diff options
Diffstat (limited to 'servers/physics/space_sw.cpp')
| -rw-r--r-- | servers/physics/space_sw.cpp | 561 |
1 files changed, 244 insertions, 317 deletions
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp index 0bc11041de..603c6fa3c4 100644 --- a/servers/physics/space_sw.cpp +++ b/servers/physics/space_sw.cpp @@ -26,66 +26,58 @@ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "global_config.h" #include "space_sw.h" #include "collision_solver_sw.h" +#include "global_config.h" #include "physics_server_sw.h" - _FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) { - if (p_object->get_type()==CollisionObjectSW::TYPE_AREA) - return p_type_mask&PhysicsDirectSpaceState::TYPE_MASK_AREA; + if (p_object->get_type() == CollisionObjectSW::TYPE_AREA) + return p_type_mask & PhysicsDirectSpaceState::TYPE_MASK_AREA; - if ((p_object->get_layer_mask()&p_layer_mask)==0) + if ((p_object->get_layer_mask() & p_layer_mask) == 0) return false; - BodySW *body = static_cast<BodySW*>(p_object); - - return (1<<body->get_mode())&p_type_mask; + BodySW *body = static_cast<BodySW *>(p_object); + return (1 << body->get_mode()) & p_type_mask; } +bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, bool p_pick_ray) { -bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to, RayResult &r_result, const Set<RID>& p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, bool p_pick_ray) { - + ERR_FAIL_COND_V(space->locked, false); - ERR_FAIL_COND_V(space->locked,false); - - Vector3 begin,end; + 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); + 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; + bool collided = false; + Vector3 res_point, res_normal; int res_shape; const CollisionObjectSW *res_obj; - real_t min_d=1e10; - - + real_t min_d = 1e10; - for(int i=0;i<amount;i++) { + for (int i = 0; i < amount; i++) { - if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask)) + if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; - if (p_pick_ray && !(static_cast<CollisionObjectSW*>(space->intersection_query_results[i])->is_ray_pickable())) + if (p_pick_ray && !(static_cast<CollisionObjectSW *>(space->intersection_query_results[i])->is_ray_pickable())) continue; - if (p_exclude.has( space->intersection_query_results[i]->get_self())) + if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; - const CollisionObjectSW *col_obj=space->intersection_query_results[i]; + const CollisionObjectSW *col_obj = space->intersection_query_results[i]; - int shape_idx=space->intersection_query_subindex_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); @@ -93,293 +85,268 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vecto 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)) { - + 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); + shape_point = xform.xform(shape_point); real_t ld = normal.dot(shape_point); + if (ld < min_d) { - 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; + 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.collider_id = res_obj->get_instance_id(); + if (r_result.collider_id != 0) + r_result.collider = ObjectDB::get_instance(r_result.collider_id); else - r_result.collider=NULL; - r_result.normal=res_normal; - r_result.position=res_point; - r_result.rid=res_obj->get_self(); - r_result.shape=res_shape; + r_result.collider = NULL; + 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, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) { -int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,real_t p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) { - - if (p_result_max<=0) + 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); + ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, 0); Rect3 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); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - int cc=0; + int cc = 0; //Transform ai = p_xform.affine_inverse(); - for(int i=0;i<amount;i++) { + for (int i = 0; i < amount; i++) { - if (cc>=p_result_max) + if (cc >= p_result_max) break; - if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask)) + if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; //area cant be picked by ray (default) - if (p_exclude.has( space->intersection_query_results[i]->get_self())) + 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]; - 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,p_margin,0)) + 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, p_margin, 0)) continue; if (r_results) { - 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].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); else - r_results[cc].collider=NULL; - r_results[cc].rid=col_obj->get_self(); - r_results[cc].shape=shape_idx; + r_results[cc].collider = NULL; + r_results[cc].rid = col_obj->get_self(); + r_results[cc].shape = shape_idx; } cc++; - } return cc; - } +bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, ShapeRestInfo *r_info) { -bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,real_t p_margin,real_t &p_closest_safe,real_t &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,ShapeRestInfo *r_info) { - - - - ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); - ERR_FAIL_COND_V(!shape,false); + ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, false); Rect3 aabb = p_xform.xform(shape->get_aabb()); - aabb=aabb.merge(Rect3(aabb.pos+p_motion,aabb.size)); //motion - aabb=aabb.grow(p_margin); + aabb = aabb.merge(Rect3(aabb.pos + p_motion, aabb.size)); //motion + aabb = aabb.grow(p_margin); /* if (p_motion!