diff options
Diffstat (limited to 'servers/physics/space_sw.cpp')
| -rw-r--r-- | servers/physics/space_sw.cpp | 429 |
1 files changed, 429 insertions, 0 deletions
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp new file mode 100644 index 0000000000..ca3aa7e1f5 --- /dev/null +++ b/servers/physics/space_sw.cpp @@ -0,0 +1,429 @@ +/*************************************************************************/ +/* space_sw.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* 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 "space_sw.h"
+#include "collision_solver_sw.h"
+#include "physics_server_sw.h"
+
+
+bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_user_mask) {
+
+
+ ERR_FAIL_COND_V(space->locked,false);
+
+ Vector3 begin,end;
+ Vector3 normal;
+ begin=p_from;
+ end=p_to;
+ normal=(end-begin).normalized();
+
+
+ int amount = space->broadphase->cull_segment(begin,end,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
+
+
+ //todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
+
+ bool collided=false;
+ Vector3 res_point,res_normal;
+ int res_shape;
+ const CollisionObjectSW *res_obj;
+ real_t min_d=1e10;
+
+
+ for(int i=0;i<amount;i++) {
+
+ if (space->intersection_query_results[i]->get_type()==CollisionObjectSW::TYPE_AREA)
+ continue; //ignore area
+
+ if (p_exclude.has( space->intersection_query_results[i]->get_self()))
+ continue;
+
+ const CollisionObjectSW *col_obj=space->intersection_query_results[i];
+
+ int shape_idx=space->intersection_query_subindex_results[i];
+ Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
+
+ Vector3 local_from = inv_xform.xform(begin);
+ Vector3 local_to = inv_xform.xform(end);
+
+ const ShapeSW *shape = col_obj->get_shape(shape_idx);
+
+ Vector3 shape_point,shape_normal;
+
+ if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) {
+
+ Transform xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
+ shape_point=xform.xform(shape_point);
+
+ real_t ld = normal.dot(shape_point);
+
+
+ if (ld<min_d) {
+
+ min_d=ld;
+ res_point=shape_point;
+ res_normal=inv_xform.basis.xform_inv(shape_normal).normalized();
+ res_shape=shape_idx;
+ res_obj=col_obj;
+ collided=true;
+ }
+ }
+
+ }
+
+ if (!collided)
+ return false;
+
+
+ r_result.collider_id=res_obj->get_instance_id();
+ if (r_result.collider_id!=0)
+ r_result.collider=ObjectDB::get_instance(r_result.collider_id);
+ r_result.normal=res_normal;
+ r_result.position=res_point;
+ r_result.rid=res_obj->get_self();
+ r_result.shape=res_shape;
+
+ return true;
+
+}
+
+
+int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_user_mask) {
+
+ if (p_result_max<=0)
+ return 0;
+
+ ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
+ ERR_FAIL_COND_V(!shape,0);
+
+ AABB aabb = p_xform.xform(shape->get_aabb());
+
+ int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
+
+ bool collided=false;
+ int cc=0;
+
+ //Transform ai = p_xform.affine_inverse();
+
+ for(int i=0;i<amount;i++) {
+
+ if (cc>=p_result_max)
+ break;
+
+ if (space->intersection_query_results[i]->get_type()==CollisionObjectSW::TYPE_AREA)
+ continue; //ignore area
+
+ if (p_exclude.has( space->intersection_query_results[i]->get_self()))
+ continue;
+
+
+ const CollisionObjectSW *col_obj=space->intersection_query_results[i];
+ int shape_idx=space->intersection_query_subindex_results[i];
+
+ if (!CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL,NULL,NULL))
+ continue;
+
+ r_results[cc].collider_id=col_obj->get_instance_id();
+ if (r_results[cc].collider_id!=0)
+ r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
+ r_results[cc].rid=col_obj->get_self();
+ r_results[cc].shape=shape_idx;
+
+ cc++;
+
+ }
+
+ return cc;
+
+}
+
+PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() {
+
+
+ space=NULL;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
+
+
+
+
+
+
+
+
+void* SpaceSW::_broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self) {
+
+ CollisionObjectSW::Type type_A=A->get_type();
+ CollisionObjectSW::Type type_B=B->get_type();
+ if (type_A>type_B) {
+
+ SWAP(A,B);
+ SWAP(p_subindex_A,p_subindex_B);
+ SWAP(type_A,type_B);
+ }
+
+ SpaceSW *self = (SpaceSW*)p_self;
+
+ if (type_A==CollisionObjectSW::TYPE_AREA) {
+
+
+ ERR_FAIL_COND_V(type_B!=CollisionObjectSW::TYPE_BODY,NULL);
+ AreaSW *area=static_cast<AreaSW*>(A);
+ BodySW *body=static_cast<BodySW*>(B);
+
+
+ AreaPairSW *area_pair = memnew(AreaPairSW(body,p_subindex_B,area,p_subindex_A) );
+
+ return area_pair;
+ } else {
+
+
+ BodyPairSW *b = memnew( BodyPairSW((BodySW*)A,p_subindex_A,(BodySW*)B,p_subindex_B) );
+ return b;
+
+ }
+
+ return NULL;
+}
