diff options
Diffstat (limited to 'servers/physics_2d/space_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/space_2d_sw.cpp | 998 |
1 files changed, 594 insertions, 404 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index 4fe53aeb4d..2c714f5065 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -26,407 +26,597 @@ /* 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 "physics_2d_server_sw.h"
-
-
-bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_user_mask) {
-
-
- 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 tha 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 (space->intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA)
- continue; //ignore area
-
- 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];
- Matrix32 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)) {
-
-
- //print_line("inters sgment!");
- Matrix32 xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
- shape_point=xform.xform(shape_point);
-
- real_t ld = normal.dot(shape_point);
-
-
- if (ld<min_d) {
-
- min_d=ld;
- res_point=shape_point;
- res_normal=inv_xform.basis_xform_inv(shape_normal).normalized();
- res_shape=shape_idx;
- res_obj=col_obj;
- collided=true;
- }
- }
-
- }
-
- if (!collided)
- return false;
-
-
- r_result.collider_id=res_obj->get_instance_id();
- if (r_result.collider_id!=0)
- r_result.collider=ObjectDB::get_instance(r_result.collider_id);
- r_result.normal=res_normal;
- r_result.position=res_point;
- r_result.rid=res_obj->get_self();
- r_result.shape=res_shape;
-
- return true;
-
-}
-
-
-int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matrix32& p_xform,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_user_mask) {
-
- if (p_result_max<=0)
- return 0;
-
- Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape);
- ERR_FAIL_COND_V(!shape,0);
-
- Rect2 aabb = p_xform.xform(shape->get_aabb());
-
- int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
-
- bool collided=false;
- int cc=0;
-
- for(int i=0;i<amount;i++) {
-
- if (cc>=p_result_max)
- break;
-
- if (space->intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA)
- continue; //ignore area
-
- 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 (!CollisionSolver2DSW::solve_static(shape,p_xform,p_xform.affine_inverse(),col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), col_obj->get_inv_transform() * col_obj->get_shape_inv_transform(shape_idx),NULL,NULL,NULL))
- continue;
-
- r_results[cc].collider_id=col_obj->get_instance_id();
- if (r_results[cc].collider_id!=0)
- r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
- r_results[cc].rid=col_obj->get_self();
- r_results[cc].shape=shape_idx;
-
- cc++;
-
- }
-
- return cc;
-
-}
-
-Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() {
-
-
- space=NULL;
-}
-
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-
-
-
-
-
-
-
-
-void* Space2DSW::_broadphase_pair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_self) {
-
- 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;
-
- if (type_A==CollisionObject2DSW::TYPE_AREA) {
-
-
- ERR_FAIL_COND_V(type_B!=CollisionObject2DSW::TYPE_BODY,NULL);
- Area2DSW *area=static_cast<Area2DSW*>(A);
- 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 NULL;
-}
-
-void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_data,void *p_self) {
-
-
-
- Space2DSW *self = (Space2DSW*)p_self;
- 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();
- b->call_queries();
- state_query_list.remove(state_query_list.first());
- }
-
- while(monitor_query_list.first()) {
-
- Area2DSW * a = monitor_query_list.first()->self();
- a->call_queries();
- monitor_query_list.remove(monitor_query_list.first());
- }
-
-}
-
-void Space2DSW::setup() {
-
-
- 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(Physics2DServer::SpaceParameter p_param, real_t p_value) {
-
- switch(p_param) {
-
- case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
- case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
- case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
- case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_treshold=p_value; break;
- case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_treshold=p_value; break;
- case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
- case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
- case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
- }
-}
-
-real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
-
- switch(p_param) {
-
- case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
- case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
- case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
- case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_treshold;
- case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_treshold;
- case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
- case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
- case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
- }
- return 0;
-}
-
-void Space2DSW::lock() {
-
- locked=true;
-}
-
-void Space2DSW::unlock() {
-
- locked=false;
-}
-
-bool Space2DSW::is_locked() const {
-
- return locked;
-}
-
-Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() {
-
- return direct_access;
-}
-
-Space2DSW::Space2DSW() {
-
-
- locked=false;
- contact_recycle_radius=0.01;
- contact_max_separation=0.05;
- contact_max_allowed_penetration= 0.01;
-
- constraint_bias = 0.01;
- body_linear_velocity_sleep_treshold=0.01;
- body_angular_velocity_sleep_treshold=(8.0 / 180.0 * Math_PI);
- body_time_to_sleep=0.5;
- body_angular_velocity_damp_ratio=15;
-
-
- broadphase = BroadPhase2DSW::create_func();
- broadphase->set_pair_callback(_broadphase_pair,this);
- broadphase->set_unpair_callback(_broadphase_unpair,this);
- area=NULL;
-
- direct_access = memnew( Physics2DDirectSpaceStateSW );
- direct_access->space=this;
-}
-
-Space2DSW::~Space2DSW() {
-
- memdelete(broadphase);
- memdelete( direct_access );
-}
-
-
-
+#include "space_2d_sw.h" +#include "collision_solver_2d_sw.h" +#include "physics_2d_server_sw.h" + + +bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_user_mask) { + + + 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 tha 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 (space->intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA) + continue; //ignore area + + 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]; + Matrix32 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)) { + + + //print_line("inters sgment!"); + Matrix32 xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + shape_point=xform.xform(shape_point); + + real_t ld = normal.dot(shape_point); + + + if (ld<min_d) { + + min_d=ld; + res_point=shape_point; + res_normal=inv_xform.basis_xform_inv(shape_normal).normalized(); + res_shape=shape_idx; + res_obj=col_obj; + collided=true; + } + } + + } + + if (!collided) + return false; + + + r_result.collider_id=res_obj->get_instance_id(); + if (r_result.collider_id!=0) + r_result.collider=ObjectDB::get_instance(r_result.collider_id); + r_result.normal=res_normal; + r_result.position=res_point; + r_result.rid=res_obj->get_self(); + r_result.shape=res_shape; + + return true; + +} + + +int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_user_mask) { + + if (p_result_max<=0) + return 0; + + Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape,0); + + Rect2 aabb = p_xform.xform(shape->get_aabb()); + + int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); + + bool collided=false; + int cc=0; + + for(int i=0;i<amount;i++) { + + if (cc>=p_result_max) + break; + + if (space->intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA) + continue; //ignore area + + 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 (!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(),NULL,NULL,NULL)) + continue; + + r_results[cc].collider_id=col_obj->get_instance_id(); + if (r_results[cc].collider_id!=0) + r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id); + r_results[cc].rid=col_obj->get_self(); + r_results[cc].shape=shape_idx; + + cc++; + + } + + return cc; + +} + + +struct MotionCallbackRayCastData { + + Vector2 best_contact; + Vector2 best_normal; + float best_len; + Matrix32 b_xform_inv; + Matrix32 b_xform; + Vector2 motion; + Shape2DSW * shape_B; + +}; + +static void _motion_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) { + + + MotionCallbackRayCastData *rd=(MotionCallbackRayCastData*)p_userdata; + + Vector2 contact_normal = (p_point_B-p_point_A).normalized(); + + Vector2 from=p_point_A-(rd->motion*1.01); + Vector2 p,n; + + if (contact_normal.dot(rd->motion.normalized())<CMP_EPSILON) { + //safe to assume it was a perpendicular collision + n=contact_normal; + p=p_point_B; + } else { + //entered in a different angle + Vector2 to = p_point_A+rd->motion; //avoid precission issues + + + bool res = rd->shape_B->intersect_segment(rd->b_xform_inv.xform(from),rd->b_xform_inv.xform(to),p,n); + + + if (!res) { + print_line("lolwut failed"); + return; + } + + p = rd->b_xform.xform(p); + + n = rd->b_xform_inv.basis_xform_inv(n).normalized(); + } + + float len = p.distance_to(from); + + if (len<rd->best_len) { + rd->best_contact=p; + rd->best_normal=n; + rd->best_len=len; + } +} + +bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion, MotionCastCollision &r_result, const Set<RID>& p_exclude,uint32_t p_user_mask) { + + Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape,0); + + Rect2 aabb = p_xform.xform(shape->get_aabb()); + aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion + + 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.travel=1; + + MotionCallbackRayCastData best_normal; + best_normal.best_len=1e20; + for(int i=0;i<amount;i++) { + + + if (space->intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA) + continue; //ignore area + + 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]; + + + Matrix32 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() ,NULL,NULL,NULL)) { + + continue; + } + + + //test initial overlap + if (CollisionSolver2DSW::solve(shape,p_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL)) { + + r_result.collider_id=col_obj->get_instance_id(); + r_result.collider=r_result.collider_id!