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-/*************************************************************************/
-/* body_sw.h */
-/*************************************************************************/
-/* 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: */
-/* */
-/* 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 BODY_SW_H
-#define BODY_SW_H
-
-#include "area_sw.h"
-#include "collision_object_sw.h"
-#include "core/vset.h"
-
-class ConstraintSW;
-
-class BodySW : public CollisionObjectSW {
-
- PhysicsServer::BodyMode mode;
-
- Vector3 linear_velocity;
- Vector3 angular_velocity;
-
- Vector3 biased_linear_velocity;
- Vector3 biased_angular_velocity;
- real_t mass;
- real_t bounce;
- real_t friction;
-
- real_t linear_damp;
- real_t angular_damp;
- real_t gravity_scale;
-
- uint16_t locked_axis;
-
- real_t kinematic_safe_margin;
- real_t _inv_mass;
- Vector3 _inv_inertia; // Relative to the principal axes of inertia
-
- // Relative to the local frame of reference
- Basis principal_inertia_axes_local;
- Vector3 center_of_mass_local;
-
- // In world orientation with local origin
- Basis _inv_inertia_tensor;
- Basis principal_inertia_axes;
- Vector3 center_of_mass;
-
- Vector3 gravity;
-
- real_t still_time;
-
- Vector3 applied_force;
- Vector3 applied_torque;
-
- real_t area_angular_damp;
- real_t area_linear_damp;
-
- SelfList<BodySW> active_list;
- SelfList<BodySW> inertia_update_list;
- SelfList<BodySW> direct_state_query_list;
-
- VSet<RID> exceptions;
- bool omit_force_integration;
- bool active;
-
- bool first_integration;
-
- bool continuous_cd;
- bool can_sleep;
- bool first_time_kinematic;
- void _update_inertia();
- virtual void _shapes_changed();
- Transform new_transform;
-
- Map<ConstraintSW *, int> constraint_map;
-
- struct AreaCMP {
-
- AreaSW *area;
- int refCount;
- _FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
- _FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
- _FORCE_INLINE_ AreaCMP() {}
- _FORCE_INLINE_ AreaCMP(AreaSW *p_area) {
- area = p_area;
- refCount = 1;
- }
- };
-
- Vector<AreaCMP> areas;
-
- struct Contact {
-
- Vector3 local_pos;
- Vector3 local_normal;
- real_t depth;
- int local_shape;
- Vector3 collider_pos;
- int collider_shape;
- ObjectID collider_instance_id;
- RID collider;
- Vector3 collider_velocity_at_pos;
- };
-
- Vector<Contact> contacts; //no contacts by default
- int contact_count;
-
- struct ForceIntegrationCallback {
-
- ObjectID id;
- StringName method;
- Variant udata;
- };
-
- ForceIntegrationCallback *fi_callback;
-
- uint64_t island_step;
- BodySW *island_next;
- BodySW *island_list_next;
-
- _FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const AreaSW *p_area);
-
- _FORCE_INLINE_ void _update_transform_dependant();
-
- friend class PhysicsDirectBodyStateSW; // i give up, too many functions to expose
-
-public:
- void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
-
- void set_kinematic_margin(real_t p_margin);
- _FORCE_INLINE_ real_t get_kinematic_margin() { return kinematic_safe_margin; }
-
- _FORCE_INLINE_ void add_area(AreaSW *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(AreaSW *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);
- }
- }
-
- _FORCE_INLINE_ void set_max_contacts_reported(int p_size) {
- contacts.resize(p_size);
- contact_count = 0;
- if (mode == PhysicsServer::BODY_MODE_KINEMATIC && p_size) set_active(true);
- }
- _FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
-
- _FORCE_INLINE_ bool can_report_contacts() const { return !contacts.empty(); }
- _FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos);
-
- _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_ BodySW *get_island_next() const { return island_next; }
- _FORCE_INLINE_ void set_island_next(BodySW *p_next) { island_next = p_next; }
-
- _FORCE_INLINE_ BodySW *get_island_list_next() const { return island_list_next; }
- _FORCE_INLINE_ void set_island_list_next(BodySW *p_next) { island_list_next = p_next; }
-
- _FORCE_INLINE_ void add_constraint(ConstraintSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
- _FORCE_INLINE_ void remove_constraint(ConstraintSW *p_constraint) { constraint_map.erase(p_constraint); }
- const Map<ConstraintSW *, int> &get_constraint_map() const { return constraint_map; }
- _FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); }
-
- _FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
- _FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }
-
- _FORCE_INLINE_ Basis get_principal_inertia_axes() const { return principal_inertia_axes; }
- _FORCE_INLINE_ Vector3 get_center_of_mass() const { return center_of_mass; }
- _FORCE_INLINE_ Vector3 xform_local_to_principal(const Vector3 &p_pos) const { return principal_inertia_axes_local.xform(p_pos - center_of_mass_local); }
-
- _FORCE_INLINE_ void set_linear_velocity(const Vector3 &p_velocity) { linear_velocity = p_velocity; }
- _FORCE_INLINE_ Vector3 get_linear_velocity() const { return linear_velocity; }
-
- _FORCE_INLINE_ void set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; }
- _FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; }
-
- _FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; }
- _FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; }
-
- _FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_j) {
- linear_velocity += p_j * _inv_mass;
- }
-
- _FORCE_INLINE_ void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
-
- linear_velocity += p_j * _inv_mass;
- angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
- }
-
- _FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_j) {
-
- angular_velocity += _inv_inertia_tensor.xform(p_j);
- }
-
- _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j, real_t p_max_delta_av = -1.0) {
-
- biased_linear_velocity += p_j * _inv_mass;
- if (p_max_delta_av != 0.0) {
- Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
- if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) {
- delta_av = delta_av.normalized() * p_max_delta_av;
- }
- biased_angular_velocity += delta_av;
- }
- }
-
- _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) {
-
- biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
- }
-
- _FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
-
- applied_force += p_force;
- }
-
- _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) {
-
- applied_force += p_force;
- applied_torque += p_pos.cross(p_force);
- }
-
- _FORCE_INLINE_ void add_torque(const Vector3 &p_torque) {
- applied_torque += p_torque;
- }
-
- void set_active(bool p_active);
- _FORCE_INLINE_ bool is_active() const { return active; }
-
- _FORCE_INLINE_ void wakeup() {
- if ((!get_space()) || mode == PhysicsServer::BODY_MODE_STATIC || mode == PhysicsServer::BODY_MODE_KINEMATIC)
- return;
- set_active(true);
- }
-
- void set_param(PhysicsServer::BodyParameter p_param, real_t);
- real_t get_param(PhysicsServer::BodyParameter p_param) const;
-
- void set_mode(PhysicsServer::BodyMode p_mode);
- PhysicsServer::BodyMode get_mode() const;
-
- void set_state(PhysicsServer::BodyState p_state, const Variant &p_variant);
- Variant get_state(PhysicsServer::BodyState p_state) const;
-
- void set_applied_force(const Vector3 &p_force) { applied_force = p_force; }
- Vector3 get_applied_force() const { return applied_force; }
-
- void set_applied_torque(const Vector3 &p_torque) { applied_torque = p_torque; }
- Vector3 get_applied_torque() const { return applied_torque; }
-
- _FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; }
- _FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; }
-
- void set_space(SpaceSW *p_space);
-
- void update_inertias();
-
- _FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; }
- _FORCE_INLINE_ Vector3 get_inv_inertia() const { return _inv_inertia; }
- _FORCE_INLINE_ Basis get_inv_inertia_tensor() const { return _inv_inertia_tensor; }
- _FORCE_INLINE_ real_t get_friction() const { return friction; }
- _FORCE_INLINE_ Vector3 get_gravity() const { return gravity; }
- _FORCE_INLINE_ real_t get_bounce() const { return bounce; }
-
- void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock);
- bool is_axis_locked(PhysicsServer::BodyAxis p_axis) const;
-
- void integrate_forces(real_t p_step);
- void integrate_velocities(real_t p_step);
-
- _FORCE_INLINE_ Vector3 get_velocity_in_local_point(const Vector3 &rel_pos) const {
-
- return linear_velocity + angular_velocity.cross(rel_pos - center_of_mass);
- }
-
- _FORCE_INLINE_ real_t compute_impulse_denominator(const Vector3 &p_pos, const Vector3 &p_normal) const {
-
- Vector3 r0 = p_pos - get_transform().origin - center_of_mass;
-
- Vector3 c0 = (r0).cross(p_normal);
-
- Vector3 vec = (_inv_inertia_tensor.xform_inv(c0)).cross(r0);
-
- return _inv_mass + p_normal.dot(vec);
- }
-
- _FORCE_INLINE_ real_t compute_angular_impulse_denominator(const Vector3 &p_axis) const {
-
- return p_axis.dot(_inv_inertia_tensor.xform_inv(p_axis));
- }
-
- //void simulate_motion(const Transform& p_xform,real_t p_step);
- void call_queries();
- void wakeup_neighbours();
-
- bool sleep_test(real_t p_step);
-
- BodySW();
- ~BodySW();
-};
-
-//add contact inline
-
-void BodySW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) {
-
- int c_max = contacts.size();
-
- if (c_max == 0)
- return;
-
- Contact *c = contacts.ptrw();
-
- int idx = -1;
-
- if (contact_count < c_max) {
- idx = contact_count++;
- } else {
-
- real_t least_depth = 1e20;
- int least_deep = -1;
- for (int i = 0; i < c_max; i++) {
-
- if (i == 0 || c[i].depth < least_depth) {
- least_deep = i;
- least_depth = c[i].depth;
- }
- }
-
