diff options
Diffstat (limited to 'servers/physics_2d')
44 files changed, 6351 insertions, 7428 deletions
diff --git a/servers/physics_2d/area_2d_sw.cpp b/servers/physics_2d/area_2d_sw.cpp deleted file mode 100644 index 6485c8d1e9..0000000000 --- a/servers/physics_2d/area_2d_sw.cpp +++ /dev/null @@ -1,292 +0,0 @@ -/*************************************************************************/ -/* area_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 "area_2d_sw.h" -#include "body_2d_sw.h" -#include "space_2d_sw.h" - -Area2DSW::BodyKey::BodyKey(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { - rid = p_body->get_self(); - instance_id = p_body->get_instance_id(); - body_shape = p_body_shape; - area_shape = p_area_shape; -} - -Area2DSW::BodyKey::BodyKey(Area2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { - rid = p_body->get_self(); - instance_id = p_body->get_instance_id(); - body_shape = p_body_shape; - area_shape = p_area_shape; -} - -void Area2DSW::_shapes_changed() { - if (!moved_list.in_list() && get_space()) { - get_space()->area_add_to_moved_list(&moved_list); - } -} - -void Area2DSW::set_transform(const Transform2D &p_transform) { - if (!moved_list.in_list() && get_space()) { - get_space()->area_add_to_moved_list(&moved_list); - } - - _set_transform(p_transform); - _set_inv_transform(p_transform.affine_inverse()); -} - -void Area2DSW::set_space(Space2DSW *p_space) { - if (get_space()) { - if (monitor_query_list.in_list()) { - get_space()->area_remove_from_monitor_query_list(&monitor_query_list); - } - if (moved_list.in_list()) { - get_space()->area_remove_from_moved_list(&moved_list); - } - } - - monitored_bodies.clear(); - monitored_areas.clear(); - - _set_space(p_space); -} - -void Area2DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) { - if (p_id == monitor_callback_id) { - monitor_callback_method = p_method; - return; - } - - _unregister_shapes(); - - monitor_callback_id = p_id; - monitor_callback_method = p_method; - - monitored_bodies.clear(); - monitored_areas.clear(); - - _shape_changed(); - - if (!moved_list.in_list() && get_space()) { - get_space()->area_add_to_moved_list(&moved_list); - } -} - -void Area2DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) { - if (p_id == area_monitor_callback_id) { - area_monitor_callback_method = p_method; - return; - } - - _unregister_shapes(); - - area_monitor_callback_id = p_id; - area_monitor_callback_method = p_method; - - monitored_bodies.clear(); - monitored_areas.clear(); - - _shape_changed(); - - if (!moved_list.in_list() && get_space()) { - get_space()->area_add_to_moved_list(&moved_list); - } -} - -void Area2DSW::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_mode) { - bool do_override = p_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; - if (do_override == (space_override_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED)) { - return; - } - _unregister_shapes(); - space_override_mode = p_mode; - _shape_changed(); -} - -void Area2DSW::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value) { - switch (p_param) { - case PhysicsServer2D::AREA_PARAM_GRAVITY: - gravity = p_value; - break; - case PhysicsServer2D::AREA_PARAM_GRAVITY_VECTOR: - gravity_vector = p_value; - break; - case PhysicsServer2D::AREA_PARAM_GRAVITY_IS_POINT: - gravity_is_point = p_value; - break; - case PhysicsServer2D::AREA_PARAM_GRAVITY_DISTANCE_SCALE: - gravity_distance_scale = p_value; - break; - case PhysicsServer2D::AREA_PARAM_GRAVITY_POINT_ATTENUATION: - point_attenuation = p_value; - break; - case PhysicsServer2D::AREA_PARAM_LINEAR_DAMP: - linear_damp = p_value; - break; - case PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP: - angular_damp = p_value; - break; - case PhysicsServer2D::AREA_PARAM_PRIORITY: - priority = p_value; - break; - } -} - -Variant Area2DSW::get_param(PhysicsServer2D::AreaParameter p_param) const { - switch (p_param) { - case PhysicsServer2D::AREA_PARAM_GRAVITY: - return gravity; - case PhysicsServer2D::AREA_PARAM_GRAVITY_VECTOR: - return gravity_vector; - case PhysicsServer2D::AREA_PARAM_GRAVITY_IS_POINT: - return gravity_is_point; - case PhysicsServer2D::AREA_PARAM_GRAVITY_DISTANCE_SCALE: - return gravity_distance_scale; - case PhysicsServer2D::AREA_PARAM_GRAVITY_POINT_ATTENUATION: - return point_attenuation; - case PhysicsServer2D::AREA_PARAM_LINEAR_DAMP: - return linear_damp; - case PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP: - return angular_damp; - case PhysicsServer2D::AREA_PARAM_PRIORITY: - return priority; - } - - return Variant(); -} - -void Area2DSW::_queue_monitor_update() { - ERR_FAIL_COND(!get_space()); - - if (!monitor_query_list.in_list()) { - get_space()->area_add_to_monitor_query_list(&monitor_query_list); - } -} - -void Area2DSW::set_monitorable(bool p_monitorable) { - if (monitorable == p_monitorable) { - return; - } - - monitorable = p_monitorable; - _set_static(!monitorable); -} - -void Area2DSW::call_queries() { - if (monitor_callback_id.is_valid() && !monitored_bodies.is_empty()) { - Variant res[5]; - Variant *resptr[5]; - for (int i = 0; i < 5; i++) { - resptr[i] = &res[i]; - } - - Object *obj = ObjectDB::get_instance(monitor_callback_id); - if (!obj) { - monitored_bodies.clear(); - monitor_callback_id = ObjectID(); - return; - } - - for (Map<BodyKey, BodyState>::Element *E = monitored_bodies.front(); E;) { - if (E->get().state == 0) { // Nothing happened - E = E->next(); - continue; - } - - res[0] = E->get().state > 0 ? PhysicsServer2D::AREA_BODY_ADDED : PhysicsServer2D::AREA_BODY_REMOVED; - res[1] = E->key().rid; - res[2] = E->key().instance_id; - res[3] = E->key().body_shape; - res[4] = E->key().area_shape; - - Map<BodyKey, BodyState>::Element *next = E->next(); - monitored_bodies.erase(E); - E = next; - - Callable::CallError ce; - obj->call(monitor_callback_method, (const Variant **)resptr, 5, ce); - } - } - - if (area_monitor_callback_id.is_valid() && !monitored_areas.is_empty()) { - Variant res[5]; - Variant *resptr[5]; - for (int i = 0; i < 5; i++) { - resptr[i] = &res[i]; - } - - Object *obj = ObjectDB::get_instance(area_monitor_callback_id); - if (!obj) { - monitored_areas.clear(); - area_monitor_callback_id = ObjectID(); - return; - } - - for (Map<BodyKey, BodyState>::Element *E = monitored_areas.front(); E;) { - if (E->get().state == 0) { // Nothing happened - E = E->next(); - continue; - } - - res[0] = E->get().state > 0 ? PhysicsServer2D::AREA_BODY_ADDED : PhysicsServer2D::AREA_BODY_REMOVED; - res[1] = E->key().rid; - res[2] = E->key().instance_id; - res[3] = E->key().body_shape; - res[4] = E->key().area_shape; - - Map<BodyKey, BodyState>::Element *next = E->next(); - monitored_areas.erase(E); - E = next; - - Callable::CallError ce; - obj->call(area_monitor_callback_method, (const Variant **)resptr, 5, ce); - } - } -} - -Area2DSW::Area2DSW() : - CollisionObject2DSW(TYPE_AREA), - monitor_query_list(this), - moved_list(this) { - _set_static(true); //areas are not active by default - space_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; - gravity = 9.80665; - gravity_vector = Vector2(0, -1); - gravity_is_point = false; - gravity_distance_scale = 0; - point_attenuation = 1; - - angular_damp = 1.0; - linear_damp = 0.1; - priority = 0; - monitorable = false; -} - -Area2DSW::~Area2DSW() { -} diff --git a/servers/physics_2d/area_pair_2d_sw.cpp b/servers/physics_2d/area_pair_2d_sw.cpp deleted file mode 100644 index 21ad57e344..0000000000 --- a/servers/physics_2d/area_pair_2d_sw.cpp +++ /dev/null @@ -1,158 +0,0 @@ -/*************************************************************************/ -/* area_pair_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 "area_pair_2d_sw.h" -#include "collision_solver_2d_sw.h" - -bool AreaPair2DSW::setup(real_t p_step) { - bool result = false; - - if (area->is_shape_set_as_disabled(area_shape) || body->is_shape_set_as_disabled(body_shape)) { - result = false; - } else if (area->test_collision_mask(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) { - result = true; - } - - if (result != colliding) { - if (result) { - if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { - body->add_area(area); - } - if (area->has_monitor_callback()) { - area->add_body_to_query(body, body_shape, area_shape); - } - - } else { - if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { - body->remove_area(area); - } - if (area->has_monitor_callback()) { - area->remove_body_from_query(body, body_shape, area_shape); - } - } - - colliding = result; - } - - return false; //never do any post solving -} - -void AreaPair2DSW::solve(real_t p_step) { -} - -AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape) { - body = p_body; - area = p_area; - body_shape = p_body_shape; - area_shape = p_area_shape; - colliding = false; - body->add_constraint(this, 0); - area->add_constraint(this); - if (p_body->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) { //need to be active to process pair - p_body->set_active(true); - } -} - -AreaPair2DSW::~AreaPair2DSW() { - if (colliding) { - if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { - body->remove_area(area); - } - if (area->has_monitor_callback()) { - area->remove_body_from_query(body, body_shape, area_shape); - } - } - body->remove_constraint(this, 0); - area->remove_constraint(this); -} - -////////////////////////////////// - -bool Area2Pair2DSW::setup(real_t p_step) { - bool result = false; - if (area_a->is_shape_set_as_disabled(shape_a) || area_b->is_shape_set_as_disabled(shape_b)) { - result = false; - } else if (area_a->test_collision_mask(area_b) && CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) { - result = true; - } - - if (result != colliding) { - if (result) { - if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) { - area_b->add_area_to_query(area_a, shape_a, shape_b); - } - - if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) { - area_a->add_area_to_query(area_b, shape_b, shape_a); - } - - } else { - if (area_b->has_area_monitor_callback() && area_a->is_monitorable()) { - area_b->remove_area_from_query(area_a, shape_a, shape_b); - } - - if (area_a->has_area_monitor_callback() && area_b->is_monitorable()) { - area_a->remove_area_from_query(area_b, shape_b, shape_a); - } - } - - colliding = result; - } - - return false; //never do any post solving -} - -void Area2Pair2DSW::solve(real_t p_step) { -} - -Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b) { - area_a = p_area_a; - area_b = p_area_b; - shape_a = p_shape_a; - shape_b = p_shape_b; - colliding = false; - area_a->add_constraint(this); - area_b->add_constraint(this); -} - -Area2Pair2DSW::~Area2Pair2DSW() { - if (colliding) { - if (area_b->has_area_monitor_callback()) { - area_b->remove_area_from_query(area_a, shape_a, shape_b); - } - - if (area_a->has_area_monitor_callback()) { - area_a->remove_area_from_query(area_b, shape_b, shape_a); - } - } - - area_a->remove_constraint(this); - area_b->remove_constraint(this); -} 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); -} diff --git a/servers/physics_2d/broad_phase_2d_basic.cpp b/servers/physics_2d/broad_phase_2d_basic.cpp deleted file mode 100644 index 17424629a9..0000000000 --- a/servers/physics_2d/broad_phase_2d_basic.cpp +++ /dev/null @@ -1,174 +0,0 @@ -/*************************************************************************/ -/* broad_phase_2d_basic.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 "broad_phase_2d_basic.h" - -BroadPhase2DBasic::ID BroadPhase2DBasic::create(CollisionObject2DSW *p_object_, int p_subindex) { - current++; - - Element e; - e.owner = p_object_; - e._static = false; - e.subindex = p_subindex; - - element_map[current] = e; - return current; -} - -void BroadPhase2DBasic::move(ID p_id, const Rect2 &p_aabb) { - Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND(!E); - E->get().aabb = p_aabb; -} - -void BroadPhase2DBasic::set_static(ID p_id, bool p_static) { - Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND(!E); - E->get()._static = p_static; -} - -void BroadPhase2DBasic::remove(ID p_id) { - Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND(!E); - element_map.erase(E); -} - -CollisionObject2DSW *BroadPhase2DBasic::get_object(ID p_id) const { - const Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND_V(!E, nullptr); - return E->get().owner; -} - -bool BroadPhase2DBasic::is_static(ID p_id) const { - const Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND_V(!E, false); - return E->get()._static; -} - -int BroadPhase2DBasic::get_subindex(ID p_id) const { - const Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND_V(!E, -1); - return E->get().subindex; -} - -int BroadPhase2DBasic::cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) { - int rc = 0; - - for (Map<ID, Element>::Element *E = element_map.front(); E; E = E->next()) { - const Rect2 aabb = E->get().aabb; - if (aabb.intersects_segment(p_from, p_to)) { - p_results[rc] = E->get().owner; - p_result_indices[rc] = E->get().subindex; - rc++; - if (rc >= p_max_results) { - break; - } - } - } - - return rc; -} - -int BroadPhase2DBasic::cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) { - int rc = 0; - - for (Map<ID, Element>::Element *E = element_map.front(); E; E = E->next()) { - const Rect2 aabb = E->get().aabb; - if (aabb.intersects(p_aabb)) { - p_results[rc] = E->get().owner; - p_result_indices[rc] = E->get().subindex; - rc++; - if (rc >= p_max_results) { - break; - } - } - } - - return rc; -} - -void BroadPhase2DBasic::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) { - pair_userdata = p_userdata; - pair_callback = p_pair_callback; -} - -void BroadPhase2DBasic::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) { - unpair_userdata = p_userdata; - unpair_callback = p_unpair_callback; -} - -void BroadPhase2DBasic::update() { - // recompute pairs - for (Map<ID, Element>::Element *I = element_map.front(); I; I = I->next()) { - for (Map<ID, Element>::Element *J = I->next(); J; J = J->next()) { - Element *elem_A = &I->get(); - Element *elem_B = &J->get(); - - if (elem_A->owner == elem_B->owner) { - continue; - } - - bool pair_ok = elem_A->aabb.intersects(elem_B->aabb) && (!elem_A->_static || !elem_B->_static); - - PairKey key(I->key(), J->key()); - - Map<PairKey, void *>::Element *E = pair_map.find(key); - - if (!pair_ok && E) { - if (unpair_callback) { - unpair_callback(elem_A->owner, elem_A->subindex, elem_B->owner, elem_B->subindex, E->get(), unpair_userdata); - } - pair_map.erase(key); - } - - if (pair_ok && !E) { - void *data = nullptr; - if (pair_callback) { - data = pair_callback(elem_A->owner, elem_A->subindex, elem_B->owner, elem_B->subindex, unpair_userdata); - if (data) { - pair_map.insert(key, data); - } - } - } - } - } -} - -BroadPhase2DSW *BroadPhase2DBasic::_create() { - return memnew(BroadPhase2DBasic); -} - -BroadPhase2DBasic::BroadPhase2DBasic() { - current = 1; - unpair_callback = nullptr; - unpair_userdata = nullptr; - pair_callback = nullptr; - pair_userdata = nullptr; -} diff --git a/servers/physics_2d/broad_phase_2d_basic.h b/servers/physics_2d/broad_phase_2d_basic.h deleted file mode 100644 index ca1db360fb..0000000000 --- a/servers/physics_2d/broad_phase_2d_basic.h +++ /dev/null @@ -1,103 +0,0 @@ -/*************************************************************************/ -/* broad_phase_2d_basic.h */ -/*************************************************************************/ -/* 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. */ -/*************************************************************************/ - -#ifndef BROAD_PHASE_2D_BASIC_H -#define BROAD_PHASE_2D_BASIC_H - -#include "core/templates/map.h" -#include "space_2d_sw.h" -class BroadPhase2DBasic : public BroadPhase2DSW { - struct Element { - CollisionObject2DSW *owner; - bool _static; - Rect2 aabb; - int subindex; - }; - - Map<ID, Element> element_map; - - ID current; - - struct PairKey { - union { - struct { - ID a; - ID b; - }; - uint64_t key; - }; - - _FORCE_INLINE_ bool operator<(const PairKey &p_key) const { - return key < p_key.key; - } - - PairKey() { key = 0; } - PairKey(ID p_a, ID p_b) { - if (p_a > p_b) { - a = p_b; - b = p_a; - } else { - a = p_a; - b = p_b; - } - } - }; - - Map<PairKey, void *> pair_map; - - PairCallback pair_callback; - void *pair_userdata; - UnpairCallback unpair_callback; - void *unpair_userdata; - -public: - // 0 is an invalid ID - virtual ID create(CollisionObject2DSW *p_object_, int p_subindex = 0); - virtual void move(ID p_id, const Rect2 &p_aabb); - virtual void set_static(ID p_id, bool p_static); - virtual void remove(ID p_id); - - virtual CollisionObject2DSW *get_object(ID p_id) const; - virtual bool is_static(ID p_id) const; - virtual int get_subindex(ID p_id) const; - - virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr); - virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr); - - virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata); - virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata); - - virtual void update(); - - static BroadPhase2DSW *_create(); - BroadPhase2DBasic(); -}; - -#endif // BROAD_PHASE_2D_BASIC_H diff --git a/servers/physics_2d/broad_phase_2d_hash_grid.cpp b/servers/physics_2d/broad_phase_2d_hash_grid.cpp deleted file mode 100644 index 6cfe6908d1..0000000000 --- a/servers/physics_2d/broad_phase_2d_hash_grid.cpp +++ /dev/null @@ -1,735 +0,0 @@ -/*************************************************************************/ -/* broad_phase_2d_hash_grid.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 "broad_phase_2d_hash_grid.h" -#include "collision_object_2d_sw.h" -#include "core/config/project_settings.h" - -#define LARGE_ELEMENT_FI 1.01239812 - -void BroadPhase2DHashGrid::_pair_attempt(Element *p_elem, Element *p_with) { - Map<Element *, PairData *>::Element *E = p_elem->paired.find(p_with); - - ERR_FAIL_COND(p_elem->_static && p_with->_static); - - if (!E) { - PairData *pd = memnew(PairData); - p_elem->paired[p_with] = pd; - p_with->paired[p_elem] = pd; - } else { - E->get()->rc++; - } -} - -void BroadPhase2DHashGrid::_unpair_attempt(Element *p_elem, Element *p_with) { - Map<Element *, PairData *>::Element *E = p_elem->paired.find(p_with); - - ERR_FAIL_COND(!E); //this should really be paired.. - - E->get()->rc--; - - if (E->get()->rc == 0) { - if (E->get()->colliding) { - //uncollide - if (unpair_callback) { - unpair_callback(p_elem->owner, p_elem->subindex, p_with->owner, p_with->subindex, E->get()->ud, unpair_userdata); - } - } - - memdelete(E->get()); - p_elem->paired.erase(E); - p_with->paired.erase(p_elem); - } -} - -void BroadPhase2DHashGrid::_check_motion(Element *p_elem) { - for (Map<Element *, PairData *>::Element *E = p_elem->paired.front(); E; E = E->next()) { - bool physical_collision = p_elem->aabb.intersects(E->key()->aabb); - bool logical_collision = p_elem->owner->test_collision_mask(E->key()->owner); - - if (physical_collision) { - if (!E->get()->colliding || (logical_collision && !E->get()->ud && pair_callback)) { - E->get()->ud = pair_callback(p_elem->owner, p_elem->subindex, E->key()->owner, E->key()->subindex, pair_userdata); - } else if (E->get()->colliding && !logical_collision && E->get()->ud && unpair_callback) { - unpair_callback(p_elem->owner, p_elem->subindex, E->key()->owner, E->key()->subindex, E->get()->ud, unpair_userdata); - E->get()->ud = nullptr; - } - E->get()->colliding = true; - } else { // No physcial_collision - if (E->get()->colliding && unpair_callback) { - unpair_callback(p_elem->owner, p_elem->subindex, E->key()->owner, E->key()->subindex, E->get()->ud, unpair_userdata); - } - E->get()->colliding = false; - } - } -} - -void BroadPhase2DHashGrid::_enter_grid(Element *p_elem, const Rect2 &p_rect, bool p_static) { - Vector2 sz = (p_rect.size / cell_size * LARGE_ELEMENT_FI); //use magic number to avoid floating point issues - if (sz.width * sz.height > large_object_min_surface) { - //large object, do not use grid, must check against all elements - for (Map<ID, Element>::Element *E = element_map.front(); E; E = E->next()) { - if (E->key() == p_elem->self) { - continue; // do not pair against itself - } - if (E->get().owner == p_elem->owner) { - continue; - } - if (E->get()._static && p_static) { - continue; - } - - _pair_attempt(p_elem, &E->get()); - } - - large_elements[p_elem].inc(); - return; - } - - Point2i from = (p_rect.position / cell_size).floor(); - Point2i to = ((p_rect.position + p_rect.size) / cell_size).floor(); - - for (int i = from.x; i <= to.x; i++) { - for (int j = from.y; j <= to.y; j++) { - PosKey pk; - pk.x = i; - pk.y = j; - - uint32_t idx = pk.hash() % hash_table_size; - PosBin *pb = hash_table[idx]; - - while (pb) { - if (pb->key == pk) { - break; - } - - pb = pb->next; - } - - bool entered = false; - - if (!pb) { - //does not exist, create! - pb = memnew(PosBin); - pb->key = pk; - pb->next = hash_table[idx]; - hash_table[idx] = pb; - } - - if (p_static) { - if (pb->static_object_set[p_elem].inc() == 1) { - entered = true; - } - } else { - if (pb->object_set[p_elem].inc() == 1) { - entered = true; - } - } - - if (entered) { - for (Map<Element *, RC>::Element *E = pb->object_set.front(); E; E = E->next()) { - if (E->key()->owner == p_elem->owner) { - continue; - } - _pair_attempt(p_elem, E->key()); - } - - if (!p_static) { - for (Map<Element *, RC>::Element *E = pb->static_object_set.front(); E; E = E->next()) { - if (E->key()->owner == p_elem->owner) { - continue; - } - _pair_attempt(p_elem, E->key()); - } - } - } - } - } - - //pair separatedly with large elements - - for (Map<Element *, RC>::Element *E = large_elements.front(); E; E = E->next()) { - if (E->key() == p_elem) { - continue; // do not pair against itself - } - if (E->key()->owner == p_elem->owner) { - continue; - } - if (E->key()->_static && p_static) { - continue; - } - - _pair_attempt(E->key(), p_elem); - } -} - -void BroadPhase2DHashGrid::_exit_grid(Element *p_elem, const Rect2 &p_rect, bool p_static) { - Vector2 sz = (p_rect.size / cell_size * LARGE_ELEMENT_FI); - if (sz.width * sz.height > large_object_min_surface) { - //unpair all elements, instead of checking all, just check what is already paired, so we at least save from checking static vs static - Map<Element *, PairData *>::Element *E = p_elem->paired.front(); - while (E) { - Map<Element *, PairData *>::Element *next = E->next(); - _unpair_attempt(p_elem, E->key()); - E = next; - } - - if (large_elements[p_elem].dec() == 0) { - large_elements.erase(p_elem); - } - return; - } - - Point2i from = (p_rect.position / cell_size).floor(); - Point2i to = ((p_rect.position + p_rect.size) / cell_size).floor(); - - for (int i = from.x; i <= to.x; i++) { - for (int j = from.y; j <= to.y; j++) { - PosKey pk; - pk.x = i; - pk.y = j; - - uint32_t idx = pk.hash() % hash_table_size; - PosBin *pb = hash_table[idx]; - - while (pb) { - if (pb->key == pk) { - break; - } - - pb = pb->next; - } - - ERR_CONTINUE(!pb); //should exist!! - - bool exited = false; - - if (p_static) { - if (pb->static_object_set[p_elem].dec() == 0) { - pb->static_object_set.erase(p_elem); - exited = true; - } - } else { - if (pb->object_set[p_elem].dec() == 0) { - pb->object_set.erase(p_elem); - exited = true; - } - } - - if (exited) { - for (Map<Element *, RC>::Element *E = pb->object_set.front(); E; E = E->next()) { - if (E->key()->owner == p_elem->owner) { - continue; - } - _unpair_attempt(p_elem, E->key()); - } - - if (!p_static) { - for (Map<Element *, RC>::Element *E = pb->static_object_set.front(); E; E = E->next()) { - if (E->key()->owner == p_elem->owner) { - continue; - } - _unpair_attempt(p_elem, E->key()); - } - } - } - - if (pb->object_set.is_empty() && pb->static_object_set.is_empty()) { - if (hash_table[idx] == pb) { - hash_table[idx] = pb->next; - } else { - PosBin *px = hash_table[idx]; - - while (px) { - if (px->next == pb) { - px->next = pb->next; - break; - } - - px = px->next; - } - - ERR_CONTINUE(!px); - } - - memdelete(pb); - } - } - } - - for (Map<Element *, RC>::Element *E = large_elements.front(); E; E = E->next()) { - if (E->key() == p_elem) { - continue; // do not pair against itself - } - if (E->key()->owner == p_elem->owner) { - continue; - } - if (E->key()->_static && p_static) { - continue; - } - - //unpair from large elements - _unpair_attempt(p_elem, E->key()); - } -} - -BroadPhase2DHashGrid::ID BroadPhase2DHashGrid::create(CollisionObject2DSW *p_object, int p_subindex) { - current++; - - Element e; - e.owner = p_object; - e._static = false; - e.subindex = p_subindex; - e.self = current; - e.pass = 0; - - element_map[current] = e; - return current; -} - -void BroadPhase2DHashGrid::move(ID p_id, const Rect2 &p_aabb) { - Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND(!E); - - Element &e = E->get(); - - if (p_aabb != e.aabb) { - if (p_aabb != Rect2()) { - _enter_grid(&e, p_aabb, e._static); - } - if (e.aabb != Rect2()) { - _exit_grid(&e, e.aabb, e._static); - } - e.aabb = p_aabb; - } - - _check_motion(&e); -} - -void BroadPhase2DHashGrid::set_static(ID p_id, bool p_static) { - Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND(!E); - - Element &e = E->get(); - - if (e._static == p_static) { - return; - } - - if (e.aabb != Rect2()) { - _exit_grid(&e, e.aabb, e._static); - } - - e._static = p_static; - - if (e.aabb != Rect2()) { - _enter_grid(&e, e.aabb, e._static); - _check_motion(&e); - } -} - -void BroadPhase2DHashGrid::remove(ID p_id) { - Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND(!E); - - Element &e = E->get(); - - if (e.aabb != Rect2()) { - _exit_grid(&e, e.aabb, e._static); - } - - element_map.erase(p_id); -} - -CollisionObject2DSW *BroadPhase2DHashGrid::get_object(ID p_id) const { - const Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND_V(!E, nullptr); - return E->get().owner; -} - -bool BroadPhase2DHashGrid::is_static(ID p_id) const { - const Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND_V(!E, false); - return E->get()._static; -} - -int BroadPhase2DHashGrid::get_subindex(ID p_id) const { - const Map<ID, Element>::Element *E = element_map.find(p_id); - ERR_FAIL_COND_V(!E, -1); - return E->get().subindex; -} - -template <bool use_aabb, bool use_segment> -void BroadPhase2DHashGrid::_cull(const Point2i p_cell, const Rect2 &p_aabb, const Point2 &p_from, const Point2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices, int &index) { - PosKey pk; - pk.x = p_cell.x; - pk.y = p_cell.y; - - uint32_t idx = pk.hash() % hash_table_size; - PosBin *pb = hash_table[idx]; - - while (pb) { - if (pb->key == pk) { - break; - } - - pb = pb->next; - } - - if (!pb) { - return; - } - - for (Map<Element *, RC>::Element *E = pb->object_set.front(); E; E = E->next()) { - if (index >= p_max_results) { - break; - } - if (E->key()->pass == pass) { - continue; - } - - E->key()->pass = pass; - - if (use_aabb && !p_aabb.intersects(E->key()->aabb)) { - continue; - } - - if (use_segment && !E->key()->aabb.intersects_segment(p_from, p_to)) { - continue; - } - - p_results[index] = E->key()->owner; - p_result_indices[index] = E->key()->subindex; - index++; - } - - for (Map<Element *, RC>::Element *E = pb->static_object_set.front(); E; E = E->next()) { - if (index >= p_max_results) { - break; - } - if (E->key()->pass == pass) { - continue; - } - - if (use_aabb && !p_aabb.intersects(E->key()->aabb)) { - continue; - } - - if (use_segment && !E->key()->aabb.intersects_segment(p_from, p_to)) { - continue; - } - - E->key()->pass = pass; - p_results[index] = E->key()->owner; - p_result_indices[index] = E->key()->subindex; - index++; - } -} - -int BroadPhase2DHashGrid::cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) { - pass++; - - Vector2 dir = (p_to - p_from); - if (dir == Vector2()) { - return 0; - } - //avoid divisions by zero - dir.normalize(); - if (dir.x == 0.0) { - dir.x = 0.000001; - } - if (dir.y == 0.0) { - dir.y = 0.000001; - } - Vector2 delta = dir.abs(); - - delta.x = cell_size / delta.x; - delta.y = cell_size / delta.y; - - Point2i pos = (p_from / cell_size).floor(); - Point2i end = (p_to / cell_size).floor(); - - Point2i step = Vector2(SGN(dir.x), SGN(dir.y)); - - Vector2 max; - - if (dir.x < 0) { - max.x = (Math::floor((double)pos.x) * cell_size - p_from.x) / dir.x; - } else { - max.x = (Math::floor((double)pos.x + 1) * cell_size - p_from.x) / dir.x; - } - - if (dir.y < 0) { - max.y = (Math::floor((double)pos.y) * cell_size - p_from.y) / dir.y; - } else { - max.y = (Math::floor((double)pos.y + 1) * cell_size - p_from.y) / dir.y; - } - - int cullcount = 0; - _cull<false, true>(pos, Rect2(), p_from, p_to, p_results, p_max_results, p_result_indices, cullcount); - - bool reached_x = false; - bool reached_y = false; - - while (true) { - if (max.x < max.y) { - max.x += delta.x; - pos.x += step.x; - } else { - max.y += delta.y; - pos.y += step.y; - } - - if (step.x > 0) { - if (pos.x >= end.x) { - reached_x = true; - } - } else if (pos.x <= end.x) { - reached_x = true; - } - - if (step.y > 0) { - if (pos.y >= end.y) { - reached_y = true; - } - } else if (pos.y <= end.y) { - reached_y = true; - } - - _cull<false, true>(pos, Rect2(), p_from, p_to, p_results, p_max_results, p_result_indices, cullcount); - - if (reached_x && reached_y) { - break; - } - } - - for (Map<Element *, RC>::Element *E = large_elements.front(); E; E = E->next()) { - if (cullcount >= p_max_results) { - break; - } - if (E->key()->pass == pass) { - continue; - } - - E->key()->pass = pass; - - /* - if (use_aabb && !p_aabb.intersects(E->key()->aabb)) - continue; - */ - - if (!E->key()->aabb.intersects_segment(p_from, p_to)) { - continue; - } - - p_results[cullcount] = E->key()->owner; - p_result_indices[cullcount] = E->key()->subindex; - cullcount++; - } - - return cullcount; -} - -int BroadPhase2DHashGrid::cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) { - pass++; - - Point2i from = (p_aabb.position / cell_size).floor(); - Point2i to = ((p_aabb.position + p_aabb.size) / cell_size).floor(); - int cullcount = 0; - - for (int i = from.x; i <= to.x; i++) { - for (int j = from.y; j <= to.y; j++) { - _cull<true, false>(Point2i(i, j), p_aabb, Point2(), Point2(), p_results, p_max_results, p_result_indices, cullcount); - } - } - - for (Map<Element *, RC>::Element *E = large_elements.front(); E; E = E->next()) { - if (cullcount >= p_max_results) { - break; - } - if (E->key()->pass == pass) { - continue; - } - - E->key()->pass = pass; - - if (!p_aabb.intersects(E->key()->aabb)) { - continue; - } - - /* - if (!E->key()->aabb.intersects_segment(p_from,p_to)) - continue; - */ - - p_results[cullcount] = E->key()->owner; - p_result_indices[cullcount] = E->key()->subindex; - cullcount++; - } - return cullcount; -} - -void BroadPhase2DHashGrid::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) { - pair_callback = p_pair_callback; - pair_userdata = p_userdata; -} - -void BroadPhase2DHashGrid::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) { - unpair_callback = p_unpair_callback; - unpair_userdata = p_userdata; -} - -void BroadPhase2DHashGrid::update() { -} - -BroadPhase2DSW *BroadPhase2DHashGrid::_create() { - return memnew(BroadPhase2DHashGrid); -} - -BroadPhase2DHashGrid::BroadPhase2DHashGrid() { - hash_table_size = GLOBAL_DEF("physics/2d/bp_hash_table_size", 4096); - ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/bp_hash_table_size", PropertyInfo(Variant::INT, "physics/2d/bp_hash_table_size", PROPERTY_HINT_RANGE, "0,8192,1,or_greater")); - hash_table_size = Math::larger_prime(hash_table_size); - hash_table = memnew_arr(PosBin *, hash_table_size); - - cell_size = GLOBAL_DEF("physics/2d/cell_size", 128); - ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/cell_size", PropertyInfo(Variant::INT, "physics/2d/cell_size", PROPERTY_HINT_RANGE, "0,512,1,or_greater")); - - large_object_min_surface = GLOBAL_DEF("physics/2d/large_object_surface_threshold_in_cells", 512); - ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/large_object_surface_threshold_in_cells", PropertyInfo(Variant::INT, "physics/2d/large_object_surface_threshold_in_cells", PROPERTY_HINT_RANGE, "0,1024,1,or_greater")); - - for (uint32_t i = 0; i < hash_table_size; i++) { - hash_table[i] = nullptr; - } - pass = 1; - - current = 0; -} - -BroadPhase2DHashGrid::~BroadPhase2DHashGrid() { - for (uint32_t i = 0; i < hash_table_size; i++) { - while (hash_table[i]) { - PosBin *pb = hash_table[i]; - hash_table[i] = pb->next; - memdelete(pb); - } - } - - memdelete_arr(hash_table); -} - -/* 3D version of voxel traversal: - -public IEnumerable<Point3D> GetCellsOnRay(Ray ray, int maxDepth) -{ - // Implementation is based on: - // "A Fast Voxel Traversal Algorithm for Ray Tracing" - // John Amanatides, Andrew Woo - // http://www.cse.yorku.ca/~amana/research/grid.pdf - // https://web.archive.org/web/20100616193049/http://www.devmaster.net/articles/raytracing_series/A%20faster%20voxel%20traversal%20algorithm%20for%20ray%20tracing.pdf - - // NOTES: - // * This code assumes that the ray's position and direction are in 'cell coordinates', which means - // that one unit equals one cell in all directions. - // * When the ray doesn't start within the voxel grid, calculate the first position at which the - // ray could enter the grid. If it never enters the grid, there is nothing more to do here. - // * Also, it is important to test when the ray exits the voxel grid when the grid isn't infinite. - // * The Point3D structure is a simple structure having three integer fields (X, Y and Z). - - // The cell in which the ray starts. - Point3D start = GetCellAt(ray.Position); // Rounds the position's X, Y and Z down to the nearest integer values. - int x = start.X; - int y = start.Y; - int z = start.Z; - - // Determine which way we go. - int stepX = Math.Sign(ray.Direction.X); - int stepY = Math.Sign(ray.Direction.Y); - int stepZ = Math.Sign(ray.Direction.Z); - - // Calculate cell boundaries. When the step (i.e. direction sign) is positive, - // the next boundary is AFTER our current position, meaning that we have to add 1. - // Otherwise, it is BEFORE our current position, in which case we add nothing. - Point3D cellBoundary = new Point3D( - x + (stepX > 0 ? 1 : 0), - y + (stepY > 0 ? 1 : 0), - z + (stepZ > 0 ? 1 : 0)); - - // NOTE: For the following calculations, the result will be Single.PositiveInfinity - // when ray.Direction.X, Y or Z equals zero, which is OK. However, when the left-hand - // value of the division also equals zero, the result is Single.NaN, which is not OK. - - // Determine how far we can travel along the ray before we hit a voxel boundary. - Vector3 tMax = new Vector3( - (cellBoundary.X - ray.Position.X) / ray.Direction.X, // Boundary is a plane on the YZ axis. - (cellBoundary.Y - ray.Position.Y) / ray.Direction.Y, // Boundary is a plane on the XZ axis. - (cellBoundary.Z - ray.Position.Z) / ray.Direction.Z); // Boundary is a plane on the XY axis. - if (Single.IsNaN(tMax.X)) tMax.X = Single.PositiveInfinity; - if (Single.IsNaN(tMax.Y)) tMax.Y = Single.PositiveInfinity; - if (Single.IsNaN(tMax.Z)) tMax.Z = Single.PositiveInfinity; - - // Determine how far we must travel along the ray before we have crossed a gridcell. - Vector3 tDelta = new Vector3( - stepX / ray.Direction.X, // Crossing the width of a cell. - stepY / ray.Direction.Y, // Crossing the height of a cell. - stepZ / ray.Direction.Z); // Crossing the depth of a cell. - if (Single.IsNaN(tDelta.X)) tDelta.X = Single.PositiveInfinity; - if (Single.IsNaN(tDelta.Y)) tDelta.Y = Single.PositiveInfinity; - if (Single.IsNaN(tDelta.Z)) tDelta.Z = Single.PositiveInfinity; - - // For each step, determine which distance to the next voxel boundary is lowest (i.e. - // which voxel boundary is nearest) and walk that way. - for (int i = 0; i < maxDepth; i++) - { - // Return it. - yield return new Point3D(x, y, z); - - // Do the next step. - if (tMax.X < tMax.Y && tMax.X < tMax.Z) - { - // tMax.X is the lowest, an YZ cell boundary plane is nearest. - x += stepX; - tMax.X += tDelta.X; - } - else if (tMax.Y < tMax.Z) - { - // tMax.Y is the lowest, an XZ cell boundary plane is nearest. - y += stepY; - tMax.Y += tDelta.Y; - } - else - { - // tMax.Z is the lowest, an XY cell boundary plane is nearest. - z += stepZ; - tMax.Z += tDelta.Z; - } - } - - */ diff --git a/servers/physics_2d/broad_phase_2d_hash_grid.h b/servers/physics_2d/broad_phase_2d_hash_grid.h deleted file mode 100644 index eb7c8879ac..0000000000 --- a/servers/physics_2d/broad_phase_2d_hash_grid.h +++ /dev/null @@ -1,187 +0,0 @@ -/*************************************************************************/ -/* broad_phase_2d_hash_grid.h */ -/*************************************************************************/ -/* 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. */ -/*************************************************************************/ - -#ifndef BROAD_PHASE_2D_HASH_GRID_H -#define BROAD_PHASE_2D_HASH_GRID_H - -#include "broad_phase_2d_sw.h" -#include "core/templates/map.h" - -class BroadPhase2DHashGrid : public BroadPhase2DSW { - struct PairData { - bool colliding; - int rc; - void *ud; - PairData() { - colliding = false; - rc = 1; - ud = nullptr; - } - }; - - struct Element { - ID self; - CollisionObject2DSW *owner; - bool _static; - Rect2 aabb; - int subindex; - uint64_t pass; - Map<Element *, PairData *> paired; - }; - - struct RC { - int ref; - - _FORCE_INLINE_ int inc() { - ref++; - return ref; - } - _FORCE_INLINE_ int dec() { - ref--; - return ref; - } - - _FORCE_INLINE_ RC() { - ref = 0; - } - }; - - Map<ID, Element> element_map; - Map<Element *, RC> large_elements; - - ID current; - - uint64_t pass; - - struct PairKey { - union { - struct { - ID a; - ID b; - }; - uint64_t key; - }; - - _FORCE_INLINE_ bool operator<(const PairKey &p_key) const { - return key < p_key.key; - } - - PairKey() { key = 0; } - PairKey(ID p_a, ID p_b) { - if (p_a > p_b) { - a = p_b; - b = p_a; - } else { - a = p_a; - b = p_b; - } - } - }; - - Map<PairKey, PairData> pair_map; - - int cell_size; - int large_object_min_surface; - - PairCallback pair_callback; - void *pair_userdata; - UnpairCallback unpair_callback; - void *unpair_userdata; - - void _enter_grid(Element *p_elem, const Rect2 &p_rect, bool p_static); - void _exit_grid(Element *p_elem, const Rect2 &p_rect, bool p_static); - template <bool use_aabb, bool use_segment> - _FORCE_INLINE_ void _cull(const Point2i p_cell, const Rect2 &p_aabb, const Point2 &p_from, const Point2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices, int &index); - - struct PosKey { - union { - struct { - int32_t x; - int32_t y; - }; - uint64_t key; - }; - - _FORCE_INLINE_ uint32_t hash() const { - uint64_t k = key; - k = (~k) + (k << 18); // k = (k << 18) - k - 1; - k = k ^ (k >> 31); - k = k * 21; // k = (k + (k << 2)) + (k << 4); - k = k ^ (k >> 11); - k = k + (k << 6); - k = k ^ (k >> 22); - return k; - } - - bool operator==(const PosKey &p_key) const { return key == p_key.key; } - _FORCE_INLINE_ bool operator<(const PosKey &p_key) const { - return key < p_key.key; - } - }; - - struct PosBin { - PosKey key; - Map<Element *, RC> object_set; - Map<Element *, RC> static_object_set; - PosBin *next; - }; - - uint32_t hash_table_size; - PosBin **hash_table; - - void _pair_attempt(Element *p_elem, Element *p_with); - void _unpair_attempt(Element *p_elem, Element *p_with); - void _check_motion(Element *p_elem); - -public: - virtual ID create(CollisionObject2DSW *p_object, int p_subindex = 0); - virtual void move(ID p_id, const Rect2 &p_aabb); - virtual void set_static(ID p_id, bool p_static); - virtual void remove(ID p_id); - - virtual CollisionObject2DSW *get_object(ID p_id) const; - virtual bool is_static(ID p_id) const; - virtual int get_subindex(ID p_id) const; - - virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr); - virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr); - - virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata); - virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata); - - virtual void update(); - - static BroadPhase2DSW *_create(); - - BroadPhase2DHashGrid(); - ~BroadPhase2DHashGrid(); -}; - -#endif // BROAD_PHASE_2D_HASH_GRID_H diff --git a/servers/physics_2d/godot_area_2d.cpp b/servers/physics_2d/godot_area_2d.cpp new file mode 100644 index 0000000000..11208f2d5b --- /dev/null +++ b/servers/physics_2d/godot_area_2d.cpp @@ -0,0 +1,325 @@ +/*************************************************************************/ +/* godot_area_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 "godot_area_2d.h" +#include "godot_body_2d.h" +#include "godot_space_2d.h" + +GodotArea2D::BodyKey::BodyKey(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { + rid = p_body->get_self(); + instance_id = p_body->get_instance_id(); + body_shape = p_body_shape; + area_shape = p_area_shape; +} + +GodotArea2D::BodyKey::BodyKey(GodotArea2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { + rid = p_body->get_self(); + instance_id = p_body->get_instance_id(); + body_shape = p_body_shape; + area_shape = p_area_shape; +} + +void GodotArea2D::_shapes_changed() { + if (!moved_list.in_list() && get_space()) { + get_space()->area_add_to_moved_list(&moved_list); + } +} + +void GodotArea2D::set_transform(const Transform2D &p_transform) { + if (!moved_list.in_list() && get_space()) { + get_space()->area_add_to_moved_list(&moved_list); + } + + _set_transform(p_transform); + _set_inv_transform(p_transform.affine_inverse()); +} + +void GodotArea2D::set_space(GodotSpace2D *p_space) { + if (get_space()) { + if (monitor_query_list.in_list()) { + get_space()->area_remove_from_monitor_query_list(&monitor_query_list); + } + if (moved_list.in_list()) { + get_space()->area_remove_from_moved_list(&moved_list); + } + } + + monitored_bodies.clear(); + monitored_areas.clear(); + + _set_space(p_space); +} + +void