diff options
Diffstat (limited to 'servers/physics_2d/space_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/space_2d_sw.cpp | 1411 |
1 files changed, 0 insertions, 1411 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp deleted file mode 100644 index 4f12248c3e..0000000000 --- a/servers/physics_2d/space_2d_sw.cpp +++ /dev/null @@ -1,1411 +0,0 @@ -/*************************************************************************/ -/* space_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 "space_2d_sw.h" - -#include "collision_solver_2d_sw.h" -#include "core/os/os.h" -#include "core/templates/pair.h" -#include "physics_server_2d_sw.h" -_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (!(p_object->get_collision_layer() & p_collision_mask)) { - return false; - } - - if (p_object->get_type() == CollisionObject2DSW::TYPE_AREA && !p_collide_with_areas) { - return false; - } - - if (p_object->get_type() == CollisionObject2DSW::TYPE_BODY && !p_collide_with_bodies) { - return false; - } - - return true; -} - -int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas, ObjectID p_canvas_instance_id) { - if (p_result_max <= 0) { - return 0; - } - - Rect2 aabb; - aabb.position = p_point - Vector2(0.00001, 0.00001); - aabb.size = Vector2(0.00002, 0.00002); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - int cc = 0; - - for (int i = 0; i < amount; i++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - if (p_exclude.has(space->intersection_query_results[i]->get_self())) { - continue; - } - - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; - - if (p_pick_point && !col_obj->is_pickable()) { - continue; - } - - if (p_filter_by_canvas && col_obj->get_canvas_instance_id() != p_canvas_instance_id) { - continue; - } - - int shape_idx = space->intersection_query_subindex_results[i]; - - if (col_obj->is_shape_set_as_disabled(shape_idx)) { - continue; - } - - Shape2DSW *shape = col_obj->get_shape(shape_idx); - - Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point); - - if (!shape->contains_point(local_point)) { - continue; - } - - if (cc >= p_result_max) { - continue; - } - - r_results[cc].collider_id = col_obj->get_instance_id(); - if (r_results[cc].collider_id.is_valid()) { - r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); - } - r_results[cc].rid = col_obj->get_self(); - r_results[cc].shape = shape_idx; - r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx); - - cc++; - } - - return cc; -} - -int PhysicsDirectSpaceState2DSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) { - return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point); -} - -int PhysicsDirectSpaceState2DSW::intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) { - return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point, true, p_canvas_instance_id); -} - -bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - ERR_FAIL_COND_V(space->locked, false); - - Vector2 begin, end; - Vector2 normal; - begin = p_from; - end = p_to; - normal = (end - begin).normalized(); - - int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - //todo, create another array that references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision - - bool collided = false; - Vector2 res_point, res_normal; - int res_shape; - const CollisionObject2DSW *res_obj; - real_t min_d = 1e10; - - for (int i = 0; i < amount; i++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - if (p_exclude.has(space->intersection_query_results[i]->get_self())) { - continue; - } - - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; - - int shape_idx = space->intersection_query_subindex_results[i]; - Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); - - Vector2 local_from = inv_xform.xform(begin); - Vector2 local_to = inv_xform.xform(end); - - /*local_from = col_obj->get_inv_transform().xform(begin); - local_from = col_obj->get_shape_inv_transform(shape_idx).xform(local_from); - - local_to = col_obj->get_inv_transform().xform(end); - local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/ - - const Shape2DSW *shape = col_obj->get_shape(shape_idx); - - Vector2 shape_point, shape_normal; - - if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) { - Transform2D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); - shape_point = xform.xform(shape_point); - - real_t ld = normal.dot(shape_point); - - if (ld < min_d) { - min_d = ld; - res_point = shape_point; - res_normal = inv_xform.basis_xform_inv(shape_normal).normalized(); - res_shape = shape_idx; - res_obj = col_obj; - collided = true; - } - } - } - - if (!collided) { - return false; - } - - r_result.collider_id = res_obj->get_instance_id(); - if (r_result.collider_id.is_valid()) { - r_result.collider = ObjectDB::get_instance(r_result.collider_id); - } - r_result.normal = res_normal; - r_result.metadata = res_obj->get_shape_metadata(res_shape); - r_result.position = res_point; - r_result.rid = res_obj->get_self(); - r_result.shape = res_shape; - - return true; -} - -int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (p_result_max <= 0) { - return 0; - } - - Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, 0); - - Rect2 aabb = p_xform.xform(shape->get_aabb()); - aabb = aabb.grow(p_margin); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - int cc = 0; - - for (int i = 0; i < amount; i++) { - if (cc >= p_result_max) { - break; - } - - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - if (p_exclude.has(space->intersection_query_results[i]->get_self())) { - continue; - } - - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; - int shape_idx = space->intersection_query_subindex_results[i]; - - if (col_obj->is_shape_set_as_disabled(shape_idx)) { - continue; - } - - if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) { - continue; - } - - r_results[cc].collider_id = col_obj->get_instance_id(); - if (r_results[cc].collider_id.is_valid()) { - r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id); - } - r_results[cc].rid = col_obj->get_self(); - r_results[cc].shape = shape_idx; - r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx); - - cc++; - } - - return cc; -} - -bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &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, bool p_collide_with_bodies, bool p_collide_with_areas) { - Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, false); - - Rect2 aabb = p_xform.xform(shape->get_aabb()); - aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion - aabb = aabb.grow(p_margin); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - real_t best_safe = 1; - real_t best_unsafe = 1; - - for (int i = 0; i < amount; i++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - if (p_exclude.has(space->intersection_query_results[i]->get_self())) { - continue; //ignore excluded - } - - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; - int shape_idx = space->intersection_query_subindex_results[i]; - - if (col_obj->is_shape_set_as_disabled(shape_idx)) { - continue; - } - - Transform2D 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 (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) { - continue; - } - - //test initial overlap, ignore objects it's inside of. - if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) { - continue; - } - - //just do kinematic solving - real_t low = 0; - real_t hi = 1; - Vector2 mnormal = p_motion.normalized(); - - for (int j = 0; j < 8; j++) { //steps should be customizable.. - - real_t ofs = (low + hi) * 0.5; - - Vector2 sep = mnormal; //important optimization for this to work fast enough - bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin); - - if (collided) { - hi = ofs; - } else { - low = ofs; - } - } - - if (low < best_safe) { - best_safe = low; - best_unsafe = hi; - } - } - - p_closest_safe = best_safe; - p_closest_unsafe = best_unsafe; - - return true; -} - -bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - if (p_result_max <= 0) { - return false; - } - - Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, 0); - - Rect2 aabb = p_shape_xform.xform(shape->get_aabb()); - aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion - aabb = aabb.grow(p_margin); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - bool collided = false; - r_result_count = 0; - - PhysicsServer2DSW::CollCbkData cbk; - cbk.max = p_result_max; - cbk.amount = 0; - cbk.passed = 0; - cbk.ptr = r_results; - CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk; - - PhysicsServer2DSW::CollCbkData *cbkptr = &cbk; - - for (int i = 0; i < amount; i++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; - - if (p_exclude.has(col_obj->get_self())) { - continue; - } - - int shape_idx = space->intersection_query_subindex_results[i]; - - if (col_obj->is_shape_set_as_disabled(shape_idx)) { - continue; - } - - cbk.valid_dir = Vector2(); - cbk.valid_depth = 0; - - if (CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, nullptr, p_margin)) { - collided = cbk.amount > 0; - } - } - - r_result_count = cbk.amount; - - return collided; -} - -struct _RestCallbackData2D { - const CollisionObject2DSW *object; - const CollisionObject2DSW *best_object; - int local_shape; - int best_local_shape; - int shape; - int best_shape; - Vector2 best_contact; - Vector2 best_normal; - real_t best_len; - Vector2 valid_dir; - real_t valid_depth; - real_t min_allowed_depth; -}; - -static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { - _RestCallbackData2D *rd = (_RestCallbackData2D *)p_userdata; - - Vector2 contact_rel = p_point_B - p_point_A; - real_t len = contact_rel.length(); - - if (len < rd->min_allowed_depth) { - return; - } - - if (len <= rd->best_len) { - return; - } - - Vector2 normal = contact_rel / len; - - if (rd->valid_dir != Vector2()) { - if (len > rd->valid_depth) { - return; - } - - if (rd->valid_dir.dot(normal) > -CMP_EPSILON) { - return; - } - } - - rd->best_len = len; - rd->best_contact = p_point_B; - rd->best_normal = normal; - rd->best_object = rd->object; - rd->best_shape = rd->shape; - rd->best_local_shape = rd->local_shape; -} - -bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, 0); - - Rect2 aabb = p_shape_xform.xform(shape->get_aabb()); - aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion - aabb = aabb.grow(p_margin); - - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - - _RestCallbackData2D rcd; - rcd.best_len = 0; - rcd.best_object = nullptr; - rcd.best_shape = 0; - rcd.min_allowed_depth = space->test_motion_min_contact_depth; - - for (int i = 0; i < amount; i++) { - if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { - continue; - } - - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; - - if (p_exclude.has(col_obj->get_self())) { - continue; - } - - int shape_idx = space->intersection_query_subindex_results[i]; - - if (col_obj->is_shape_set_as_disabled(shape_idx)) { - continue; - } - - rcd.valid_dir = Vector2(); - rcd.object = col_obj; - rcd.shape = shape_idx; - rcd.local_shape = 0; - bool sc = CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, p_margin); - if (!sc) { - continue; - } - } - - if (rcd.best_len == 0 || !rcd.best_object) { - 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(); - r_info->metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); - if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) { - const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object); - Vector2 rel_vec = r_info->point - body->get_transform().get_origin(); - r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); - - } else { - r_info->linear_velocity = Vector2(); - } - - return true; -} - -PhysicsDirectSpaceState2DSW::PhysicsDirectSpaceState2DSW() { - space = nullptr; -} - -//////////////////////////////////////////////////////////////////////////////////////////////////////////// - -int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) { - int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results); - - for (int i = 0; i < amount; i++) { - bool keep = true; - - if (intersection_query_results[i] == p_body) { - keep = false; - } else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA) { - keep = false; - } else if ((static_cast<Body2DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0) { - keep = false; - } else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { - keep = false; - } else if (static_cast<Body2DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i])) { - keep = false; - } - - if (!keep) { - if (i < amount - 1) { - SWAP(intersection_query_results[i], intersection_query_results[amount - 1]); - SWAP(intersection_query_subindex_results[i], intersection_query_subindex_results[amount - 1]); - } - - amount--; - i--; - } - } - - return amount; -} - -int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, PhysicsServer2D::SeparationResult *r_results, int p_result_max, real_t p_margin) { - Rect2 body_aabb; - - bool shapes_found = false; - - for (int i = 0; i < p_body->get_shape_count(); i++) { - if (p_body->is_shape_set_as_disabled(i)) { - continue; - } - - if (p_body->get_shape(i)->get_type() != PhysicsServer2D::SHAPE_RAY) { - continue; - } - - if (!shapes_found) { - body_aabb = p_body->get_shape_aabb(i); - shapes_found = true; - } else { - body_aabb = body_aabb.merge(p_body->get_shape_aabb(i)); - } - } - - if (!shapes_found) { - return 0; - } - - // Undo the currently transform the physics server is aware of and apply the provided one - body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb)); - body_aabb = body_aabb.grow(p_margin); - - Transform2D body_transform = p_transform; - - for (int i = 0; i < p_result_max; i++) { - //reset