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, 279 insertions, 0 deletions

diff --git a/servers/physics_3d/godot_soft_body_3d.h b/servers/physics_3d/godot_soft_body_3d.h
new file mode 100644
index 0000000000..008d5dddb8
--- /dev/null
+++ b/servers/physics_3d/godot_soft_body_3d.h
@@ -0,0 +1,279 @@
+/*************************************************************************/
+/*  godot_soft_body_3d.h                                                 */
+/*************************************************************************/
+/*                       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.                */
+/*************************************************************************/
+
+#ifndef GODOT_SOFT_BODY_3D_H
+#define GODOT_SOFT_BODY_3D_H
+
+#include "godot_area_3d.h"
+#include "godot_collision_object_3d.h"
+
+#include "core/math/aabb.h"
+#include "core/math/dynamic_bvh.h"
+#include "core/math/vector3.h"
+#include "core/templates/local_vector.h"
+#include "core/templates/set.h"
+#include "core/templates/vset.h"
+
+class GodotConstraint3D;
+
+class GodotSoftBody3D : public GodotCollisionObject3D {
+	RID soft_mesh;
+
+	struct Node {
+		Vector3 s; // Source position
+		Vector3 x; // Position
+		Vector3 q; // Previous step position/Test position
+		Vector3 f; // Force accumulator
+		Vector3 v; // Velocity
+		Vector3 bv; // Biased Velocity
+		Vector3 n; // Normal
+		real_t area = 0.0; // Area
+		real_t im = 0.0; // 1/mass
+		DynamicBVH::ID leaf; // Leaf data
+		uint32_t index = 0;
+	};
+
+	struct Link {
+		Vector3 c3; // gradient
+		Node *n[2] = { nullptr, nullptr }; // Node pointers
+		real_t rl = 0.0; // Rest length
+		real_t c0 = 0.0; // (ima+imb)*kLST
+		real_t c1 = 0.0; // rl^2
+		real_t c2 = 0.0; // |gradient|^2/c0
+	};
+
+	struct Face {
+		Vector3 centroid;
+		Node *n[3] = { nullptr, nullptr, nullptr }; // Node pointers
+		Vector3 normal; // Normal
+		real_t ra = 0.0; // Rest area
+		DynamicBVH::ID leaf; // Leaf data
+		uint32_t index = 0;
+	};
+
+	LocalVector<Node> nodes;
+	LocalVector<Link> links;
+	LocalVector<Face> faces;
+
+	DynamicBVH node_tree;
+	DynamicBVH face_tree;
+
+	LocalVector<uint32_t> map_visual_to_physics;
+
+	AABB bounds;
+
+	real_t collision_margin = 0.05;
+
+	real_t total_mass = 1.0;
+	real_t inv_total_mass = 1.0;
+
+	int iteration_count = 5;
+	real_t linear_stiffness = 0.5; // [0,1]
+	real_t pressure_coefficient = 0.0; // [-inf,+inf]
+	real_t damping_coefficient = 0.01; // [0,1]
+	real_t drag_coefficient = 0.0; // [0,1]
+	LocalVector<int> pinned_vertices;
+
+	Vector3 gravity;
+
+	SelfList<GodotSoftBody3D> active_list;
+
+	Set<GodotConstraint3D *> constraints;
+
+	Vector<AreaCMP> areas;
+
+	VSet<RID> exceptions;
+
+	uint64_t island_step = 0;
+
+	_FORCE_INLINE_ void _compute_area_gravity(const GodotArea3D *p_area);
+	_FORCE_INLINE_ Vector3 _compute_area_windforce(const GodotArea3D *p_area, const Face *p_face);
+
+public:
+	GodotSoftBody3D();
+
+	const AABB &get_bounds() const { return bounds; }
+
+	void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
+	Variant get_state(PhysicsServer3D::BodyState p_state) const;
+
+	_FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint) { constraints.insert(p_constraint); }
+	_FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraints.erase(p_constraint); }
+	_FORCE_INLINE_ const Set<GodotConstraint3D *> &get_constraints() const { return constraints; }
+	_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
+
+	_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
+	_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
+	_FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); }
+	_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
+
+	_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
+	_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
+
+	_FORCE_INLINE_ void add_area(GodotArea3D *p_area) {
+		int index = areas.find(AreaCMP(p_area));
+		if (index > -1) {
+			areas.write[index].refCount += 1;
+		} else {
+			areas.ordered_insert(AreaCMP(p_area));
+		}
+	}
+
+	_FORCE_INLINE_ void remove_area(GodotArea3D *p_area) {
+		int index = areas.find(AreaCMP(p_area));
+		if (index > -1) {
+			areas.write[index].refCount -= 1;
+			if (areas[index].refCount < 1) {
+				areas.remove(index);
+			}
+		}
+	}
+
+	virtual void set_space(GodotSpace3D *p_space);
+
+	void set_mesh(RID p_mesh);
+
+	void update_rendering_server(RenderingServerHandler *p_rendering_server_handler);
