_bind_methods() {
  
  	ClassDB::bind_method(D_METHOD("get_position"), &KinematicCollision3D::get_position);
  	ClassDB::bind_method(D_METHOD("get_normal"), &KinematicCollision3D::get_normal);
  	ClassDB::bind_method(D_METHOD("get_travel"), &KinematicCollision3D::get_travel);
  	ClassDB::bind_method(D_METHOD("get_remainder"), &KinematicCollision3D::get_remainder);
  	ClassDB::bind_method(D_METHOD("get_local_shape"), &KinematicCollision3D::get_local_shape);
  	ClassDB::bind_method(D_METHOD("get_collider"), &KinematicCollision3D::get_collider);
  	ClassDB::bind_method(D_METHOD("get_collider_id"), &KinematicCollision3D::get_collider_id);
  	ClassDB::bind_method(D_METHOD("get_collider_shape"), &KinematicCollision3D::get_collider_shape);
  	ClassDB::bind_method(D_METHOD("get_collider_shape_index"), &KinematicCollision3D::get_collider_shape_index);
  	ClassDB::bind_method(D_METHOD("get_collider_velocity"), &KinematicCollision3D::get_collider_velocity);
  	ClassDB::bind_method(D_METHOD("get_collider_metadata"), &KinematicCollision3D::get_collider_metadata);
  
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "position"), "", "get_position");
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "normal"), "", "get_normal");
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "travel"), "", "get_travel");
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "remainder"), "", "get_remainder");
  	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "local_shape"), "", "get_local_shape");
  	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider"), "", "get_collider");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_id"), "", "get_collider_id");
  	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "collider_shape"), "", "get_collider_shape");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "collider_shape_index"), "", "get_collider_shape_index");
  	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "collider_velocity"), "", "get_collider_velocity");
  	ADD_PROPERTY(PropertyInfo(Variant::NIL, "collider_metadata", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NIL_IS_VARIANT), "", "get_collider_metadata");
  }
  
  KinematicCollision3D::KinematicCollision3D() {
  
  	collision.collider_shape = 0;
  	collision.local_shape = 0;
  	owner = NULL;
  }
  
  ///////////////////////////////////////
  
  bool PhysicalBone3D::JointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
  	return false;
  }
  
  bool PhysicalBone3D::JointData::_get(const StringName &p_name, Variant &r_ret) const {
  	return false;
  }
  
  void PhysicalBone3D::JointData::_get_property_list(List<PropertyInfo> *p_list) const {
  }
  
  void PhysicalBone3D::apply_central_impulse(const Vector3 &p_impulse) {
  	PhysicsServer3D::get_singleton()->body_apply_central_impulse(get_rid(), p_impulse);
  }
  
  void PhysicalBone3D::apply_impulse(const Vector3 &p_pos, const Vector3 &p_impulse) {
  	PhysicsServer3D::get_singleton()->body_apply_impulse(get_rid(), p_pos, p_impulse);
  }
  
  void PhysicalBone3D::reset_physics_simulation_state() {
  	if (simulate_physics) {
  		_start_physics_simulation();
  	} else {
  		_stop_physics_simulation();
  	}
  }
  
  void PhysicalBone3D::reset_to_rest_position() {
  	if (parent_skeleton) {
  		if (-1 == bone_id) {
  			set_global_transform(parent_skeleton->get_global_transform() * body_offset);
  		} else {
  			set_global_transform(parent_skeleton->get_global_transform() * parent_skeleton->get_bone_global_pose(bone_id) * body_offset);
  		}
  	}
  }
  
  bool PhysicalBone3D::PinJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
  	if (JointData::_set(p_name, p_value, j)) {
  		return true;
  	}
  
  	if ("joint_constraints/bias" == p_name) {
  		bias = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_BIAS, bias);
  
  	} else if ("joint_constraints/damping" == p_name) {
  		damping = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_DAMPING, damping);
  
  	} else if ("joint_constraints/impulse_clamp" == p_name) {
  		impulse_clamp = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->pin_joint_set_param(j, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, impulse_clamp);
  
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  bool PhysicalBone3D::PinJointData::_get(const StringName &p_name, Variant &r_ret) const {
  	if (JointData::_get(p_name, r_ret)) {
  		return true;
  	}
  
  	if ("joint_constraints/bias" == p_name) {
  		r_ret = bias;
  	} else if ("joint_constraints/damping" == p_name) {
  		r_ret = damping;
  	} else if ("joint_constraints/impulse_clamp" == p_name) {
  		r_ret = impulse_clamp;
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  void PhysicalBone3D::PinJointData::_get_property_list(List<PropertyInfo> *p_list) const {
  	JointData::_get_property_list(p_list);
  
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/damping", PROPERTY_HINT_RANGE, "0.01,8.0,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/impulse_clamp", PROPERTY_HINT_RANGE, "0.0,64.0,0.01"));
  }
  
  bool PhysicalBone3D::ConeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
  	if (JointData::_set(p_name, p_value, j)) {
  		return true;
  	}
  
  	if ("joint_constraints/swing_span" == p_name) {
  		swing_span = Math::deg2rad(real_t(p_value));
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, swing_span);
  
  	} else if ("joint_constraints/twist_span" == p_name) {
  		twist_span = Math::deg2rad(real_t(p_value));
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, twist_span);
  
  	} else if ("joint_constraints/bias" == p_name) {
  		bias = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, bias);
  
  	} else if ("joint_constraints/softness" == p_name) {
  		softness = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, softness);
  