GodotArea2D::set_monitor_callback(const Callable &p_callback) { + ObjectID id = p_callback.get_object_id(); + + if (id == monitor_callback.get_object_id()) { + monitor_callback = p_callback; + return; + } + + _unregister_shapes(); + + monitor_callback = p_callback; + + monitored_bodies.clear(); + monitored_areas.clear(); + + _shape_changed(); + + if (!moved_list.in_list() && get_space()) { + get_space()->area_add_to_moved_list(&moved_list); + } +} + +void GodotArea2D::set_area_monitor_callback(const Callable &p_callback) { + ObjectID id = p_callback.get_object_id(); + + if (id == area_monitor_callback.get_object_id()) { + area_monitor_callback = p_callback; + return; + } + + _unregister_shapes(); + + area_monitor_callback = p_callback; + + monitored_bodies.clear(); + monitored_areas.clear(); + + _shape_changed(); + + if (!moved_list.in_list() && get_space()) { + get_space()->area_add_to_moved_list(&moved_list); + } +} + +void GodotArea2D::_set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode &r_mode, PhysicsServer2D::AreaSpaceOverrideMode p_new_mode) { + bool do_override = p_new_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; + if (do_override == (r_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED)) { + return; + } + _unregister_shapes(); + r_mode = p_new_mode; + _shape_changed(); +} + +void GodotArea2D::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value) { + switch (p_param) { + case PhysicsServer2D::AREA_PARAM_GRAVITY_OVERRIDE_MODE: + _set_space_override_mode(gravity_override_mode, (PhysicsServer2D::AreaSpaceOverrideMode)(int)p_value); + break; + case PhysicsServer2D::AREA_PARAM_GRAVITY: + gravity = p_value; + break; + case PhysicsServer2D::AREA_PARAM_GRAVITY_VECTOR: + gravity_vector = p_value; + break; + case PhysicsServer2D::AREA_PARAM_GRAVITY_IS_POINT: + gravity_is_point = p_value; + break; + case PhysicsServer2D::AREA_PARAM_GRAVITY_DISTANCE_SCALE: + gravity_distance_scale = p_value; + break; + case PhysicsServer2D::AREA_PARAM_GRAVITY_POINT_ATTENUATION: + point_attenuation = p_value; + break; + case PhysicsServer2D::AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE: + _set_space_override_mode(linear_damping_override_mode, (PhysicsServer2D::AreaSpaceOverrideMode)(int)p_value); + break; + case PhysicsServer2D::AREA_PARAM_LINEAR_DAMP: + linear_damp = p_value; + break; + case PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE: + _set_space_override_mode(angular_damping_override_mode, (PhysicsServer2D::AreaSpaceOverrideMode)(int)p_value); + break; + case PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP: + angular_damp = p_value; + break; + case PhysicsServer2D::AREA_PARAM_PRIORITY: + priority = p_value; + break; + } +} + +Variant GodotArea2D::get_param(PhysicsServer2D::AreaParameter p_param) const { + switch (p_param) { + case PhysicsServer2D::AREA_PARAM_GRAVITY_OVERRIDE_MODE: + return gravity_override_mode; + case PhysicsServer2D::AREA_PARAM_GRAVITY: + return gravity; + case PhysicsServer2D::AREA_PARAM_GRAVITY_VECTOR: + return gravity_vector; + case PhysicsServer2D::AREA_PARAM_GRAVITY_IS_POINT: + return gravity_is_point; + case PhysicsServer2D::AREA_PARAM_GRAVITY_DISTANCE_SCALE: + return gravity_distance_scale; + case PhysicsServer2D::AREA_PARAM_GRAVITY_POINT_ATTENUATION: + return point_attenuation; + case PhysicsServer2D::AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE: + return linear_damping_override_mode; + case PhysicsServer2D::AREA_PARAM_LINEAR_DAMP: + return linear_damp; + case PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE: + return angular_damping_override_mode; + case PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP: + return angular_damp; + case PhysicsServer2D::AREA_PARAM_PRIORITY: + return priority; + } + + return Variant(); +} + +void GodotArea2D::_queue_monitor_update() { + ERR_FAIL_COND(!get_space()); + + if (!monitor_query_list.in_list()) { + get_space()->area_add_to_monitor_query_list(&monitor_query_list); + } +} + +void GodotArea2D::set_monitorable(bool p_monitorable) { + if (monitorable == p_monitorable) { + return; + } + + monitorable = p_monitorable; + _set_static(!monitorable); + _shapes_changed(); +} + +void GodotArea2D::call_queries() { + if (!monitor_callback.is_null() && !monitored_bodies.is_empty()) { + if (monitor_callback.is_valid()) { + Variant res[5]; + Variant *resptr[5]; + for (int i = 0; i < 5; i++) { + resptr[i] = &res[i]; + } + + for (HashMap<BodyKey, BodyState, BodyKey>::Iterator E = monitored_bodies.begin(); E;) { + if (E->value.state == 0) { // Nothing happened + HashMap<BodyKey, BodyState, BodyKey>::Iterator next = E; + ++next; + monitored_bodies.remove(E); + E = next; + continue; + } + + res[0] = E->value.state > 0 ? PhysicsServer2D::AREA_BODY_ADDED : PhysicsServer2D::AREA_BODY_REMOVED; + res[1] = E->key.rid; + res[2] = E->key.instance_id; + res[3] = E->key.body_shape; + res[4] = E->key.area_shape; + + HashMap<BodyKey, BodyState, BodyKey>::Iterator next = E; + ++next; + monitored_bodies.remove(E); + E = next; + + Callable::CallError ce; + Variant ret; + monitor_callback.call((const Variant **)resptr, 5, ret, ce); + } + } else { + monitored_bodies.clear(); + monitor_callback = Callable(); + } + } + + if (!area_monitor_callback.is_null() && !monitored_areas.is_empty()) { + if (area_monitor_callback.is_valid()) { + Variant res[5]; + Variant *resptr[5]; + for (int i = 0; i < 5; i++) { + resptr[i] = &res[i]; + } + + for (HashMap<BodyKey, BodyState, BodyKey>::Iterator E = monitored_areas.begin(); E;) { + if (E->value.state == 0) { // Nothing happened + HashMap<BodyKey, BodyState, BodyKey>::Iterator next = E; + ++next; + monitored_areas.remove(E); + E = next; + continue; + } + + res[0] = E->value.state > 0 ? PhysicsServer2D::AREA_BODY_ADDED : PhysicsServer2D::AREA_BODY_REMOVED; + res[1] = E->key.rid; + res[2] = E->key.instance_id; + res[3] = E->key.body_shape; + res[4] = E->key.area_shape; + + HashMap<BodyKey, BodyState, BodyKey>::Iterator next = E; + ++next; + monitored_areas.remove(E); + E = next; + + Callable::CallError ce; + Variant ret; + area_monitor_callback.call((const Variant **)resptr, 5, ret, ce); + } + } else { + monitored_areas.clear(); + area_monitor_callback = Callable(); + } + } +} + +void GodotArea2D::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const { + if (is_gravity_point()) { + const real_t gravity_distance_scale = get_gravity_distance_scale(); + Vector2 v = get_transform().xform(get_gravity_vector()) - p_position; + if (gravity_distance_scale > 0) { + const real_t v_length = v.length(); + if (v_length > 0) { + const real_t v_scaled = v_length * gravity_distance_scale; + r_gravity = (v.normalized() * (get_gravity() / (v_scaled * v_scaled))); + } else { + r_gravity = Vector2(); + } + } else { + r_gravity = v.normalized() * get_gravity(); + } + } else { + r_gravity = get_gravity_vector() * get_gravity(); + } +} + +GodotArea2D::GodotArea2D() : + GodotCollisionObject2D(TYPE_AREA), + monitor_query_list(this), + moved_list(this) { + _set_static(true); //areas are not active by default +} + +GodotArea2D::~GodotArea2D() { +} diff --git a/servers/physics_2d/area_2d_sw.h b/servers/physics_2d/godot_area_2d.h index 3bf603b30d..221982cf78 100644 --- a/servers/physics_2d/area_2d_sw.h +++ b/servers/physics_2d/godot_area_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* area_2d_sw.h */ +/* godot_area_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,101 +28,94 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef AREA_2D_SW_H -#define AREA_2D_SW_H +#ifndef GODOT_AREA_2D_H +#define GODOT_AREA_2D_H + +#include "godot_collision_object_2d.h" -#include "collision_object_2d_sw.h" #include "core/templates/self_list.h" #include "servers/physics_server_2d.h" -//#include "servers/physics_3d/query_sw.h" -class Space2DSW; -class Body2DSW; -class Constraint2DSW; +class GodotSpace2D; +class GodotBody2D; +class GodotConstraint2D; + +class GodotArea2D : public GodotCollisionObject2D { + PhysicsServer2D::AreaSpaceOverrideMode gravity_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; + PhysicsServer2D::AreaSpaceOverrideMode linear_damping_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; + PhysicsServer2D::AreaSpaceOverrideMode angular_damping_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; -class Area2DSW : public CollisionObject2DSW { - PhysicsServer2D::AreaSpaceOverrideMode space_override_mode; - real_t gravity; - Vector2 gravity_vector; - bool gravity_is_point; - real_t gravity_distance_scale; - real_t point_attenuation; - real_t linear_damp; - real_t angular_damp; - int priority; - bool monitorable; + real_t gravity = 9.80665; + Vector2 gravity_vector = Vector2(0, -1); + bool gravity_is_point = false; + real_t gravity_distance_scale = 0.0; + real_t point_attenuation = 1.0; + real_t linear_damp = 0.1; + real_t angular_damp = 1.0; + int priority = 0; + bool monitorable = false; - ObjectID monitor_callback_id; - StringName monitor_callback_method; + Callable monitor_callback; - ObjectID area_monitor_callback_id; - StringName area_monitor_callback_method; + Callable area_monitor_callback; - SelfList<Area2DSW> monitor_query_list; - SelfList<Area2DSW> moved_list; + SelfList<GodotArea2D> monitor_query_list; + SelfList<GodotArea2D> moved_list; struct BodyKey { RID rid; ObjectID instance_id; - uint32_t body_shape; - uint32_t area_shape; - - _FORCE_INLINE_ bool operator<(const BodyKey &p_key) const { - if (rid == p_key.rid) { - if (body_shape == p_key.body_shape) { - return area_shape < p_key.area_shape; - } else { - return body_shape < p_key.body_shape; - } - } else { - return rid < p_key.rid; - } + uint32_t body_shape = 0; + uint32_t area_shape = 0; + + static uint32_t hash(const BodyKey &p_key) { + uint32_t h = hash_one_uint64(p_key.rid.get_id()); + h = hash_murmur3_one_64(p_key.instance_id, h); + h = hash_murmur3_one_32(p_key.area_shape, h); + return hash_fmix32(hash_murmur3_one_32(p_key.body_shape, h)); + } + + _FORCE_INLINE_ bool operator==(const BodyKey &p_key) const { + return rid == p_key.rid && instance_id == p_key.instance_id && body_shape == p_key.body_shape && area_shape == p_key.area_shape; } _FORCE_INLINE_ BodyKey() {} - BodyKey(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - BodyKey(Area2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + BodyKey(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + BodyKey(GodotArea2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); }; struct BodyState { - int state; + int state = 0; _FORCE_INLINE_ void inc() { state++; } _FORCE_INLINE_ void dec() { state--; } - _FORCE_INLINE_ BodyState() { state = 0; } }; - Map<BodyKey, BodyState> monitored_bodies; - Map<BodyKey, BodyState> monitored_areas; + HashMap<BodyKey, BodyState, BodyKey> monitored_bodies; + HashMap<BodyKey, BodyState, BodyKey> monitored_areas; - //virtual void shape_changed_notify(Shape2DSW *p_shape); - //virtual void shape_deleted_notify(Shape2DSW *p_shape); - Set<Constraint2DSW *> constraints; + HashSet<GodotConstraint2D *> constraints; - virtual void _shapes_changed(); + virtual void _shapes_changed() override; void _queue_monitor_update(); -public: - //_FORCE_INLINE_ const Matrix32& get_inverse_transform() const { return inverse_transform; } - //_FORCE_INLINE_ SpaceSW* get_owner() { return owner; } + void _set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode &r_mode, PhysicsServer2D::AreaSpaceOverrideMode p_new_mode); - void set_monitor_callback(ObjectID p_id, const StringName &p_method); - _FORCE_INLINE_ bool has_monitor_callback() const { return monitor_callback_id.is_valid(); } +public: + void set_monitor_callback(const Callable &p_callback); + _FORCE_INLINE_ bool has_monitor_callback() const { return !monitor_callback.is_null(); } - void set_area_monitor_callback(ObjectID p_id, const StringName &p_method); - _FORCE_INLINE_ bool has_area_monitor_callback() const { return area_monitor_callback_id.is_valid(); } + void set_area_monitor_callback(const Callable &p_callback); + _FORCE_INLINE_ bool has_area_monitor_callback() const { return !area_monitor_callback.is_null(); } - _FORCE_INLINE_ void add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - _FORCE_INLINE_ void remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + _FORCE_INLINE_ void add_body_to_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + _FORCE_INLINE_ void remove_body_from_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - _FORCE_INLINE_ void add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape); - _FORCE_INLINE_ void remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape); + _FORCE_INLINE_ void add_area_to_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape); + _FORCE_INLINE_ void remove_area_from_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape); void set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value); Variant get_param(PhysicsServer2D::AreaParameter p_param) const; - void set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_mode); - PhysicsServer2D::AreaSpaceOverrideMode get_space_override_mode() const { return space_override_mode; } - _FORCE_INLINE_ void set_gravity(real_t p_gravity) { gravity = p_gravity; } _FORCE_INLINE_ real_t get_gravity() const { return gravity; } @@ -147,9 +140,9 @@ public: _FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; } _FORCE_INLINE_ int get_priority() const { return priority; } - _FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint) { constraints.insert(p_constraint); } - _FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint) { constraints.erase(p_constraint); } - _FORCE_INLINE_ const Set<Constraint2DSW *> &get_constraints() const { return constraints; } + _FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint) { constraints.insert(p_constraint); } + _FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint) { constraints.erase(p_constraint); } + _FORCE_INLINE_ const HashSet<GodotConstraint2D *> &get_constraints() const { return constraints; } _FORCE_INLINE_ void clear_constraints() { constraints.clear(); } void set_monitorable(bool p_monitorable); @@ -157,15 +150,17 @@ public: void set_transform(const Transform2D &p_transform); - void set_space(Space2DSW *p_space); + void set_space(GodotSpace2D *p_space) override; void call_queries(); - Area2DSW(); - ~Area2DSW(); + void compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const; + + GodotArea2D(); + ~GodotArea2D(); }; -void Area2DSW::add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +void GodotArea2D::add_body_to_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { BodyKey bk(p_body, p_body_shape, p_area_shape); monitored_bodies[bk].inc(); if (!monitor_query_list.in_list()) { @@ -173,7 +168,7 @@ void Area2DSW::add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32 } } -void Area2DSW::remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +void GodotArea2D::remove_body_from_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { BodyKey bk(p_body, p_body_shape, p_area_shape); monitored_bodies[bk].dec(); if (!monitor_query_list.in_list()) { @@ -181,7 +176,7 @@ void Area2DSW::remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, u } } -void Area2DSW::add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { +void GodotArea2D::add_area_to_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { BodyKey bk(p_area, p_area_shape, p_self_shape); monitored_areas[bk].inc(); if (!monitor_query_list.in_list()) { @@ -189,7 +184,7 @@ void Area2DSW::add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32 } } -void Area2DSW::remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { +void GodotArea2D::remove_area_from_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { BodyKey bk(p_area, p_area_shape, p_self_shape); monitored_areas[bk].dec(); if (!monitor_query_list.in_list()) { @@ -197,4 +192,4 @@ void Area2DSW::remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, u } } -#endif // AREA_2D_SW_H +#endif // GODOT_AREA_2D_H diff --git a/servers/physics_2d/godot_area_pair_2d.cpp b/servers/physics_2d/godot_area_pair_2d.cpp new file mode 100644 index 0000000000..72208d7dff --- /dev/null +++ b/servers/physics_2d/godot_area_pair_2d.cpp @@ -0,0 +1,200 @@ +/*************************************************************************/ +/* godot_area_pair_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 "godot_area_pair_2d.h" +#include "godot_collision_solver_2d.h" + +bool GodotAreaPair2D::setup(real_t p_step) { + bool result = false; + if (area->collides_with(body) && GodotCollisionSolver2D::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) { + result = true; + } + + process_collision = false; + has_space_override = false; + if (result != colliding) { + if ((int)area->get_param(PhysicsServer2D::AREA_PARAM_GRAVITY_OVERRIDE_MODE) != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { + has_space_override = true; + } else if ((int)area->get_param(PhysicsServer2D::AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE) != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { + has_space_override = true; + } else if ((int)area->get_param(PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE) != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { + has_space_override = true; + } + process_collision = has_space_override; + + if (area->has_monitor_callback()) { + process_collision = true; + } + + colliding = result; + } + + return process_collision; +} + +bool GodotAreaPair2D::pre_solve(real_t p_step) { + if (!process_collision) { + return false; + } + + if (colliding) { + if (has_space_override) { + body->add_area(area); + } + + if (area->has_monitor_callback()) { + area->add_body_to_query(body, body_shape, area_shape); + } + } else { + if (has_space_override) { + body->remove_area(area); + } + + if (area->has_monitor_callback()) { + area->remove_body_from_query(body, body_shape, area_shape); + } + } + + return false; // Never do any post solving. +} + +void GodotAreaPair2D::solve(real_t p_step) { + // Nothing to do. +} + +GodotAreaPair2D::GodotAreaPair2D(GodotBody2D *p_body, int p_body_shape, GodotArea2D *p_area, int p_area_shape) { + body = p_body; + area = p_area; + body_shape = p_body_shape; + area_shape = p_area_shape; + body->add_constraint(this, 0); + area->add_constraint(this); + if (p_body->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) { //need to be active to process pair + p_body->set_active(true); + } +} + +GodotAreaPair2D::~GodotAreaPair2D() { + if (colliding) { + if (has_space_override) { + body->remove_area(area); + } + if (area->has_monitor_callback()) { + area->remove_body_from_query(body, body_shape, area_shape); + } + } + body->remove_constraint(this, 0); + area->remove_constraint(this); +} + +////////////////////////////////// + +bool GodotArea2Pair2D::setup(real_t p_step) { + bool result_a = area_a->collides_with(area_b); + bool result_b = area_b->collides_with(area_a); + if ((result_a || result_b) && !GodotCollisionSolver2D::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) { + result_a = false; + result_b = false; + } + + bool process_collision = false; + + process_collision_a = false; + if (result_a != colliding_a) { + if (area_a->has_area_monitor_callback() && area_b_monitorable) { + process_collision_a = true; + process_collision = true; + } + colliding_a = result_a; + } + + process_collision_b = false; + if (result_b != colliding_b) { + if (area_b->has_area_monitor_callback() && area_a_monitorable) { + process_collision_b = true; + process_collision = true; + } + colliding_b = result_b; + } + + return process_collision; +} + +bool GodotArea2Pair2D::pre_solve(real_t p_step) { + if (process_collision_a) { + if (colliding_a) { + area_a->add_area_to_query(area_b, shape_b, shape_a); + } else { + area_a->remove_area_from_query(area_b, shape_b, shape_a); + } + } + + if (process_collision_b) { + if (colliding_b) { + area_b->add_area_to_query(area_a, shape_a, shape_b); + } else { + area_b->remove_area_from_query(area_a, shape_a, shape_b); + } + } + + return false; // Never do any post solving. +} + +void GodotArea2Pair2D::solve(real_t p_step) { + // Nothing to do. +} + +GodotArea2Pair2D::GodotArea2Pair2D(GodotArea2D *p_area_a, int p_shape_a, GodotArea2D *p_area_b, int p_shape_b) { + area_a = p_area_a; + area_b = p_area_b; + shape_a = p_shape_a; + shape_b = p_shape_b; + area_a_monitorable = area_a->is_monitorable(); + area_b_monitorable = area_b->is_monitorable(); + area_a->add_constraint(this); + area_b->add_constraint(this); +} + +GodotArea2Pair2D::~GodotArea2Pair2D() { + if (colliding_a) { + if (area_a->has_area_monitor_callback() && area_b_monitorable) { + area_a->remove_area_from_query(area_b, shape_b, shape_a); + } + } + + if (colliding_b) { + if (area_b->has_area_monitor_callback() && area_a_monitorable) { + area_b->remove_area_from_query(area_a, shape_a, shape_b); + } + } + + area_a->remove_constraint(this); + area_b->remove_constraint(this); +} diff --git a/servers/physics_2d/step_2d_sw.h b/servers/physics_2d/godot_area_pair_2d.h index 83b9130608..ef6c774bc3 100644 --- a/servers/physics_2d/step_2d_sw.h +++ b/servers/physics_2d/godot_area_pair_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* step_2d_sw.h */ +/* godot_area_pair_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,22 +28,50 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef STEP_2D_SW_H -#define STEP_2D_SW_H +#ifndef GODOT_AREA_PAIR_2D_H +#define GODOT_AREA_PAIR_2D_H -#include "space_2d_sw.h" +#include "godot_area_2d.h" +#include "godot_body_2d.h" +#include "godot_constraint_2d.h" -class Step2DSW { - uint64_t _step; +class GodotAreaPair2D : public GodotConstraint2D { + GodotBody2D *body = nullptr; + GodotArea2D *area = nullptr; + int body_shape = 0; + int area_shape = 0; + bool colliding = false; + bool has_space_override = false; + bool process_collision = false; - void _populate_island(Body2DSW *p_body, Body2DSW **p_island, Constraint2DSW **p_constraint_island); - bool _setup_island(Constraint2DSW *p_island, real_t p_delta); - void _solve_island(Constraint2DSW *p_island, int p_iterations, real_t p_delta); - void _check_suspend(Body2DSW *p_island, real_t p_delta); +public: + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; + + GodotAreaPair2D(GodotBody2D *p_body, int p_body_shape, GodotArea2D *p_area, int p_area_shape); + ~GodotAreaPair2D(); +}; + +class GodotArea2Pair2D : public GodotConstraint2D { + GodotArea2D *area_a = nullptr; + GodotArea2D *area_b = nullptr; + int shape_a = 0; + int shape_b = 0; + bool colliding_a = false; + bool colliding_b = false; + bool process_collision_a = false; + bool process_collision_b = false; + bool area_a_monitorable; + bool area_b_monitorable; public: - void step(Space2DSW *p_space, real_t p_delta, int p_iterations); - Step2DSW(); + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; + + GodotArea2Pair2D(GodotArea2D *p_area_a, int p_shape_a, GodotArea2D *p_area_b, int p_shape_b); + ~GodotArea2Pair2D(); }; -#endif // STEP_2D_SW_H +#endif // GODOT_AREA_PAIR_2D_H diff --git a/servers/physics_2d/godot_body_2d.cpp b/servers/physics_2d/godot_body_2d.cpp new file mode 100644 index 0000000000..6873504f70 --- /dev/null +++ b/servers/physics_2d/godot_body_2d.cpp @@ -0,0 +1,757 @@ +/*************************************************************************/ +/* godot_body_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 "godot_body_2d.h" + +#include "godot_area_2d.h" +#include "godot_body_direct_state_2d.h" +#include "godot_space_2d.h" + +void GodotBody2D::_mass_properties_changed() { + if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) { + get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list); + } +} + +void GodotBody2D::update_mass_properties() { + //update shapes and motions + + switch (mode) { + case PhysicsServer2D::BODY_MODE_DYNAMIC: { + real_t total_area = 0; + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } + total_area += get_shape_aabb(i).get_area(); + } + + if (calculate_center_of_mass) { + // We have to recompute the center of mass. + center_of_mass_local = Vector2(); + + if (total_area != 0.0) { + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } + + real_t area = get_shape_aabb(i).get_area(); + + real_t mass = area * this->mass / total_area; + + // NOTE: we assume that the shape origin is also its center of mass. + center_of_mass_local += mass * get_shape_transform(i).get_origin(); + } + + center_of_mass_local /= mass; + } + } + + if (calculate_inertia) { + inertia = 0; + + for (int i = 0; i < get_shape_count(); i++) { + if (is_shape_disabled(i)) { + continue; + } + + const GodotShape2D *shape = get_shape(i); + + real_t area = get_shape_aabb(i).get_area(); + if (area == 0.0) { + continue; + } + + real_t mass = area * this->mass / total_area; + + Transform2D mtx = get_shape_transform(i); + Vector2 scale = mtx.get_scale(); + Vector2 shape_origin = mtx.get_origin() - center_of_mass_local; + inertia += shape->get_moment_of_inertia(mass, scale) + mass * shape_origin.length_squared(); + } + } + + _inv_inertia = inertia > 0.0 ? (1.0 / inertia) : 0.0; + + 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_DYNAMIC_LINEAR: { + _inv_inertia = 0; + _inv_mass = 1.0 / mass; + + } break; + } + + _update_transform_dependent(); +} + +void GodotBody2D::reset_mass_properties() { + calculate_inertia = true; + calculate_center_of_mass = true; + _mass_properties_changed(); +} + +void GodotBody2D::set_active(bool p_active) { + if (active == p_active) { + return; + } + + active = p_active; + + if (active) { + if (mode == PhysicsServer2D::BODY_MODE_STATIC) { + // Static bodies can't be active. + active = false; + } else if (get_space()) { + get_space()->body_add_to_active_list(&active_list); + } + } else if (get_space()) { + get_space()->body_remove_from_active_list(&active_list); + } +} + +void GodotBody2D::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &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: { + real_t mass_value = p_value; + ERR_FAIL_COND(mass_value <= 0); + mass = mass_value; + if (mode >= PhysicsServer2D::BODY_MODE_DYNAMIC) { + _mass_properties_changed(); + } + } break; + case PhysicsServer2D::BODY_PARAM_INERTIA: { + real_t inertia_value = p_value; + if (inertia_value <= 0.0) { + calculate_inertia = true; + if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) { + _mass_properties_changed(); + } + } else { + calculate_inertia = false; + inertia = inertia_value; + if (mode == PhysicsServer2D::BODY_MODE_DYNAMIC) { + _inv_inertia = 1.0 / inertia; + } + } + } break; + case PhysicsServer2D::BODY_PARAM_CENTER_OF_MASS: { + calculate_center_of_mass = false; + center_of_mass_local = p_value; + _update_transform_dependent(); + } break; + case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: { + if (Math::is_zero_approx(gravity_scale)) { + wakeup(); + } + gravity_scale = p_value; + } break; + case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP_MODE: { + int mode_value = p_value; + linear_damp_mode = (PhysicsServer2D::BodyDampMode)mode_value; + } break; + case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP_MODE: { + int mode_value = p_value; + angular_damp_mode = (PhysicsServer2D::BodyDampMode)mode_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: { + } + } +} + +Variant GodotBody2D::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_CENTER_OF_MASS: { + return center_of_mass_local; + } + case PhysicsServer2D::BODY_PARAM_GRAVITY_SCALE: { + return gravity_scale; + } + case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP_MODE: { + return linear_damp_mode; + } + case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP_MODE: { + return angular_damp_mode; + } + case PhysicsServer2D::BODY_PARAM_LINEAR_DAMP: { + return linear_damp; + } + case PhysicsServer2D::BODY_PARAM_ANGULAR_DAMP: { + return angular_damp; + } + default: { + } + } + + return 0; +} + +void GodotBody2D::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_DYNAMIC: { + _inv_mass = mass > 0 ? (1.0 / mass) : 0; + if (!calculate_inertia) { + _inv_inertia = 1.0 / inertia; + } + _mass_properties_changed(); + _set_static(false); + set_active(true); + + } break; + case PhysicsServer2D::BODY_MODE_DYNAMIC_LINEAR: { + _inv_mass = mass > 0 ? (1.0 / mass) : 0; + _inv_inertia = 0; + angular_velocity = 0; + _set_static(false); + set_active(true); + } + } +} + +PhysicsServer2D::BodyMode GodotBody2D::get_mode() const { + return mode; +} + +void GodotBody2D::_shapes_changed() { + _mass_properties_changed(); + wakeup(); + wakeup_neighbours(); +} + +void GodotBody2D::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()); + _update_transform_dependent(); + } + wakeup(); + + } break; + case PhysicsServer2D::BODY_STATE_LINEAR_VELOCITY: { + linear_velocity = p_variant; + constant_linear_velocity = linear_velocity; + wakeup(); + + } break; + case PhysicsServer2D::BODY_STATE_ANGULAR_VELOCITY: { + angular_velocity = p_variant; + constant_angular_velocity = angular_velocity; + 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_DYNAMIC && !active && !can_sleep) { + set_active(true); + } + + } break; + } +} + +Variant GodotBody2D::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 GodotBody2D::set_space(GodotSpace2D *p_space) { + if (get_space()) { + wakeup_neighbours(); + + if (mass_properties_update_list.in_list()) { + get_space()->body_remove_from_mass_properties_update_list(&mass_properties_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()) { + _mass_properties_changed(); + if (active) { + get_space()->body_add_to_active_list(&active_list); + } + } +} + +void GodotBody2D::_update_transform_dependent() { + center_of_mass = get_transform().basis_xform(center_of_mass_local); +} + +void GodotBody2D::integrate_forces(real_t p_step) { + if (mode == PhysicsServer2D::BODY_MODE_STATIC) { + return; + } + + ERR_FAIL_COND(!get_space()); + + int ac = areas.size(); + + bool gravity_done = false; + bool linear_damp_done = false; + bool angular_damp_done = false; + + bool stopped = false; + + gravity = Vector2(0, 0); + + total_linear_damp = 0.0; + total_angular_damp = 0.0; + + // Combine gravity and damping from overlapping areas in priority order. + if (ac) { + areas.sort(); + const AreaCMP *aa = &areas[0]; + for (int i = ac - 1; i >= 0 && !stopped; i--) { + if (!gravity_done) { + PhysicsServer2D::AreaSpaceOverrideMode area_gravity_mode = (PhysicsServer2D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer2D::AREA_PARAM_GRAVITY_OVERRIDE_MODE); + if (area_gravity_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { + Vector2 area_gravity; + aa[i].area->compute_gravity(get_transform().get_origin(), area_gravity); + switch (area_gravity_mode) { + case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE: + case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { + gravity += area_gravity; + gravity_done = area_gravity_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; + } break; + case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE: + case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: { + gravity = area_gravity; + gravity_done = area_gravity_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE; + } break; + default: { + } + } + } + } + if (!linear_damp_done) { + PhysicsServer2D::AreaSpaceOverrideMode area_linear_damp_mode = (PhysicsServer2D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer2D::AREA_PARAM_LINEAR_DAMP_OVERRIDE_MODE); + if (area_linear_damp_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { + real_t area_linear_damp = aa[i].area->get_linear_damp(); + switch (area_linear_damp_mode) { + case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE: + case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { + total_linear_damp += area_linear_damp; + linear_damp_done = area_linear_damp_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; + } break; + case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE: + case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: { + total_linear_damp = area_linear_damp; + linear_damp_done = area_linear_damp_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE; + } break; + default: { + } + } + } + } + if (!angular_damp_done) { + PhysicsServer2D::AreaSpaceOverrideMode area_angular_damp_mode = (PhysicsServer2D::AreaSpaceOverrideMode)(int)aa[i].area->get_param(PhysicsServer2D::AREA_PARAM_ANGULAR_DAMP_OVERRIDE_MODE); + if (area_angular_damp_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { + real_t area_angular_damp = aa[i].area->get_angular_damp(); + switch (area_angular_damp_mode) { + case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE: + case PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE: { + total_angular_damp += area_angular_damp; + angular_damp_done = area_angular_damp_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_COMBINE_REPLACE; + } break; + case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE: + case PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE_COMBINE: { + total_angular_damp = area_angular_damp; + angular_damp_done = area_angular_damp_mode == PhysicsServer2D::AREA_SPACE_OVERRIDE_REPLACE; + } break; + default: { + } + } + } + } + stopped = gravity_done && linear_damp_done && angular_damp_done; + } + } + + // Add default gravity and damping from space area. + if (!stopped) { + GodotArea2D *default_area = get_space()->get_default_area(); + ERR_FAIL_COND(!default_area); + + if (!gravity_done) { + Vector2 default_gravity; + default_area->compute_gravity(get_transform().get_origin(), default_gravity); + gravity += default_gravity; + } + + if (!linear_damp_done) { + total_linear_damp += default_area->get_linear_damp(); + } + + if (!angular_damp_done) { + total_angular_damp += default_area->get_angular_damp(); + } + } + + // Override linear damping with body's value. + switch (linear_damp_mode) { + case PhysicsServer2D::BODY_DAMP_MODE_COMBINE: { + total_linear_damp += linear_damp; + } break; + case PhysicsServer2D::BODY_DAMP_MODE_REPLACE: { + total_linear_damp = linear_damp; + } break; + } + + // Override angular damping with body's value. + switch (angular_damp_mode) { + case PhysicsServer2D::BODY_DAMP_MODE_COMBINE: { + total_angular_damp += angular_damp; + } break; + case PhysicsServer2D::BODY_DAMP_MODE_REPLACE: { + total_angular_damp = angular_damp; + } break; + } + + gravity *= gravity_scale; + + prev_linear_velocity = linear_velocity; + prev_angular_velocity = angular_velocity; + + 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 = constant_linear_velocity + motion / p_step; + + real_t rot = new_transform.get_rotation() - get_transform().get_rotation(); + angular_velocity = constant_angular_velocity + remainder(rot, 2.0 * Math_PI) / p_step; + + do_motion = true; + + } else { + if (!omit_force_integration) { + //overridden by direct state query + + Vector2 force = gravity * mass + applied_force + constant_force; + real_t torque = applied_torque + constant_torque; + + real_t damp = 1.0 - p_step * total_linear_damp; + + if (damp < 0) { // reached zero in the given time + damp = 0; + } + + real_t angular_damp = 1.0 - p_step * total_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; + } + } + + applied_force = Vector2(); + applied_torque = 0.0; + + biased_angular_velocity = 0.0; + biased_linear_velocity = Vector2(); + + if (do_motion) { //shapes temporarily extend for raycast + _update_shapes_with_motion(motion); + } + + contact_count = 0; +} + +void GodotBody2D::integrate_velocities(real_t p_step) { + if (mode == PhysicsServer2D::BODY_MODE_STATIC) { + return; + } + + if (fi_callback_data || body_state_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_delta = total_angular_velocity * p_step; + real_t angle = get_transform().get_rotation() + angle_delta; + Vector2 pos = get_transform().get_origin() + total_linear_velocity * p_step; + + if (center_of_mass.length_squared() > CMP_EPSILON2) { + // Calculate displacement due to center of mass offset. + pos += center_of_mass - center_of_mass.rotated(angle_delta); + } + + _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_transform_dependent(); +} + +void GodotBody2D::wakeup_neighbours() { + for (const Pair<GodotConstraint2D *, int> &E : constraint_list) { + const GodotConstraint2D *c = E.first; + GodotBody2D **n = c->get_body_ptr(); + int bc = c->get_body_count(); + + for (int i = 0; i < bc; i++) { + if (i == E.second) { + continue; + } + GodotBody2D *b = n[i]; + if (b->mode < PhysicsServer2D::BODY_MODE_DYNAMIC) { + continue; + } + + if (!b->is_active()) { + b->set_active(true); + } + } + } +} + +void GodotBody2D::call_queries() { + if (fi_callback_data) { + if (!fi_callback_data->callable.get_object()) { + set_force_integration_callback(Callable()); + } else { + Variant direct_state_variant = get_direct_state(); + const Variant *vp[2] = { &direct_state_variant, &fi_callback_data->udata }; + + Callable::CallError ce; + Variant rv; + if (fi_callback_data->udata.get_type() != Variant::NIL) { + fi_callback_data->callable.call(vp, 2, rv, ce); + + } else { + fi_callback_data->callable.call(vp, 1, rv, ce); + } + } + } + + if (body_state_callback) { + (body_state_callback)(body_state_callback_instance, get_direct_state()); + } +} + +bool GodotBody2D::sleep_test(real_t p_step) { + if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { + return true; + } 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 GodotBody2D::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) { + body_state_callback_instance = p_instance; + body_state_callback = p_callback; +} + +void GodotBody2D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { + if (p_callable.get_object()) { + if (!fi_callback_data) { + fi_callback_data = memnew(ForceIntegrationCallbackData); + } + fi_callback_data->callable = p_callable; + fi_callback_data->udata = p_udata; + } else if (fi_callback_data) { + memdelete(fi_callback_data); + fi_callback_data = nullptr; + } +} + +GodotPhysicsDirectBodyState2D *GodotBody2D::get_direct_state() { + if (!direct_state) { + direct_state = memnew(GodotPhysicsDirectBodyState2D); + direct_state->body = this; + } + return direct_state; +} + +GodotBody2D::GodotBody2D() : + GodotCollisionObject2D(TYPE_BODY), + active_list(this), + mass_properties_update_list(this), + direct_state_query_list(this) { + _set_static(false); +} + +GodotBody2D::~GodotBody2D() { + if (fi_callback_data) { + memdelete(fi_callback_data); + } + if (direct_state) { + memdelete(direct_state); + } +} diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/godot_body_2d.h index 60d55ab8bd..4b87a69d5c 100644 --- a/servers/physics_2d/body_2d_sw.h +++ b/servers/physics_2d/godot_body_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* body_2d_sw.h */ +/* godot_body_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,72 +28,93 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_2D_SW_H -#define BODY_2D_SW_H +#ifndef GODOT_BODY_2D_H +#define GODOT_BODY_2D_H + +#include "godot_area_2d.h" +#include "godot_collision_object_2d.h" -#include "area_2d_sw.h" -#include "collision_object_2d_sw.h" #include "core/templates/list.h" #include "core/templates/pair.h" #include "core/templates/vset.h" -class Constraint2DSW; +class GodotConstraint2D; +class GodotPhysicsDirectBodyState2D; -class Body2DSW : public CollisionObject2DSW { - PhysicsServer2D::BodyMode mode; +class GodotBody2D : public GodotCollisionObject2D { + PhysicsServer2D::BodyMode mode = PhysicsServer2D::BODY_MODE_DYNAMIC; Vector2 biased_linear_velocity; - real_t biased_angular_velocity; + real_t biased_angular_velocity = 0.0; Vector2 linear_velocity; - real_t angular_velocity; + real_t angular_velocity = 0.0; + + Vector2 prev_linear_velocity; + real_t prev_angular_velocity = 0.0; + + Vector2 constant_linear_velocity; + real_t constant_angular_velocity = 0.0; + + PhysicsServer2D::BodyDampMode linear_damp_mode = PhysicsServer2D::BODY_DAMP_MODE_COMBINE; + PhysicsServer2D::BodyDampMode angular_damp_mode = PhysicsServer2D::BODY_DAMP_MODE_COMBINE; + + real_t linear_damp = 0.0; + real_t angular_damp = 0.0; - real_t linear_damp; - real_t angular_damp; - real_t gravity_scale; + real_t total_linear_damp = 0.0; + real_t total_angular_damp = 0.0; - real_t mass; - real_t inertia; - real_t bounce; - real_t friction; + real_t gravity_scale = 1.0; - real_t _inv_mass; - real_t _inv_inertia; - bool user_inertia; + real_t bounce = 0.0; + real_t friction = 1.0; + + real_t mass = 1.0; + real_t _inv_mass = 1.0; + + real_t inertia = 0.0; + real_t _inv_inertia = 0.0; + + Vector2 center_of_mass_local; + Vector2 center_of_mass; + + bool calculate_inertia = true; + bool calculate_center_of_mass = true; Vector2 gravity; - real_t area_linear_damp; - real_t area_angular_damp; - real_t still_time; + real_t still_time = 0.0; Vector2 applied_force; - real_t applied_torque; + real_t applied_torque = 0.0; + + Vector2 constant_force; + real_t constant_torque = 0.0; - SelfList<Body2DSW> active_list; - SelfList<Body2DSW> inertia_update_list; - SelfList<Body2DSW> direct_state_query_list; + SelfList<GodotBody2D> active_list; + SelfList<GodotBody2D> mass_properties_update_list; + SelfList<GodotBody2D> direct_state_query_list; VSet<RID> exceptions; - PhysicsServer2D::CCDMode continuous_cd_mode; - bool omit_force_integration; - bool active; - bool can_sleep; - bool first_time_kinematic; - bool first_integration; - void _update_inertia(); - virtual void _shapes_changed(); + PhysicsServer2D::CCDMode continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED; + bool omit_force_integration = false; + bool active = true; + bool can_sleep = true; + bool first_time_kinematic = false; + void _mass_properties_changed(); + virtual void _shapes_changed() override; Transform2D new_transform; - List<Pair<Constraint2DSW *, int>> constraint_list; + List<Pair<GodotConstraint2D *, int>> constraint_list; struct AreaCMP { - Area2DSW *area; - int refCount; + GodotArea2D *area = nullptr; + int refCount = 0; _FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); } _FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); } _FORCE_INLINE_ AreaCMP() {} - _FORCE_INLINE_ AreaCMP(Area2DSW *p_area) { + _FORCE_INLINE_ AreaCMP(GodotArea2D *p_area) { area = p_area; refCount = 1; } @@ -104,38 +125,43 @@ class Body2DSW : public CollisionObject2DSW { struct Contact { Vector2 local_pos; Vector2 local_normal; - real_t depth; - int local_shape; + real_t depth = 0.0; + int local_shape = 0; Vector2 collider_pos; - int collider_shape; + int collider_shape = 0; ObjectID collider_instance_id; RID collider; Vector2 collider_velocity_at_pos; }; Vector<Contact> contacts; //no contacts by default - int contact_count; + int contact_count = 0; - struct ForceIntegrationCallback { - ObjectID id; - StringName method; - Variant callback_udata; + void *body_state_callback_instance = nullptr; + PhysicsServer2D::BodyStateCallback body_state_callback = nullptr; + + struct ForceIntegrationCallbackData { + Callable callable; + Variant udata; }; - ForceIntegrationCallback *fi_callback; + ForceIntegrationCallbackData *fi_callback_data = nullptr; + + GodotPhysicsDirectBodyState2D *direct_state = nullptr; - uint64_t island_step; - Body2DSW *island_next; - Body2DSW *island_list_next; + uint64_t island_step = 0; - _FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const Area2DSW *p_area); + void _update_transform_dependent(); - friend class PhysicsDirectBodyState2DSW; // i give up, too many functions to expose + friend class GodotPhysicsDirectBodyState2D; // i give up, too many functions to expose public: - void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant()); + void set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback); + void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant()); + + GodotPhysicsDirectBodyState2D *get_direct_state(); - _FORCE_INLINE_ void add_area(Area2DSW *p_area) { + _FORCE_INLINE_ void add_area(GodotArea2D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount += 1; @@ -144,12 +170,12 @@ public: } } - _FORCE_INLINE_ void remove_area(Area2DSW *p_area) { + _FORCE_INLINE_ void remove_area(GodotArea2D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount -= 1; if (areas[index].refCount < 1) { - areas.remove(index); + areas.remove_at(index); } } } @@ -175,15 +201,9 @@ public: _FORCE_INLINE_ uint64_t get_island_step() const { return island_step; } _FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; } - _FORCE_INLINE_ Body2DSW *get_island_next() const { return island_next; } - _FORCE_INLINE_ void set_island_next(Body2DSW *p_next) { island_next = p_next; } - - _FORCE_INLINE_ Body2DSW *get_island_list_next() const { return island_list_next; } - _FORCE_INLINE_ void set_island_list_next(Body2DSW *p_next) { island_list_next = p_next; } - - _FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); } - _FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); } - const List<Pair<Constraint2DSW *, int>> &get_constraint_list() const { return constraint_list; } + _FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); } + _FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); } + const List<Pair<GodotConstraint2D *, int>> &get_constraint_list() const { return constraint_list; } _FORCE_INLINE_ void clear_constraint_list() { constraint_list.clear(); } _FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; } @@ -195,6 +215,9 @@ public: _FORCE_INLINE_ void set_angular_velocity(real_t p_velocity) { angular_velocity = p_velocity; } _FORCE_INLINE_ real_t get_angular_velocity() const { return angular_velocity; } + _FORCE_INLINE_ Vector2 get_prev_linear_velocity() const { return prev_linear_velocity; } + _FORCE_INLINE_ real_t get_prev_angular_velocity() const { return prev_angular_velocity; } + _FORCE_INLINE_ void set_biased_linear_velocity(const Vector2 &p_velocity) { biased_linear_velocity = p_velocity; } _FORCE_INLINE_ Vector2 get_biased_linear_velocity() const { return biased_linear_velocity; } @@ -207,18 +230,56 @@ public: _FORCE_INLINE_ void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { linear_velocity += p_impulse * _inv_mass; - angular_velocity += _inv_inertia * p_position.cross(p_impulse); + angular_velocity += _inv_inertia * (p_position - center_of_mass).cross(p_impulse); } _FORCE_INLINE_ void apply_torque_impulse(real_t p_torque) { angular_velocity += _inv_inertia * p_torque; } - _FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { + _FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2(), real_t p_max_delta_av = -1.0) { biased_linear_velocity += p_impulse * _inv_mass; - biased_angular_velocity += _inv_inertia * p_position.cross(p_impulse); + if (p_max_delta_av != 0.0) { + real_t delta_av = _inv_inertia * (p_position - center_of_mass).cross(p_impulse); + if (p_max_delta_av > 0 && delta_av > p_max_delta_av) { + delta_av = p_max_delta_av; + } + biased_angular_velocity += delta_av; + } } + _FORCE_INLINE_ void apply_central_force(const Vector2 &p_force) { + applied_force += p_force; + } + + _FORCE_INLINE_ void apply_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { + applied_force += p_force; + applied_torque += (p_position - center_of_mass).cross(p_force); + } + + _FORCE_INLINE_ void apply_torque(real_t p_torque) { + applied_torque += p_torque; + } + + _FORCE_INLINE_ void add_constant_central_force(const Vector2 &p_force) { + constant_force += p_force; + } + + _FORCE_INLINE_ void add_constant_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { + constant_force += p_force; + constant_torque += (p_position - center_of_mass).cross(p_force); + } + + _FORCE_INLINE_ void add_constant_torque(real_t p_torque) { + constant_torque += p_torque; + } + + void set_constant_force(const Vector2 &p_force) { constant_force = p_force; } + Vector2 get_constant_force() const { return constant_force; } + + void set_constant_torque(real_t p_torque) { constant_torque = p_torque; } + real_t get_constant_torque() const { return constant_torque; } + void set_active(bool p_active); _FORCE_INLINE_ bool is_active() const { return active; } @@ -229,8 +290,8 @@ public: set_active(true); } - void set_param(PhysicsServer2D::BodyParameter p_param, real_t); - real_t get_param(PhysicsServer2D::BodyParameter p_param) const; + void set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value); + Variant get_param(PhysicsServer2D::BodyParameter p_param) const; void set_mode(PhysicsServer2D::BodyMode p_mode); PhysicsServer2D::BodyMode get_mode() const; @@ -238,43 +299,28 @@ public: void set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant); Variant get_state(PhysicsServer2D::BodyState p_state) const; - void set_applied_force(const Vector2 &p_force) { applied_force = p_force; } - Vector2 get_applied_force() const { return applied_force; } - - void set_applied_torque(real_t p_torque) { applied_torque = p_torque; } - real_t get_applied_torque() const { return applied_torque; } - - _FORCE_INLINE_ void add_central_force(const Vector2 &p_force) { - applied_force += p_force; - } - - _FORCE_INLINE_ void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { - applied_force += p_force; - applied_torque += p_position.cross(p_force); - } - - _FORCE_INLINE_ void add_torque(real_t p_torque) { - applied_torque += p_torque; - } - _FORCE_INLINE_ void set_continuous_collision_detection_mode(PhysicsServer2D::CCDMode p_mode) { continuous_cd_mode = p_mode; } _FORCE_INLINE_ PhysicsServer2D::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; } - void set_space(Space2DSW *p_space); + void set_space(GodotSpace2D *p_space) override; - void update_inertias(); + void update_mass_properties(); + void reset_mass_properties(); + _FORCE_INLINE_ const Vector2 &get_center_of_mass() const { return center_of_mass; } + _FORCE_INLINE_ const Vector2 &get_center_of_mass_local() const { return center_of_mass_local; } _FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; } _FORCE_INLINE_ real_t get_inv_inertia() const { return _inv_inertia; } _FORCE_INLINE_ real_t get_friction() const { return friction; } - _FORCE_INLINE_ Vector2 get_gravity() const { return gravity; } _FORCE_INLINE_ real_t get_bounce() const { return bounce; } - _FORCE_INLINE_ real_t get_linear_damp() const { return linear_damp; } - _FORCE_INLINE_ real_t get_angular_damp() const { return angular_damp; } void integrate_forces(real_t p_step); void integrate_velocities(real_t p_step); + _FORCE_INLINE_ Vector2 get_velocity_in_local_point(const Vector2 &rel_pos) const { + return linear_velocity + Vector2(-angular_velocity * rel_pos.y, angular_velocity * rel_pos.x); + } + _FORCE_INLINE_ Vector2 get_motion() const { if (mode > PhysicsServer2D::BODY_MODE_KINEMATIC) { return new_transform.get_origin() - get_transform().get_origin(); @@ -289,13 +335,13 @@ public: bool sleep_test(real_t p_step); - Body2DSW(); - ~Body2DSW(); + GodotBody2D(); + ~GodotBody2D(); }; //add contact inline -void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos) { +void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos) { int c_max = contacts.size(); if (c_max == 0) { @@ -337,85 +383,4 @@ void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_no c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; } -class PhysicsDirectBodyState2DSW : public PhysicsDirectBodyState2D { - GDCLASS(PhysicsDirectBodyState2DSW, PhysicsDirectBodyState2D); - -public: - static PhysicsDirectBodyState2DSW *singleton; - Body2DSW *body; - real_t step; - - virtual Vector2 get_total_gravity() const override { return body->gravity; } // get gravity vector working on this body space/area - virtual real_t get_total_angular_damp() const override { return body->area_angular_damp; } // get density of this body space/area - virtual real_t get_total_linear_damp() const override { return body->area_linear_damp; } // get density of this body space/area - - virtual real_t get_inverse_mass() const override { return body->get_inv_mass(); } // get the mass - virtual real_t get_inverse_inertia() const override { return body->get_inv_inertia(); } // get density of this body space - - virtual void set_linear_velocity(const Vector2 &p_velocity) override { body->set_linear_velocity(p_velocity); } - virtual Vector2 get_linear_velocity() const override { return body->get_linear_velocity(); } - - virtual void set_angular_velocity(real_t p_velocity) override { body->set_angular_velocity(p_velocity); } - virtual real_t get_angular_velocity() const override { return body->get_angular_velocity(); } - - virtual void set_transform(const Transform2D &p_transform) override { body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform); } - virtual Transform2D get_transform() const override { return body->get_transform(); } - - virtual void add_central_force(const Vector2 &p_force) override { body->add_central_force(p_force); } - virtual void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override { body->add_force(p_force, p_position); } - virtual void add_torque(real_t p_torque) override { body->add_torque(p_torque); } - virtual void apply_central_impulse(const Vector2 &p_impulse) override { body->apply_central_impulse(p_impulse); } - virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) override { body->apply_impulse(p_impulse, p_position); } - virtual void apply_torque_impulse(real_t p_torque) override { body->apply_torque_impulse(p_torque); } - - virtual void set_sleep_state(bool p_enable) override { body->set_active(!p_enable); } - virtual bool is_sleeping() const override { return !body->is_active(); } - - virtual int get_contact_count() const override { return body->contact_count; } - - virtual Vector2 get_contact_local_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); - return body->contacts[p_contact_idx].local_pos; - } - virtual Vector2 get_contact_local_normal(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); - return body->contacts[p_contact_idx].local_normal; - } - virtual int get_contact_local_shape(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); - return body->contacts[p_contact_idx].local_shape; - } - - virtual RID get_contact_collider(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID()); - return body->contacts[p_contact_idx].collider; - } - virtual Vector2 get_contact_collider_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); - return body->contacts[p_contact_idx].collider_pos; - } - virtual ObjectID get_contact_collider_id(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); - return body->contacts[p_contact_idx].collider_instance_id; - } - virtual int get_contact_collider_shape(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0); - return body->contacts[p_contact_idx].collider_shape; - } - virtual Variant get_contact_collider_shape_metadata(int p_contact_idx) const override; - - virtual Vector2 get_contact_collider_velocity_at_position(int p_contact_idx) const override { - ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); - return body->contacts[p_contact_idx].collider_velocity_at_pos; - } - - virtual PhysicsDirectSpaceState2D *get_space_state() override; - - virtual real_t get_step() const override { return step; } - PhysicsDirectBodyState2DSW() { - singleton = this; - body = nullptr; - } -}; - -#endif // BODY_2D_SW_H +#endif // GODOT_BODY_2D_H diff --git a/servers/physics_2d/godot_body_direct_state_2d.cpp b/servers/physics_2d/godot_body_direct_state_2d.cpp new file mode 100644 index 0000000000..cde6e8c991 --- /dev/null +++ b/servers/physics_2d/godot_body_direct_state_2d.cpp @@ -0,0 +1,219 @@ +/*************************************************************************/ +/* godot_body_direct_state_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 "godot_body_direct_state_2d.h" + +#include "godot_body_2d.h" +#include "godot_physics_server_2d.h" +#include "godot_space_2d.h" + +Vector2 GodotPhysicsDirectBodyState2D::get_total_gravity() const { + return body->gravity; +} + +real_t GodotPhysicsDirectBodyState2D::get_total_angular_damp() const { + return body->total_angular_damp; +} + +real_t GodotPhysicsDirectBodyState2D::get_total_linear_damp() const { + return body->total_linear_damp; +} + +Vector2 GodotPhysicsDirectBodyState2D::get_center_of_mass() const { + return body->get_center_of_mass(); +} + +Vector2 GodotPhysicsDirectBodyState2D::get_center_of_mass_local() const { + return body->get_center_of_mass_local(); +} + +real_t GodotPhysicsDirectBodyState2D::get_inverse_mass() const { + return body->get_inv_mass(); +} + +real_t GodotPhysicsDirectBodyState2D::get_inverse_inertia() const { + return body->get_inv_inertia(); +} + +void GodotPhysicsDirectBodyState2D::set_linear_velocity(const Vector2 &p_velocity) { + body->wakeup(); + body->set_linear_velocity(p_velocity); +} + +Vector2 GodotPhysicsDirectBodyState2D::get_linear_velocity() const { + return body->get_linear_velocity(); +} + +void GodotPhysicsDirectBodyState2D::set_angular_velocity(real_t p_velocity) { + body->wakeup(); + body->set_angular_velocity(p_velocity); +} + +real_t GodotPhysicsDirectBodyState2D::get_angular_velocity() const { + return body->get_angular_velocity(); +} + +void GodotPhysicsDirectBodyState2D::set_transform(const Transform2D &p_transform) { + body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform); +} + +Transform2D GodotPhysicsDirectBodyState2D::get_transform() const { + return body->get_transform(); +} + +Vector2 GodotPhysicsDirectBodyState2D::get_velocity_at_local_position(const Vector2 &p_position) const { + return body->get_velocity_in_local_point(p_position); +} + +void GodotPhysicsDirectBodyState2D::apply_central_impulse(const Vector2 &p_impulse) { + body->wakeup(); + body->apply_central_impulse(p_impulse); +} + +void GodotPhysicsDirectBodyState2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) { + body->wakeup(); + body->apply_impulse(p_impulse, p_position); +} + +void GodotPhysicsDirectBodyState2D::apply_torque_impulse(real_t p_torque) { + body->wakeup(); + body->apply_torque_impulse(p_torque); +} + +void GodotPhysicsDirectBodyState2D::apply_central_force(const Vector2 &p_force) { + body->wakeup(); + body->apply_central_force(p_force); +} + +void GodotPhysicsDirectBodyState2D::apply_force(const Vector2 &p_force, const Vector2 &p_position) { + body->wakeup(); + body->apply_force(p_force, p_position); +} + +void GodotPhysicsDirectBodyState2D::apply_torque(real_t p_torque) { + body->wakeup(); + body->apply_torque(p_torque); +} + +void GodotPhysicsDirectBodyState2D::add_constant_central_force(const Vector2 &p_force) { + body->wakeup(); + body->add_constant_central_force(p_force); +} + +void GodotPhysicsDirectBodyState2D::add_constant_force(const Vector2 &p_force, const Vector2 &p_position) { + body->wakeup(); + body->add_constant_force(p_force, p_position); +} + +void GodotPhysicsDirectBodyState2D::add_constant_torque(real_t p_torque) { + body->wakeup(); + body->add_constant_torque(p_torque); +} + +void GodotPhysicsDirectBodyState2D::set_constant_force(const Vector2 &p_force) { + if (!p_force.is_equal_approx(Vector2())) { + body->wakeup(); + } + body->set_constant_force(p_force); +} + +Vector2 GodotPhysicsDirectBodyState2D::get_constant_force() const { + return body->get_constant_force(); +} + +void GodotPhysicsDirectBodyState2D::set_constant_torque(real_t p_torque) { + if (!Math::is_zero_approx(p_torque)) { + body->wakeup(); + } + body->set_constant_torque(p_torque); +} + +real_t GodotPhysicsDirectBodyState2D::get_constant_torque() const { + return body->get_constant_torque(); +} + +void GodotPhysicsDirectBodyState2D::set_sleep_state(bool p_enable) { + body->set_active(!p_enable); +} + +bool GodotPhysicsDirectBodyState2D::is_sleeping() const { + return !body->is_active(); +} + +int GodotPhysicsDirectBodyState2D::get_contact_count() const { + return body->contact_count; +} + +Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); + return body->contacts[p_contact_idx].local_pos; +} + +Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_normal(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); + return body->contacts[p_contact_idx].local_normal; +} + +int GodotPhysicsDirectBodyState2D::get_contact_local_shape(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1); + return body->contacts[p_contact_idx].local_shape; +} + +RID GodotPhysicsDirectBodyState2D::get_contact_collider(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID()); + return body->contacts[p_contact_idx].collider; +} +Vector2 GodotPhysicsDirectBodyState2D::get_contact_collider_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); + return body->contacts[p_contact_idx].collider_pos; +} + +ObjectID GodotPhysicsDirectBodyState2D::get_contact_collider_id(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); + return body->contacts[p_contact_idx].collider_instance_id; +} + +int GodotPhysicsDirectBodyState2D::get_contact_collider_shape(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0); + return body->contacts[p_contact_idx].collider_shape; +} + +Vector2 GodotPhysicsDirectBodyState2D::get_contact_collider_velocity_at_position(int p_contact_idx) const { + ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2()); + return body->contacts[p_contact_idx].collider_velocity_at_pos; +} + +PhysicsDirectSpaceState2D *GodotPhysicsDirectBodyState2D::get_space_state() { + return body->get_space()->get_direct_state(); +} + +real_t GodotPhysicsDirectBodyState2D::get_step() const { + return body->get_space()->get_last_step(); +} diff --git a/servers/physics_2d/godot_body_direct_state_2d.h b/servers/physics_2d/godot_body_direct_state_2d.h new file mode 100644 index 0000000000..a2c0a87989 --- /dev/null +++ b/servers/physics_2d/godot_body_direct_state_2d.h @@ -0,0 +1,103 @@ +/*************************************************************************/ +/* godot_body_direct_state_2d.