diff options
Diffstat (limited to 'servers/physics')
24 files changed, 127 insertions, 123 deletions
diff --git a/servers/physics/area_sw.cpp b/servers/physics/area_sw.cpp index 387230a478..9615708f1d 100644 --- a/servers/physics/area_sw.cpp +++ b/servers/physics/area_sw.cpp @@ -237,8 +237,10 @@ void AreaSW::call_queries() { //get_space()->area_remove_from_monitor_query_list(&monitor_query_list); } -AreaSW::AreaSW() - : CollisionObjectSW(TYPE_AREA), monitor_query_list(this), moved_list(this) { +AreaSW::AreaSW() : + CollisionObjectSW(TYPE_AREA), + monitor_query_list(this), + moved_list(this) { _set_static(true); //areas are never active space_override_mode = PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED; diff --git a/servers/physics/body_pair_sw.cpp b/servers/physics/body_pair_sw.cpp index ef54eb58cf..80e0ad1b07 100644 --- a/servers/physics/body_pair_sw.cpp +++ b/servers/physics/body_pair_sw.cpp @@ -464,8 +464,8 @@ void BodyPairSW::solve(real_t p_step) { } } -BodyPairSW::BodyPairSW(BodySW *p_A, int p_shape_A, BodySW *p_B, int p_shape_B) - : ConstraintSW(_arr, 2) { +BodyPairSW::BodyPairSW(BodySW *p_A, int p_shape_A, BodySW *p_B, int p_shape_B) : + ConstraintSW(_arr, 2) { A = p_A; B = p_B; diff --git a/servers/physics/body_sw.cpp b/servers/physics/body_sw.cpp index 630f32cec1..bba4d7a147 100644 --- a/servers/physics/body_sw.cpp +++ b/servers/physics/body_sw.cpp @@ -738,8 +738,11 @@ void BodySW::set_kinematic_margin(real_t p_margin) { kinematic_safe_margin = p_margin; } -BodySW::BodySW() - : CollisionObjectSW(TYPE_BODY), active_list(this), inertia_update_list(this), direct_state_query_list(this) { +BodySW::BodySW() : + CollisionObjectSW(TYPE_BODY), + active_list(this), + inertia_update_list(this), + direct_state_query_list(this) { mode = PhysicsServer::BODY_MODE_RIGID; active = true; diff --git a/servers/physics/broad_phase_basic.cpp b/servers/physics/broad_phase_basic.cpp index c6565ac2e9..e4eae09c61 100644 --- a/servers/physics/broad_phase_basic.cpp +++ b/servers/physics/broad_phase_basic.cpp @@ -46,7 +46,7 @@ BroadPhaseSW::ID BroadPhaseBasic::create(CollisionObjectSW *p_object, int p_subi return current; } -void BroadPhaseBasic::move(ID p_id, const Rect3 &p_aabb) { +void BroadPhaseBasic::move(ID p_id, const AABB &p_aabb) { Map<ID, Element>::Element *E = element_map.find(p_id); ERR_FAIL_COND(!E); @@ -109,7 +109,7 @@ int BroadPhaseBasic::cull_point(const Vector3 &p_point, CollisionObjectSW **p_re for (Map<ID, Element>::Element *E = element_map.front(); E; E = E->next()) { - const Rect3 aabb = E->get().aabb; + const AABB aabb = E->get().aabb; if (aabb.has_point(p_point)) { p_results[rc] = E->get().owner; @@ -129,7 +129,7 @@ int BroadPhaseBasic::cull_segment(const Vector3 &p_from, const Vector3 &p_to, Co for (Map<ID, Element>::Element *E = element_map.front(); E; E = E->next()) { - const Rect3 aabb = E->get().aabb; + const AABB aabb = E->get().aabb; if (aabb.intersects_segment(p_from, p_to)) { p_results[rc] = E->get().owner; @@ -142,13 +142,13 @@ int BroadPhaseBasic::cull_segment(const Vector3 &p_from, const Vector3 &p_to, Co return rc; } -int BroadPhaseBasic::cull_aabb(const Rect3 &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) { +int BroadPhaseBasic::cull_aabb(const AABB &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) { int rc = 0; for (Map<ID, Element>::Element *E = element_map.front(); E; E = E->next()) { - const Rect3 aabb = E->get().aabb; + const AABB aabb = E->get().aabb; if (aabb.intersects(p_aabb)) { p_results[rc] = E->get().owner; diff --git a/servers/physics/broad_phase_basic.h b/servers/physics/broad_phase_basic.h index 5c124c1792..ee683ed840 100644 --- a/servers/physics/broad_phase_basic.h +++ b/servers/physics/broad_phase_basic.h @@ -39,7 +39,7 @@ class BroadPhaseBasic : public BroadPhaseSW { CollisionObjectSW *owner; bool _static; - Rect3 aabb; + AABB aabb; int subindex; }; @@ -83,7 +83,7 @@ class BroadPhaseBasic : public BroadPhaseSW { public: // 0 is an invalid ID virtual ID create(CollisionObjectSW *p_object, int p_subindex = 0); - virtual void move(ID p_id, const Rect3 &p_aabb); + virtual void move(ID p_id, const AABB &p_aabb); virtual void set_static(ID p_id, bool p_static); virtual void