  	} else if ("joint_constraints/relaxation" == p_name) {
  		relaxation = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(j, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, relaxation);
  
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  bool PhysicalBone3D::ConeJointData::_get(const StringName &p_name, Variant &r_ret) const {
  	if (JointData::_get(p_name, r_ret)) {
  		return true;
  	}
  
  	if ("joint_constraints/swing_span" == p_name) {
  		r_ret = Math::rad2deg(swing_span);
  	} else if ("joint_constraints/twist_span" == p_name) {
  		r_ret = Math::rad2deg(twist_span);
  	} else if ("joint_constraints/bias" == p_name) {
  		r_ret = bias;
  	} else if ("joint_constraints/softness" == p_name) {
  		r_ret = softness;
  	} else if ("joint_constraints/relaxation" == p_name) {
  		r_ret = relaxation;
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  void PhysicalBone3D::ConeJointData::_get_property_list(List<PropertyInfo> *p_list) const {
  	JointData::_get_property_list(p_list);
  
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/swing_span", PROPERTY_HINT_RANGE, "-180,180,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/twist_span", PROPERTY_HINT_RANGE, "-40000,40000,0.1,or_lesser,or_greater"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/bias", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/relaxation", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
  }
  
  bool PhysicalBone3D::HingeJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
  	if (JointData::_set(p_name, p_value, j)) {
  		return true;
  	}
  
  	if ("joint_constraints/angular_limit_enabled" == p_name) {
  		angular_limit_enabled = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->hinge_joint_set_flag(j, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, angular_limit_enabled);
  
  	} else if ("joint_constraints/angular_limit_upper" == p_name) {
  		angular_limit_upper = Math::deg2rad(real_t(p_value));
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, angular_limit_upper);
  
  	} else if ("joint_constraints/angular_limit_lower" == p_name) {
  		angular_limit_lower = Math::deg2rad(real_t(p_value));
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, angular_limit_lower);
  
  	} else if ("joint_constraints/angular_limit_bias" == p_name) {
  		angular_limit_bias = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, angular_limit_bias);
  
  	} else if ("joint_constraints/angular_limit_softness" == p_name) {
  		angular_limit_softness = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, angular_limit_softness);
  
  	} else if ("joint_constraints/angular_limit_relaxation" == p_name) {
  		angular_limit_relaxation = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(j, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, angular_limit_relaxation);
  
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  bool PhysicalBone3D::HingeJointData::_get(const StringName &p_name, Variant &r_ret) const {
  	if (JointData::_get(p_name, r_ret)) {
  		return true;
  	}
  
  	if ("joint_constraints/angular_limit_enabled" == p_name) {
  		r_ret = angular_limit_enabled;
  	} else if ("joint_constraints/angular_limit_upper" == p_name) {
  		r_ret = Math::rad2deg(angular_limit_upper);
  	} else if ("joint_constraints/angular_limit_lower" == p_name) {
  		r_ret = Math::rad2deg(angular_limit_lower);
  	} else if ("joint_constraints/angular_limit_bias" == p_name) {
  		r_ret = angular_limit_bias;
  	} else if ("joint_constraints/angular_limit_softness" == p_name) {
  		r_ret = angular_limit_softness;
  	} else if ("joint_constraints/angular_limit_relaxation" == p_name) {
  		r_ret = angular_limit_relaxation;
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  void PhysicalBone3D::HingeJointData::_get_property_list(List<PropertyInfo> *p_list) const {
  	JointData::_get_property_list(p_list);
  
  	p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/angular_limit_enabled"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_bias", PROPERTY_HINT_RANGE, "0.01,0.99,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_relaxation", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
  }
  
  bool PhysicalBone3D::SliderJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
  	if (JointData::_set(p_name, p_value, j)) {
  		return true;
  	}
  
  	if ("joint_constraints/linear_limit_upper" == p_name) {
  		linear_limit_upper = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, linear_limit_upper);
  
  	} else if ("joint_constraints/linear_limit_lower" == p_name) {
  		linear_limit_lower = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, linear_limit_lower);
  
  	} else if ("joint_constraints/linear_limit_softness" == p_name) {
  		linear_limit_softness = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, linear_limit_softness);
  
  	} else if ("joint_constraints/linear_limit_restitution" == p_name) {
  		linear_limit_restitution = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, linear_limit_restitution);
  
  	} else if ("joint_constraints/linear_limit_damping" == p_name) {
  		linear_limit_damping = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, linear_limit_restitution);
  
  	} else if ("joint_constraints/angular_limit_upper" == p_name) {
  		angular_limit_upper = Math::deg2rad(real_t(p_value));
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, angular_limit_upper);
  
  	} else if ("joint_constraints/angular_limit_lower" == p_name) {
  		angular_limit_lower = Math::deg2rad(real_t(p_value));
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, angular_limit_lower);
  
  	} else if ("joint_constraints/angular_limit_softness" == p_name) {
  		angular_limit_softness = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness);
  
  	} else if ("joint_constraints/angular_limit_restitution" == p_name) {
  		angular_limit_restitution = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, angular_limit_softness);
  
  	} else if ("joint_constraints/angular_limit_damping" == p_name) {
  		angular_limit_damping = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(j, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, angular_limit_damping);
  