+
+	Vector3 get_vertex_position(int p_index) const;
+	void set_vertex_position(int p_index, const Vector3 &p_position);
+
+	void pin_vertex(int p_index);
+	void unpin_vertex(int p_index);
+	void unpin_all_vertices();
+	bool is_vertex_pinned(int p_index) const;
+
+	uint32_t get_node_count() const;
+	real_t get_node_inv_mass(uint32_t p_node_index) const;
+	Vector3 get_node_position(uint32_t p_node_index) const;
+	Vector3 get_node_velocity(uint32_t p_node_index) const;
+	Vector3 get_node_biased_velocity(uint32_t p_node_index) const;
+	void apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse);
+	void apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse);
+
+	uint32_t get_face_count() const;
+	void get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const;
+	Vector3 get_face_normal(uint32_t p_face_index) const;
+
+	void set_iteration_count(int p_val);
+	_FORCE_INLINE_ real_t get_iteration_count() const { return iteration_count; }
+
+	void set_total_mass(real_t p_val);
+	_FORCE_INLINE_ real_t get_total_mass() const { return total_mass; }
+	_FORCE_INLINE_ real_t get_total_inv_mass() const { return inv_total_mass; }
+
+	void set_collision_margin(real_t p_val);
+	_FORCE_INLINE_ real_t get_collision_margin() const { return collision_margin; }
+
+	void set_linear_stiffness(real_t p_val);
+	_FORCE_INLINE_ real_t get_linear_stiffness() const { return linear_stiffness; }
+
+	void set_pressure_coefficient(real_t p_val);
+	_FORCE_INLINE_ real_t get_pressure_coefficient() const { return pressure_coefficient; }
+
+	void set_damping_coefficient(real_t p_val);
+	_FORCE_INLINE_ real_t get_damping_coefficient() const { return damping_coefficient; }
+
+	void set_drag_coefficient(real_t p_val);
+	_FORCE_INLINE_ real_t get_drag_coefficient() const { return drag_coefficient; }
+
+	void predict_motion(real_t p_delta);
+	void solve_constraints(real_t p_delta);
+
+	_FORCE_INLINE_ uint32_t get_node_index(void *p_node) const { return ((Node *)p_node)->index; }
+	_FORCE_INLINE_ uint32_t get_face_index(void *p_face) const { return ((Face *)p_face)->index; }
+
+	// Return true to stop the query.
+	// p_index is the node index for AABB query, face index for Ray query.
+	typedef bool (*QueryResultCallback)(uint32_t p_index, void *p_userdata);
+
+	void query_aabb(const AABB &p_aabb, QueryResultCallback p_result_callback, void *p_userdata);
+	void query_ray(const Vector3 &p_from, const Vector3 &p_to, QueryResultCallback p_result_callback, void *p_userdata);
+
+protected:
+	virtual void _shapes_changed();
+
+private:
+	void update_normals_and_centroids();
+	void update_bounds();
+	void update_constants();
+	void update_area();
+	void reset_link_rest_lengths();
+	void update_link_constants();
+
+	void apply_nodes_transform(const Transform3D &p_transform);
+
+	void add_velocity(const Vector3 &p_velocity);
+
+	void apply_forces(bool p_has_wind_forces);
+
+	bool create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices);
+	void generate_bending_constraints(int p_distance);
+	void reoptimize_link_order();
+	void append_link(uint32_t p_node1, uint32_t p_node2);
+	void append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3);
+
+	void solve_links(real_t kst, real_t ti);
+
+	void initialize_face_tree();
+	void update_face_tree(real_t p_delta);
+
+	void initialize_shape(bool p_force_move = true);
+	void deinitialize_shape();
+
+	void destroy();
+};
+
+class GodotSoftBodyShape3D : public GodotShape3D {
+	GodotSoftBody3D *soft_body = nullptr;
+
+public:
+	GodotSoftBody3D *get_soft_body() const { return soft_body; }
+
+	virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SOFT_BODY; }
+	virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { r_min = r_max = 0.0; }
+	virtual Vector3 get_support(const Vector3 &p_normal) const { return Vector3(); }
+	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { r_amount = 0; }
+
+	virtual bool intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const;
+	virtual bool intersect_point(const Vector3 &p_point) const;
+	virtual Vector3 get_closest_point_to(const Vector3 &p_point) const;
+	virtual Vector3 get_moment_of_inertia(real_t p_mass) const { return Vector3(); }
+
+	virtual void set_data(const Variant &p_data) {}
+	virtual Variant get_data() const { return Variant(); }
+
+	void update_bounds();
+
+	GodotSoftBodyShape3D(GodotSoftBody3D *p_soft_body);
+	~GodotSoftBodyShape3D() {}
+};
+
+#endif // GODOT_SOFT_BODY_3D_H