Rename Godot Physics classes from *SW to Godot*

Also moved MT physics server wrappers to the main servers folder, since
they don't have to be implementation specific.

1 files changed, 0 insertions, 486 deletions

diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/joints_2d_sw.cpp
deleted file mode 100644
index b46397b8e6..0000000000
--- a/servers/physics_2d/joints_2d_sw.cpp
+++ /dev/null
@@ -1,486 +0,0 @@
-/*************************************************************************/
-/*  joints_2d_sw.cpp                                                     */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 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:                                             */
-/*                                                                       */
-/* 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,  */
-/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
-/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
-/*************************************************************************/
-
-#include "joints_2d_sw.h"
-
-#include "space_2d_sw.h"
-
-//based on chipmunk joint constraints
-
-/* Copyright (c) 2007 Scott Lembcke
- *
- * 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:
- *
- * 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, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) {
-	set_self(p_joint->get_self());
-	set_max_force(p_joint->get_max_force());
-	set_bias(p_joint->get_bias());
-	set_max_bias(p_joint->get_max_bias());
-	disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
-}
-
-static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) {
-	real_t value = 0.0;
-
-	{
-		value += a->get_inv_mass();
-		real_t rcn = (rA - a->get_center_of_mass()).cross(n);
-		value += a->get_inv_inertia() * rcn * rcn;
-	}
-
-	if (b) {
-		value += b->get_inv_mass();
-		real_t rcn = (rB - b->get_center_of_mass()).cross(n);
-		value += b->get_inv_inertia() * rcn * rcn;
-	}
-
-	return value;
-}
-
-static inline Vector2
-relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) {
-	Vector2 sum = a->get_linear_velocity() - (rA - a->get_center_of_mass()).orthogonal() * a->get_angular_velocity();
-	if (b) {
-		return (b->get_linear_velocity() - (rB - b->get_center_of_mass()).orthogonal() * b->get_angular_velocity()) - sum;
-	} else {
-		return -sum;
-	}
-}
-
-static inline real_t
-normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vector2 n) {
-	return relative_velocity(a, b, rA, rB).dot(n);
-}
-
-bool PinJoint2DSW::setup(real_t p_step) {
-	dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
-	dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
-
-	if (!dynamic_A && !dynamic_B) {
-		return false;
-	}
-
-	Space2DSW *space = A->get_space();
-	ERR_FAIL_COND_V(!space, false);
-
-	rA = A->get_transform().basis_xform(anchor_A);
-	rB = B ? B->get_transform().basis_xform(anchor_B) : anchor_B;
-
-	real_t B_inv_mass = B ? B->get_inv_mass() : 0.0;
-
-	Transform2D K1;
-	K1[0].x = A->get_inv_mass() + B_inv_mass;
-	K1[1].x = 0.0f;
-	K1[0].y = 0.0f;
-	K1[1].y = A->get_inv_mass() + B_inv_mass;
-
-	Transform2D K2;
-	K2[0].x = A->get_inv_inertia() * rA.y * rA.y;
-	K2[1].x = -A->get_inv_inertia() * rA.x * rA.y;
-	K2[0].y = -A->get_inv_inertia() * rA.x * rA.y;
-	K2[1].y = A->get_inv_inertia() * rA.x * rA.x;
-
-	Transform2D K;
-	K[0] = K1[0] + K2[0];
-	K[1] = K1[1] + K2[1];
-
-	if (B) {
-		Transform2D K3;
-		K3[0].x = B->get_inv_inertia() * rB.y * rB.y;
-		K3[1].x = -B->get_inv_inertia() * rB.x * rB.y;
-		K3[0].y = -B->get_inv_inertia() * rB.x * rB.y;
-		K3[1].y = B->get_inv_inertia() * rB.x * rB.x;
-
-		K[0] += K3[0];
-		K[1] += K3[1];
-	}
-
-	K[0].x += softness;
-	K[1].y += softness;
-
-	M = K.affine_inverse();
-
-	Vector2 gA = rA + A->get_transform().get_origin();
-	Vector2 gB = B ? rB + B->get_transform().get_origin() : rB;
-
-	Vector2 delta = gB - gA;
-
-	bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step);
-
-	return true;
-}
-
-inline Vector2 custom_cross(const Vector2 &p_vec, real_t p_other) {
-	return Vector2(p_other * p_vec.y, -p_other * p_vec.x);
-}
-
-bool PinJoint2DSW::pre_solve(real_t p_step) {
-	// Apply accumulated impulse.