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  bool PhysicalBone3D::SliderJointData::_get(const StringName &p_name, Variant &r_ret) const {
  	if (JointData::_get(p_name, r_ret)) {
  		return true;
  	}
  
  	if ("joint_constraints/linear_limit_upper" == p_name) {
  		r_ret = linear_limit_upper;
  	} else if ("joint_constraints/linear_limit_lower" == p_name) {
  		r_ret = linear_limit_lower;
  	} else if ("joint_constraints/linear_limit_softness" == p_name) {
  		r_ret = linear_limit_softness;
  	} else if ("joint_constraints/linear_limit_restitution" == p_name) {
  		r_ret = linear_limit_restitution;
  	} else if ("joint_constraints/linear_limit_damping" == p_name) {
  		r_ret = linear_limit_damping;
  	} else if ("joint_constraints/angular_limit_upper" == p_name) {
  		r_ret = Math::rad2deg(angular_limit_upper);
  	} else if ("joint_constraints/angular_limit_lower" == p_name) {
  		r_ret = Math::rad2deg(angular_limit_lower);
  	} else if ("joint_constraints/angular_limit_softness" == p_name) {
  		r_ret = angular_limit_softness;
  	} else if ("joint_constraints/angular_limit_restitution" == p_name) {
  		r_ret = angular_limit_restitution;
  	} else if ("joint_constraints/angular_limit_damping" == p_name) {
  		r_ret = angular_limit_damping;
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  void PhysicalBone3D::SliderJointData::_get_property_list(List<PropertyInfo> *p_list) const {
  	JointData::_get_property_list(p_list);
  
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_upper"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_lower"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/linear_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"));
  
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_restitution", PROPERTY_HINT_RANGE, "0.01,16.0,0.01"));
  	p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/angular_limit_damping", PROPERTY_HINT_RANGE, "0,16.0,0.01"));
  }
  
  bool PhysicalBone3D::SixDOFJointData::_set(const StringName &p_name, const Variant &p_value, RID j) {
  	if (JointData::_set(p_name, p_value, j)) {
  		return true;
  	}
  
  	String path = p_name;
  
  	Vector3::Axis axis;
  	{
  		const String axis_s = path.get_slicec('/', 1);
  		if ("x" == axis_s) {
  			axis = Vector3::AXIS_X;
  		} else if ("y" == axis_s) {
  			axis = Vector3::AXIS_Y;
  		} else if ("z" == axis_s) {
  			axis = Vector3::AXIS_Z;
  		} else {
  			return false;
  		}
  	}
  
  	String var_name = path.get_slicec('/', 2);
  
  	if ("linear_limit_enabled" == var_name) {
  		axis_data[axis].linear_limit_enabled = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, axis_data[axis].linear_limit_enabled);
  
  	} else if ("linear_limit_upper" == var_name) {
  		axis_data[axis].linear_limit_upper = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, axis_data[axis].linear_limit_upper);
  
  	} else if ("linear_limit_lower" == var_name) {
  		axis_data[axis].linear_limit_lower = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, axis_data[axis].linear_limit_lower);
  
  	} else if ("linear_limit_softness" == var_name) {
  		axis_data[axis].linear_limit_softness = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, axis_data[axis].linear_limit_softness);
  
  	} else if ("linear_spring_enabled" == var_name) {
  		axis_data[axis].linear_spring_enabled = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, axis_data[axis].linear_spring_enabled);
  
  	} else if ("linear_spring_stiffness" == var_name) {
  		axis_data[axis].linear_spring_stiffness = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, axis_data[axis].linear_spring_stiffness);
  
  	} else if ("linear_spring_damping" == var_name) {
  		axis_data[axis].linear_spring_damping = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, axis_data[axis].linear_spring_damping);
  
  	} else if ("linear_equilibrium_point" == var_name) {
  		axis_data[axis].linear_equilibrium_point = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].linear_equilibrium_point);
  
  	} else if ("linear_restitution" == var_name) {
  		axis_data[axis].linear_restitution = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, axis_data[axis].linear_restitution);
  
  	} else if ("linear_damping" == var_name) {
  		axis_data[axis].linear_damping = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, axis_data[axis].linear_damping);
  
  	} else if ("angular_limit_enabled" == var_name) {
  		axis_data[axis].angular_limit_enabled = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, axis_data[axis].angular_limit_enabled);
  
  	} else if ("angular_limit_upper" == var_name) {
  		axis_data[axis].angular_limit_upper = Math::deg2rad(real_t(p_value));
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, axis_data[axis].angular_limit_upper);
  
  	} else if ("angular_limit_lower" == var_name) {
  		axis_data[axis].angular_limit_lower = Math::deg2rad(real_t(p_value));
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, axis_data[axis].angular_limit_lower);
  
  	} else if ("angular_limit_softness" == var_name) {
  		axis_data[axis].angular_limit_softness = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, axis_data[axis].angular_limit_softness);
  
  	} else if ("angular_restitution" == var_name) {
  		axis_data[axis].angular_restitution = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, axis_data[axis].angular_restitution);
  
  	} else if ("angular_damping" == var_name) {
  		axis_data[axis].angular_damping = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, axis_data[axis].angular_damping);
  
  	} else if ("erp" == var_name) {
  		axis_data[axis].erp = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, axis_data[axis].erp);
  
  	} else if ("angular_spring_enabled" == var_name) {
  		axis_data[axis].angular_spring_enabled = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(j, axis, PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, axis_data[axis].angular_spring_enabled);
  
  	} else if ("angular_spring_stiffness" == var_name) {
  		axis_data[axis].angular_spring_stiffness = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, axis_data[axis].angular_spring_stiffness);
  
  	} else if ("angular_spring_damping" == var_name) {
  		axis_data[axis].angular_spring_damping = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, axis_data[axis].angular_spring_damping);
  