results - r_results[i].collision_depth = 0; - } - - int rays_found = 0; - - { - // raycast AND separate - - const int max_results = 32; - int recover_attempts = 4; - Vector2 sr[max_results * 2]; - PhysicsServer2DSW::CollCbkData cbk; - cbk.max = max_results; - PhysicsServer2DSW::CollCbkData *cbkptr = &cbk; - CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk; - - do { - Vector2 recover_motion; - - bool collided = false; - - int amount = _cull_aabb_for_body(p_body, body_aabb); - - for (int j = 0; j < p_body->get_shape_count(); j++) { - if (p_body->is_shape_set_as_disabled(j)) { - continue; - } - - Shape2DSW *body_shape = p_body->get_shape(j); - - if (body_shape->get_type() != PhysicsServer2D::SHAPE_RAY) { - continue; - } - - Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j); - - for (int i = 0; i < amount; i++) { - const CollisionObject2DSW *col_obj = intersection_query_results[i]; - int shape_idx = intersection_query_subindex_results[i]; - - cbk.amount = 0; - cbk.passed = 0; - cbk.ptr = sr; - cbk.invalid_by_dir = 0; - - if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) { - const Body2DSW *b = static_cast<const Body2DSW *>(col_obj); - if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) { - continue; - } - } - - Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); - - /* - * There is no point in supporting one way collisions with ray shapes, as they will always collide in the desired - * direction. Use a short ray shape if you want to achieve a similar effect. - * - if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) { - cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); - cbk.valid_depth = p_margin; //only valid depth is the collision margin - cbk.invalid_by_dir = 0; - - } else { -*/ - - cbk.valid_dir = Vector2(); - cbk.valid_depth = 0; - cbk.invalid_by_dir = 0; - - /* - } - */ - - Shape2DSW *against_shape = col_obj->get_shape(shape_idx); - if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_margin)) { - if (cbk.amount > 0) { - collided = true; - } - - int ray_index = -1; //reuse shape - for (int k = 0; k < rays_found; k++) { - if (r_results[ray_index].collision_local_shape == j) { - ray_index = k; - } - } - - if (ray_index == -1 && rays_found < p_result_max) { - ray_index = rays_found; - rays_found++; - } - - if (ray_index != -1) { - PhysicsServer2D::SeparationResult &result = r_results[ray_index]; - - for (int k = 0; k < cbk.amount; k++) { - Vector2 a = sr[k * 2 + 0]; - Vector2 b = sr[k * 2 + 1]; - - recover_motion += (b - a) / cbk.amount; - - real_t depth = a.distance_to(b); - if (depth > result.collision_depth) { - result.collision_depth = depth; - result.collision_point = b; - result.collision_normal = (b - a).normalized(); - result.collision_local_shape = j; - result.collider_shape = shape_idx; - result.collider = col_obj->get_self(); - result.collider_id = col_obj->get_instance_id(); - result.collider_metadata = col_obj->get_shape_metadata(shape_idx); - if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) { - Body2DSW *body = (Body2DSW *)col_obj; - - Vector2 rel_vec = b - body->get_transform().get_origin(); - result.collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); - } - } - } - } - } - } - } - - if (!collided || recover_motion == Vector2()) { - break; - } - - body_transform.elements[2] += recover_motion; - body_aabb.position += recover_motion; - - recover_attempts--; - } while (recover_attempts); - } - - //optimize results (remove non colliding) - for (int i = 0; i < rays_found; i++) { - if (r_results[i].collision_depth == 0) { - rays_found--; - SWAP(r_results[i], r_results[rays_found]); - } - } - - r_recover_motion = body_transform.elements[2] - p_transform.elements[2]; - return rays_found; -} - -bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_exclude_raycast_shapes) { - //give me back regular physics engine logic - //this is madness - //and most people using this function will think - //what it does is simpler than using physics - //this took about a week to get right.. - //but is it right? who knows at this point.. - - if (r_result) { - r_result->collider_id = ObjectID(); - r_result->collider_shape = 0; - } - Rect2 body_aabb; - - bool shapes_found = false; - - for (int i = 0; i < p_body->get_shape_count(); i++) { - if (p_body->is_shape_set_as_disabled(i)) { - continue; - } - - if (p_exclude_raycast_shapes && p_body->get_shape(i)->get_type() == PhysicsServer2D::SHAPE_RAY) { - continue; - } - - if (!shapes_found) { - body_aabb = p_body->get_shape_aabb(i); - shapes_found = true; - } else { - body_aabb = body_aabb.merge(p_body->get_shape_aabb(i)); - } - } - - if (!shapes_found) { - if (r_result) { - *r_result = PhysicsServer2D::MotionResult(); - r_result->motion = p_motion; - } - return false; - } - - // Undo the currently transform the physics server is aware of and apply the provided one - body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb)); - body_aabb = body_aabb.grow(p_margin); - - static const int max_excluded_shape_pairs = 32; - ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs]; - int excluded_shape_pair_count = 0; - - real_t motion_length = p_motion.length(); - Vector2 motion_normal = p_motion / motion_length; - - Transform2D body_transform = p_from; - - bool recovered = false; - - { - //STEP 1, FREE BODY IF STUCK - - const int max_results = 32; - int recover_attempts = 4; - Vector2 sr[max_results * 2]; - - do { - PhysicsServer2DSW::CollCbkData cbk; - cbk.max = max_results; - cbk.amount = 0; - cbk.passed = 0; - cbk.ptr = sr; - cbk.invalid_by_dir = 0; - excluded_shape_pair_count = 0; //last step is the one valid - - PhysicsServer2DSW::CollCbkData *cbkptr = &cbk; - CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk; - - bool collided = false; - - int amount = _cull_aabb_for_body(p_body, body_aabb); - - for (int j = 0; j < p_body->get_shape_count(); j++) { - if (p_body->is_shape_set_as_disabled(j)) { - continue; - } - - Shape2DSW *body_shape = p_body->get_shape(j); - if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) { - continue; - } - - Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j); - for (int i = 0; i < amount; i++) { - const CollisionObject2DSW *col_obj = intersection_query_results[i]; - int shape_idx = intersection_query_subindex_results[i]; - - if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) { - const Body2DSW *b = static_cast<const Body2DSW *>(col_obj); - if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) { - continue; - } - } - - Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); - - if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) { - cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); - - real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); - cbk.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work - cbk.invalid_by_dir = 0; - - if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) { - const Body2DSW *b = static_cast<const Body2DSW *>(col_obj); - if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_RIGID) { - //fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction - Vector2 lv = b->get_linear_velocity(); - //compute displacement from linear velocity - Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step; - real_t motion_len = motion.length(); - motion.normalize(); - cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0); - } - } - } else { - cbk.valid_dir = Vector2(); - cbk.valid_depth = 0; - cbk.invalid_by_dir = 0; - } - - int current_passed = cbk.passed; //save how many points passed collision - bool did_collide = false; - - Shape2DSW *against_shape = col_obj->get_shape(shape_idx); - if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_margin)) { - did_collide = cbk.passed > current_passed; //more passed, so collision actually existed - } - - if (!did_collide && cbk.invalid_by_dir > 0) { - //this shape must be excluded - if (excluded_shape_pair_count < max_excluded_shape_pairs) { - ExcludedShapeSW esp; - esp.local_shape = body_shape; - esp.against_object = col_obj; - esp.against_shape_index = shape_idx; - excluded_shape_pairs[excluded_shape_pair_count++] = esp; - } - } - - if (did_collide) { - collided = true; - } - } - } - - if (!collided) { - break; - } - - Vector2 recover_motion; - for (int i = 0; i < cbk.amount; i++) { - Vector2 a = sr[i * 2 + 0]; - Vector2 b = sr[i * 2 + 1]; - - // Compute plane on b towards a. - Vector2 n = (a - b).normalized(); - real_t d = n.dot(b); - - // Compute depth on recovered motion. - real_t depth = n.dot(a + recover_motion) - d; - if (depth > 0.0) { - // Only recover if there is penetration. - recover_motion -= n * depth * 0.4; - } - } - - if (recover_motion == Vector2()) { - collided = false; - break; - } - - recovered = true; - - body_transform.elements[2] += recover_motion; - body_aabb.position += recover_motion; - - recover_attempts--; - - } while (recover_attempts); - } - - real_t safe = 1.0; - real_t unsafe = 1.0; - int best_shape = -1; - - { - // STEP 2 ATTEMPT MOTION - - Rect2 motion_aabb = body_aabb; - motion_aabb.position += p_motion; - motion_aabb = motion_aabb.merge(body_aabb); - - int amount = _cull_aabb_for_body(p_body, motion_aabb); - - for (int body_shape_idx = 0; body_shape_idx < p_body->get_shape_count(); body_shape_idx++) { - if (p_body->is_shape_set_as_disabled(body_shape_idx)) { - continue; - } - - Shape2DSW *body_shape = p_body->get_shape(body_shape_idx); - if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) { - continue; - } - - Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx); - - bool stuck = false; - - real_t best_safe = 1; - real_t best_unsafe = 1; - - for (int i = 0; i < amount; i++) { - const CollisionObject2DSW *col_obj = intersection_query_results[i]; - int col_shape_idx = intersection_query_subindex_results[i]; - Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx); - - if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) { - const Body2DSW *b = static_cast<const Body2DSW *>(col_obj); - if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) { - continue; - } - } - - bool excluded = false; - - for (int k = 0; k < excluded_shape_pair_count; k++) { - if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == col_shape_idx) { - excluded = true; - break; - } - } - - if (excluded) { - continue; - } - - Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx); - //test initial overlap, does it collide if going all the way? - if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { - continue; - } - - //test initial overlap - if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { - if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) { - Vector2 direction = col_obj_shape_xform.get_axis(1).normalized(); - if (motion_normal.dot(direction) < 0) { - continue; - } - } - - stuck = true; - break; - } - - //just do kinematic solving - real_t low = 0; - real_t hi = 1; - - for (int k = 0; k < 8; k++) { //steps should be customizable.. - - real_t ofs = (low + hi) * 0.5; - - Vector2 sep = motion_normal; //important optimization for this to work fast enough - bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0); - - if (collided) { - hi = ofs; - } else { - low = ofs; - } - } - - if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) { - Vector2 cd[2]; - PhysicsServer2DSW::CollCbkData cbk; - cbk.max = 1; - cbk.amount = 0; - cbk.passed = 0; - cbk.ptr = cd; - cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); - - cbk.valid_depth = 10e20; - - Vector2 sep = motion_normal; //important optimization for this to work fast enough - bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), PhysicsServer2DSW::_shape_col_cbk, &cbk, &sep, 0); - if (!collided || cbk.amount == 0) { - continue; - } - } - - if (low < best_safe) { - best_safe = low; - best_unsafe = hi; - } - } - - if (stuck) { - safe = 0; - unsafe = 0; - best_shape = body_shape_idx; //sadly it's the best - break; - } - if (best_safe == 1.0) { - continue; - } - if (best_safe < safe) { - safe = best_safe; - unsafe = best_unsafe; - best_shape = body_shape_idx; - } - } - } - - bool collided = false; - - if (recovered || (safe < 1)) { - if (safe >= 1) { - best_shape = -1; //no best shape with cast, reset to -1 - } - - //it collided, let's get the rest info in unsafe advance - Transform2D ugt = body_transform; - ugt.elements[2] += p_motion * unsafe; - - _RestCallbackData2D rcd; - rcd.best_len = 0; - rcd.best_object = nullptr; - rcd.best_shape = 0; - - // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. - rcd.min_allowed_depth = MIN(motion_length, test_motion_min_contact_depth); - - int from_shape = best_shape != -1 ? best_shape : 0; - int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count(); - - for (int j = from_shape; j < to_shape; j++) { - if (p_body->is_shape_set_as_disabled(j)) { - continue; - } - - Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j); - Shape2DSW *body_shape = p_body->get_shape(j); - - if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer2D::SHAPE_RAY) { - continue; - } - - body_aabb.position += p_motion * unsafe; - - int amount = _cull_aabb_for_body(p_body, body_aabb); - - for (int i = 0; i < amount; i++) { - const CollisionObject2DSW *col_obj = intersection_query_results[i]; - int shape_idx = intersection_query_subindex_results[i]; - - if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) { - const Body2DSW *b = static_cast<const Body2DSW *>(col_obj); - if (p_infinite_inertia && PhysicsServer2D::BODY_MODE_STATIC != b->get_mode() && PhysicsServer2D::BODY_MODE_KINEMATIC != b->get_mode()) { - continue; - } - } - - Shape2DSW *against_shape = col_obj->get_shape(shape_idx); - - bool excluded = false; - for (int k = 0; k < excluded_shape_pair_count; k++) { - if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == shape_idx) { - excluded = true; - break; - } - } - if (excluded) { - continue; - } - - Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); - - if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) { - rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized(); - - real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); - rcd.