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Diffstat (limited to 'servers/physics_2d/body_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/body_2d_sw.cpp | 705 |
1 files changed, 0 insertions, 705 deletions
diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/body_2d_sw.cpp deleted file mode 100644 index d0636047b7..0000000000 --- a/servers/physics_2d/body_2d_sw.cpp +++ /dev/null @@ -1,705 +0,0 @@ -/*************************************************************************/ -/* body_2d_sw.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ - -#include "body_2d_sw.h" -#include "area_2d_sw.h" -#include "physics_server_2d_sw.h" -#include "space_2d_sw.h" - -void Body2DSW::_update_inertia() { - if (!user_inertia && get_space() && !inertia_update_list.in_list()) { - get_space()->body_add_to_inertia_update_list(&inertia_update_list); - } -} - -void Body2DSW::update_inertias() { - //update shapes and motions - - switch (mode) { - case PhysicsServer2D::BODY_MODE_RIGID: { - if (user_inertia) { - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; - break; - } - //update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet) - real_t total_area = 0; - - for (int i = 0; i < get_shape_count(); i++) { - total_area += get_shape_aabb(i).get_area(); - } - - inertia = 0; - - for (int i = 0; i < get_shape_count(); i++) { - if (is_shape_disabled(i)) { - continue; - } - - const Shape2DSW *shape = get_shape(i); - - real_t area = get_shape_aabb(i).get_area(); - - real_t mass = area * this->mass / total_area; - - Transform2D mtx = get_shape_transform(i); - Vector2 scale = mtx.get_scale(); - inertia += shape->get_moment_of_inertia(mass, scale) + mass * mtx.get_origin().length_squared(); - } - - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; - - if (mass) { - _inv_mass = 1.0 / mass; - } else { - _inv_mass = 0; - } - - } break; - case PhysicsServer2D::BODY_MODE_KINEMATIC: - case PhysicsServer2D::BODY_MODE_STATIC: { - _inv_inertia = 0; - _inv_mass = 0; - } break; - case PhysicsServer2D::BODY_MODE_CHARACTER: { - _inv_inertia = 0; - _inv_mass = 1.0 / mass; - - } break; - } - //_update_inertia_tensor(); - - //_update_shapes(); -} - -void Body2DSW::set_active(bool p_active) { - if (active == p_active) { - return; - } - - active = p_active; - if (!p_active) { - if (get_space()) { - get_space()->body_remove_from_active_list(&active_list); - } - } else { - if (mode == PhysicsServer2D::BODY_MODE_STATIC) { - return; //static bodies can't become active - } - if (get_space()) { - get_space()->body_add_to_active_list(&active_list); - } - - //still_time=0; - } - /* - if (!space) - return; - - for(int i=0;i<get_shape_count();i++) { - Shape &s=shapes[i]; - if (s.bpid>0) { - get_space()->get_broadphase()->set_active(s.bpid,active); - } - } -*/ -} - -void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, real_t p_value) { - switch (p_param) { - case PhysicsServer2D::BODY_PARAM_BOUNCE: { - bounce = p_value; - } break; - case PhysicsServer2D::BODY_PARAM_FRICTION: { - friction = p_value; - } break; - case PhysicsServer2D::BODY_PARAM_MASS: { - ERR_FAIL_COND(p_value <= 0); - mass = p_value; - _update_inertia(); - - } break; - case PhysicsServer2D::BODY_PARAM_INERTIA: { - if (p_value <= 0) { - user_inertia = false; - _update_inertia(); - } else { - user_inertia = true; - inertia = p_value; - _inv_inertia = 1.0 / p_value; - } - } break; - case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: { - gravity_scale = p_value; - } break; - case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: { - linear_damp = p_value; - } break; - case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: { - angular_damp = p_value; - } break; - default: { - } - } -} - -real_t Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { - switch (p_param) { - case PhysicsServer2D::BODY_PARAM_BOUNCE: { - return bounce; - } - case PhysicsServer2D::BODY_PARAM_FRICTION: { - return friction; - } - case PhysicsServer2D::BODY_PARAM_MASS: { - return mass; - } - case PhysicsServer2D::BODY_PARAM_INERTIA: { - return inertia; - } - case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: { - return gravity_scale; - } - case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: { - return linear_damp; - } - case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: { - return angular_damp; - } - default: { - } - } - - return 0; -} - -void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) { - PhysicsServer2D::BodyMode prev = mode; - mode = p_mode; - - switch (p_mode) { - //CLEAR UP EVERYTHING IN CASE IT NOT WORKS! - case PhysicsServer2D::BODY_MODE_STATIC: - case PhysicsServer2D::BODY_MODE_KINEMATIC: { - _set_inv_transform(get_transform().affine_inverse()); - _inv_mass = 0; - _inv_inertia = 0; - _set_static(p_mode == PhysicsServer2D::BODY_MODE_STATIC); - set_active(p_mode == PhysicsServer2D::BODY_MODE_KINEMATIC && contacts.size()); - linear_velocity = Vector2(); - angular_velocity = 0; - if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC && prev != mode) { - first_time_kinematic = true; - } - } break; - case PhysicsServer2D::BODY_MODE_RIGID: { - _inv_mass = mass > 0 ? (1.0 / mass) : 0; - _inv_inertia = inertia > 0 ? (1.0 / inertia) : 0; - _set_static(false); - set_active(true); - - } break; - case PhysicsServer2D::BODY_MODE_CHARACTER: { - _inv_mass = mass > 0 ? (1.0 / mass) : 0; - _inv_inertia = 0; - _set_static(false); - set_active(true); - angular_velocity = 0; - } break; - } - if (p_mode == PhysicsServer2D::BODY_MODE_RIGID && _inv_inertia == 0) { - _update_inertia(); - } - /* - if (get_space()) - _update_queries(); - */ -} - -PhysicsServer2D::BodyMode Body2DSW::get_mode() const { - return mode; -} - -void Body2DSW::_shapes_changed() { - _update_inertia(); - wakeup_neighbours(); -} - -void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) { - switch (p_state) { - case PhysicsServer2D::BODY_STATE_TRANSFORM: { - if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { - new_transform = p_variant; - //wakeup_neighbours(); - set_active(true); - if (first_time_kinematic) { - _set_transform(p_variant); - _set_inv_transform(get_transform().affine_inverse()); - first_time_kinematic = false; - } - } else if (mode == PhysicsServer2D::BODY_MODE_STATIC) { - _set_transform(p_variant); - _set_inv_transform(get_transform().affine_inverse()); - wakeup_neighbours(); - } else { - Transform2D t = p_variant; - t.orthonormalize(); - new_transform = get_transform(); //used as old to compute motion - if (t == new_transform) { - break; - } - _set_transform(t); - _set_inv_transform(get_transform().inverse()); - } - wakeup(); - - } break; - case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: { - /* - if (mode==PhysicsServer2D::BODY_MODE_STATIC) - break; - */ - linear_velocity = p_variant; - wakeup(); - - } break; - case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: { - /* - if (mode!=PhysicsServer2D::BODY_MODE_RIGID) - break; - */ - angular_velocity = p_variant; - wakeup(); - - } break; - case PhysicsServer2D::BODY_STATE_SLEEPING: { - //? - if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { - break; - } - bool do_sleep = p_variant; - if (do_sleep) { - linear_velocity = Vector2(); - //biased_linear_velocity=Vector3(); - angular_velocity = 0; - //biased_angular_velocity=Vector3(); - set_active(false); - } else { - if (mode != PhysicsServer2D::BODY_MODE_STATIC) { - set_active(true); - } - } - } break; - case PhysicsServer2D::BODY_STATE_CAN_SLEEP: { - can_sleep = p_variant; - if (mode == PhysicsServer2D::BODY_MODE_RIGID && !active && !can_sleep) { - set_active(true); - } - - } break; - } -} - -Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const { - switch (p_state) { - case PhysicsServer2D::BODY_STATE_TRANSFORM: { - return get_transform(); - } - case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: { - return linear_velocity; - } - case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: { - return angular_velocity; - } - case PhysicsServer2D::BODY_STATE_SLEEPING: { - return !is_active(); - } - case PhysicsServer2D::BODY_STATE_CAN_SLEEP: { - return can_sleep; - } - } - - return Variant(); -} - -void Body2DSW::set_space(Space2DSW *p_space) { - if (get_space()) { - wakeup_neighbours(); - - if (inertia_update_list.in_list()) { - get_space()->body_remove_from_inertia_update_list(&inertia_update_list); - } - if (active_list.in_list()) { - get_space()->body_remove_from_active_list(&active_list); - } - if (direct_state_query_list.in_list()) { - get_space()->body_remove_from_state_query_list(&direct_state_query_list); - } - } - - _set_space(p_space); - - if (get_space()) { - _update_inertia(); - if (active) { - get_space()->body_add_to_active_list(&active_list); - } - /* - _update_queries(); - if (is_active()) { - active=false; - set_active(true); - } - */ - } - - first_integration = false; -} - -void Body2DSW::_compute_area_gravity_and_dampenings(const Area2DSW *p_area) { - if (p_area->is_gravity_point()) { - if (p_area->get_gravity_distance_scale() > 0) { - Vector2 v = p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin(); - gravity += v.normalized() * (p_area->get_gravity() / Math::pow(v.length() * p_area->get_gravity_distance_scale() + 1, 2)); - } else { - gravity += (p_area->get_transform().xform(p_area->get_gravity_vector()) - get_transform().get_origin()).normalized() * p_area->get_gravity(); - } - } else { - gravity += p_area->get_gravity_vector() * p_area->get_gravity(); - } - - area_linear_damp += p_area->get_linear_damp(); - area_angular_damp += p_area->get_angular_damp(); -} - -void Body2DSW::integrate_forces(real_t p_step) { - if (mode == PhysicsServer2D::BODY_MODE_STATIC) { - return; - } - - Area2DSW *def_area = get_space()->get_default_area(); - // Area2DSW *damp_area = def_area; - ERR_FAIL_COND(!def_area); - - int ac = areas.size(); - bool stopped = false; - gravity = Vector2(0, 0); - area_angular_damp = 0; - area_linear_damp = 0; - if (ac) { - areas.sort(); - const AreaCMP *aa = &areas[0]; - // damp_area = aa[ac-1].area; - for (int i = ac - 1; i >= 0 && !stopped; i--) { - PhysicsServer2D::AreaSpaceOverrideMode mode = aa[i].area->get_space_override_mode(); - switch (mode) { - case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE: - case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { - _compute_area_gravity_and_dampenings(aa[i].area); - stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; - } break; - case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE: - case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: { - gravity = Vector2(0, 0); - area_angular_damp = 0; - area_linear_damp = 0; - _compute_area_gravity_and_dampenings(aa[i].area); - stopped = mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE; - } break; - default: { - } - } - } - } - if (!stopped) { - _compute_area_gravity_and_dampenings(def_area); - } - gravity *= gravity_scale; - - // If less than 0, override dampenings with that of the Body2D - if (angular_damp >= 0) { - area_angular_damp = angular_damp; - } - /* - else - area_angular_damp=damp_area->get_angular_damp(); - */ - - if (linear_damp >= 0) { - area_linear_damp = linear_damp; - } - /* - else - area_linear_damp=damp_area->get_linear_damp(); - */ - - Vector2 motion; - bool do_motion = false; - - if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { - //compute motion, angular and etc. velocities from prev transform - motion = new_transform.get_origin() - get_transform().get_origin(); - linear_velocity = motion / p_step; - - real_t rot = new_transform.get_rotation() - get_transform().get_rotation(); - angular_velocity = remainder(rot, 2.0 * Math_PI) / p_step; - - do_motion = true; - - /* - for(int i=0;i<get_shape_count();i++) { - set_shape_kinematic_advance(i,Vector2()); - set_shape_kinematic_retreat(i,0); - } - */ - - } else { - if (!omit_force_integration && !first_integration) { - //overridden by direct state query - - Vector2 force = gravity * mass; - force += applied_force; - real_t torque = applied_torque; - - real_t damp = 1.0 - p_step * area_linear_damp; - - if (damp < 0) { // reached zero in the given time - damp = 0; - } - - real_t angular_damp = 1.0 - p_step * area_angular_damp; - - if (angular_damp < 0) { // reached zero in the given time - angular_damp = 0; - } - - linear_velocity *= damp; - angular_velocity *= angular_damp; - - linear_velocity += _inv_mass * force * p_step; - angular_velocity += _inv_inertia * torque * p_step; - } - - if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) { - motion = linear_velocity * p_step; - do_motion = true; - } - } - - //motion=linear_velocity*p_step; - - first_integration = false; - biased_angular_velocity = 0; - biased_linear_velocity = Vector2(); - - if (do_motion) { //shapes temporarily extend for raycast - _update_shapes_with_motion(motion); - } - - // damp_area=nullptr; // clear the area, so it is set in the next frame - def_area = nullptr; // clear the area, so it is set in the next frame - contact_count = 0; -} - -void Body2DSW::integrate_velocities(real_t p_step) { - if (mode == PhysicsServer2D::BODY_MODE_STATIC) { - return; - } - - if (fi_callback) { - get_space()->body_add_to_state_query_list(&direct_state_query_list); - } - - if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { - _set_transform(new_transform, false); - _set_inv_transform(new_transform.affine_inverse()); - if (contacts.size() == 0 && linear_velocity == Vector2() && angular_velocity == 0) { - set_active(false); //stopped moving, deactivate - } - return; - } - - real_t total_angular_velocity = angular_velocity + biased_angular_velocity; - Vector2 total_linear_velocity = linear_velocity + biased_linear_velocity; - - real_t angle = get_transform().get_rotation() + total_angular_velocity * p_step; - Vector2 pos = get_transform().get_origin() + total_linear_velocity * p_step; - - _set_transform(Transform2D(angle, pos), continuous_cd_mode == PhysicsServer2D::CCD_MODE_DISABLED); - _set_inv_transform(get_transform().inverse()); - - if (continuous_cd_mode != PhysicsServer2D::CCD_MODE_DISABLED) { - new_transform = get_transform(); - } - - //_update_inertia_tensor(); -} - -void Body2DSW::wakeup_neighbours() { - for (List<Pair<Constraint2DSW *, int>>::Element *E = constraint_list.front(); E; E = E->next()) { - const Constraint2DSW *c = E->get().first; - Body2DSW **n = c->get_body_ptr(); - int bc = c->get_body_count(); - - for (int i = 0; i < bc; i++) { - if (i == E->get().second) { - continue; - } - Body2DSW *b = n[i]; - if (b->mode != PhysicsServer2D::BODY_MODE_RIGID) { - continue; - } - - if (!b->is_active()) { - b->set_active(true); - } - } - } -} - -void Body2DSW::call_queries() { - if (fi_callback) { - PhysicsDirectBodyState2DSW *dbs = PhysicsDirectBodyState2DSW::singleton; - dbs->body = this; - - Variant v = dbs; - const Variant *vp[2] = { &v, &fi_callback->callback_udata }; - - Object *obj = ObjectDB::get_instance(fi_callback->id); - if (!obj) { - set_force_integration_callback(ObjectID(), StringName()); - } else { - Callable::CallError ce; - if (fi_callback->callback_udata.get_type() != Variant::NIL) { - obj->call(fi_callback->method, vp, 2, ce); - - } else { - obj->call(fi_callback->method, vp, 1, ce); - } - } - } -} - -bool Body2DSW::sleep_test(real_t p_step) { - if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { - return true; // - } else if (mode == PhysicsServer2D::BODY_MODE_CHARACTER) { - return !active; // characters and kinematic bodies don't sleep unless asked to sleep - } else if (!can_sleep) { - return false; - } - - if (Math::abs(angular_velocity) < get_space()->get_body_angular_velocity_sleep_threshold() && Math::abs(linear_velocity.length_squared()) < get_space()->get_body_linear_velocity_sleep_threshold() * get_space()->get_body_linear_velocity_sleep_threshold()) { - still_time += p_step; - - return still_time > get_space()->get_body_time_to_sleep(); - } else { - still_time = 0; //maybe this should be set to 0 on set_active? - return false; - } -} - -void Body2DSW::set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata) { - if (fi_callback) { - memdelete(fi_callback); - fi_callback = nullptr; - } - - if (p_id.is_valid()) { - fi_callback = memnew(ForceIntegrationCallback); - fi_callback->id = p_id; - fi_callback->method = p_method; - fi_callback->callback_udata = p_udata; - } -} - -Body2DSW::Body2DSW() : - CollisionObject2DSW(TYPE_BODY), - active_list(this), - inertia_update_list(this), - direct_state_query_list(this) { - mode = PhysicsServer2D::BODY_MODE_RIGID; - active = true; - angular_velocity = 0; - biased_angular_velocity = 0; - mass = 1; - inertia = 0; - user_inertia = false; - _inv_inertia = 0; - _inv_mass = 1; - bounce = 0; - friction = 1; - omit_force_integration = false; - applied_torque = 0; - island_step = 0; - island_next = nullptr; - island_list_next = nullptr; - _set_static(false); - first_time_kinematic = false; - linear_damp = -1; - angular_damp = -1; - area_angular_damp = 0; - area_linear_damp = 0; - contact_count = 0; - gravity_scale = 1.0; - first_integration = false; - - still_time = 0; - continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED; - can_sleep = true; - fi_callback = nullptr; -} - -Body2DSW::~Body2DSW() { - if (fi_callback) { - memdelete(fi_callback); - } -} - -PhysicsDirectBodyState2DSW *PhysicsDirectBodyState2DSW::singleton = nullptr; - -PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() { - return body->get_space()->get_direct_state(); -} - -Variant PhysicsDirectBodyState2DSW::get_contact_collider_shape_metadata(int p_contact_idx) const { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Variant()); - - if (!PhysicsServer2DSW::singletonsw->body_owner.owns(body->contacts[p_contact_idx].collider)) { - return Variant(); - } - Body2DSW *other = PhysicsServer2DSW::singletonsw->body_owner.getornull(body->contacts[p_contact_idx].collider); - - int sidx = body->contacts[p_contact_idx].collider_shape; - if (sidx < 0 || sidx >= other->get_shape_count()) { - return Variant(); - } - - return other->get_shape_metadata(sidx); -} |