  	} else if ("angular_equilibrium_point" == var_name) {
  		axis_data[axis].angular_equilibrium_point = p_value;
  		if (j.is_valid())
  			PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(j, axis, PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, axis_data[axis].angular_equilibrium_point);
  
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  bool PhysicalBone3D::SixDOFJointData::_get(const StringName &p_name, Variant &r_ret) const {
  	if (JointData::_get(p_name, r_ret)) {
  		return true;
  	}
  
  	String path = p_name;
  
  	int axis;
  	{
  		const String axis_s = path.get_slicec('/', 1);
  		if ("x" == axis_s) {
  			axis = 0;
  		} else if ("y" == axis_s) {
  			axis = 1;
  		} else if ("z" == axis_s) {
  			axis = 2;
  		} else {
  			return false;
  		}
  	}
  
  	String var_name = path.get_slicec('/', 2);
  
  	if ("linear_limit_enabled" == var_name) {
  		r_ret = axis_data[axis].linear_limit_enabled;
  	} else if ("linear_limit_upper" == var_name) {
  		r_ret = axis_data[axis].linear_limit_upper;
  	} else if ("linear_limit_lower" == var_name) {
  		r_ret = axis_data[axis].linear_limit_lower;
  	} else if ("linear_limit_softness" == var_name) {
  		r_ret = axis_data[axis].linear_limit_softness;
  	} else if ("linear_spring_enabled" == var_name) {
  		r_ret = axis_data[axis].linear_spring_enabled;
  	} else if ("linear_spring_stiffness" == var_name) {
  		r_ret = axis_data[axis].linear_spring_stiffness;
  	} else if ("linear_spring_damping" == var_name) {
  		r_ret = axis_data[axis].linear_spring_damping;
  	} else if ("linear_equilibrium_point" == var_name) {
  		r_ret = axis_data[axis].linear_equilibrium_point;
  	} else if ("linear_restitution" == var_name) {
  		r_ret = axis_data[axis].linear_restitution;
  	} else if ("linear_damping" == var_name) {
  		r_ret = axis_data[axis].linear_damping;
  	} else if ("angular_limit_enabled" == var_name) {
  		r_ret = axis_data[axis].angular_limit_enabled;
  	} else if ("angular_limit_upper" == var_name) {
  		r_ret = Math::rad2deg(axis_data[axis].angular_limit_upper);
  	} else if ("angular_limit_lower" == var_name) {
  		r_ret = Math::rad2deg(axis_data[axis].angular_limit_lower);
  	} else if ("angular_limit_softness" == var_name) {
  		r_ret = axis_data[axis].angular_limit_softness;
  	} else if ("angular_restitution" == var_name) {
  		r_ret = axis_data[axis].angular_restitution;
  	} else if ("angular_damping" == var_name) {
  		r_ret = axis_data[axis].angular_damping;
  	} else if ("erp" == var_name) {
  		r_ret = axis_data[axis].erp;
  	} else if ("angular_spring_enabled" == var_name) {
  		r_ret = axis_data[axis].angular_spring_enabled;
  	} else if ("angular_spring_stiffness" == var_name) {
  		r_ret = axis_data[axis].angular_spring_stiffness;
  	} else if ("angular_spring_damping" == var_name) {
  		r_ret = axis_data[axis].angular_spring_damping;
  	} else if ("angular_equilibrium_point" == var_name) {
  		r_ret = axis_data[axis].angular_equilibrium_point;
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  void PhysicalBone3D::SixDOFJointData::_get_property_list(List<PropertyInfo> *p_list) const {
  	const StringName axis_names[] = { "x", "y", "z" };
  	for (int i = 0; i < 3; ++i) {
  		p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_limit_enabled"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_upper"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_lower"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
  		p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/linear_spring_enabled"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_stiffness"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_spring_damping"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_equilibrium_point"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/linear_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
  		p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_limit_enabled"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_upper", PROPERTY_HINT_RANGE, "-180,180,0.01"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_lower", PROPERTY_HINT_RANGE, "-180,180,0.01"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_limit_softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/erp"));
  		p_list->push_back(PropertyInfo(Variant::BOOL, "joint_constraints/" + axis_names[i] + "/angular_spring_enabled"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_stiffness"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_spring_damping"));
  		p_list->push_back(PropertyInfo(Variant::FLOAT, "joint_constraints/" + axis_names[i] + "/angular_equilibrium_point"));
  	}
  }
  
  bool PhysicalBone3D::_set(const StringName &p_name, const Variant &p_value) {
  	if (p_name == "bone_name") {
  		set_bone_name(p_value);
  		return true;
  	}
  
  	if (joint_data) {
  		if (joint_data->_set(p_name, p_value)) {
  #ifdef TOOLS_ENABLED
  			if (get_gizmo().is_valid())
  				get_gizmo()->redraw();
  #endif
  			return true;
  		}
  	}
  
  	return false;
  }
  
  bool PhysicalBone3D::_get(const StringName &p_name, Variant &r_ret) const {
  	if (p_name == "bone_name") {
  		r_ret = get_bone_name();
  		return true;
  	}
  
  	if (joint_data) {
  		return joint_data->_get(p_name, r_ret);
  	}
  
  	return false;
  }
  
  void PhysicalBone3D::_get_property_list(List<PropertyInfo> *p_list) const {
  
  	Skeleton3D *parent = find_skeleton_parent(get_parent());
  
  	if (parent) {
  
  		String names;
  		for (int i = 0; i < parent->get_bone_count(); i++) {
  			if (i > 0)
  				names += ",";
  			names += parent->get_bone_name(i);
  		}
  