remove(ID p_id); @@ -93,7 +93,7 @@ public: virtual int cull_point(const Vector3 &p_point, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); - virtual int cull_aabb(const Rect3 &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); + virtual int cull_aabb(const AABB &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata); virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata); diff --git a/servers/physics/broad_phase_octree.cpp b/servers/physics/broad_phase_octree.cpp index e7111d9580..3b18a270f0 100644 --- a/servers/physics/broad_phase_octree.cpp +++ b/servers/physics/broad_phase_octree.cpp @@ -32,11 +32,11 @@ BroadPhaseSW::ID BroadPhaseOctree::create(CollisionObjectSW *p_object, int p_subindex) { - ID oid = octree.create(p_object, Rect3(), p_subindex, false, 1 << p_object->get_type(), 0); + ID oid = octree.create(p_object, AABB(), p_subindex, false, 1 << p_object->get_type(), 0); return oid; } -void BroadPhaseOctree::move(ID p_id, const Rect3 &p_aabb) { +void BroadPhaseOctree::move(ID p_id, const AABB &p_aabb) { octree.move(p_id, p_aabb); } @@ -76,7 +76,7 @@ int BroadPhaseOctree::cull_segment(const Vector3 &p_from, const Vector3 &p_to, C return octree.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices); } -int BroadPhaseOctree::cull_aabb(const Rect3 &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) { +int BroadPhaseOctree::cull_aabb(const AABB &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) { return octree.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices); } diff --git a/servers/physics/broad_phase_octree.h b/servers/physics/broad_phase_octree.h index d28f2da13f..f894d6ca5a 100644 --- a/servers/physics/broad_phase_octree.h +++ b/servers/physics/broad_phase_octree.h @@ -48,7 +48,7 @@ class BroadPhaseOctree : public BroadPhaseSW { public: // 0 is an invalid ID virtual ID create(CollisionObjectSW *p_object, int p_subindex = 0); - virtual void move(ID p_id, const Rect3 &p_aabb); + virtual void move(ID p_id, const AABB &p_aabb); virtual void set_static(ID p_id, bool p_static); virtual void remove(ID p_id); @@ -58,7 +58,7 @@ public: virtual int cull_point(const Vector3 &p_point, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); - virtual int cull_aabb(const Rect3 &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); + virtual int cull_aabb(const AABB &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata); virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata); diff --git a/servers/physics/broad_phase_sw.h b/servers/physics/broad_phase_sw.h index 2b5ed629fe..5ad3f9a261 100644 --- a/servers/physics/broad_phase_sw.h +++ b/servers/physics/broad_phase_sw.h @@ -30,8 +30,8 @@ #ifndef BROAD_PHASE_SW_H #define BROAD_PHASE_SW_H +#include "aabb.h" #include "math_funcs.h" -#include "rect3.h" class CollisionObjectSW; @@ -49,7 +49,7 @@ public: // 0 is an invalid ID virtual ID create(CollisionObjectSW *p_object_, int p_subindex = 0) = 0; - virtual void move(ID p_id, const Rect3 &p_aabb) = 0; + virtual void move(ID p_id, const AABB &p_aabb) = 0; virtual void set_static(ID p_id, bool p_static) = 0; virtual void remove(ID p_id) = 0; @@ -59,7 +59,7 @@ public: virtual int cull_point(const Vector3 &p_point, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL) = 0; virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL) = 0; - virtual int cull_aabb(const Rect3 &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL) = 0; + virtual int cull_aabb(const AABB &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL) = 0; virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) = 0; virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) = 0; diff --git a/servers/physics/collision_object_sw.cpp b/servers/physics/collision_object_sw.cpp index 3af8b542fa..ef7cd0780f 100644 --- a/servers/physics/collision_object_sw.cpp +++ b/servers/physics/collision_object_sw.cpp @@ -149,7 +149,7 @@ void CollisionObjectSW::_update_shapes() { } //not quite correct, should compute the next matrix.. - Rect3 shape_aabb = s.shape->get_aabb(); + AABB shape_aabb = s.shape->get_aabb(); Transform xform = transform * s.xform; shape_aabb = xform.xform(shape_aabb); s.aabb_cache = shape_aabb; @@ -176,10 +176,10 @@ void