=Vector3()) print_line(p_motion); */ - int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - real_t best_safe=1; - real_t best_unsafe=1; + real_t best_safe = 1; + real_t best_unsafe = 1; Transform xform_inv = p_xform.affine_inverse(); MotionShapeSW mshape; - mshape.shape=shape; - mshape.motion=xform_inv.basis.xform(p_motion); + mshape.shape = shape; + mshape.motion = xform_inv.basis.xform(p_motion); - bool best_first=true; + bool best_first = true; - Vector3 closest_A,closest_B; + Vector3 closest_A, closest_B; - for(int i=0;i<amount;i++) { + for (int i = 0; i < amount; i++) { - - if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask)) + if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; - if (p_exclude.has( space->intersection_query_results[i]->get_self())) + if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; //ignore excluded + const CollisionObjectSW *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; - const CollisionObjectSW *col_obj=space->intersection_query_results[i]; - int shape_idx=space->intersection_query_subindex_results[i]; - - Vector3 point_A,point_B; - Vector3 sep_axis=p_motion.normalized(); + Vector3 point_A, point_B; + Vector3 sep_axis = p_motion.normalized(); Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); //test initial overlap, does it collide if going all the way? - if (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) { + if (CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { //print_line("failed motion cast (no collision)"); continue; } - - //test initial overlap +//test initial overlap #if 0 if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) { print_line("failed initial cast (collision at begining)"); return false; } #else - sep_axis=p_motion.normalized(); + sep_axis = p_motion.normalized(); - if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) { + if (!CollisionSolverSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { //print_line("failed motion cast (no collision)"); return false; } #endif - //just do kinematic solving - real_t low=0; - real_t hi=1; - Vector3 mnormal=p_motion.normalized(); + real_t low = 0; + real_t hi = 1; + Vector3 mnormal = p_motion.normalized(); - for(int i=0;i<8;i++) { //steps should be customizable.. + for (int i = 0; i < 8; i++) { //steps should be customizable.. - real_t ofs = (low+hi)*0.5; + real_t ofs = (low + hi) * 0.5; - Vector3 sep=mnormal; //important optimization for this to work fast enough + Vector3 sep = mnormal; //important optimization for this to work fast enough - mshape.motion=xform_inv.basis.xform(p_motion*ofs); + mshape.motion = xform_inv.basis.xform(p_motion * ofs); - Vector3 lA,lB; + Vector3 lA, lB; - bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep); + bool collided = !CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep); if (collided) { //print_line(itos(i)+": "+rtos(ofs)); - hi=ofs; + hi = ofs; } else { - point_A=lA; - point_B=lB; - low=ofs; + point_A = lA; + point_B = lB; + low = ofs; } } - if (low<best_safe) { - best_first=true; //force reset - best_safe=low; - best_unsafe=hi; + if (low < best_safe) { + best_first = true; //force reset + best_safe = low; + best_unsafe = hi; } - if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low<=best_safe))) { - closest_A=point_A; - closest_B=point_B; - r_info->collider_id=col_obj->get_instance_id(); - r_info->rid=col_obj->get_self(); - r_info->shape=shape_idx; - r_info->point=closest_B; - r_info->normal=(closest_A-closest_B).normalized(); - best_first=false; - if (col_obj->get_type()==CollisionObjectSW::TYPE_BODY) { - const BodySW *body=static_cast<const BodySW*>(col_obj); - r_info->linear_velocity= body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B); + if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low <= best_safe))) { + closest_A = point_A; + closest_B = point_B; + r_info->collider_id = col_obj->get_instance_id(); + r_info->rid = col_obj->get_self(); + r_info->shape = shape_idx; + r_info->point = closest_B; + r_info->normal = (closest_A - closest_B).normalized(); + best_first = false; + if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) { + const BodySW *body = static_cast<const BodySW *>(col_obj); + r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B); } - } - - } - p_closest_safe=best_safe; - p_closest_unsafe=best_unsafe; + p_closest_safe = best_safe; + p_closest_unsafe = best_unsafe; return true; } -bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,real_t p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask){ +bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) { - if (p_result_max<=0) + 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); + ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, 0); Rect3 aabb = p_shape_xform.xform(shape->get_aabb()); - aabb=aabb.grow(p_margin); + aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - bool collided=false; - r_result_count=0; + bool collided = false; + r_result_count = 0; PhysicsServerSW::CollCbkData