-	if (dynamic_A) {
-		A->apply_impulse(-P, rA);
-	}
-	if (B && dynamic_B) {
-		B->apply_impulse(P, rB);
-	}
-
-	return true;
-}
-
-void PinJoint2DSW::solve(real_t p_step) {
-	// compute relative velocity
-	Vector2 vA = A->get_linear_velocity() - custom_cross(rA - A->get_center_of_mass(), A->get_angular_velocity());
-
-	Vector2 rel_vel;
-	if (B) {
-		rel_vel = B->get_linear_velocity() - custom_cross(rB - B->get_center_of_mass(), B->get_angular_velocity()) - vA;
-	} else {
-		rel_vel = -vA;
-	}
-
-	Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P);
-
-	if (dynamic_A) {
-		A->apply_impulse(-impulse, rA);
-	}
-	if (B && dynamic_B) {
-		B->apply_impulse(impulse, rB);
-	}
-
-	P += impulse;
-}
-
-void PinJoint2DSW::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) {
-	if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) {
-		softness = p_value;
-	}
-}
-
-real_t PinJoint2DSW::get_param(PhysicsServer2D::PinJointParam p_param) const {
-	if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) {
-		return softness;
-	}
-	ERR_FAIL_V(0);
-}
-
-PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b) :
-		Joint2DSW(_arr, p_body_b ? 2 : 1) {
-	A = p_body_a;
-	B = p_body_b;
-	anchor_A = p_body_a->get_inv_transform().xform(p_pos);
-	anchor_B = p_body_b ? p_body_b->get_inv_transform().xform(p_pos) : p_pos;
-
-	p_body_a->add_constraint(this, 0);
-	if (p_body_b) {
-		p_body_b->add_constraint(this, 1);
-	}
-}
-
-//////////////////////////////////////////////
-//////////////////////////////////////////////
-//////////////////////////////////////////////
-
-static inline void
-k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) {
-	// calculate mass matrix
-	// If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
-	real_t k11, k12, k21, k22;
-	real_t m_sum = a->get_inv_mass() + b->get_inv_mass();
-
-	// start with I*m_sum
-	k11 = m_sum;
-	k12 = 0.0f;
-	k21 = 0.0f;
-	k22 = m_sum;
-
-	r1 -= a->get_center_of_mass();
-	r2 -= b->get_center_of_mass();
-
-	// add the influence from r1
-	real_t a_i_inv = a->get_inv_inertia();
-	real_t r1xsq = r1.x * r1.x * a_i_inv;
-	real_t r1ysq = r1.y * r1.y * a_i_inv;
-	real_t r1nxy = -r1.x * r1.y * a_i_inv;
-	k11 += r1ysq;
-	k12 += r1nxy;
-	k21 += r1nxy;
-	k22 += r1xsq;
-
-	// add the influnce from r2
-	real_t b_i_inv = b->get_inv_inertia();
-	real_t r2xsq = r2.x * r2.x * b_i_inv;
-	real_t r2ysq = r2.y * r2.y * b_i_inv;
-	real_t r2nxy = -r2.x * r2.y * b_i_inv;
-	k11 += r2ysq;
-	k12 += r2nxy;
-	k21 += r2nxy;
-	k22 += r2xsq;
-
-	// invert
-	real_t determinant = k11 * k22 - k12 * k21;
-	ERR_FAIL_COND(determinant == 0.0);
-
-	real_t det_inv = 1.0f / determinant;
-	*k1 = Vector2(k22 * det_inv, -k12 * det_inv);
-	*k2 = Vector2(-k21 * det_inv, k11 * det_inv);
-}
-
-static _FORCE_INLINE_ Vector2
-mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) {
-	return Vector2(vr.dot(k1), vr.dot(k2));
-}
-
-bool GrooveJoint2DSW::setup(real_t p_step) {
-	dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
-	dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
-
-	if (!dynamic_A && !dynamic_B) {
-		return false;
-	}
-
-	Space2DSW *space = A->get_space();
-	ERR_FAIL_COND_V(!space, false);
-
-	// calculate endpoints in worldspace
-	Vector2 ta = A->get_transform().xform(A_groove_1);
-	Vector2 tb = A->get_transform().xform(A_groove_2);
-
-	// calculate axis
-	Vector2 n = -(tb - ta).orthogonal().normalized();
-	real_t d = ta.dot(n);
-
-	xf_normal = n;
-	rB = B->get_transform().basis_xform(B_anchor);
-
-	// calculate tangential distance along the axis of rB
-	real_t td = (B->get_transform().get_origin() + rB).cross(n);
-	// calculate clamping factor and rB
-	if (td <= ta.cross(n)) {
-		clamp = 1.0f;
-		rA = ta - A->get_transform().get_origin();
-	} else if (td >= tb.cross(n)) {
-		clamp = -1.0f;
-		rA = tb - A->get_transform().get_origin();
-	} else {
-		clamp = 0.0f;
-		//joint->r1 = cpvsub(cpvadd(cpvmult(cpvperp(n), -td), cpvmult(n, d)), a->p);
-		rA = ((-n.orthogonal() * -td) + n * d) - A->get_transform().get_origin();
-	}
-
-	// Calculate mass tensor
-	k_tensor(A, B, rA, rB, &k1, &k2);
-
-	// compute max impulse
-	jn_max = get_max_force() * p_step;
-
-	// calculate bias velocity
-	//cpVect delta = cpvsub(cpvadd(b->p, joint->r2), cpvadd(a->p, joint->r1));
-	//joint->bias = cpvclamp(cpvmult(delta, -joint->constraint.biasCoef*dt_inv), joint->constraint.maxBias);
-
-	Vector2 delta = (B->get_transform().get_origin() + rB) - (A->get_transform().get_origin() + rA);
-
-	real_t _b = get_bias();
-	gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).limit_length(get_max_bias());
-
-	correct = true;
-	return true;
-}
-
-bool GrooveJoint2DSW::pre_solve(real_t p_step) {
-	// Apply accumulated impulse.