+
+void SpaceSW::_broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self) {
+
+
+
+ SpaceSW *self = (SpaceSW*)p_self;
+ ConstraintSW *c = (ConstraintSW*)p_data;
+ memdelete(c);
+}
+
+
+const SelfList<BodySW>::List& SpaceSW::get_active_body_list() const {
+
+ return active_list;
+}
+void SpaceSW::body_add_to_active_list(SelfList<BodySW>* p_body) {
+
+ active_list.add(p_body);
+}
+void SpaceSW::body_remove_from_active_list(SelfList<BodySW>* p_body) {
+
+ active_list.remove(p_body);
+
+}
+
+void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW>* p_body) {
+
+
+ inertia_update_list.add(p_body);
+}
+
+void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW>* p_body) {
+
+ inertia_update_list.remove(p_body);
+}
+
+BroadPhaseSW *SpaceSW::get_broadphase() {
+
+ return broadphase;
+}
+
+void SpaceSW::add_object(CollisionObjectSW *p_object) {
+
+ ERR_FAIL_COND( objects.has(p_object) );
+ objects.insert(p_object);
+}
+
+void SpaceSW::remove_object(CollisionObjectSW *p_object) {
+
+ ERR_FAIL_COND( !objects.has(p_object) );
+ objects.erase(p_object);
+}
+
+const Set<CollisionObjectSW*> &SpaceSW::get_objects() const {
+
+ return objects;
+}
+
+void SpaceSW::body_add_to_state_query_list(SelfList<BodySW>* p_body) {
+
+ state_query_list.add(p_body);
+}
+void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW>* p_body) {
+
+ state_query_list.remove(p_body);
+}
+
+void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW>* p_area) {
+
+ monitor_query_list.add(p_area);
+}
+void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area) {
+
+ monitor_query_list.remove(p_area);
+}
+
+void SpaceSW::area_add_to_moved_list(SelfList<AreaSW>* p_area) {
+
+ area_moved_list.add(p_area);
+}
+
+void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW>* p_area) {
+
+ area_moved_list.remove(p_area);
+}
+
+const SelfList<AreaSW>::List& SpaceSW::get_moved_area_list() const {
+
+ return area_moved_list;
+}
+
+
+
+
+void SpaceSW::call_queries() {
+
+ while(state_query_list.first()) {
+
+ BodySW * b = state_query_list.first()->self();
+ b->call_queries();
+ state_query_list.remove(state_query_list.first());
+ }
+
+ while(monitor_query_list.first()) {
+
+ AreaSW * a = monitor_query_list.first()->self();
+ a->call_queries();
+ monitor_query_list.remove(monitor_query_list.first());
+ }
+
+}
+
+void SpaceSW::setup() {
+
+
+ while(inertia_update_list.first()) {
+ inertia_update_list.first()->self()->update_inertias();
+ inertia_update_list.remove(inertia_update_list.first());
+ }
+
+
+}
+
+void SpaceSW::update() {
+
+ broadphase->update();
+
+}
+
+
+void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
+
+ switch(p_param) {
+
+ case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
+ case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_treshold=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_treshold=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
+ case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
+ }
+}
+
+real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
+
+ switch(p_param) {
+
+ case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
+ case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
+ case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
+ case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_treshold;
+ case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_treshold;
+ case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
+ case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
+ case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
+ }
+ return 0;
+}
+
+void SpaceSW::lock() {
+
+ locked=true;
+}
+
+void SpaceSW::unlock() {
+
+ locked=false;
+}
+
+bool SpaceSW::is_locked() const {
+
+ return locked;
+}
+
+PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() {
+
+ return direct_access;
+}
+
+SpaceSW::SpaceSW() {
+
+
+ locked=false;
+ contact_recycle_radius=0.01;
+ contact_max_separation=0.05;
+ contact_max_allowed_penetration= 0.01;
+
+ constraint_bias = 0.01;
+ body_linear_velocity_sleep_treshold=0.01;
+ body_angular_velocity_sleep_treshold=(8.0 / 180.0 * Math_PI);
+ body_time_to_sleep=0.5;
+ body_angular_velocity_damp_ratio=10;
+
+
+ broadphase = BroadPhaseSW::create_func();
+ broadphase->set_pair_callback(_broadphase_pair,this);
+ broadphase->set_unpair_callback(_broadphase_unpair,this);
+ area=NULL;
+
+ direct_access = memnew( PhysicsDirectSpaceStateSW );
+ direct_access->space=this;
+}
+
+SpaceSW::~SpaceSW() {
+
+ memdelete(broadphase);
+ memdelete( direct_access );
+}
+
+
+
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