  		p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name", PROPERTY_HINT_ENUM, names));
  	} else {
  
  		p_list->push_back(PropertyInfo(Variant::STRING_NAME, "bone_name"));
  	}
  
  	if (joint_data) {
  		joint_data->_get_property_list(p_list);
  	}
  }
  
  void PhysicalBone3D::_notification(int p_what) {
  	switch (p_what) {
  		case NOTIFICATION_ENTER_TREE:
  			parent_skeleton = find_skeleton_parent(get_parent());
  			update_bone_id();
  			reset_to_rest_position();
  			reset_physics_simulation_state();
  			if (!joint.is_valid() && joint_data) {
  				_reload_joint();
  			}
  			break;
  		case NOTIFICATION_EXIT_TREE:
  			if (parent_skeleton) {
  				if (-1 != bone_id) {
  					parent_skeleton->unbind_physical_bone_from_bone(bone_id);
  				}
  			}
  			parent_skeleton = NULL;
  			if (joint.is_valid()) {
  				PhysicsServer3D::get_singleton()->free(joint);
  				joint = RID();
  			}
  			break;
  		case NOTIFICATION_TRANSFORM_CHANGED:
  			if (Engine::get_singleton()->is_editor_hint()) {
  
  				update_offset();
  			}
  			break;
  	}
  }
  
  void PhysicalBone3D::_direct_state_changed(Object *p_state) {
  
  	if (!simulate_physics || !_internal_simulate_physics) {
  		return;
  	}
  
  	/// Update bone transform
  
  	PhysicsDirectBodyState3D *state;
  
  #ifdef DEBUG_ENABLED
  	state = Object::cast_to<PhysicsDirectBodyState3D>(p_state);
  #else
  	state = (PhysicsDirectBodyState3D *)p_state; //trust it
  #endif
  
  	Transform global_transform(state->get_transform());
  
  	set_ignore_transform_notification(true);
  	set_global_transform(global_transform);
  	set_ignore_transform_notification(false);
  
  	// Update skeleton
  	if (parent_skeleton) {
  		if (-1 != bone_id) {
  			parent_skeleton->set_bone_global_pose_override(bone_id, parent_skeleton->get_global_transform().affine_inverse() * (global_transform * body_offset_inverse), 1.0, true);
  		}
  	}
  }
  
  void PhysicalBone3D::_bind_methods() {
  	ClassDB::bind_method(D_METHOD("apply_central_impulse", "impulse"), &PhysicalBone3D::apply_central_impulse);
  	ClassDB::bind_method(D_METHOD("apply_impulse", "position", "impulse"), &PhysicalBone3D::apply_impulse);
  
  	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &PhysicalBone3D::_direct_state_changed);
  
  	ClassDB::bind_method(D_METHOD("set_joint_type", "joint_type"), &PhysicalBone3D::set_joint_type);
  	ClassDB::bind_method(D_METHOD("get_joint_type"), &PhysicalBone3D::get_joint_type);
  
  	ClassDB::bind_method(D_METHOD("set_joint_offset", "offset"), &PhysicalBone3D::set_joint_offset);
  	ClassDB::bind_method(D_METHOD("get_joint_offset"), &PhysicalBone3D::get_joint_offset);
  
  	ClassDB::bind_method(D_METHOD("set_body_offset", "offset"), &PhysicalBone3D::set_body_offset);
  	ClassDB::bind_method(D_METHOD("get_body_offset"), &PhysicalBone3D::get_body_offset);
  
  	ClassDB::bind_method(D_METHOD("get_simulate_physics"), &PhysicalBone3D::get_simulate_physics);
  
  	ClassDB::bind_method(D_METHOD("is_simulating_physics"), &PhysicalBone3D::is_simulating_physics);
  
  	ClassDB::bind_method(D_METHOD("get_bone_id"), &PhysicalBone3D::get_bone_id);
  
  	ClassDB::bind_method(D_METHOD("set_mass", "mass"), &PhysicalBone3D::set_mass);
  	ClassDB::bind_method(D_METHOD("get_mass"), &PhysicalBone3D::get_mass);
  
  	ClassDB::bind_method(D_METHOD("set_weight", "weight"), &PhysicalBone3D::set_weight);
  	ClassDB::bind_method(D_METHOD("get_weight"), &PhysicalBone3D::get_weight);
  
  	ClassDB::bind_method(D_METHOD("set_friction", "friction"), &PhysicalBone3D::set_friction);
  	ClassDB::bind_method(D_METHOD("get_friction"), &PhysicalBone3D::get_friction);
  
  	ClassDB::bind_method(D_METHOD("set_bounce", "bounce"), &PhysicalBone3D::set_bounce);
  	ClassDB::bind_method(D_METHOD("get_bounce"), &PhysicalBone3D::get_bounce);
  
  	ClassDB::bind_method(D_METHOD("set_gravity_scale", "gravity_scale"), &PhysicalBone3D::set_gravity_scale);
  	ClassDB::bind_method(D_METHOD("get_gravity_scale"), &PhysicalBone3D::get_gravity_scale);
  
  	ADD_GROUP("Joint", "joint_");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "joint_type", PROPERTY_HINT_ENUM, "None,PinJoint,ConeJoint,HingeJoint,SliderJoint,6DOFJoint"), "set_joint_type", "get_joint_type");
  	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "joint_offset"), "set_joint_offset", "get_joint_offset");
  
  	ADD_PROPERTY(PropertyInfo(Variant::TRANSFORM, "body_offset"), "set_body_offset", "get_body_offset");
  
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "mass", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_mass", "get_mass");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "weight", PROPERTY_HINT_EXP_RANGE, "0.01,65535,0.01"), "set_weight", "get_weight");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "friction", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_friction", "get_friction");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "bounce", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_bounce", "get_bounce");
  	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "gravity_scale", PROPERTY_HINT_RANGE, "-10,10,0.01"), "set_gravity_scale", "get_gravity_scale");
  
  	BIND_ENUM_CONSTANT(JOINT_TYPE_NONE);
  	BIND_ENUM_CONSTANT(JOINT_TYPE_PIN);
  	BIND_ENUM_CONSTANT(JOINT_TYPE_CONE);
  	BIND_ENUM_CONSTANT(JOINT_TYPE_HINGE);
  	BIND_ENUM_CONSTANT(JOINT_TYPE_SLIDER);
  	BIND_ENUM_CONSTANT(JOINT_TYPE_6DOF);
  }
  
  Skeleton3D *PhysicalBone3D::find_skeleton_parent(Node *p_parent) {
  	if (!p_parent) {
  		return NULL;
  	}
  	Skeleton3D *s = Object::cast_to<Skeleton3D>(p_parent);
  	return s ? s : find_skeleton_parent(p_parent->get_parent());
  }
  
  void PhysicalBone3D::_fix_joint_offset() {
  	// Clamp joint origin to bone origin
  	if (parent_skeleton) {
  		joint_offset.origin = body_offset.affine_inverse().origin;
  	}
  }
  
  void PhysicalBone3D::_reload_joint() {
  
  	if (joint.is_valid()) {
  		PhysicsServer3D::get_singleton()->free(joint);
  		joint = RID();
  	}
  
  	if (!parent_skeleton) {
  		return;
  	}
  
  	PhysicalBone3D *body_a = parent_skeleton->get_physical_bone_parent(bone_id);
  	if (!body_a) {
  		return;
  	}
  
  	Transform joint_transf = get_global_transform() * joint_offset;
  	Transform local_a = body_a->get_global_transform().affine_inverse() * joint_transf;
  	local_a.orthonormalize();
  
  	switch (get_joint_type()) {
  		case JOINT_TYPE_PIN: {
  
  			joint = PhysicsServer3D::get_singleton()->joint_create_pin(body_a->get_rid(), local_a.origin, get_rid(), joint_offset.origin);
  			const PinJointData *pjd(static_cast<const PinJointData *>(joint_data));
  			PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_BIAS, pjd->bias);
  			PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_DAMPING, pjd->damping);
  			PhysicsServer3D::get_singleton()->pin_joint_set_param(joint, PhysicsServer3D::PIN_JOINT_IMPULSE_CLAMP, pjd->impulse_clamp);
  
  		} break;
  		case JOINT_TYPE_CONE: {
  
  			joint = PhysicsServer3D::get_singleton()->joint_create_cone_twist(body_a->get_rid(), local_a, get_rid(), joint_offset);
  			const ConeJointData *cjd(static_cast<const ConeJointData *>(joint_data));
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN, cjd->swing_span);
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_TWIST_SPAN, cjd->twist_span);
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_BIAS, cjd->bias);
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_SOFTNESS, cjd->softness);
  			PhysicsServer3D::get_singleton()->cone_twist_joint_set_param(joint, PhysicsServer3D::CONE_TWIST_JOINT_RELAXATION, cjd->relaxation);
  
  		} break;
  		case JOINT_TYPE_HINGE: {
  
  			joint = PhysicsServer3D::get_singleton()->joint_create_hinge(body_a->get_rid(), local_a, get_rid(), joint_offset);
  			const HingeJointData *hjd(static_cast<const HingeJointData *>(joint_data));
  			PhysicsServer3D::get_singleton()->hinge_joint_set_flag(joint, PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT, hjd->angular_limit_enabled);
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_UPPER, hjd->angular_limit_upper);
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_LOWER, hjd->angular_limit_lower);
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_BIAS, hjd->angular_limit_bias);
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_SOFTNESS, hjd->angular_limit_softness);
  			PhysicsServer3D::get_singleton()->hinge_joint_set_param(joint, PhysicsServer3D::HINGE_JOINT_LIMIT_RELAXATION, hjd->angular_limit_relaxation);
  
  		} break;
  		case JOINT_TYPE_SLIDER: {
  
  			joint = PhysicsServer3D::get_singleton()->joint_create_slider(body_a->get_rid(), local_a, get_rid(), joint_offset);
  			const SliderJointData *sjd(static_cast<const SliderJointData *>(joint_data));
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER, sjd->linear_limit_upper);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_LOWER, sjd->linear_limit_lower);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_SOFTNESS, sjd->linear_limit_softness);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_RESTITUTION, sjd->linear_limit_restitution);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_DAMPING, sjd->linear_limit_restitution);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_UPPER, sjd->angular_limit_upper);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_LOWER, sjd->angular_limit_lower);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_SOFTNESS, sjd->angular_limit_softness);
  			PhysicsServer3D::get_singleton()->slider_joint_set_param(joint, PhysicsServer3D::SLIDER_JOINT_ANGULAR_LIMIT_DAMPING, sjd->angular_limit_damping);
  