-	if (dynamic_A) {
-		A->apply_impulse(-jn_acc, rA);
-	}
-	if (dynamic_B) {
-		B->apply_impulse(jn_acc, rB);
-	}
-
-	return true;
-}
-
-void GrooveJoint2DSW::solve(real_t p_step) {
-	// compute impulse
-	Vector2 vr = relative_velocity(A, B, rA, rB);
-
-	Vector2 j = mult_k(gbias - vr, k1, k2);
-	Vector2 jOld = jn_acc;
-	j += jOld;
-
-	jn_acc = (((clamp * j.cross(xf_normal)) > 0) ? j : j.project(xf_normal)).limit_length(jn_max);
-
-	j = jn_acc - jOld;
-
-	if (dynamic_A) {
-		A->apply_impulse(-j, rA);
-	}
-	if (dynamic_B) {
-		B->apply_impulse(j, rB);
-	}
-}
-
-GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) :
-		Joint2DSW(_arr, 2) {
-	A = p_body_a;
-	B = p_body_b;
-
-	A_groove_1 = A->get_inv_transform().xform(p_a_groove1);
-	A_groove_2 = A->get_inv_transform().xform(p_a_groove2);
-	B_anchor = B->get_inv_transform().xform(p_b_anchor);
-	A_groove_normal = -(A_groove_2 - A_groove_1).normalized().orthogonal();
-
-	A->add_constraint(this, 0);
-	B->add_constraint(this, 1);
-}
-
-//////////////////////////////////////////////
-//////////////////////////////////////////////
-//////////////////////////////////////////////
-
-bool DampedSpringJoint2DSW::setup(real_t p_step) {
-	dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
-	dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
-
-	if (!dynamic_A && !dynamic_B) {
-		return false;
-	}
-
-	rA = A->get_transform().basis_xform(anchor_A);
-	rB = B->get_transform().basis_xform(anchor_B);
-
-	Vector2 delta = (B->get_transform().get_origin() + rB) - (A->get_transform().get_origin() + rA);
-	real_t dist = delta.length();
-
-	if (dist) {
-		n = delta / dist;
-	} else {
-		n = Vector2();
-	}
-
-	real_t k = k_scalar(A, B, rA, rB, n);
-	n_mass = 1.0f / k;
-
-	target_vrn = 0.0f;
-	v_coef = 1.0f - Math::exp(-damping * (p_step)*k);
-
-	// Calculate spring force.
-	real_t f_spring = (rest_length - dist) * stiffness;
-	j = n * f_spring * (p_step);
-
-	return true;
-}
-
-bool DampedSpringJoint2DSW::pre_solve(real_t p_step) {
-	// Apply spring force.
-	if (dynamic_A) {
-		A->apply_impulse(-j, rA);
-	}
-	if (dynamic_B) {
-		B->apply_impulse(j, rB);
-	}
-
-	return true;
-}
-
-void DampedSpringJoint2DSW::solve(real_t p_step) {
-	// compute relative velocity
-	real_t vrn = normal_relative_velocity(A, B, rA, rB, n) - target_vrn;
-
-	// compute velocity loss from drag
-	// not 100% certain this is derived correctly, though it makes sense
-	real_t v_damp = -vrn * v_coef;
-	target_vrn = vrn + v_damp;
-	Vector2 j = n * v_damp * n_mass;
-
-	if (dynamic_A) {
-		A->apply_impulse(-j, rA);
-	}
-	if (dynamic_B) {
-		B->apply_impulse(j, rB);
-	}
-}
-
-void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
-	switch (p_param) {
-		case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: {
-			rest_length = p_value;
-		} break;
-		case PhysicsServer2D::DAMPED_SPRING_DAMPING: {
-			damping = p_value;
-		} break;
-		case PhysicsServer2D::DAMPED_SPRING_STIFFNESS: {
-			stiffness = p_value;
-		} break;
-	}
-}
-
-real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_param) const {
-	switch (p_param) {
-		case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: {
-			return rest_length;
-		} break;
-		case PhysicsServer2D::DAMPED_SPRING_DAMPING: {
-			return damping;
-		} break;
-		case PhysicsServer2D::DAMPED_SPRING_STIFFNESS: {
-			return stiffness;
-		} break;
-	}
-
-	ERR_FAIL_V(0);
-}
-
-DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b) :
-		Joint2DSW(_arr, 2) {
-	A = p_body_a;
-	B = p_body_b;
-	anchor_A = A->get_inv_transform().xform(p_anchor_a);
-	anchor_B = B->get_inv_transform().xform(p_anchor_b);
-
-	rest_length = p_anchor_a.distance_to(p_anchor_b);
-
-	A->add_constraint(this, 0);
-	B->add_constraint(this, 1);
-}