cbk; - cbk.max=p_result_max; - cbk.amount=0; - cbk.ptr=r_results; - CollisionSolverSW::CallbackResult cbkres=NULL; - - PhysicsServerSW::CollCbkData *cbkptr=NULL; - if (p_result_max>0) { - cbkptr=&cbk; - cbkres=PhysicsServerSW::_shape_col_cbk; + cbk.max = p_result_max; + cbk.amount = 0; + cbk.ptr = r_results; + CollisionSolverSW::CallbackResult cbkres = NULL; + + PhysicsServerSW::CollCbkData *cbkptr = NULL; + if (p_result_max > 0) { + cbkptr = &cbk; + cbkres = PhysicsServerSW::_shape_col_cbk; } + for (int i = 0; i < amount; i++) { - for(int i=0;i<amount;i++) { - - if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask)) + if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; - const CollisionObjectSW *col_obj=space->intersection_query_results[i]; - int shape_idx=space->intersection_query_subindex_results[i]; + const CollisionObjectSW *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; - if (p_exclude.has( col_obj->get_self() )) { + if (p_exclude.has(col_obj->get_self())) { continue; } //print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx)); //print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb())); - if (CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),cbkres,cbkptr,NULL,p_margin)) { - collided=true; + if (CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) { + collided = true; } - } - r_result_count=cbk.amount; + r_result_count = cbk.amount; return collided; - } - struct _RestCallbackData { const CollisionObjectSW *object; @@ -391,173 +358,147 @@ struct _RestCallbackData { real_t best_len; }; -static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) { - +static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) { - _RestCallbackData *rd=(_RestCallbackData*)p_userdata; + _RestCallbackData *rd = (_RestCallbackData *)p_userdata; Vector3 contact_rel = p_point_B - p_point_A; real_t len = contact_rel.length(); if (len <= rd->best_len) return; - rd->best_len=len; - rd->best_contact=p_point_B; - rd->best_normal=contact_rel/len; - rd->best_object=rd->object; - rd->best_shape=rd->shape; - + rd->best_len = len; + rd->best_contact = p_point_B; + rd->best_normal = contact_rel / len; + rd->best_object = rd->object; + rd->best_shape = rd->shape; } -bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,real_t p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) { - +bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) { - ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); - ERR_FAIL_COND_V(!shape,0); + ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, 0); Rect3 aabb = p_shape_xform.xform(shape->get_aabb()); - aabb=aabb.grow(p_margin); + aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); _RestCallbackData rcd; - rcd.best_len=0; - rcd.best_object=NULL; - rcd.best_shape=0; + rcd.best_len = 0; + rcd.best_object = NULL; + rcd.best_shape = 0; - for(int i=0;i<amount;i++) { + for (int i = 0; i < amount; i++) { - - if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask)) + if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask)) continue; - const CollisionObjectSW *col_obj=space->intersection_query_results[i]; - int shape_idx=space->intersection_query_subindex_results[i]; + const CollisionObjectSW *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; - if (p_exclude.has( col_obj->get_self() )) + if (p_exclude.has(col_obj->get_self())) continue; - rcd.object=col_obj; - rcd.shape=shape_idx; - bool sc = CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),_rest_cbk_result,&rcd,NULL,p_margin); + rcd.object = col_obj; + rcd.shape = shape_idx; + bool sc = CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, NULL, p_margin); if (!sc) continue; - - } - if (rcd.best_len==0) + if (rcd.best_len == 0) return false; - r_info->collider_id=rcd.best_object->get_instance_id(); - r_info->shape=rcd.best_shape; - r_info->normal=rcd.best_normal; - r_info->point=rcd.best_contact; - r_info->rid=rcd.best_object->get_self(); - if (rcd.best_object->get_type()==CollisionObjectSW::TYPE_BODY) { + r_info->collider_id = rcd.best_object->get_instance_id(); + r_info->shape = rcd.best_shape; + r_info->normal = rcd.best_normal; + r_info->point = rcd.best_contact; + r_info->rid = rcd.best_object->get_self(); + if (rcd.best_object->get_type() == CollisionObjectSW::TYPE_BODY) { - const BodySW *body = static_cast<const BodySW*>(rcd.best_object); + const BodySW *body = static_cast<const BodySW *>(rcd.best_object); r_info->linear_velocity = body->get_linear_velocity() + - (body->get_angular_velocity()).cross(body->get_transform().origin-rcd.best_contact);// * mPos); - + (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos); } else { - r_info->linear_velocity=Vector3(); + r_info->linear_velocity = Vector3(); } return true; } - PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() { - - space=NULL; + 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) { - - - - - - - -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); + SWAP(A, B); + SWAP(p_subindex_A, p_subindex_B); + SWAP(type_A, type_B); } - SpaceSW *self = (SpaceSW*)p_self; + SpaceSW *self = (SpaceSW *)p_self; self->collision_pairs++; - if (type_A==CollisionObjectSW::TYPE_AREA) { + if (type_A == CollisionObjectSW::TYPE_AREA) { - AreaSW *area=static_cast<AreaSW*>(A); - if (type_B==CollisionObjectSW::TYPE_AREA) { + AreaSW *area = static_cast<AreaSW *>(A); + if (type_B == CollisionObjectSW::TYPE_AREA) { - AreaSW *area_b=static_cast<AreaSW*>(B); - Area2PairSW *area2_pair = memnew(Area2PairSW(area_b,p_subindex_B,area,p_subindex_A) ); + AreaSW *area_b = static_cast<AreaSW *>(B); + Area2PairSW *area2_pair = memnew(Area2PairSW(area_b, p_subindex_B, area, p_subindex_A)); return area2_pair; } else { - BodySW *body=static_cast<BodySW*>(B); - AreaPairSW *area_pair = memnew(AreaPairSW(body,p_subindex_B,area,p_subindex_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) ); + 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) { - +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; + SpaceSW *self = (SpaceSW *)p_self; self->collision_pairs--; - ConstraintSW *c = (ConstraintSW*)p_data; + ConstraintSW *c = (ConstraintSW *)p_data; memdelete(c); } - -const SelfList<BodySW>::List& SpaceSW::get_active_body_list() const { +const SelfList<BodySW>::List &SpaceSW::get_active_body_list() const { return active_list; } -void SpaceSW::body_add_to_active_list(SelfList<BodySW>* p_body) { +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) { +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) { - +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) { +void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW> *p_body) { inertia_update_list.remove(p_body); } @@ -569,112 +510,103 @@ BroadPhaseSW *SpaceSW::get_broadphase() { void SpaceSW::add_object(CollisionObjectSW *p_object) { - ERR_FAIL_COND( objects.has(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) ); + ERR_FAIL_COND(!objects.has(p_object)); objects.erase(p_object); } -const Set<CollisionObjectSW*> &SpaceSW::get_objects() const { +const Set<CollisionObjectSW *> &SpaceSW::get_objects() const { return objects; } -void SpaceSW::body_add_to_state_query_list(SelfList<BodySW>* p_body) { +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) { +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) { +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) { +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) { +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) { +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 { +const SelfList<AreaSW>::List &SpaceSW::get_moved_area_list() const { return area_moved_list; } - - - void SpaceSW::call_queries() { - while(state_query_list.first()) { + while (state_query_list.first()) { - BodySW * b = state_query_list.first()->self(); + BodySW *b = state_query_list.first()->self(); b->call_queries(); state_query_list.remove(state_query_list.first()); } - while(monitor_query_list.first()) { + while (monitor_query_list.first()) { - AreaSW * a = monitor_query_list.first()->self(); + AreaSW *a = monitor_query_list.first()->self(); a->call_queries(); monitor_query_list.remove(monitor_query_list.first()); } - } void SpaceSW::setup() { - contact_debug_count=0; - while(inertia_update_list.first()) { + contact_debug_count = 0; + 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) { + 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_threshold=p_value; break; - case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold=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; + 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_threshold = p_value; break; + case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold = 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) { + 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; @@ -690,12 +622,12 @@ real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const { void SpaceSW::lock() { - locked=true; + locked = true; } void SpaceSW::unlock() { - locked=false; + locked = false; } bool SpaceSW::is_locked() const { @@ -710,41 +642,36 @@ PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() { SpaceSW::SpaceSW() { - collision_pairs=0; - active_objects=0; - island_count=0; - contact_debug_count=0; + collision_pairs = 0; + active_objects = 0; + island_count = 0; + contact_debug_count = 0; - locked=false; - contact_recycle_radius=0.01; - contact_max_separation=0.05; - contact_max_allowed_penetration= 0.01; + 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_threshold=GLOBAL_DEF("physics/3d/sleep_threshold_linear",0.1); - body_angular_velocity_sleep_threshold=GLOBAL_DEF("physics/3d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI) ); - body_time_to_sleep=GLOBAL_DEF("physics/3d/time_before_sleep",0.5); - body_angular_velocity_damp_ratio=10; - + body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1); + body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI)); + body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_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; + broadphase->set_pair_callback(_broadphase_pair, this); + broadphase->set_unpair_callback(_broadphase_unpair, this); + area = NULL; - direct_access = memnew( PhysicsDirectSpaceStateSW ); - direct_access->space=this; - - for(int i=0;i<ELAPSED_TIME_MAX;i++) - elapsed_time[i]=0; + direct_access = memnew(PhysicsDirectSpaceStateSW); + direct_access->space = this; + for (int i = 0; i < ELAPSED_TIME_MAX; i++) + elapsed_time[i] = 0; } SpaceSW::~SpaceSW() { memdelete(broadphase); - memdelete( direct_access ); + memdelete(direct_access); } - - - |