  		} break;
  		case JOINT_TYPE_6DOF: {
  
  			joint = PhysicsServer3D::get_singleton()->joint_create_generic_6dof(body_a->get_rid(), local_a, get_rid(), joint_offset);
  			const SixDOFJointData *g6dofjd(static_cast<const SixDOFJointData *>(joint_data));
  			for (int axis = 0; axis < 3; ++axis) {
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT, g6dofjd->axis_data[axis].linear_limit_enabled);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_UPPER_LIMIT, g6dofjd->axis_data[axis].linear_limit_upper);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT, g6dofjd->axis_data[axis].linear_limit_lower);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].linear_limit_softness);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING, g6dofjd->axis_data[axis].linear_spring_enabled);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].linear_spring_stiffness);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_DAMPING, g6dofjd->axis_data[axis].linear_spring_damping);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].linear_equilibrium_point);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_RESTITUTION, g6dofjd->axis_data[axis].linear_restitution);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_LINEAR_DAMPING, g6dofjd->axis_data[axis].linear_damping);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, g6dofjd->axis_data[axis].angular_limit_enabled);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_UPPER_LIMIT, g6dofjd->axis_data[axis].angular_limit_upper);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LOWER_LIMIT, g6dofjd->axis_data[axis].angular_limit_lower);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS, g6dofjd->axis_data[axis].angular_limit_softness);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_RESTITUTION, g6dofjd->axis_data[axis].angular_restitution);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_DAMPING, g6dofjd->axis_data[axis].angular_damping);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_ERP, g6dofjd->axis_data[axis].erp);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_flag(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING, g6dofjd->axis_data[axis].angular_spring_enabled);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS, g6dofjd->axis_data[axis].angular_spring_stiffness);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_DAMPING, g6dofjd->axis_data[axis].angular_spring_damping);
  				PhysicsServer3D::get_singleton()->generic_6dof_joint_set_param(joint, static_cast<Vector3::Axis>(axis), PhysicsServer3D::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT, g6dofjd->axis_data[axis].angular_equilibrium_point);
  			}
  
  		} break;
  		case JOINT_TYPE_NONE: {
  		} break;
  	}
  }
  
  void PhysicalBone3D::_on_bone_parent_changed() {
  	_reload_joint();
  }
  
  void PhysicalBone3D::_set_gizmo_move_joint(bool p_move_joint) {
  #ifdef TOOLS_ENABLED
  	gizmo_move_joint = p_move_joint;
  	Node3DEditor::get_singleton()->update_transform_gizmo();
  #endif
  }
  
  #ifdef TOOLS_ENABLED
  Transform PhysicalBone3D::get_global_gizmo_transform() const {
  	return gizmo_move_joint ? get_global_transform() * joint_offset : get_global_transform();
  }
  
  Transform PhysicalBone3D::get_local_gizmo_transform() const {
  	return gizmo_move_joint ? get_transform() * joint_offset : get_transform();
  }
  #endif
  
  const PhysicalBone3D::JointData *PhysicalBone3D::get_joint_data() const {
  	return joint_data;
  }
  
  Skeleton3D *PhysicalBone3D::find_skeleton_parent() {
  	return find_skeleton_parent(this);
  }
  
  void PhysicalBone3D::set_joint_type(JointType p_joint_type) {
  
  	if (p_joint_type == get_joint_type())
  		return;
  
  	if (joint_data)
  		memdelete(joint_data);
  	joint_data = NULL;
  	switch (p_joint_type) {
  		case JOINT_TYPE_PIN:
  			joint_data = memnew(PinJointData);
  			break;
  		case JOINT_TYPE_CONE:
  			joint_data = memnew(ConeJointData);
  			break;
  		case JOINT_TYPE_HINGE:
  			joint_data = memnew(HingeJointData);
  			break;
  		case JOINT_TYPE_SLIDER:
  			joint_data = memnew(SliderJointData);
  			break;
  		case JOINT_TYPE_6DOF:
  			joint_data = memnew(SixDOFJointData);
  			break;
  		case JOINT_TYPE_NONE:
  			break;
  	}
  
  	_reload_joint();
  
  #ifdef TOOLS_ENABLED
  	_change_notify();
  	if (get_gizmo().is_valid())
  		get_gizmo()->redraw();
  #endif
  }
  
  PhysicalBone3D::JointType PhysicalBone3D::get_joint_type() const {
  	return joint_data ? joint_data->get_joint_type() : JOINT_TYPE_NONE;
  }
  
  void PhysicalBone3D::set_joint_offset(const Transform &p_offset) {
  	joint_offset = p_offset;
  
  	_fix_joint_offset();
  
  	set_ignore_transform_notification(true);
  	reset_to_rest_position();
  	set_ignore_transform_notification(false);
  
  #ifdef TOOLS_ENABLED
  	if (get_gizmo().is_valid())
  		get_gizmo()->redraw();
  #endif
  }
  
  const Transform &PhysicalBone3D::get_body_offset() const {
  	return body_offset;
  }
  
  void PhysicalBone3D::set_body_offset(const Transform &p_offset) {
  	body_offset = p_offset;
  	body_offset_inverse = body_offset.affine_inverse();
  
  	_fix_joint_offset();
  
  	set_ignore_transform_notification(true);
  	reset_to_rest_position();
  	set_ignore_transform_notification(false);
  