CollisionObjectSW::_update_shapes_with_motion(const Vector3 &p_motion) { } //not quite correct, should compute the next matrix.. - Rect3 shape_aabb = s.shape->get_aabb(); + AABB shape_aabb = s.shape->get_aabb(); Transform xform = transform * s.xform; shape_aabb = xform.xform(shape_aabb); - shape_aabb = shape_aabb.merge(Rect3(shape_aabb.position + p_motion, shape_aabb.size)); //use motion + shape_aabb = shape_aabb.merge(AABB(shape_aabb.position + p_motion, shape_aabb.size)); //use motion s.aabb_cache = shape_aabb; space->get_broadphase()->move(s.bpid, shape_aabb); @@ -217,8 +217,8 @@ void CollisionObjectSW::_shape_changed() { _shapes_changed(); } -CollisionObjectSW::CollisionObjectSW(Type p_type) - : pending_shape_update_list(this) { +CollisionObjectSW::CollisionObjectSW(Type p_type) : + pending_shape_update_list(this) { _static = true; type = p_type; diff --git a/servers/physics/collision_object_sw.h b/servers/physics/collision_object_sw.h index 67a8a44944..254947060b 100644 --- a/servers/physics/collision_object_sw.h +++ b/servers/physics/collision_object_sw.h @@ -61,7 +61,7 @@ private: Transform xform; Transform xform_inv; BroadPhaseSW::ID bpid; - Rect3 aabb_cache; //for rayqueries + AABB aabb_cache; //for rayqueries real_t area_cache; ShapeSW *shape; bool disabled; @@ -123,7 +123,7 @@ public: _FORCE_INLINE_ ShapeSW *get_shape(int p_index) const { return shapes[p_index].shape; } _FORCE_INLINE_ const Transform &get_shape_transform(int p_index) const { return shapes[p_index].xform; } _FORCE_INLINE_ const Transform &get_shape_inv_transform(int p_index) const { return shapes[p_index].xform_inv; } - _FORCE_INLINE_ const Rect3 &get_shape_aabb(int p_index) const { return shapes[p_index].aabb_cache; } + _FORCE_INLINE_ const AABB &get_shape_aabb(int p_index) const { return shapes[p_index].aabb_cache; } _FORCE_INLINE_ const real_t get_shape_area(int p_index) const { return shapes[p_index].area_cache; } _FORCE_INLINE_ Transform get_transform() const { return transform; } diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp index a044df7f31..f56d311a59 100644 --- a/servers/physics/collision_solver_sat.cpp +++ b/servers/physics/collision_solver_sat.cpp @@ -255,7 +255,8 @@ static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_po _generate_contacts_face_face, }, { - 0, 0, + 0, + 0, _generate_contacts_face_face, } }; diff --git a/servers/physics/collision_solver_sw.cpp b/servers/physics/collision_solver_sw.cpp index 7bef208237..a9431dc6d8 100644 --- a/servers/physics/collision_solver_sw.cpp +++ b/servers/physics/collision_solver_sw.cpp @@ -152,7 +152,7 @@ bool CollisionSolverSW::solve_concave(const ShapeSW *p_shape_A, const Transform //quickly compute a local AABB - Rect3 local_aabb; + AABB local_aabb; for (int i = 0; i < 3; i++) { Vector3 axis(p_transform_B.basis.get_axis(i)); @@ -291,7 +291,7 @@ bool CollisionSolverSW::solve_distance_plane(const ShapeSW *p_shape_A, const Tra return collided; } -bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const Rect3 &p_concave_hint, Vector3 *r_sep_axis) { +bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) { if (p_shape_A->is_concave()) return false; @@ -328,14 +328,14 @@ bool CollisionSolverSW::solve_distance(const ShapeSW *p_shape_A, const Transform //quickly compute a local AABB - bool use_cc_hint = p_concave_hint != Rect3(); - Rect3 cc_hint_aabb; + bool use_cc_hint = p_concave_hint != AABB(); + AABB cc_hint_aabb; if (use_cc_hint) { cc_hint_aabb = p_concave_hint; cc_hint_aabb.position -= p_transform_B.origin; } - Rect3 local_aabb; + AABB local_aabb; for (int i = 0; i < 3; i++) { Vector3 axis(p_transform_B.basis.get_axis(i)); diff --git a/servers/physics/collision_solver_sw.h b/servers/physics/collision_solver_sw.h index 1e38b1b54e..a40b665ff0 100644 --- a/servers/physics/collision_solver_sw.h +++ b/servers/physics/collision_solver_sw.h @@ -46,7 +46,7 @@ private: public: static bool solve_static(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = NULL, real_t p_margin_A = 0, real_t p_margin_B = 0); - static bool solve_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const Rect3 &p_concave_hint, Vector3 *r_sep_axis = NULL); + static bool solve_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = NULL); }; #endif // COLLISION_SOLVER__SW_H diff --git a/servers/physics/joints/cone_twist_joint_sw.cpp b/servers/physics/joints/cone_twist_joint_sw.cpp index 3c900d4fbe..617ce125b3 100644 --- a/servers/physics/joints/cone_twist_joint_sw.cpp +++ b/servers/physics/joints/cone_twist_joint_sw.cpp @@ -85,8 +85,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) { return (y < 0.0f) ? -angle : angle; } -ConeTwistJointSW::ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame) - : JointSW(_arr, 2) { +ConeTwistJointSW::ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rbAFrame, const Transform &rbBFrame) : + JointSW(_arr, 2) { A = rbA; B = rbB; diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp index 1e323be36c..b8234be4d9 100644 --- a/servers/physics/joints/generic_6dof_joint_sw.cpp +++ b/servers/physics/joints/generic_6dof_joint_sw.cpp @@ -209,9 +209,11 @@ real_t G6DOFTranslationalLimitMotorSW::solveLinearAxis( //////////////////////////// G6DOFTranslationalLimitMotorSW //////////////////////////////////// -Generic6DOFJointSW::Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) - : JointSW(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB), - m_useLinearReferenceFrameA(useLinearReferenceFrameA) { +Generic6DOFJointSW::Generic6DOFJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) : + JointSW(_arr, 2), + m_frameInA(frameInA), + m_frameInB(frameInB), + m_useLinearReferenceFrameA(useLinearReferenceFrameA) { A = rbA; B = rbB; A->add_constraint(this, 0); diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp index fe20a55b60..2edccc26c2 100644 --- a/servers/physics/joints/hinge_joint_sw.cpp +++ b/servers/physics/joints/hinge_joint_sw.cpp @@ -68,8 +68,8 @@ static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) { } } -HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameA, const Transform &frameB) - : JointSW(_arr, 2) { +HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameA, const Transform &frameB) : + JointSW(_arr, 2) { A = rbA; B = rbB; @@ -101,8 +101,8 @@ HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameA, co } HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, - const Vector3 &axisInA, const Vector3 &axisInB) - : JointSW(_arr, 2) { + const Vector3 &axisInA, const Vector3 &axisInB) : + JointSW(_arr, 2) { A = rbA; B = rbB; diff --git a/servers/physics/joints/jacobian_entry_sw.h b/servers/physics/joints/jacobian_entry_sw.h index 79ce0e6157..7aeb06ddd8 100644 --- a/servers/physics/joints/jacobian_entry_sw.h +++ b/servers/physics/joints/jacobian_entry_sw.h @@ -64,8 +64,8 @@ public: const Vector3 &inertiaInvA, const real_t massInvA, const Vector3 &inertiaInvB, - const real_t massInvB) - : m_linearJointAxis(jointAxis) { + const real_t massInvB) : + m_linearJointAxis(jointAxis) { m_aJ = world2A.xform(rel_pos1.cross(m_linearJointAxis)); m_bJ = world2B.xform(rel_pos2.cross(-m_linearJointAxis)); m_0MinvJt = inertiaInvA * m_aJ; @@ -80,8 +80,8 @@ public: const Basis &world2A, const Basis &world2B, const Vector3 &inertiaInvA, - const Vector3 &inertiaInvB) - : m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) { + const Vector3 &inertiaInvB) : + m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))) { m_aJ = world2A.xform(jointAxis); m_bJ = world2B.xform(-jointAxis); m_0MinvJt = inertiaInvA * m_aJ; @@ -95,8 +95,10 @@ public: JacobianEntrySW(const Vector3 &axisInA, const Vector3 &axisInB, const Vector3 &inertiaInvA, - const Vector3 &inertiaInvB) - : m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))), m_aJ(axisInA), m_bJ(-axisInB) { + const Vector3 &inertiaInvB) : + m_linearJointAxis(Vector3(real_t(0.), real_t(0.), real_t(0.))), + m_aJ(axisInA), + m_bJ(-axisInB) { m_0MinvJt = inertiaInvA * m_aJ; m_1MinvJt = inertiaInvB * m_bJ; m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); @@ -110,8 +112,8 @@ public: const Vector3 &rel_pos1, const Vector3 &rel_pos2, const Vector3 &jointAxis, const Vector3 &inertiaInvA, - const real_t massInvA) - : m_linearJointAxis(jointAxis) { + const real_t massInvA) : + m_linearJointAxis(jointAxis) { m_aJ = world2A.xform(rel_pos1.cross(jointAxis)); m_bJ = world2A.xform(rel_pos2.cross(-jointAxis)); m_0MinvJt = inertiaInvA * m_aJ; diff --git a/servers/physics/joints/pin_joint_sw.cpp b/servers/physics/joints/pin_joint_sw.cpp index 779e086858..ab2ab2299a 100644 --- a/servers/physics/joints/pin_joint_sw.cpp +++ b/servers/physics/joints/pin_joint_sw.cpp @@ -146,8 +146,8 @@ real_t PinJointSW::get_param(PhysicsServer::PinJointParam p_param) const { return 0; } -PinJointSW::PinJointSW(BodySW *p_body_a, const Vector3 &p_pos_a, BodySW *p_body_b, const Vector3 &p_pos_b) - : JointSW(_arr, 2) { +PinJointSW::PinJointSW(BodySW *p_body_a, const Vector3 &p_pos_a, BodySW *p_body_b, const Vector3 &p_pos_b) : + JointSW(_arr, 2) { A = p_body_a; B = p_body_b; diff --git a/servers/physics/joints/slider_joint_sw.cpp b/servers/physics/joints/slider_joint_sw.cpp index 66585f2605..7777de0324 100644 --- a/servers/physics/joints/slider_joint_sw.cpp +++ b/servers/physics/joints/slider_joint_sw.cpp @@ -112,8 +112,10 @@ void SliderJointSW::initParams() { //----------------------------------------------------------------------------- -SliderJointSW::SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB) - : JointSW(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB) { +SliderJointSW::SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA, const Transform &frameInB) : + JointSW(_arr, 2), + m_frameInA(frameInA), + m_frameInB(frameInB) { A = rbA; B = rbB; diff --git a/servers/physics/joints_sw.h b/servers/physics/joints_sw.h index b15ae08049..29581c7337 100644 --- a/servers/physics/joints_sw.h +++ b/servers/physics/joints_sw.h @@ -37,8 +37,8 @@ class JointSW : public ConstraintSW { public: virtual PhysicsServer::JointType get_type() const = 0; - _FORCE_INLINE_ JointSW(BodySW **p_body_ptr = NULL, int p_body_count = 0) - : ConstraintSW(p_body_ptr, p_body_count) { + _FORCE_INLINE_ JointSW(BodySW **p_body_ptr = NULL, int p_body_count = 0) : + ConstraintSW(p_body_ptr, p_body_count) { } }; diff --git a/servers/physics/shape_sw.cpp b/servers/physics/shape_sw.cpp index 6dafaac115..b204ff7a33 100644 --- a/servers/physics/shape_sw.cpp +++ b/servers/physics/shape_sw.cpp @@ -37,7 +37,7 @@ #define _EDGE_IS_VALID_SUPPORT_THRESHOLD 0.0002 #define _FACE_IS_VALID_SUPPORT_THRESHOLD 0.9998 -void ShapeSW::configure(const Rect3 &p_aabb) { +void ShapeSW::configure(const AABB &p_aabb) { aabb = p_aabb; configured = true; for (Map<ShapeOwnerSW *, int>::Element *E = owners.front(); E; E = E->next()) { @@ -141,7 +141,7 @@ Vector3 PlaneShapeSW::get_moment_of_inertia(real_t p_mass) const { void PlaneShapeSW::_setup(const Plane &p_plane) { plane = p_plane; - configure(Rect3(Vector3(-1e4, -1e4, -1e4), Vector3(1e4 * 2, 1e4 * 2, 1e4 * 2))); + configure(AABB(Vector3(-1e4, -1e4, -1e4), Vector3(1e4 * 2, 1e4 * 2, 1e4 * 2))); } void PlaneShapeSW::set_data(const Variant &p_data) { @@ -223,7 +223,7 @@ Vector3 RayShapeSW::get_moment_of_inertia(real_t p_mass) const { void RayShapeSW::_setup(real_t p_length) { length = p_length; - configure(Rect3(Vector3(0, 0, 0), Vector3(0.1, 0.1, length))); + configure(AABB(Vector3(0, 0, 0), Vector3(0.1, 0.1, length))); } void RayShapeSW::set_data(const Variant &p_data) { @@ -299,7 +299,7 @@ Vector3 SphereShapeSW::get_moment_of_inertia(real_t p_mass) const { void SphereShapeSW::_setup(real_t p_radius) { radius = p_radius; - configure(Rect3(Vector3(-radius, -radius, -radius), Vector3(radius * 2.0, radius * 2.0, radius * 2.0))); + configure(AABB(Vector3(-radius, -radius, -radius), Vector3(radius * 2.0, radius * 2.0, radius * 2.0))); } void SphereShapeSW::set_data(const Variant &p_data) { @@ -430,7 +430,7 @@ void BoxShapeSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_sup bool BoxShapeSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { - Rect3 aabb(-half_extents, half_extents * 2.0); + AABB aabb(-half_extents, half_extents * 2.0); return aabb.intersects_segment(p_begin, p_end, &r_result, &r_normal); } @@ -504,7 +504,7 @@ void BoxShapeSW::_setup(const Vector3 &p_half_extents) { half_extents = p_half_extents.abs(); - configure(Rect3(-half_extents, half_extents * 2)); + configure(AABB(-half_extents, half_extents * 2)); } void BoxShapeSW::set_data(const Variant &p_data) { @@ -684,7 +684,7 @@ void CapsuleShapeSW::_setup(real_t p_height, real_t p_radius) { height = p_height; radius = p_radius; - configure(Rect3(Vector3(-radius, -radius, -height * 0.5 - radius), Vector3(radius * 2, radius * 2, height + radius * 2.0))); + configure(AABB(Vector3(-radius, -radius, -height * 0.5 - radius), Vector3(radius * 2, radius * 2, height + radius * 2.0))); } void CapsuleShapeSW::set_data(const Variant &p_data) { @@ -957,7 +957,7 @@ void ConvexPolygonShapeSW::_setup(const Vector<Vector3> &p_vertices) { if (err != OK) ERR_PRINT("Failed to build QuickHull"); - Rect3 _aabb; + AABB _aabb; for (int i = 0; i < mesh.vertices.size(); i++) { @@ -1102,7 +1102,7 @@ Vector3 FaceShapeSW::get_moment_of_inertia(real_t p_mass) const { FaceShapeSW::FaceShapeSW() { - configure(Rect3()); + configure(AABB()); } PoolVector<Vector3> ConcavePolygonShapeSW::get_faces() const { @@ -1300,13 +1300,13 @@ void ConcavePolygonShapeSW::_cull(int p_idx, _CullParams *p_params) const { } } -void ConcavePolygonShapeSW::cull(const Rect3 &p_local_aabb, Callback p_callback, void *p_userdata) const { +void ConcavePolygonShapeSW::cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const { // make matrix local to concave if (faces.size() == 0) return; - Rect3 local_aabb = p_local_aabb; + AABB local_aabb = p_local_aabb; // unlock data PoolVector<Face>::Read fr = faces.read(); @@ -1341,7 +1341,7 @@ Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(real_t p_mass) const { struct _VolumeSW_BVH_Element { - Rect3 aabb; + AABB aabb; Vector3 center; int face_index; }; @@ -1372,7 +1372,7 @@ struct _VolumeSW_BVH_CompareZ { struct _VolumeSW_BVH { - Rect3 aabb; + AABB aabb; _VolumeSW_BVH *left; _VolumeSW_BVH *right; @@ -1396,7 +1396,7 @@ _VolumeSW_BVH *_volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements, int p_siz bvh->face_index = -1; } - Rect3 aabb; + AABB aabb; for (int i = 0; i < p_size; i++) { if (i == 0) @@ -1467,7 +1467,7 @@ void ConcavePolygonShapeSW::_setup(PoolVector<Vector3> p_faces) { int src_face_count = p_faces.size(); if (src_face_count == 0) { - configure(Rect3()); + configure(AABB()); return; } ERR_FAIL_COND(src_face_count % 3); @@ -1491,7 +1491,7 @@ void ConcavePolygonShapeSW::_setup(PoolVector<Vector3> p_faces) { PoolVector<Vector3>::Write vw = vertices.write(); Vector3 *verticesw = vw.ptr(); - Rect3 _aabb; + AABB _aabb; for (int i = 0; i < src_face_count; i++) { @@ -1588,7 +1588,7 @@ Vector3 HeightMapShapeSW::get_closest_point_to(const Vector3 &p_point) const { return Vector3(); } -void HeightMapShapeSW::cull(const Rect3 &p_local_aabb, Callback p_callback, void *p_userdata) const { +void HeightMapShapeSW::cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const { } Vector3 HeightMapShapeSW::get_moment_of_inertia(real_t p_mass) const { @@ -1611,7 +1611,7 @@ void HeightMapShapeSW::_setup(PoolVector<real_t> p_heights, int p_width, int p_d PoolVector<real_t>::Read r = heights.read(); - Rect3 aabb; + AABB aabb; for (int i = 0; i < depth; i++) { diff --git a/servers/physics/shape_sw.h b/servers/physics/shape_sw.h index 151b84c054..48832affc9 100644 --- a/servers/physics/shape_sw.h +++ b/servers/physics/shape_sw.h @@ -58,14 +58,14 @@ public: class ShapeSW : public RID_Data { RID self; - Rect3 aabb; + AABB aabb; bool configured; real_t custom_bias; Map<ShapeOwnerSW *, int> owners; protected: - void configure(const Rect3 &p_aabb); + void configure(const AABB &p_aabb); public: enum { @@ -79,7 +79,7 @@ public: virtual PhysicsServer::ShapeType get_type() const = 0; - _FORCE_INLINE_ Rect3 get_aabb() const { return aabb; } + _FORCE_INLINE_ AABB get_aabb() const { return aabb; } _FORCE_INLINE_ bool is_configured() const { return configured; } virtual bool is_concave() const { return false; } @@ -114,7 +114,7 @@ public: typedef void (*Callback)(void *p_userdata, ShapeSW *p_convex); virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount) const { r_amount = 0; } - virtual void cull(const Rect3 &p_local_aabb, Callback p_callback, void *p_userdata) const = 0; + virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const = 0; ConcaveShapeSW() {} }; @@ -299,7 +299,7 @@ struct ConcavePolygonShapeSW : public ConcaveShapeSW { struct BVH { - Rect3 aabb; + AABB aabb; int left; int right; @@ -310,7 +310,7 @@ struct ConcavePolygonShapeSW : public ConcaveShapeSW { struct _CullParams { - Rect3 aabb; + AABB aabb; Callback callback; void *userdata; const Face *faces; @@ -353,7 +353,7 @@ public: virtual bool intersect_point(const Vector3 &p_point) const; virtual Vector3 get_closest_point_to(const Vector3 &p_point) const; - virtual void cull(const Rect3 &p_local_aabb, Callback p_callback, void *p_userdata) const; + virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const; virtual Vector3 get_moment_of_inertia(real_t p_mass) const; @@ -389,7 +389,7 @@ public: virtual bool intersect_point(const Vector3 &p_point) const; virtual Vector3 get_closest_point_to(const Vector3 &p_point) const; - virtual void cull(const Rect3 &p_local_aabb, Callback p_callback, void *p_userdata) const; + virtual void cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const; virtual Vector3 get_moment_of_inertia(real_t p_mass) const; @@ -462,7 +462,7 @@ struct MotionShapeSW : public ShapeSW { virtual void set_data(const Variant &p_data) {} virtual Variant get_data() const { return Variant(); } - MotionShapeSW() { configure(Rect3()); } + MotionShapeSW() { configure(AABB()); } }; struct _ShapeTestConvexBSPSW { diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp index 7fac56f3d7..9de90fccb2 100644 --- a/servers/physics/space_sw.cpp +++ b/servers/physics/space_sw.cpp @@ -33,20 +33,12 @@ #include "physics_server_sw.h" #include "project_settings.h" -_FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_collision_mask, uint32_t p_type_mask) { +_FORCE_INLINE_ static bool _can_collide_with(CollisionObjectSW *p_object, uint32_t p_collision_mask) { - if ((p_object->get_collision_layer() & p_collision_mask) == 0) - return false; - - if (p_object->get_type() == CollisionObjectSW::TYPE_AREA) - return p_type_mask & PhysicsDirectSpaceState::TYPE_MASK_AREA; - - BodySW *body = static_cast<BodySW *>(p_object); - - return (1 << body->get_mode()) & p_type_mask; + return p_object->get_collision_layer() & p_collision_mask; } -int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, uint32_t p_object_type_mask) { +int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask) { ERR_FAIL_COND_V(space->locked, false); int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); @@ -59,7 +51,7 @@ int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResu if (cc >= p_result_max) break; - if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask)) + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask)) continue; //area can't be picked by ray (default) @@ -90,7 +82,7 @@ int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResu return cc; } -bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_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_collision_mask, bool p_pick_ray) { ERR_FAIL_COND_V(space->locked, false); @@ -112,7 +104,7 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vecto for (int i = 0; i < amount; i++) { - if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask)) + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask)) continue; if (p_pick_ray && !(static_cast<CollisionObjectSW *>(space->intersection_query_results[i])->is_ray_pickable())) @@ -168,7 +160,7 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vecto 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_collision_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_collision_mask) { if (p_result_max <= 0) return 0; @@ -176,7 +168,7 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transfo 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()); + 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); @@ -189,7 +181,7 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transfo if (cc >= p_result_max) break; - if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask)) + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask)) continue; //area can't be picked by ray (default) @@ -219,13 +211,13 @@ int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transfo 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_collision_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_collision_mask, ShapeRestInfo *r_info) { 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.position + p_motion, aabb.size)); //motion + AABB aabb = p_xform.xform(shape->get_aabb()); + aabb = aabb.merge(AABB(aabb.position + p_motion, aabb.size)); //motion aabb = aabb.grow(p_margin); /* @@ -249,7 +241,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform for (int i = 0; i < amount; i++) { - if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask)) + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask)) continue; if (p_exclude.has(space->intersection_query_results[i]->get_self())) @@ -333,7 +325,7 @@ bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform 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_collision_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_collision_mask) { if (p_result_max <= 0) return 0; @@ -341,7 +333,7 @@ bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_sh 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 = p_shape_xform.xform(shape->get_aabb()); 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); @@ -363,7 +355,7 @@ bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_sh for (int i = 0; i < amount; i++) { - if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask)) + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask)) continue; const CollisionObjectSW *col_obj = space->intersection_query_results[i]; @@ -412,12 +404,12 @@ static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, 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_collision_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_collision_mask) { 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 = p_shape_xform.xform(shape->get_aabb()); 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); @@ -429,7 +421,7 @@ bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_ for (int i = 0; i < amount; i++) { - if (!_match_object_type_query(space->intersection_query_results[i], p_collision_mask, p_object_type_mask)) + if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask)) continue; const CollisionObjectSW *col_obj = space->intersection_query_results[i]; @@ -514,7 +506,7 @@ PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() { //////////////////////////////////////////////////////////////////////////////////////////////////////////// -int SpaceSW::_cull_aabb_for_body(BodySW *p_body, const Rect3 &p_aabb) { +int SpaceSW::_cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb) { int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results); @@ -561,7 +553,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve r_result->collider_id = 0; r_result->collider_shape = 0; } - Rect3 body_aabb; + AABB body_aabb; for (int i = 0; i < p_body->get_shape_count(); i++) { @@ -648,7 +640,7 @@ bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Ve { // STEP 2 ATTEMPT MOTION - Rect3 motion_aabb = body_aabb; + AABB motion_aabb = body_aabb; motion_aabb.position += p_motion; motion_aabb = motion_aabb.merge(body_aabb); diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h index 270e4ef1bd..a7c975fbf6 100644 --- a/servers/physics/space_sw.h +++ b/servers/physics/space_sw.h @@ -47,12 +47,12 @@ class PhysicsDirectSpaceStateSW : public PhysicsDirectSpaceState { public: SpaceSW *space; - virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); - virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false); - virtual int 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); - virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL); - virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); - virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF); + virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_pick_ray = false); + virtual int 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF); + virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, ShapeRestInfo *r_info = NULL); + virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF); + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF); virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const; PhysicsDirectSpaceStateSW(); @@ -122,7 +122,7 @@ private: friend class PhysicsDirectSpaceStateSW; - int _cull_aabb_for_body(BodySW *p_body, const Rect3 &p_aabb); + int _cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb); public: _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } |