diff options
Diffstat (limited to 'servers/physics/body_sw.h')
| -rw-r--r-- | servers/physics/body_sw.h | 262 |
1 files changed, 138 insertions, 124 deletions
diff --git a/servers/physics/body_sw.h b/servers/physics/body_sw.h index 2383d2d688..4b1af6fca5 100644 --- a/servers/physics/body_sw.h +++ b/servers/physics/body_sw.h @@ -29,16 +29,14 @@ #ifndef BODY_SW_H #define BODY_SW_H +#include "area_sw.h" #include "collision_object_sw.h" #include "vset.h" -#include "area_sw.h" class ConstraintSW; - class BodySW : public CollisionObjectSW { - PhysicsServer::BodyMode mode; Vector3 linear_velocity; @@ -78,7 +76,6 @@ class BodySW : public CollisionObjectSW { 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; @@ -96,23 +93,25 @@ class BodySW : public CollisionObjectSW { virtual void _shapes_changed(); Transform new_transform; - Map<ConstraintSW*,int> constraint_map; + 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_ 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;} + _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; @@ -136,7 +135,6 @@ class BodySW : public CollisionObjectSW { ForceIntegrationCallback *fi_callback; - uint64_t island_step; BodySW *island_next; BodySW *island_list_next; @@ -145,16 +143,14 @@ class BodySW : public CollisionObjectSW { _FORCE_INLINE_ void _update_transform_dependant(); -friend class PhysicsDirectBodyStateSW; // i give up, too many functions to expose + 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_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); _FORCE_INLINE_ void add_area(AreaSW *p_area) { int index = areas.find(AreaCMP(p_area)); - if( index > -1 ) { + if (index > -1) { areas[index].refCount += 1; } else { areas.ordered_insert(AreaCMP(p_area)); @@ -163,77 +159,80 @@ public: _FORCE_INLINE_ void remove_area(AreaSW *p_area) { int index = areas.find(AreaCMP(p_area)); - if( index > -1 ) { + if (index > -1) { areas[index].refCount -= 1; - if( areas[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_ 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_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_ 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 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_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_ 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 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 set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration=p_omit_force_integration; } + _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_ 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_ 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_ 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_ 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_impulse(const Vector3& p_pos, const Vector3& p_j) { + _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) ); + angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j)); } - _FORCE_INLINE_ void apply_torque_impulse(const Vector3& 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) { + _FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j) { biased_linear_velocity += p_j * _inv_mass; - biased_angular_velocity += _inv_inertia_tensor.xform( (p_pos-center_of_mass).cross(p_j) ); + biased_angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j)); } - _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3& p_j) { + _FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) { biased_angular_velocity += _inv_inertia_tensor.xform(p_j); } - _FORCE_INLINE_ void add_force(const Vector3& p_force, const Vector3& p_pos) { + _FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) { applied_force += p_force; applied_torque += p_pos.cross(p_force); @@ -243,7 +242,7 @@ public: _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) + if ((!get_space()) || mode == PhysicsServer::BODY_MODE_STATIC || mode == PhysicsServer::BODY_MODE_KINEMATIC) return; set_active(true); } @@ -254,16 +253,16 @@ public: void set_mode(PhysicsServer::BodyMode p_mode); PhysicsServer::BodyMode get_mode() const; - void set_state(PhysicsServer::BodyState p_state, const Variant& p_variant); + 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; } + 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; } + 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_ 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); @@ -277,33 +276,32 @@ public: _FORCE_INLINE_ Vector3 get_gravity() const { return gravity; } _FORCE_INLINE_ real_t get_bounce() const { return bounce; } - _FORCE_INLINE_ void set_axis_lock(PhysicsServer::BodyAxisLock p_lock) { axis_lock=p_lock; } + _FORCE_INLINE_ void set_axis_lock(PhysicsServer::BodyAxisLock p_lock) { axis_lock = p_lock; } _FORCE_INLINE_ PhysicsServer::BodyAxisLock get_axis_lock() const { return axis_lock; } 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 { + _FORCE_INLINE_ Vector3 get_velocity_in_local_point(const Vector3 &rel_pos) const { - return linear_velocity + angular_velocity.cross(rel_pos-center_of_mass); + 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 { + _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 r0 = p_pos - get_transform().origin - center_of_mass; - Vector3 c0 = (r0).cross(p_normal); + Vector3 c0 = (r0).cross(p_normal); - Vector3 vec = (_inv_inertia_tensor.xform_inv(c0)).cross(r0); + Vector3 vec = (_inv_inertia_tensor.xform_inv(c0)).cross(r0); - return _inv_mass + p_normal.dot(vec); - - } + return _inv_mass + p_normal.dot(vec); + } - _FORCE_INLINE_ real_t compute_angular_impulse_denominator(const Vector3& p_axis) const { + _FORCE_INLINE_ real_t compute_angular_impulse_denominator(const Vector3 &p_axis) const { - return p_axis.dot( _inv_inertia_tensor.xform_inv(p_axis) ); - } + 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(); @@ -313,117 +311,133 @@ public: 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) { +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(); + int c_max = contacts.size(); - if (c_max==0) + if (c_max == 0) return; Contact *c = &contacts[0]; + int idx = -1; - int idx=-1; - - if (contact_count<c_max) { - idx=contact_count++; + 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++) { + 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 (i == 0 || c[i].depth < least_depth) { + least_deep = i; + least_depth = c[i].depth; } } - if (least_deep>=0 && least_depth<p_depth) { + if (least_deep >= 0 && least_depth < p_depth) { - idx=least_deep; + idx = least_deep; } - if (idx==-1) + 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; - + 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 ); + 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_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 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_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_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 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_force(const Vector3& p_force, const Vector3& p_pos) { body->add_force(p_force,p_pos); } - 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 add_force(const Vector3 &p_force, const Vector3 &p_pos) { body->add_force(p_force, p_pos); } + 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 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 int get_contact_count() const { return body->contact_count; } virtual Vector3 get_contact_local_pos(int p_contact_idx) const { - ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3()); + 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 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_pos(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,0); 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_pos(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 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 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 PhysicsDirectSpaceState* get_space_state(); + 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_pos(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, 0); + 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_pos(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; } + PhysicsDirectBodyStateSW() { + singleton = this; + body = NULL; + } }; - #endif // BODY__SW_H |