  #ifdef TOOLS_ENABLED
  	if (get_gizmo().is_valid())
  		get_gizmo()->redraw();
  #endif
  }
  
  const Transform &PhysicalBone3D::get_joint_offset() const {
  	return joint_offset;
  }
  
  void PhysicalBone3D::set_simulate_physics(bool p_simulate) {
  	if (simulate_physics == p_simulate) {
  		return;
  	}
  
  	simulate_physics = p_simulate;
  	reset_physics_simulation_state();
  }
  
  bool PhysicalBone3D::get_simulate_physics() {
  	return simulate_physics;
  }
  
  bool PhysicalBone3D::is_simulating_physics() {
  	return _internal_simulate_physics;
  }
  
  void PhysicalBone3D::set_bone_name(const String &p_name) {
  
  	bone_name = p_name;
  	bone_id = -1;
  
  	update_bone_id();
  	reset_to_rest_position();
  }
  
  const String &PhysicalBone3D::get_bone_name() const {
  
  	return bone_name;
  }
  
  void PhysicalBone3D::set_mass(real_t p_mass) {
  
  	ERR_FAIL_COND(p_mass <= 0);
  	mass = p_mass;
  	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_MASS, mass);
  }
  
  real_t PhysicalBone3D::get_mass() const {
  
  	return mass;
  }
  
  void PhysicalBone3D::set_weight(real_t p_weight) {
  
  	set_mass(p_weight / real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8)));
  }
  
  real_t PhysicalBone3D::get_weight() const {
  
  	return mass * real_t(GLOBAL_DEF("physics/3d/default_gravity", 9.8));
  }
  
  void PhysicalBone3D::set_friction(real_t p_friction) {
  
  	ERR_FAIL_COND(p_friction < 0 || p_friction > 1);
  
  	friction = p_friction;
  	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_FRICTION, friction);
  }
  
  real_t PhysicalBone3D::get_friction() const {
  
  	return friction;
  }
  
  void PhysicalBone3D::set_bounce(real_t p_bounce) {
  
  	ERR_FAIL_COND(p_bounce < 0 || p_bounce > 1);
  
  	bounce = p_bounce;
  	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_BOUNCE, bounce);
  }
  
  real_t PhysicalBone3D::get_bounce() const {
  
  	return bounce;
  }
  
  void PhysicalBone3D::set_gravity_scale(real_t p_gravity_scale) {
  
  	gravity_scale = p_gravity_scale;
  	PhysicsServer3D::get_singleton()->body_set_param(get_rid(), PhysicsServer3D::BODY_PARAM_GRAVITY_SCALE, gravity_scale);
  }
  
  real_t PhysicalBone3D::get_gravity_scale() const {
  
  	return gravity_scale;
  }
  
  PhysicalBone3D::PhysicalBone3D() :
  		PhysicsBody3D(PhysicsServer3D::BODY_MODE_STATIC),
  #ifdef TOOLS_ENABLED
  		gizmo_move_joint(false),
  #endif
  		joint_data(NULL),
  		parent_skeleton(NULL),
  		simulate_physics(false),
  		_internal_simulate_physics(false),
  		bone_id(-1),
  		bone_name(""),
  		bounce(0),
  		mass(1),
  		friction(1),
  		gravity_scale(1) {
  
  	reset_physics_simulation_state();
  }
  
  PhysicalBone3D::~PhysicalBone3D() {
  	if (joint_data)
  		memdelete(joint_data);
  }
  
  void PhysicalBone3D::update_bone_id() {
  	if (!parent_skeleton) {
  		return;
  	}
  
  	const int new_bone_id = parent_skeleton->find_bone(bone_name);
  
  	if (new_bone_id != bone_id) {
  		if (-1 != bone_id) {
  			// Assert the unbind from old node
  			parent_skeleton->unbind_physical_bone_from_bone(bone_id);
  			parent_skeleton->unbind_child_node_from_bone(bone_id, this);
  		}
  
  		bone_id = new_bone_id;
  
  		parent_skeleton->bind_physical_bone_to_bone(bone_id, this);
  
  		_fix_joint_offset();
  		reset_physics_simulation_state();
  	}
  }
  
  void PhysicalBone3D::update_offset() {
  #ifdef TOOLS_ENABLED
  	if (parent_skeleton) {
  
  		Transform bone_transform(parent_skeleton->get_global_transform());
  		if (-1 != bone_id)
  			bone_transform *= parent_skeleton->get_bone_global_pose(bone_id);
  
  		if (gizmo_move_joint) {
  			bone_transform *= body_offset;
  			set_joint_offset(bone_transform.affine_inverse() * get_global_transform());
  		} else {
  			set_body_offset(bone_transform.affine_inverse() * get_global_transform());
  		}
  	}
  #endif
  }
  
  void PhysicalBone3D::_start_physics_simulation() {
  	if (_internal_simulate_physics || !parent_skeleton) {
  		return;
  	}
  	reset_to_rest_position();
  	PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_RIGID);
  	PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
  	PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
  	PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), this, "_direct_state_changed");
  	set_as_toplevel(true);
  	_internal_simulate_physics = true;
  }
  
  void PhysicalBone3D::_stop_physics_simulation() {
  	if (!parent_skeleton) {
  		return;
  	}
  	if (parent_skeleton->get_animate_physical_bones()) {
  		PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_KINEMATIC);
  		PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), get_collision_layer());
  		PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), get_collision_mask());
  	} else {
  		PhysicsServer3D::get_singleton()->body_set_mode(get_rid(), PhysicsServer3D::BODY_MODE_STATIC);
  		PhysicsServer3D::get_singleton()->body_set_collision_layer(get_rid(), 0);
  		PhysicsServer3D::get_singleton()->body_set_collision_mask(get_rid(), 0);
  	}
  	if (_internal_simulate_physics) {
  		PhysicsServer3D::get_singleton()->body_set_force_integration_callback(get_rid(), NULL, "");
  		parent_skeleton->set_bone_global_pose_override(bone_id, Transform(), 0.0, false);
  		set_as_toplevel(false);
  		_internal_simulate_physics = false;
  	}
  }
  