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work - - if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) { - const Body2DSW *b = static_cast<const Body2DSW *>(col_obj); - if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_RIGID) { - //fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction - Vector2 lv = b->get_linear_velocity(); - //compute displacement from linear velocity - Vector2 motion = lv * PhysicsDirectBodyState2DSW::singleton->step; - real_t motion_len = motion.length(); - motion.normalize(); - rcd.valid_depth += motion_len * MAX(motion.dot(-rcd.valid_dir), 0.0); - } - } - } else { - rcd.valid_dir = Vector2(); - rcd.valid_depth = 0; - } - - rcd.object = col_obj; - rcd.shape = shape_idx; - rcd.local_shape = j; - bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_margin); - if (!sc) { - continue; - } - } - } - - if (rcd.best_len != 0) { - if (r_result) { - r_result->collider = rcd.best_object->get_self(); - r_result->collider_id = rcd.best_object->get_instance_id(); - r_result->collider_shape = rcd.best_shape; - r_result->collision_local_shape = rcd.best_local_shape; - r_result->collision_normal = rcd.best_normal; - r_result->collision_point = rcd.best_contact; - r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape); - - const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object); - Vector2 rel_vec = r_result->collision_point - body->get_transform().get_origin(); - r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); - - r_result->motion = safe * p_motion; - r_result->remainder = p_motion - safe * p_motion; - r_result->motion += (body_transform.get_origin() - p_from.get_origin()); - } - - collided = true; - } - } - - if (!collided && r_result) { - r_result->motion = p_motion; - r_result->remainder = Vector2(); - r_result->motion += (body_transform.get_origin() - p_from.get_origin()); - } - - return collided; -} - -void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) { - if (!A->test_collision_mask(B)) { - return nullptr; - } - - CollisionObject2DSW::Type type_A = A->get_type(); - CollisionObject2DSW::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); - } - - Space2DSW *self = (Space2DSW *)p_self; - self->collision_pairs++; - - if (type_A == CollisionObject2DSW::TYPE_AREA) { - Area2DSW *area = static_cast<Area2DSW *>(A); - if (type_B == CollisionObject2DSW::TYPE_AREA) { - Area2DSW *area_b = static_cast<Area2DSW *>(B); - Area2Pair2DSW *area2_pair = memnew(Area2Pair2DSW(area_b, p_subindex_B, area, p_subindex_A)); - return area2_pair; - } else { - Body2DSW *body = static_cast<Body2DSW *>(B); - AreaPair2DSW *area_pair = memnew(AreaPair2DSW(body, p_subindex_B, area, p_subindex_A)); - return area_pair; - } - - } else { - BodyPair2DSW *b = memnew(BodyPair2DSW((Body2DSW *)A, p_subindex_A, (Body2DSW *)B, p_subindex_B)); - return b; - } - - return nullptr; -} - -void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self) { - if (!p_data) { - return; - } - - Space2DSW *self = (Space2DSW *)p_self; - self->collision_pairs--; - Constraint2DSW *c = (Constraint2DSW *)p_data; - memdelete(c); -} - -const SelfList<Body2DSW>::List &Space2DSW::get_active_body_list() const { - return active_list; -} - -void Space2DSW::body_add_to_active_list(SelfList<Body2DSW> *p_body) { - active_list.add(p_body); -} - -void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) { - active_list.remove(p_body); -} - -void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body) { - inertia_update_list.add(p_body); -} - -void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) { - inertia_update_list.remove(p_body); -} - -BroadPhase2DSW *Space2DSW::get_broadphase() { - return broadphase; -} - -void Space2DSW::add_object(CollisionObject2DSW *p_object) { - ERR_FAIL_COND(objects.has(p_object)); - objects.insert(p_object); -} - -void Space2DSW::remove_object(CollisionObject2DSW *p_object) { - ERR_FAIL_COND(!objects.has(p_object)); - objects.erase(p_object); -} - -const Set<CollisionObject2DSW *> &Space2DSW::get_objects() const { - return objects; -} - -void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW> *p_body) { - state_query_list.add(p_body); -} - -void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW> *p_body) { - state_query_list.remove(p_body); -} - -void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area) { - monitor_query_list.add(p_area); -} - -void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area) { - monitor_query_list.remove(p_area); -} - -void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW> *p_area) { - area_moved_list.add(p_area); -} - -void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW> *p_area) { - area_moved_list.remove(p_area); -} - -const SelfList<Area2DSW>::List &Space2DSW::get_moved_area_list() const { - return area_moved_list; -} - -void Space2DSW::call_queries() { - while (state_query_list.first()) { - Body2DSW *b = state_query_list.first()->self(); - state_query_list.remove(state_query_list.first()); - b->call_queries(); - } - - while (monitor_query_list.first()) { - Area2DSW *a = monitor_query_list.first()->self(); - monitor_query_list.remove(monitor_query_list.first()); - a->call_queries(); - } -} - -void Space2DSW::setup() { - 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 Space2DSW::update() { - broadphase->update(); -} - -void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value) { - switch (p_param) { - case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: - contact_recycle_radius = p_value; - break; - case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION: - contact_max_separation = p_value; - break; - case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: - contact_max_allowed_penetration = p_value; - break; - case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: - body_linear_velocity_sleep_threshold = p_value; - break; - case PhysicsServer2D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: - body_angular_velocity_sleep_threshold = p_value; - break; - case PhysicsServer2D::SPACE_PARAM_BODY_TIME_TO_SLEEP: - body_time_to_sleep = p_value; - break; - case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: - constraint_bias = p_value; - break; - case PhysicsServer2D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: - test_motion_min_contact_depth = p_value; - break; - } -} - -real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const { - switch (p_param) { - case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: - return contact_recycle_radius; - case PhysicsServer2D::SPACE_PARAM_CONTACT_MAX_SEPARATION: - return contact_max_separation; - case PhysicsServer2D::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: - return contact_max_allowed_penetration; - case PhysicsServer2D::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: - return body_linear_velocity_sleep_threshold; - case PhysicsServer2D::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: - return body_angular_velocity_sleep_threshold; - case PhysicsServer2D::SPACE_PARAM_BODY_TIME_TO_SLEEP: - return body_time_to_sleep; - case PhysicsServer2D::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: - return constraint_bias; - case PhysicsServer2D::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: - return test_motion_min_contact_depth; - } - return 0; -} - -void Space2DSW::lock() { - locked = true; -} - -void Space2DSW::unlock() { - locked = false; -} - -bool Space2DSW::is_locked() const { - return locked; -} - -PhysicsDirectSpaceState2DSW *Space2DSW::get_direct_state() { - return direct_access; -} - -Space2DSW::Space2DSW() { - collision_pairs = 0; - active_objects = 0; - island_count = 0; - - contact_debug_count = 0; - - locked = false; - contact_recycle_radius = 1.0; - contact_max_separation = 1.5; - contact_max_allowed_penetration = 0.3; - test_motion_min_contact_depth = 0.005; - - constraint_bias = 0.2; - body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0); - body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg2rad(8.0)); - body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5); - ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater")); - - broadphase = BroadPhase2DSW::create_func(); - broadphase->set_pair_callback(_broadphase_pair, this); - broadphase->set_unpair_callback(_broadphase_unpair, this); - area = nullptr; - - direct_access = memnew(PhysicsDirectSpaceState2DSW); - direct_access->space = this; - - for (int i = 0; i < ELAPSED_TIME_MAX; i++) { - elapsed_time[i] = 0; - } -} - -Space2DSW::~Space2DSW() { - memdelete(broadphase); - memdelete(direct_access); -} |