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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. */ +/*************************************************************************/ + +#ifndef GODOT_BODY_DIRECT_STATE_2D_H +#define GODOT_BODY_DIRECT_STATE_2D_H + +#include "servers/physics_server_2d.h" + +class GodotBody2D; + +class GodotPhysicsDirectBodyState2D : public PhysicsDirectBodyState2D { + GDCLASS(GodotPhysicsDirectBodyState2D, PhysicsDirectBodyState2D); + +public: + GodotBody2D *body = nullptr; + + virtual Vector2 get_total_gravity() const override; + virtual real_t get_total_angular_damp() const override; + virtual real_t get_total_linear_damp() const override; + + virtual Vector2 get_center_of_mass() const override; + virtual Vector2 get_center_of_mass_local() const override; + virtual real_t get_inverse_mass() const override; + virtual real_t get_inverse_inertia() const override; + + virtual void set_linear_velocity(const Vector2 &p_velocity) override; + virtual Vector2 get_linear_velocity() const override; + + virtual void set_angular_velocity(real_t p_velocity) override; + virtual real_t get_angular_velocity() const override; + + virtual void set_transform(const Transform2D &p_transform) override; + virtual Transform2D get_transform() const override; + + virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const override; + + virtual void apply_central_impulse(const Vector2 &p_impulse) override; + virtual void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) override; + virtual void apply_torque_impulse(real_t p_torque) override; + + virtual void apply_central_force(const Vector2 &p_force) override; + virtual void apply_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override; + virtual void apply_torque(real_t p_torque) override; + + virtual void add_constant_central_force(const Vector2 &p_force) override; + virtual void add_constant_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) override; + virtual void add_constant_torque(real_t p_torque) override; + + virtual void set_constant_force(const Vector2 &p_force) override; + virtual Vector2 get_constant_force() const override; + + virtual void set_constant_torque(real_t p_torque) override; + virtual real_t get_constant_torque() const override; + + virtual void set_sleep_state(bool p_enable) override; + virtual bool is_sleeping() const override; + + virtual int get_contact_count() const override; + + virtual Vector2 get_contact_local_position(int p_contact_idx) const override; + virtual Vector2 get_contact_local_normal(int p_contact_idx) const override; + virtual int get_contact_local_shape(int p_contact_idx) const override; + + virtual RID get_contact_collider(int p_contact_idx) const override; + virtual Vector2 get_contact_collider_position(int p_contact_idx) const override; + virtual ObjectID get_contact_collider_id(int p_contact_idx) const override; + virtual int get_contact_collider_shape(int p_contact_idx) const override; + + virtual Vector2 get_contact_collider_velocity_at_position(int p_contact_idx) const override; + + virtual PhysicsDirectSpaceState2D *get_space_state() override; + + virtual real_t get_step() const override; +}; + +#endif // GODOT_BODY_DIRECT_STATE_2D_H diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/godot_body_pair_2d.cpp index feced36a2b..2f2af15da7 100644 --- a/servers/physics_2d/body_pair_2d_sw.cpp +++ b/servers/physics_2d/godot_body_pair_2d.cpp @@ -1,12 +1,12 @@ /*************************************************************************/ -/* body_pair_2d_sw.cpp */ +/* godot_body_pair_2d.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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,22 +28,23 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "body_pair_2d_sw.h" -#include "collision_solver_2d_sw.h" -#include "space_2d_sw.h" +#include "godot_body_pair_2d.h" + +#include "godot_collision_solver_2d.h" +#include "godot_space_2d.h" -#define POSITION_CORRECTION #define ACCUMULATE_IMPULSES -void BodyPair2DSW::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) { - BodyPair2DSW *self = (BodyPair2DSW *)p_self; +#define MIN_VELOCITY 0.001 +#define MAX_BIAS_ROTATION (Math_PI / 8) + +void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) { + GodotBodyPair2D *self = static_cast<GodotBodyPair2D *>(p_self); self->_contact_added_callback(p_point_A, p_point_B); } -void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) { - // check if we already have the contact - +void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) { Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A); Vector2 local_B = B->get_inv_transform().basis_xform(p_point_B - offset_B); @@ -52,45 +53,50 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto ERR_FAIL_COND(new_index >= (MAX_CONTACTS + 1)); Contact contact; - - contact.acc_normal_impulse = 0; - contact.acc_bias_impulse = 0; - contact.acc_tangent_impulse = 0; contact.local_A = local_A; contact.local_B = local_B; - contact.reused = true; contact.normal = (p_point_A - p_point_B).normalized(); - contact.mass_normal = 0; // will be computed in setup() - - // attempt to determine if the contact will be reused + contact.used = true; + // Attempt to determine if the contact will be reused. real_t recycle_radius_2 = space->get_contact_recycle_radius() * space->get_contact_recycle_radius(); for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; - if ( - c.local_A.distance_squared_to(local_A) < (recycle_radius_2) && + if (c.local_A.distance_squared_to(local_A) < (recycle_radius_2) && c.local_B.distance_squared_to(local_B) < (recycle_radius_2)) { contact.acc_normal_impulse = c.acc_normal_impulse; contact.acc_tangent_impulse = c.acc_tangent_impulse; contact.acc_bias_impulse = c.acc_bias_impulse; - new_index = i; - break; + contact.acc_bias_impulse_center_of_mass = c.acc_bias_impulse_center_of_mass; + c = contact; + return; } } - // figure out if the contact amount must be reduced to fit the new contact - + // Figure out if the contact amount must be reduced to fit the new contact. if (new_index == MAX_CONTACTS) { - // remove the contact with the minimum depth + // Remove the contact with the minimum depth. + + const Transform2D &transform_A = A->get_transform(); + const Transform2D &transform_B = B->get_transform(); int least_deep = -1; - real_t min_depth = 1e10; + real_t min_depth; + + // Start with depth for new contact. + { + Vector2 global_A = transform_A.basis_xform(contact.local_A); + Vector2 global_B = transform_B.basis_xform(contact.local_B) + offset_B; + + Vector2 axis = global_A - global_B; + min_depth = axis.dot(contact.normal); + } - for (int i = 0; i <= contact_count; i++) { - Contact &c = (i == contact_count) ? contact : contacts[i]; - Vector2 global_A = A->get_transform().basis_xform(c.local_A); - Vector2 global_B = B->get_transform().basis_xform(c.local_B) + offset_B; + for (int i = 0; i < contact_count; i++) { + const Contact &c = contacts[i]; + Vector2 global_A = transform_A.basis_xform(c.local_A); + Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B; Vector2 axis = global_A - global_B; real_t depth = axis.dot(c.normal); @@ -101,10 +107,8 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto } } - ERR_FAIL_COND(least_deep == -1); - - if (least_deep < contact_count) { //replace the last deep contact by the new one - + if (least_deep > -1) { + // Replace the least deep contact by the new one. contacts[least_deep] = contact; } @@ -112,30 +116,29 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto } contacts[new_index] = contact; - - if (new_index == contact_count) { - contact_count++; - } + contact_count++; } -void BodyPair2DSW::_validate_contacts() { - //make sure to erase contacts that are no longer valid - +void GodotBodyPair2D::_validate_contacts() { + // Make sure to erase contacts that are no longer valid. real_t max_separation = space->get_contact_max_separation(); real_t max_separation2 = max_separation * max_separation; + const Transform2D &transform_A = A->get_transform(); + const Transform2D &transform_B = B->get_transform(); + for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; bool erase = false; - if (!c.reused) { - //was left behind in previous frame + if (!c.used) { + // Was left behind in previous frame. erase = true; } else { - c.reused = false; + c.used = false; - Vector2 global_A = A->get_transform().basis_xform(c.local_A); - Vector2 global_B = B->get_transform().basis_xform(c.local_B) + offset_B; + Vector2 global_A = transform_A.basis_xform(c.local_A); + Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B; Vector2 axis = global_A - global_B; real_t depth = axis.dot(c.normal); @@ -145,10 +148,10 @@ void BodyPair2DSW::_validate_contacts() { } if (erase) { - // contact no longer needed, remove + // Contact no longer needed, remove. if ((i + 1) < contact_count) { - // swap with the last one + // Swap with the last one. SWAP(contacts[i], contacts[contact_count - 1]); } @@ -158,7 +161,7 @@ void BodyPair2DSW::_validate_contacts() { } } -bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) { +bool GodotBodyPair2D::_test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B) { Vector2 motion = p_A->get_linear_velocity() * p_step; real_t mlen = motion.length(); if (mlen < CMP_EPSILON) { @@ -169,14 +172,18 @@ bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const real_t min, max; p_A->get_shape(p_shape_A)->project_rangev(mnormal, p_xform_A, min, max); - bool fast_object = mlen > (max - min) * 0.3; //going too fast in that direction - if (!fast_object) { //did it move enough in this direction to even attempt raycast? let's say it should move more than 1/3 the size of the object in that axis + // Did it move enough in this direction to even attempt raycast? + // Let's say it should move more than 1/3 the size of the object in that axis. + bool fast_object = mlen > (max - min) * 0.3; + if (!fast_object) { return false; } - //cast a segment from support in motion normal, in the same direction of motion by motion length - //support is the worst case collision point, so real collision happened before + // Going too fast in that direction. + + // Cast a segment from support in motion normal, in the same direction of motion by motion length. + // Support is the worst case collision point, so real collision happened before. int a; Vector2 s[2]; p_A->get_shape(p_shape_A)->get_supports(p_xform_A.basis_xform(mnormal).normalized(), s, a); @@ -185,7 +192,8 @@ bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D from_inv = p_xform_B.affine_inverse(); - Vector2 local_from = from_inv.xform(from - mnormal * mlen * 0.1); //start from a little inside the bounding box + // Start from a little inside the bounding box. + Vector2 local_from = from_inv.xform(from - mnormal * mlen * 0.1); Vector2 local_to = from_inv.xform(to); Vector2 rpos, rnorm; @@ -193,42 +201,53 @@ bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const return false; } - //ray hit something + // Check one-way collision based on motion direction. + if (p_A->get_shape(p_shape_A)->allows_one_way_collision() && p_B->is_shape_set_as_one_way_collision(p_shape_B)) { + Vector2 direction = p_xform_B.columns[1].normalized(); + if (direction.dot(mnormal) < CMP_EPSILON) { + collided = false; + oneway_disabled = true; + return false; + } + } + // Shorten the linear velocity so it does not hit, but gets close enough, + // next frame will hit softly or soft enough. Vector2 hitpos = p_xform_B.xform(rpos); - Vector2 contact_A = to; - Vector2 contact_B = hitpos; - - //create a contact - - if (p_swap_result) { - _contact_added_callback(contact_B, contact_A); - } else { - _contact_added_callback(contact_A, contact_B); - } + real_t newlen = hitpos.distance_to(from) - (max - min) * 0.01; + p_A->set_linear_velocity(mnormal * (newlen / p_step)); return true; } -real_t combine_bounce(Body2DSW *A, Body2DSW *B) { +real_t combine_bounce(GodotBody2D *A, GodotBody2D *B) { return CLAMP(A->get_bounce() + B->get_bounce(), 0, 1); } -real_t combine_friction(Body2DSW *A, Body2DSW *B) { +real_t combine_friction(GodotBody2D *A, GodotBody2D *B) { return ABS(MIN(A->get_friction(), B->get_friction())); } -bool BodyPair2DSW::setup(real_t p_step) { - //cannot collide - if (!A->test_collision_mask(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self()) || (A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && A->get_max_contacts_reported() == 0 && B->get_max_contacts_reported() == 0)) { +bool GodotBodyPair2D::setup(real_t p_step) { + check_ccd = false; + + if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) { collided = false; return false; } - if (A->is_shape_set_as_disabled(shape_A) || B->is_shape_set_as_disabled(shape_B)) { - collided = false; - return false; + collide_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) && A->collides_with(B); + collide_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) && B->collides_with(A); + + report_contacts_only = false; + if (!collide_A && !collide_B) { + if ((A->get_max_contacts_reported() > 0) || (B->get_max_contacts_reported() > 0)) { + report_contacts_only = true; + } else { + collided = false; + return false; + } } //use local A coordinates to avoid numerical issues on collision detection @@ -236,16 +255,16 @@ bool BodyPair2DSW::setup(real_t p_step) { _validate_contacts(); - Vector2 offset_A = A->get_transform().get_origin(); + const Vector2 &offset_A = A->get_transform().get_origin(); Transform2D xform_Au = A->get_transform().untranslated(); Transform2D xform_A = xform_Au * A->get_shape_transform(shape_A); Transform2D xform_Bu = B->get_transform(); - xform_Bu.elements[2] -= A->get_transform().get_origin(); + xform_Bu.columns[2] -= offset_A; Transform2D xform_B = xform_Bu * B->get_shape_transform(shape_B); - Shape2DSW *shape_A_ptr = A->get_shape(shape_A); - Shape2DSW *shape_B_ptr = B->get_shape(shape_B); + GodotShape2D *shape_A_ptr = A->get_shape(shape_A); + GodotShape2D *shape_B_ptr = B->get_shape(shape_B); Vector2 motion_A, motion_B; @@ -258,26 +277,21 @@ bool BodyPair2DSW::setup(real_t p_step) { bool prev_collided = collided; - collided = CollisionSolver2DSW::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis); + collided = GodotCollisionSolver2D::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis); if (!collided) { - //test ccd (currently just a raycast) + oneway_disabled = false; - if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) { - if (_test_ccd(p_step, A, shape_A, xform_A, B, shape_B, xform_B)) { - collided = true; - } + if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && collide_A) { + check_ccd = true; + return true; } - if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) { - if (_test_ccd(p_step, B, shape_B, xform_B, A, shape_A, xform_A, true)) { - collided = true; - } + if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && collide_B) { + check_ccd = true; + return true; } - if (!collided) { - oneway_disabled = false; - return false; - } + return false; } if (oneway_disabled) { @@ -285,15 +299,12 @@ bool BodyPair2DSW::setup(real_t p_step) { } if (!prev_collided) { - if (A->is_shape_set_as_one_way_collision(shape_A)) { - Vector2 direction = xform_A.get_axis(1).normalized(); + if (shape_B_ptr->allows_one_way_collision() && A->is_shape_set_as_one_way_collision(shape_A)) { + Vector2 direction = xform_A.columns[1].normalized(); bool valid = false; for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; - if (!c.reused) { - continue; - } - if (c.normal.dot(direction) > -CMP_EPSILON) { //greater (normal inverted) + if (c.normal.dot(direction) > -CMP_EPSILON) { // Greater (normal inverted). continue; } valid = true; @@ -306,15 +317,12 @@ bool BodyPair2DSW::setup(real_t p_step) { } } - if (B->is_shape_set_as_one_way_collision(shape_B)) { - Vector2 direction = xform_B.get_axis(1).normalized(); + if (shape_A_ptr->allows_one_way_collision() && B->is_shape_set_as_one_way_collision(shape_B)) { + Vector2 direction = xform_B.columns[1].normalized(); bool valid = false; for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; - if (!c.reused) { - continue; - } - if (c.normal.dot(direction) < CMP_EPSILON) { //less (normal ok) + if (c.normal.dot(direction) < CMP_EPSILON) { // Less (normal ok). continue; } valid = true; @@ -328,9 +336,43 @@ bool BodyPair2DSW::setup(real_t p_step) { } } + return true; +} + +bool GodotBodyPair2D::pre_solve(real_t p_step) { + if (oneway_disabled) { + return false; + } + + if (!collided) { + if (check_ccd) { + const Vector2 &offset_A = A->get_transform().get_origin(); + Transform2D xform_Au = A->get_transform().untranslated(); + Transform2D xform_A = xform_Au * A->get_shape_transform(shape_A); + + Transform2D xform_Bu = B->get_transform(); + xform_Bu.columns[2] -= offset_A; + Transform2D xform_B = xform_Bu * B->get_shape_transform(shape_B); + + if (A->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && collide_A) { + _test_ccd(p_step, A, shape_A, xform_A, B, shape_B, xform_B); + } + + if (B->get_continuous_collision_detection_mode() == PhysicsServer2D::CCD_MODE_CAST_RAY && collide_B) { + _test_ccd(p_step, B, shape_B, xform_B, A, shape_A, xform_A); + } + } + + return false; + } + real_t max_penetration = space->get_contact_max_allowed_penetration(); - real_t bias = 0.3; + real_t bias = space->get_contact_bias(); + + GodotShape2D *shape_A_ptr = A->get_shape(shape_A); + GodotShape2D *shape_B_ptr = B->get_shape(shape_B); + if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) { if (shape_A_ptr->get_custom_bias() == 0) { bias = shape_B_ptr->get_custom_bias(); @@ -341,56 +383,55 @@ bool BodyPair2DSW::setup(real_t p_step) { } } - cc = 0; - real_t inv_dt = 1.0 / p_step; bool do_process = false; + const Vector2 &offset_A = A->get_transform().get_origin(); + const Transform2D &transform_A = A->get_transform(); + const Transform2D &transform_B = B->get_transform(); + + real_t inv_inertia_A = collide_A ? A->get_inv_inertia() : 0.0; + real_t inv_inertia_B = collide_B ? B->get_inv_inertia() : 0.0; + + real_t inv_mass_A = collide_A ? A->get_inv_mass() : 0.0; + real_t inv_mass_B = collide_B ? B->get_inv_mass() : 0.0; + for (int i = 0; i < contact_count; i++) { Contact &c = contacts[i]; + c.active = false; - Vector2 global_A = xform_Au.xform(c.local_A); - Vector2 global_B = xform_Bu.xform(c.local_B); + Vector2 global_A = transform_A.basis_xform(c.local_A); + Vector2 global_B = transform_B.basis_xform(c.local_B) + offset_B; - real_t depth = c.normal.dot(global_A - global_B); + Vector2 axis = global_A - global_B; + real_t depth = axis.dot(c.normal); - if (depth <= 0 || !c.reused) { - c.active = false; + if (depth <= 0.0) { continue; } - c.active = true; #ifdef DEBUG_ENABLED if (space->is_debugging_contacts()) { space->add_debug_contact(global_A + offset_A); space->add_debug_contact(global_B + offset_A); } #endif - int gather_A = A->can_report_contacts(); - int gather_B = B->can_report_contacts(); - - c.rA = global_A; - c.rB = global_B - offset_B; - if (gather_A | gather_B) { - //Vector2 crB( -B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x ); + c.rA = global_A - A->get_center_of_mass(); + c.rB = global_B - B->get_center_of_mass() - offset_B; - global_A += offset_A; - global_B += offset_A; + if (A->can_report_contacts()) { + Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x); + A->add_contact(global_A + offset_A, -c.normal, depth, shape_A, global_B + offset_A, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity()); + } - if (gather_A) { - Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x); - A->add_contact(global_A, -c.normal, depth, shape_A, global_B, shape_B, B->get_instance_id(), B->get_self(), crB + B->get_linear_velocity()); - } - if (gather_B) { - Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x); - B->add_contact(global_B, c.normal, depth, shape_B, global_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity()); - } + if (B->can_report_contacts()) { + Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x); + B->add_contact(global_B + offset_A, c.normal, depth, shape_B, global_A + offset_A, shape_A, A->get_instance_id(), A->get_self(), crA + A->get_linear_velocity()); } - if ((A->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC && B->get_mode() <= PhysicsServer2D::BODY_MODE_KINEMATIC)) { - c.active = false; + if (report_contacts_only) { collided = false; continue; } @@ -398,53 +439,61 @@ bool BodyPair2DSW::setup(real_t p_step) { // Precompute normal mass, tangent mass, and bias. real_t rnA = c.rA.dot(c.normal); real_t rnB = c.rB.dot(c.normal); - real_t kNormal = A->get_inv_mass() + B->get_inv_mass(); - kNormal += A->get_inv_inertia() * (c.rA.dot(c.rA) - rnA * rnA) + B->get_inv_inertia() * (c.rB.dot(c.rB) - rnB * rnB); + real_t kNormal = inv_mass_A + inv_mass_B; + kNormal += inv_inertia_A * (c.rA.dot(c.rA) - rnA * rnA) + inv_inertia_B * (c.rB.dot(c.rB) - rnB * rnB); c.mass_normal = 1.0f / kNormal; Vector2 tangent = c.normal.orthogonal(); real_t rtA = c.rA.dot(tangent); real_t rtB = c.rB.dot(tangent); - real_t kTangent = A->get_inv_mass() + B->get_inv_mass(); - kTangent += A->get_inv_inertia() * (c.rA.dot(c.rA) - rtA * rtA) + B->get_inv_inertia() * (c.rB.dot(c.rB) - rtB * rtB); + real_t kTangent = inv_mass_A + inv_mass_B; + kTangent += inv_inertia_A * (c.rA.dot(c.rA) - rtA * rtA) + inv_inertia_B * (c.rB.dot(c.rB) - rtB * rtB); c.mass_tangent = 1.0f / kTangent; c.bias = -bias * inv_dt * MIN(0.0f, -depth + max_penetration); c.depth = depth; - //c.acc_bias_impulse=0; #ifdef ACCUMULATE_IMPULSES { // Apply normal + friction impulse Vector2 P = c.acc_normal_impulse * c.normal + c.acc_tangent_impulse * tangent; - A->apply_impulse(-P, c.rA); - B->apply_impulse(P, c.rB); + if (collide_A) { + A->apply_impulse(-P, c.rA + A->get_center_of_mass()); + } + if (collide_B) { + B->apply_impulse(P, c.rB + B->get_center_of_mass()); + } } #endif c.bounce = combine_bounce(A, B); if (c.bounce) { - Vector2 crA(-A->get_angular_velocity() * c.rA.y, A->get_angular_velocity() * c.rA.x); - Vector2 