=0 ? ObjectDB::get_instance(col_obj->get_instance_id()) : NULL; + r_result.shape=shape_idx; + r_result.rid=col_obj->get_self(); + r_result.travel=0; + r_result.point=Vector2(); + r_result.normal=Vector2(); + return true; + } + +#if 0 + Vector2 mnormal=p_motion.normalized(); + Matrix32 col_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + ShapeSW *col_shape = col_obj->get_shape(shape_idx); + + real_t min,max; + col_shape->project_rangev(mnormal,col_shape_xform,min,max); + real_t width = max-min; + + int a; + Vector2 s[2]; + col_shape->get_supports(col_shape_xform.basis_xform(mnormal).normalized(),s,a); + Vector2 from = col_shape_xform.xform(s[0]); + Vector2 to = from + p_motion; + + Matrix32 from_inv = col_shape_xform.affine_inverse(); + + Vector2 local_from = from_inv.xform(from-mnormal*width*0.1); //start from a little inside the bounding box + Vector2 local_to = from_inv.xform(to); + + Vector2 rpos,rnorm; + if (!col_shape->intersect_segment(local_from,local_to,rpos,rnorm)) + return false; + + //ray hit something + + + Vector2 hitpos = p_xform_B.xform(rpos); +#endif + + //just do kinematic solving + float low=0; + float hi=1; + Vector2 mnormal=p_motion.normalized(); + + for(int i=0;i<8;i++) { //steps should be customizable.. + + Matrix32 xfa = p_xform; + float 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(),NULL,NULL,&sep); + + if (collided) { + + hi=ofs; + } else { + + low=ofs; + } + } + + + best_normal.shape_B=col_obj->get_shape(shape_idx); + best_normal.motion=p_motion*hi; + best_normal.b_xform=col_obj_xform; + best_normal.b_xform_inv=col_obj_xform.affine_inverse(); + + bool sc = CollisionSolver2DSW::solve(shape,p_xform,p_motion*hi,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),Vector2() ,_motion_cbk_result,&best_normal); + print_line("CLD: "+itos(sc)); + + + if (collided && low>=r_result.travel) + continue; + + collided=true; + r_result.travel=low; + + r_result.collider_id=col_obj->get_instance_id(); + r_result.collider=r_result.collider_id!=0 ? ObjectDB::get_instance(col_obj->get_instance_id()) : NULL; + r_result.shape=shape_idx; + r_result.rid=col_obj->get_self(); + + } + + if (collided) { + ERR_FAIL_COND_V(best_normal.best_normal==Vector2(),false); + r_result.normal=best_normal.best_normal; + r_result.point=best_normal.best_contact; + } + + return collided; + + +} + + +Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() { + + + space=NULL; +} + + +//////////////////////////////////////////////////////////////////////////////////////////////////////////// + + + + + + + + + + +void* Space2DSW::_broadphase_pair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_self) { + + 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; + + if (type_A==CollisionObject2DSW::TYPE_AREA) { + + + ERR_FAIL_COND_V(type_B!=CollisionObject2DSW::TYPE_BODY,NULL); + Area2DSW *area=static_cast<Area2DSW*>(A); + 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 NULL; +} + +void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_data,void *p_self) { + + + + Space2DSW *self = (Space2DSW*)p_self; + 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(); + b->call_queries(); + state_query_list.remove(state_query_list.first()); + } + + while(monitor_query_list.first()) { + + Area2DSW * a = monitor_query_list.first()->self(); + a->call_queries(); + monitor_query_list.remove(monitor_query_list.first()); + } + +} + +void Space2DSW::setup() { + + + 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(Physics2DServer::SpaceParameter p_param, real_t p_value) { + + switch(p_param) { + + case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break; + case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break; + case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break; + case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_treshold=p_value; break; + case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_treshold=p_value; break; + case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break; + case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break; + case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break; + } +} + +real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const { + + switch(p_param) { + + case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius; + case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation; + case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration; + case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_treshold; + case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_treshold; + case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep; + case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio; + case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias; + } + return 0; +} + +void Space2DSW::lock() { + + locked=true; +} + +void Space2DSW::unlock() { + + locked=false; +} + +bool Space2DSW::is_locked() const { + + return locked; +} + +Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() { + + return direct_access; +} + +Space2DSW::Space2DSW() { + + + locked=false; + contact_recycle_radius=0.01; + contact_max_separation=0.05; + contact_max_allowed_penetration= 0.01; + + constraint_bias = 0.01; + body_linear_velocity_sleep_treshold=0.01; + body_angular_velocity_sleep_treshold=(8.0 / 180.0 * Math_PI); + body_time_to_sleep=0.5; + body_angular_velocity_damp_ratio=15; + + + broadphase = BroadPhase2DSW::create_func(); + broadphase->set_pair_callback(_broadphase_pair,this); + broadphase->set_unpair_callback(_broadphase_unpair,this); + area=NULL; + + direct_access = memnew( Physics2DDirectSpaceStateSW ); + direct_access->space=this; +} + +Space2DSW::~Space2DSW() { + + memdelete(broadphase); + memdelete( direct_access ); +} + + + |