- if (least_deep >= 0 && least_depth < p_depth) {
-
- idx = least_deep;
- }
- if (idx == -1)
- return; //none least deepe than this
- }
-
- c[idx].local_pos = p_local_pos;
- c[idx].local_normal = p_local_normal;
- c[idx].depth = p_depth;
- c[idx].local_shape = p_local_shape;
- c[idx].collider_pos = p_collider_pos;
- c[idx].collider_shape = p_collider_shape;
- c[idx].collider_instance_id = p_collider_instance_id;
- c[idx].collider = p_collider;
- c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
-}
-
-class PhysicsDirectBodyStateSW : public PhysicsDirectBodyState {
-
- GDCLASS(PhysicsDirectBodyStateSW, PhysicsDirectBodyState);
-
-public:
- static PhysicsDirectBodyStateSW *singleton;
- BodySW *body;
- real_t step;
-
- virtual Vector3 get_total_gravity() const { return body->gravity; } // get gravity vector working on this body space/area
- virtual real_t get_total_angular_damp() const { return body->area_angular_damp; } // get density of this body space/area
- virtual real_t get_total_linear_damp() const { return body->area_linear_damp; } // get density of this body space/area
-
- virtual Vector3 get_center_of_mass() const { return body->get_center_of_mass(); }
- virtual Basis get_principal_inertia_axes() const { return body->get_principal_inertia_axes(); }
-
- virtual real_t get_inverse_mass() const { return body->get_inv_mass(); } // get the mass
- virtual Vector3 get_inverse_inertia() const { return body->get_inv_inertia(); } // get density of this body space
- virtual Basis get_inverse_inertia_tensor() const { return body->get_inv_inertia_tensor(); } // get density of this body space
-
- virtual void set_linear_velocity(const Vector3 &p_velocity) { body->set_linear_velocity(p_velocity); }
- virtual Vector3 get_linear_velocity() const { return body->get_linear_velocity(); }
-
- virtual void set_angular_velocity(const Vector3 &p_velocity) { body->set_angular_velocity(p_velocity); }
- virtual Vector3 get_angular_velocity() const { return body->get_angular_velocity(); }
-
- virtual void set_transform(const Transform &p_transform) { body->set_state(PhysicsServer::BODY_STATE_TRANSFORM, p_transform); }
- virtual Transform get_transform() const { return body->get_transform(); }
-
- virtual void add_central_force(const Vector3 &p_force) { body->add_central_force(p_force); }
- virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); }
- virtual void add_torque(const Vector3 &p_torque) { body->add_torque(p_torque); }
- virtual void apply_central_impulse(const Vector3 &p_j) { body->apply_central_impulse(p_j); }
- virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) { body->apply_impulse(p_pos, p_j); }
- virtual void apply_torque_impulse(const Vector3 &p_j) { body->apply_torque_impulse(p_j); }
-
- virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
- virtual bool is_sleeping() const { return !body->is_active(); }
-
- virtual int get_contact_count() const { return body->contact_count; }
-
- virtual Vector3 get_contact_local_position(int p_contact_idx) const {
- ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
- return body->contacts[p_contact_idx].local_pos;
- }
- virtual Vector3 get_contact_local_normal(int p_contact_idx) const {
- ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
- return body->contacts[p_contact_idx].local_normal;
- }
- virtual float get_contact_impulse(int p_contact_idx) const {
- return 0.0f; // Only implemented for bullet
- }
- virtual int get_contact_local_shape(int p_contact_idx) const {
- ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
- return body->contacts[p_contact_idx].local_shape;
- }
-
- virtual RID get_contact_collider(int p_contact_idx) const {
- ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
- return body->contacts[p_contact_idx].collider;
- }
- virtual Vector3 get_contact_collider_position(int p_contact_idx) const {
- ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
- return body->contacts[p_contact_idx].collider_pos;
- }
- virtual ObjectID get_contact_collider_id(int p_contact_idx) const {
- ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID());
- return body->contacts[p_contact_idx].collider_instance_id;
- }
- virtual int get_contact_collider_shape(int p_contact_idx) const {
- ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
- return body->contacts[p_contact_idx].collider_shape;
- }
- virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const {
- ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
- return body->contacts[p_contact_idx].collider_velocity_at_pos;
- }
-
- virtual PhysicsDirectSpaceState *get_space_state();
-
- virtual real_t get_step() const { return step; }
- PhysicsDirectBodyStateSW() {
- singleton = this;
- body = NULL;
- }
-};
-
-#endif // BODY__SW_H
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