crB(-B->get_angular_velocity() * c.rB.y, B->get_angular_velocity() * c.rB.x); - Vector2 dv = B->get_linear_velocity() + crB - A->get_linear_velocity() - crA; + Vector2 crA(-A->get_prev_angular_velocity() * c.rA.y, A->get_prev_angular_velocity() * c.rA.x); + Vector2 crB(-B->get_prev_angular_velocity() * c.rB.y, B->get_prev_angular_velocity() * c.rB.x); + Vector2 dv = B->get_prev_linear_velocity() + crB - A->get_prev_linear_velocity() - crA; c.bounce = c.bounce * dv.dot(c.normal); } + c.active = true; do_process = true; } return do_process; } -void BodyPair2DSW::solve(real_t p_step) { - if (!collided) { +void GodotBodyPair2D::solve(real_t p_step) { + if (!collided || oneway_disabled) { return; } + const real_t max_bias_av = MAX_BIAS_ROTATION / p_step; + + real_t inv_mass_A = collide_A ? A->get_inv_mass() : 0.0; + real_t inv_mass_B = collide_B ? B->get_inv_mass() : 0.0; + for (int i = 0; i < contact_count; ++i) { Contact &c = contacts[i]; - cc++; if (!c.active) { continue; @@ -462,6 +511,7 @@ void BodyPair2DSW::solve(real_t p_step) { real_t vn = dv.dot(c.normal); real_t vbn = dbv.dot(c.normal); + Vector2 tangent = c.normal.orthogonal(); real_t vt = dv.dot(tangent); @@ -471,8 +521,33 @@ void BodyPair2DSW::solve(real_t p_step) { Vector2 jb = c.normal * (c.acc_bias_impulse - jbnOld); - A->apply_bias_impulse(-jb, c.rA); - B->apply_bias_impulse(jb, c.rB); + if (collide_A) { + A->apply_bias_impulse(-jb, c.rA + A->get_center_of_mass(), max_bias_av); + } + if (collide_B) { + B->apply_bias_impulse(jb, c.rB + B->get_center_of_mass(), max_bias_av); + } + + crbA = Vector2(-A->get_biased_angular_velocity() * c.rA.y, A->get_biased_angular_velocity() * c.rA.x); + crbB = Vector2(-B->get_biased_angular_velocity() * c.rB.y, B->get_biased_angular_velocity() * c.rB.x); + dbv = B->get_biased_linear_velocity() + crbB - A->get_biased_linear_velocity() - crbA; + + vbn = dbv.dot(c.normal); + + if (Math::abs(-vbn + c.bias) > MIN_VELOCITY) { + real_t jbn_com = (-vbn + c.bias) / (inv_mass_A + inv_mass_B); + real_t jbnOld_com = c.acc_bias_impulse_center_of_mass; + c.acc_bias_impulse_center_of_mass = MAX(jbnOld_com + jbn_com, 0.0f); + + Vector2 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com); + + if (collide_A) { + A->apply_bias_impulse(-jb_com, A->get_center_of_mass(), 0.0f); + } + if (collide_B) { + B->apply_bias_impulse(jb_com, B->get_center_of_mass(), 0.0f); + } + } real_t jn = -(c.bounce + vn) * c.mass_normal; real_t jnOld = c.acc_normal_impulse; @@ -487,13 +562,17 @@ void BodyPair2DSW::solve(real_t p_step) { Vector2 j = c.normal * (c.acc_normal_impulse - jnOld) + tangent * (c.acc_tangent_impulse - jtOld); - A->apply_impulse(-j, c.rA); - B->apply_impulse(j, c.rB); + if (collide_A) { + A->apply_impulse(-j, c.rA + A->get_center_of_mass()); + } + if (collide_B) { + B->apply_impulse(j, c.rB + B->get_center_of_mass()); + } } } -BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B) : - Constraint2DSW(_arr, 2) { +GodotBodyPair2D::GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B) : + GodotConstraint2D(_arr, 2) { A = p_A; B = p_B; shape_A = p_shape_A; @@ -501,12 +580,9 @@ BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_sh space = A->get_space(); A->add_constraint(this, 0); B->add_constraint(this, 1); - contact_count = 0; - collided = false; - oneway_disabled = false; } -BodyPair2DSW::~BodyPair2DSW() { +GodotBodyPair2D::~GodotBodyPair2D() { A->remove_constraint(this, 0); B->remove_constraint(this, 1); } diff --git a/servers/physics_2d/body_pair_2d_sw.h b/servers/physics_2d/godot_body_pair_2d.h index 31ab9b9017..1c0f61be26 100644 --- a/servers/physics_2d/body_pair_2d_sw.h +++ b/servers/physics_2d/godot_body_pair_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* body_pair_2d_sw.h */ +/* godot_body_pair_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,67 +28,73 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_PAIR_2D_SW_H -#define BODY_PAIR_2D_SW_H +#ifndef GODOT_BODY_PAIR_2D_H +#define GODOT_BODY_PAIR_2D_H -#include "body_2d_sw.h" -#include "constraint_2d_sw.h" +#include "godot_body_2d.h" +#include "godot_constraint_2d.h" -class BodyPair2DSW : public Constraint2DSW { +class GodotBodyPair2D : public GodotConstraint2D { enum { MAX_CONTACTS = 2 }; union { struct { - Body2DSW *A; - Body2DSW *B; + GodotBody2D *A; + GodotBody2D *B; }; - Body2DSW *_arr[2]; + GodotBody2D *_arr[2] = { nullptr, nullptr }; }; - int shape_A; - int shape_B; + int shape_A = 0; + int shape_B = 0; - Space2DSW *space; + bool collide_A = false; + bool collide_B = false; + + GodotSpace2D *space = nullptr; struct Contact { Vector2 position; Vector2 normal; Vector2 local_A, local_B; - real_t acc_normal_impulse; // accumulated normal impulse (Pn) - real_t acc_tangent_impulse; // accumulated tangent impulse (Pt) - real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb) - real_t mass_normal, mass_tangent; - real_t bias; + real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn) + real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt) + real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb) + real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com + real_t mass_normal, mass_tangent = 0.0; + real_t bias = 0.0; - real_t depth; - bool active; + real_t depth = 0.0; + bool active = false; + bool used = false; Vector2 rA, rB; - bool reused; - real_t bounce; + real_t bounce = 0.0; }; Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection Vector2 sep_axis; Contact contacts[MAX_CONTACTS]; - int contact_count; - bool collided; - bool oneway_disabled; - int cc; + int contact_count = 0; + bool collided = false; + bool check_ccd = false; + bool oneway_disabled = false; + bool report_contacts_only = false; - bool _test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false); + bool _test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B); void _validate_contacts(); static void _add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self); _FORCE_INLINE_ void _contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B); public: - bool setup(real_t p_step); - void solve(real_t p_step); + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; - BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B); - ~BodyPair2DSW(); + GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B); + ~GodotBodyPair2D(); }; -#endif // BODY_PAIR_2D_SW_H +#endif // GODOT_BODY_PAIR_2D_H diff --git a/servers/physics_2d/broad_phase_2d_sw.cpp b/servers/physics_2d/godot_broad_phase_2d.cpp index 7f0af48b1f..e734c24f88 100644 --- a/servers/physics_2d/broad_phase_2d_sw.cpp +++ b/servers/physics_2d/godot_broad_phase_2d.cpp @@ -1,12 +1,12 @@ /*************************************************************************/ -/* broad_phase_2d_sw.cpp */ +/* godot_broad_phase_2d.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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,9 +28,9 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "broad_phase_2d_sw.h" +#include "godot_broad_phase_2d.h" -BroadPhase2DSW::CreateFunction BroadPhase2DSW::create_func = nullptr; +GodotBroadPhase2D::CreateFunction GodotBroadPhase2D::create_func = nullptr; -BroadPhase2DSW::~BroadPhase2DSW() { +GodotBroadPhase2D::~GodotBroadPhase2D() { } diff --git a/servers/physics_2d/broad_phase_2d_sw.h b/servers/physics_2d/godot_broad_phase_2d.h index d17ee6e2d6..abab087045 100644 --- a/servers/physics_2d/broad_phase_2d_sw.h +++ b/servers/physics_2d/godot_broad_phase_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* broad_phase_2d_sw.h */ +/* godot_broad_phase_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,44 +28,44 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BROAD_PHASE_2D_SW_H -#define BROAD_PHASE_2D_SW_H +#ifndef GODOT_BROAD_PHASE_2D_H +#define GODOT_BROAD_PHASE_2D_H #include "core/math/math_funcs.h" #include "core/math/rect2.h" -class CollisionObject2DSW; +class GodotCollisionObject2D; -class BroadPhase2DSW { +class GodotBroadPhase2D { public: - typedef BroadPhase2DSW *(*CreateFunction)(); + typedef GodotBroadPhase2D *(*CreateFunction)(); static CreateFunction create_func; typedef uint32_t ID; - typedef void *(*PairCallback)(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_userdata); - typedef void (*UnpairCallback)(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_userdata); + typedef void *(*PairCallback)(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_userdata); + typedef void (*UnpairCallback)(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_userdata); // 0 is an invalid ID - virtual ID create(CollisionObject2DSW *p_object_, int p_subindex = 0) = 0; + virtual ID create(GodotCollisionObject2D *p_object_, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false) = 0; virtual void move(ID p_id, const Rect2 &p_aabb) = 0; virtual void set_static(ID p_id, bool p_static) = 0; virtual void remove(ID p_id) = 0; - virtual CollisionObject2DSW *get_object(ID p_id) const = 0; + virtual GodotCollisionObject2D *get_object(ID p_id) const = 0; virtual bool is_static(ID p_id) const = 0; virtual int get_subindex(ID p_id) const = 0; - virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; - virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; + virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; + virtual int cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) = 0; virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) = 0; virtual void update() = 0; - virtual ~BroadPhase2DSW(); + virtual ~GodotBroadPhase2D(); }; -#endif // BROAD_PHASE_2D_SW_H +#endif // GODOT_BROAD_PHASE_2D_H diff --git a/servers/physics_2d/godot_broad_phase_2d_bvh.cpp b/servers/physics_2d/godot_broad_phase_2d_bvh.cpp new file mode 100644 index 0000000000..c545fec113 --- /dev/null +++ b/servers/physics_2d/godot_broad_phase_2d_bvh.cpp @@ -0,0 +1,123 @@ +/*************************************************************************/ +/* godot_broad_phase_2d_bvh.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 "godot_broad_phase_2d_bvh.h" +#include "godot_collision_object_2d.h" + +GodotBroadPhase2D::ID GodotBroadPhase2DBVH::create(GodotCollisionObject2D *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) { + uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC; + uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC); + ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care? + return oid + 1; +} + +void GodotBroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) { + ERR_FAIL_COND(!p_id); + bvh.move(p_id - 1, p_aabb); +} + +void GodotBroadPhase2DBVH::set_static(ID p_id, bool p_static) { + ERR_FAIL_COND(!p_id); + uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC; + uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC); + bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false); +} + +void GodotBroadPhase2DBVH::remove(ID p_id) { + ERR_FAIL_COND(!p_id); + bvh.erase(p_id - 1); +} + +GodotCollisionObject2D *GodotBroadPhase2DBVH::get_object(ID p_id) const { + ERR_FAIL_COND_V(!p_id, nullptr); + GodotCollisionObject2D *it = bvh.get(p_id - 1); + ERR_FAIL_COND_V(!it, nullptr); + return it; +} + +bool GodotBroadPhase2DBVH::is_static(ID p_id) const { + ERR_FAIL_COND_V(!p_id, false); + uint32_t tree_id = bvh.get_tree_id(p_id - 1); + return tree_id == 0; +} + +int GodotBroadPhase2DBVH::get_subindex(ID p_id) const { + ERR_FAIL_COND_V(!p_id, 0); + return bvh.get_subindex(p_id - 1); +} + +int GodotBroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) { + return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices); +} + +int GodotBroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) { + return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices); +} + +void *GodotBroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B) { + GodotBroadPhase2DBVH *bpo = static_cast<GodotBroadPhase2DBVH *>(self); + if (!bpo->pair_callback) { + return nullptr; + } + + return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata); +} + +void GodotBroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B, void *pairdata) { + GodotBroadPhase2DBVH *bpo = static_cast<GodotBroadPhase2DBVH *>(self); + if (!bpo->unpair_callback) { + return; + } + + bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata); +} + +void GodotBroadPhase2DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) { + pair_callback = p_pair_callback; + pair_userdata = p_userdata; +} + +void GodotBroadPhase2DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) { + unpair_callback = p_unpair_callback; + unpair_userdata = p_userdata; +} + +void GodotBroadPhase2DBVH::update() { + bvh.update(); +} + +GodotBroadPhase2D *GodotBroadPhase2DBVH::_create() { + return memnew(GodotBroadPhase2DBVH); +} + +GodotBroadPhase2DBVH::GodotBroadPhase2DBVH() { + bvh.set_pair_callback(_pair_callback, this); + bvh.set_unpair_callback(_unpair_callback, this); +} diff --git a/servers/physics_2d/godot_broad_phase_2d_bvh.h b/servers/physics_2d/godot_broad_phase_2d_bvh.h new file mode 100644 index 0000000000..512111f948 --- /dev/null +++ b/servers/physics_2d/godot_broad_phase_2d_bvh.h @@ -0,0 +1,101 @@ +/*************************************************************************/ +/* godot_broad_phase_2d_bvh.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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. */ +/*************************************************************************/ + +#ifndef GODOT_BROAD_PHASE_2D_BVH_H +#define GODOT_BROAD_PHASE_2D_BVH_H + +#include "godot_broad_phase_2d.h" + +#include "core/math/bvh.h" +#include "core/math/rect2.h" +#include "core/math/vector2.h" + +class GodotBroadPhase2DBVH : public GodotBroadPhase2D { + template <class T> + class UserPairTestFunction { + public: + static bool user_pair_check(const T *p_a, const T *p_b) { + // return false if no collision, decided by masks etc + return p_a->interacts_with(p_b); + } + }; + + template <class T> + class UserCullTestFunction { + public: + static bool user_cull_check(const T *p_a, const T *p_b) { + return true; + } + }; + + enum Tree { + TREE_STATIC = 0, + TREE_DYNAMIC = 1, + }; + + enum TreeFlag { + TREE_FLAG_STATIC = 1 << TREE_STATIC, + TREE_FLAG_DYNAMIC = 1 << TREE_DYNAMIC, + }; + + BVH_Manager<GodotCollisionObject2D, 2, true, 128, UserPairTestFunction<GodotCollisionObject2D>, UserCullTestFunction<GodotCollisionObject2D>, Rect2, Vector2> bvh; + + static void *_pair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int); + static void _unpair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int, void *); + + PairCallback pair_callback = nullptr; + void *pair_userdata = nullptr; + UnpairCallback unpair_callback = nullptr; + void *unpair_userdata = nullptr; + +public: + // 0 is an invalid ID + virtual ID create(GodotCollisionObject2D *p_object, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false) override; + virtual void move(ID p_id, const Rect2 &p_aabb) override; + virtual void set_static(ID p_id, bool p_static) override; + virtual void remove(ID p_id) override; + + virtual GodotCollisionObject2D *get_object(ID p_id) const override; + virtual bool is_static(ID p_id) const override; + virtual int get_subindex(ID p_id) const override; + + virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) override; + virtual int cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) override; + + virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) override; + virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) override; + + virtual void update() override; + + static GodotBroadPhase2D *_create(); + GodotBroadPhase2DBVH(); +}; + +#endif // GODOT_BROAD_PHASE_2D_BVH_H diff --git a/servers/physics_2d/collision_object_2d_sw.cpp b/servers/physics_2d/godot_collision_object_2d.cpp index 7a2f312263..35027e0f69 100644 --- a/servers/physics_2d/collision_object_2d_sw.cpp +++ b/servers/physics_2d/godot_collision_object_2d.cpp @@ -1,12 +1,12 @@ /*************************************************************************/ -/* collision_object_2d_sw.cpp */ +/* godot_collision_object_2d.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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,11 +28,11 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_object_2d_sw.h" -#include "servers/physics_2d/physics_server_2d_sw.h" -#include "space_2d_sw.h" +#include "godot_collision_object_2d.h" +#include "godot_physics_server_2d.h" +#include "godot_space_2d.h" -void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_transform, bool p_disabled) { +void GodotCollisionObject2D::add_shape(GodotShape2D *p_shape, const Transform2D &p_transform, bool p_disabled) { Shape s; s.shape = p_shape; s.xform = p_transform; @@ -45,13 +45,11 @@ void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_tra p_shape->add_owner(this); if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } - // _update_shapes(); - // _shapes_changed(); } -void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) { +void GodotCollisionObject2D::set_shape(int p_index, GodotShape2D *p_shape) { ERR_FAIL_INDEX(p_index, shapes.size()); shapes[p_index].shape->remove_owner(this); shapes.write[p_index].shape = p_shape; @@ -59,34 +57,25 @@ void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) { p_shape->add_owner(this); if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } - // _update_shapes(); - // _shapes_changed(); -} - -void CollisionObject2DSW::set_shape_metadata(int p_index, const Variant &p_metadata) { - ERR_FAIL_INDEX(p_index, shapes.size()); - shapes.write[p_index].metadata = p_metadata; } -void CollisionObject2DSW::set_shape_transform(int p_index, const Transform2D &p_transform) { +void GodotCollisionObject2D::set_shape_transform(int p_index, const Transform2D &p_transform) { ERR_FAIL_INDEX(p_index, shapes.size()); shapes.write[p_index].xform = p_transform; shapes.write[p_index].xform_inv = p_transform.affine_inverse(); if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } - // _update_shapes(); - // _shapes_changed(); } -void CollisionObject2DSW::set_shape_as_disabled(int p_idx, bool p_disabled) { +void GodotCollisionObject2D::set_shape_disabled(int p_idx, bool p_disabled) { ERR_FAIL_INDEX(p_idx, shapes.size()); - CollisionObject2DSW::Shape &shape = shapes.write[p_idx]; + GodotCollisionObject2D::Shape &shape = shapes.write[p_idx]; if (shape.disabled == p_disabled) { return; } @@ -101,18 +90,16 @@ void CollisionObject2DSW::set_shape_as_disabled(int p_idx, bool p_disabled) { space->get_broadphase()->remove(shape.bpid); shape.bpid = 0; if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } - //_update_shapes(); } else if (!p_disabled && shape.bpid == 0) { if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } - //_update_shapes(); // automatically adds shape with bpid == 0 } } -void CollisionObject2DSW::remove_shape(Shape2DSW *p_shape) { +void GodotCollisionObject2D::remove_shape(GodotShape2D *p_shape) { //remove a shape, all the times it appears for (int i = 0; i < shapes.size(); i++) { if (shapes[i].shape == p_shape) { @@ -122,7 +109,7 @@ void CollisionObject2DSW::remove_shape(Shape2DSW *p_shape) { } } -void CollisionObject2DSW::remove_shape(int p_index) { +void GodotCollisionObject2D::remove_shape(int p_index) { //remove anything from shape to be erased to end, so subindices don't change ERR_FAIL_INDEX(p_index, shapes.size()); for (int i = p_index; i < shapes.size(); i++) { @@ -134,16 +121,16 @@ void CollisionObject2DSW::remove_shape(int p_index) { shapes.write[i].bpid = 0; } shapes[p_index].shape->remove_owner(this); - shapes.remove(p_index); + shapes.remove_at(p_index); if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } // _update_shapes(); // _shapes_changed(); } -void CollisionObject2DSW::_set_static(bool p_static) { +void GodotCollisionObject2D::_set_static(bool p_static) { if (_static == p_static) { return; } @@ -160,7 +147,7 @@ void CollisionObject2DSW::_set_static(bool p_static) { } } -void CollisionObject2DSW::_unregister_shapes() { +void GodotCollisionObject2D::_unregister_shapes() { for (int i = 0; i < shapes.size(); i++) { Shape &s = shapes.write[i]; if (s.bpid > 0) { @@ -170,35 +157,34 @@ void CollisionObject2DSW::_unregister_shapes() { } } -void CollisionObject2DSW::_update_shapes() { +void GodotCollisionObject2D::_update_shapes() { if (!space) { return; } for (int i = 0; i < shapes.size(); i++) { Shape &s = shapes.write[i]; - if (s.disabled) { continue; } - if (s.bpid == 0) { - s.bpid = space->get_broadphase()->create(this, i); - space->get_broadphase()->set_static(s.bpid, _static); - } - //not quite correct, should compute the next matrix.. Rect2 shape_aabb = s.shape->get_aabb(); Transform2D xform = transform * s.xform; shape_aabb = xform.xform(shape_aabb); + shape_aabb.grow_by((s.aabb_cache.size.x + s.aabb_cache.size.y) * 0.5 * 0.05); s.aabb_cache = shape_aabb; - s.aabb_cache = s.aabb_cache.grow((s.aabb_cache.size.x + s.aabb_cache.size.y) * 0.5 * 0.05); - space->get_broadphase()->move(s.bpid, s.aabb_cache); + if (s.bpid == 0) { + s.bpid = space->get_broadphase()->create(this, i, shape_aabb, _static); + space->get_broadphase()->set_static(s.bpid, _static); + } + + space->get_broadphase()->move(s.bpid, shape_aabb); } } -void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) { +void GodotCollisionObject2D::_update_shapes_with_motion(const Vector2 &p_motion) { if (!space) { return; } @@ -209,11 +195,6 @@ void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) { continue; } - if (s.bpid == 0) { - s.bpid = space->get_broadphase()->create(this, i); - space->get_broadphase()->set_static(s.bpid, _static); - } - //not quite correct, should compute the next matrix.. Rect2 shape_aabb = s.shape->get_aabb(); Transform2D xform = transform * s.xform; @@ -221,11 +202,16 @@ void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) { shape_aabb = shape_aabb.merge(Rect2(shape_aabb.position + p_motion, shape_aabb.size)); //use motion s.aabb_cache = shape_aabb; + if (s.bpid == 0) { + s.bpid = space->get_broadphase()->create(this, i, shape_aabb, _static); + space->get_broadphase()->set_static(s.bpid, _static); + } + space->get_broadphase()->move(s.bpid, shape_aabb); } } -void CollisionObject2DSW::_set_space(Space2DSW *p_space) { +void GodotCollisionObject2D::_set_space(GodotSpace2D *p_space) { if (space) { space->remove_object(this); @@ -246,17 +232,12 @@ void CollisionObject2DSW::_set_space(Space2DSW *p_space) { } } -void CollisionObject2DSW::_shape_changed() { +void GodotCollisionObject2D::_shape_changed() { _update_shapes(); _shapes_changed(); } -CollisionObject2DSW::CollisionObject2DSW(Type p_type) : +GodotCollisionObject2D::GodotCollisionObject2D(Type p_type) : pending_shape_update_list(this) { - _static = true; type = p_type; - space = nullptr; - collision_mask = 1; - collision_layer = 1; - pickable = true; } diff --git a/servers/physics_2d/collision_object_2d_sw.h b/servers/physics_2d/godot_collision_object_2d.h index 2db3961f41..1a683a7b0f 100644 --- a/servers/physics_2d/collision_object_2d_sw.h +++ b/servers/physics_2d/godot_collision_object_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* collision_object_2d_sw.h */ +/* godot_collision_object_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,17 +28,18 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_OBJECT_2D_SW_H -#define COLLISION_OBJECT_2D_SW_H +#ifndef GODOT_COLLISION_OBJECT_2D_H +#define GODOT_COLLISION_OBJECT_2D_H + +#include "godot_broad_phase_2d.h" +#include "godot_shape_2d.h" -#include "broad_phase_2d_sw.h" #include "core/templates/self_list.h" #include "servers/physics_server_2d.h" -#include "shape_2d_sw.h" -class Space2DSW; +class GodotSpace2D; -class CollisionObject2DSW : public ShapeOwner2DSW { +class GodotCollisionObject2D : public GodotShapeOwner2D { public: enum Type { TYPE_AREA, @@ -50,34 +51,28 @@ private: RID self; ObjectID instance_id; ObjectID canvas_instance_id; - bool pickable; + bool pickable = true; struct Shape { Transform2D xform; Transform2D xform_inv; - BroadPhase2DSW::ID bpid; + GodotBroadPhase2D::ID bpid = 0; Rect2 aabb_cache; //for rayqueries - Shape2DSW *shape; - Variant metadata; - bool disabled; - bool one_way_collision; - real_t one_way_collision_margin; - Shape() { - disabled = false; - one_way_collision = false; - one_way_collision_margin = 0; - } + GodotShape2D *shape = nullptr; + bool disabled = false; + bool one_way_collision = false; + real_t one_way_collision_margin = 0.0; }; Vector<Shape> shapes; - Space2DSW *space; + GodotSpace2D *space = nullptr; Transform2D transform; Transform2D inv_transform; - uint32_t collision_mask; - uint32_t collision_layer; - bool _static; + uint32_t collision_mask = 1; + uint32_t collision_layer = 1; + bool _static = true; - SelfList<CollisionObject2DSW> pending_shape_update_list; + SelfList<GodotCollisionObject2D> pending_shape_update_list; void _update_shapes(); @@ -95,9 +90,9 @@ protected: void _set_static(bool p_static); virtual void _shapes_changed() = 0; - void _set_space(Space2DSW *p_space); + void _set_space(GodotSpace2D *p_space); - CollisionObject2DSW(Type p_type); + GodotCollisionObject2D(Type p_type); public: _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } @@ -109,20 +104,15 @@ public: _FORCE_INLINE_ void set_canvas_instance_id(const ObjectID &p_canvas_instance_id) { canvas_instance_id = p_canvas_instance_id; } _FORCE_INLINE_ ObjectID get_canvas_instance_id() const { return canvas_instance_id; } - void _shape_changed(); + void _shape_changed() override; _FORCE_INLINE_ Type get_type() const { return type; } - void add_shape(Shape2DSW *p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false); - void set_shape(int p_index, Shape2DSW *p_shape); + void add_shape(GodotShape2D *p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false); + void set_shape(int p_index, GodotShape2D *p_shape); void set_shape_transform(int p_index, const Transform2D &p_transform); - void set_shape_metadata(int p_index, const Variant &p_metadata); _FORCE_INLINE_ int get_shape_count() const { return shapes.size(); } - _FORCE_INLINE_ bool is_shape_disabled(int p_index) const { - CRASH_BAD_INDEX(p_index, shapes.size()); - return shapes[p_index].disabled; - } - _FORCE_INLINE_ Shape2DSW *get_shape(int p_index) const { + _FORCE_INLINE_ GodotShape2D *get_shape(int p_index) const { CRASH_BAD_INDEX(p_index, shapes.size()); return shapes[p_index].shape; } @@ -138,18 +128,14 @@ public: CRASH_BAD_INDEX(p_index, shapes.size()); return shapes[p_index].aabb_cache; } - _FORCE_INLINE_ const Variant &get_shape_metadata(int p_index) const { - CRASH_BAD_INDEX(p_index, shapes.size()); - return shapes[p_index].metadata; - } - _FORCE_INLINE_ Transform2D get_transform() const { return transform; } - _FORCE_INLINE_ Transform2D get_inv_transform() const { return inv_transform; } - _FORCE_INLINE_ Space2DSW *get_space() const { return space; } + _FORCE_INLINE_ const Transform2D &get_transform() const { return transform; } + _FORCE_INLINE_ const Transform2D &get_inv_transform() const { return inv_transform; } + _FORCE_INLINE_ GodotSpace2D *get_space() const { return space; } - void set_shape_as_disabled(int p_idx, bool p_disabled); - _FORCE_INLINE_ bool is_shape_set_as_disabled(int p_idx) const { - CRASH_BAD_INDEX(p_idx, shapes.size()); + void set_shape_disabled(int p_idx, bool p_disabled); + _FORCE_INLINE_ bool is_shape_disabled(int p_idx) const { + ERR_FAIL_INDEX_V(p_idx, shapes.size(), false); return shapes[p_idx].disabled; } @@ -180,21 +166,25 @@ public: } _FORCE_INLINE_ uint32_t get_collision_layer() const { return collision_layer; } - void remove_shape(Shape2DSW *p_shape); + void remove_shape(GodotShape2D *p_shape) override; void remove_shape(int p_index); - virtual void set_space(Space2DSW *p_space) = 0; + virtual void set_space(GodotSpace2D *p_space) = 0; _FORCE_INLINE_ bool is_static() const { return _static; } void set_pickable(bool p_pickable) { pickable = p_pickable; } _FORCE_INLINE_ bool is_pickable() const { return pickable; } - _FORCE_INLINE_ bool test_collision_mask(CollisionObject2DSW *p_other) const { + _FORCE_INLINE_ bool collides_with(GodotCollisionObject2D *p_other) const { + return p_other->collision_layer & collision_mask; + } + + _FORCE_INLINE_ bool interacts_with(const GodotCollisionObject2D *p_other) const { return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask; } - virtual ~CollisionObject2DSW() {} + virtual ~GodotCollisionObject2D() {} }; -#endif // COLLISION_OBJECT_2D_SW_H +#endif // GODOT_COLLISION_OBJECT_2D_H diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/godot_collision_solver_2d.cpp index 5bd4d498c6..0d7b42b80d 100644 --- a/servers/physics_2d/collision_solver_2d_sw.cpp +++ b/servers/physics_2d/godot_collision_solver_2d.cpp @@ -1,12 +1,12 @@ /*************************************************************************/ -/* collision_solver_2d_sw.cpp */ +/* godot_collision_solver_2d.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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,20 +28,20 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_solver_2d_sw.h" -#include "collision_solver_2d_sat.h" +#include "godot_collision_solver_2d.h" +#include "godot_collision_solver_2d_sat.h" #define collision_solver sat_2d_calculate_penetration //#define collision_solver gjk_epa_calculate_penetration -bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { - const LineShape2DSW *line = static_cast<const LineShape2DSW *>(p_shape_A); - if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_LINE) { +bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { + const GodotWorldBoundaryShape2D *world_boundary = static_cast<const GodotWorldBoundaryShape2D *>(p_shape_A); + if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) { return false; } - Vector2 n = p_transform_A.basis_xform(line->get_normal()).normalized(); - Vector2 p = p_transform_A.xform(line->get_normal() * line->get_d()); + Vector2 n = p_transform_A.basis_xform(world_boundary->get_normal()).normalized(); + Vector2 p = p_transform_A.xform(world_boundary->get_normal() * world_boundary->get_d()); real_t d = n.dot(p); Vector2 supports[2]; @@ -73,14 +73,14 @@ bool CollisionSolver2DSW::solve_static_line(const Shape2DSW *p_shape_A, const Tr return found; } -bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis) { - const RayShape2DSW *ray = static_cast<const RayShape2DSW *>(p_shape_A); - if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_RAY) { +bool GodotCollisionSolver2D::solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin) { + const GodotSeparationRayShape2D *ray = static_cast<const GodotSeparationRayShape2D *>(p_shape_A); + if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY) { return false; } Vector2 from = p_transform_A.get_origin(); - Vector2 to = from + p_transform_A[1] * ray->get_length(); + Vector2 to = from + p_transform_A[1] * (ray->get_length() + p_margin); if (p_motion_A != Vector2()) { //not the best but should be enough Vector2 normal = (to - from).normalized(); @@ -94,14 +94,30 @@ bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector Vector2 p, n; if (!p_shape_B->intersect_segment(from, to, p, n)) { - if (sep_axis) { - *sep_axis = p_transform_A[1].normalized(); + if (r_sep_axis) { + *r_sep_axis = p_transform_A[1].normalized(); + } + return false; + } + + // Discard contacts when the ray is fully contained inside the shape. + if (n == Vector2()) { + if (r_sep_axis) { + *r_sep_axis = p_transform_A[1].normalized(); + } + return false; + } + + // Discard contacts in the wrong direction. + if (n.dot(from - to) < CMP_EPSILON) { + if (r_sep_axis) { + *r_sep_axis = p_transform_A[1].normalized(); } return false; } Vector2 support_B = p_transform_B.xform(p); - if (ray->get_slips_on_slope()) { + if (ray->get_slide_on_slope()) { Vector2 global_n = invb.basis_xform_inv(n).normalized(); support_B = support_A + (support_B - support_A).length() * global_n; } @@ -117,40 +133,40 @@ bool CollisionSolver2DSW::solve_raycast(const Shape2DSW *p_shape_A, const Vector } struct _ConcaveCollisionInfo2D { - const Transform2D *transform_A; - const Shape2DSW *shape_A; - const Transform2D *transform_B; + const Transform2D *transform_A = nullptr; + const GodotShape2D *shape_A = nullptr; + const Transform2D *transform_B = nullptr; Vector2 motion_A; Vector2 motion_B; - real_t margin_A; - real_t margin_B; - CollisionSolver2DSW::CallbackResult result_callback; - void *userdata; - bool swap_result; - bool collided; - int aabb_tests; - int collisions; - Vector2 *sep_axis; + real_t margin_A = 0.0; + real_t margin_B = 0.0; + GodotCollisionSolver2D::CallbackResult result_callback = nullptr; + void *userdata = nullptr; + bool swap_result = false; + bool collided = false; + int aabb_tests = 0; + int collisions = 0; + Vector2 *sep_axis = nullptr; }; -void CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) { - _ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D *)(p_userdata); +bool GodotCollisionSolver2D::concave_callback(void *p_userdata, GodotShape2D *p_convex) { + _ConcaveCollisionInfo2D &cinfo = *(static_cast<_ConcaveCollisionInfo2D *>(p_userdata)); cinfo.aabb_tests++; - if (!cinfo.result_callback && cinfo.collided) { - return; //already collided and no contacts requested, don't test anymore - } bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, cinfo.motion_A, p_convex, *cinfo.transform_B, cinfo.motion_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, cinfo.sep_axis, cinfo.margin_A, cinfo.margin_B); if (!collided) { - return; + return false; } cinfo.collided = true; cinfo.collisions++; + + // Stop at first collision if contacts are not needed. + return !cinfo.result_callback; } -bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { - const ConcaveShape2DSW *concave_B = static_cast<const ConcaveShape2DSW *>(p_shape_B); +bool GodotCollisionSolver2D::solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { + const GodotConcaveShape2D *concave_B = static_cast<const GodotConcaveShape2D *>(p_shape_B); _ConcaveCollisionInfo2D cinfo; cinfo.transform_A = &p_transform_A; @@ -162,20 +178,20 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transf cinfo.swap_result = p_swap_result; cinfo.collided = false; cinfo.collisions = 0; - cinfo.sep_axis = sep_axis; + cinfo.sep_axis = r_sep_axis; cinfo.margin_A = p_margin_A; cinfo.margin_B = p_margin_B; cinfo.aabb_tests = 0; Transform2D rel_transform = p_transform_A; - rel_transform.elements[2] -= p_transform_B.get_origin(); + rel_transform.columns[2] -= p_transform_B.get_origin(); //quickly compute a local Rect2 Rect2 local_aabb; for (int i = 0; i < 2; i++) { - Vector2 axis(p_transform_B.elements[i]); + Vector2 axis(p_transform_B.columns[i]); real_t axis_scale = 1.0 / axis.length(); axis *= axis_scale; @@ -193,7 +209,7 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transf return cinfo.collided; } -bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { +bool GodotCollisionSolver2D::solve(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { PhysicsServer2D::ShapeType type_A = p_shape_A->get_type(); PhysicsServer2D::ShapeType type_B = p_shape_B->get_type(); bool concave_A = p_shape_A->is_concave(); @@ -209,26 +225,26 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p swap = true; } - if (type_A == PhysicsServer2D::SHAPE_LINE) { - if (type_B == PhysicsServer2D::SHAPE_LINE || type_B == PhysicsServer2D::SHAPE_RAY) { + if (type_A == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) { + if (type_B == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) { return false; } if (swap) { - return solve_static_line(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true); + return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true); } else { - return solve_static_line(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false); + return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false); } - } else if (type_A == PhysicsServer2D::SHAPE_RAY) { - if (type_B == PhysicsServer2D::SHAPE_RAY) { + } else if (type_A == PhysicsServer2D::SHAPE_SEPARATION_RAY) { + if (type_B == PhysicsServer2D::SHAPE_SEPARATION_RAY) { return false; //no ray-ray } if (swap) { - return solve_raycast(p_shape_B, p_motion_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis); + return solve_separation_ray(p_shape_B, p_motion_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, r_sep_axis, p_margin_B); } else { - return solve_raycast(p_shape_A, p_motion_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis); + return solve_separation_ray(p_shape_A, p_motion_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A); } } else if (concave_B) { @@ -237,12 +253,12 @@ bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p } if (!swap) { - return solve_concave(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B); + return solve_concave(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, r_sep_axis, margin_A, margin_B); } else { - return solve_concave(p_shape_B, p_transform_B, p_motion_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, sep_axis, margin_A, margin_B); + return solve_concave(p_shape_B, p_transform_B, p_motion_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, r_sep_axis, margin_A, margin_B); } } else { - return collision_solver(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B); + return collision_solver(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, r_sep_axis, margin_A, margin_B); } } diff --git a/servers/physics_2d/collision_solver_2d_sw.h b/servers/physics_2d/godot_collision_solver_2d.h index 4f12ca9e88..bd90641f04 100644 --- a/servers/physics_2d/collision_solver_2d_sw.h +++ b/servers/physics_2d/godot_collision_solver_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* collision_solver_2d_sw.h */ +/* godot_collision_solver_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,23 +28,23 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_SOLVER_2D_SW_H -#define COLLISION_SOLVER_2D_SW_H +#ifndef GODOT_COLLISION_SOLVER_2D_H +#define GODOT_COLLISION_SOLVER_2D_H -#include "shape_2d_sw.h" +#include "godot_shape_2d.h" -class CollisionSolver2DSW { +class GodotCollisionSolver2D { public: typedef void (*CallbackResult)(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata); private: - static bool solve_static_line(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); - static void concave_callback(void *p_userdata, Shape2DSW *p_convex); - static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); - static bool solve_raycast(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *sep_axis = nullptr); + static bool solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); + static bool concave_callback(void *p_userdata, GodotShape2D *p_convex); + static bool solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); + static bool solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0); public: - static bool solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); + static bool solve(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); }; -#endif // COLLISION_SOLVER_2D_SW_H +#endif // GODOT_COLLISION_SOLVER_2D_H diff --git a/servers/physics_2d/collision_solver_2d_sat.cpp b/servers/physics_2d/godot_collision_solver_2d_sat.cpp index 29242a554b..77186d3810 100644 --- a/servers/physics_2d/collision_solver_2d_sat.cpp +++ b/servers/physics_2d/godot_collision_solver_2d_sat.cpp @@ -1,12 +1,12 @@ /*************************************************************************/ -/* collision_solver_2d_sat.cpp */ +/* godot_collision_solver_2d_sat.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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,23 +28,19 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_solver_2d_sat.h" +#include "godot_collision_solver_2d_sat.h" #include "core/math/geometry_2d.h" struct _CollectorCallback2D { - CollisionSolver2DSW::CallbackResult callback; - void *userdata; - bool swap; - bool collided; + GodotCollisionSolver2D::CallbackResult callback = nullptr; + void *userdata = nullptr; + bool swap = false; + bool collided = false; Vector2 normal; - Vector2 *sep_axis; + Vector2 *sep_axis = nullptr; _FORCE_INLINE_ void call(const Vector2 &p_point_A, const Vector2 &p_point_B) { - /* - if (normal.dot(p_point_A) >= normal.dot(p_point_B)) - return; - */ if (swap) { callback(p_point_B, p_point_A, userdata); } else { @@ -75,9 +71,9 @@ _FORCE_INLINE_ static void _generate_contacts_point_edge(const Vector2 *p_points } struct _generate_contacts_Pair { - bool a; - int idx; - real_t d; + bool a = false; + int idx = 0; + real_t d = 0.0; _FORCE_INLINE_ bool operator<(const _generate_contacts_Pair &l) const { return d < l.d; } }; @@ -146,10 +142,10 @@ static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_po } }; - int pointcount_B; - int pointcount_A; - const Vector2 *points_A; - const Vector2 *points_B; + int pointcount_B = 0; + int pointcount_A = 0; + const Vector2 *points_A = nullptr; + const Vector2 *points_B = nullptr; if (p_point_count_A > p_point_count_B) { //swap @@ -177,18 +173,20 @@ static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_po template <class ShapeA, class ShapeB, bool castA = false, bool castB = false, bool withMargin = false> class SeparatorAxisTest2D { - const ShapeA *shape_A; - const ShapeB *shape_B; - const Transform2D *transform_A; - const Transform2D *transform_B; - real_t best_depth; + const ShapeA *shape_A = nullptr; + const ShapeB *shape_B = nullptr; + const Transform2D *transform_A = nullptr; + const Transform2D *transform_B = nullptr; + real_t best_depth = 1e15; Vector2 best_axis; - int best_axis_count; - int best_axis_index; +#ifdef DEBUG_ENABLED + int best_axis_count = 0; + int best_axis_index = -1; +#endif Vector2 motion_A; Vector2 motion_B; - real_t margin_A; - real_t margin_B; + real_t margin_A = 0.0; + real_t margin_B = 0.0; _CollectorCallback2D *callback; public: @@ -364,19 +362,13 @@ public: _FORCE_INLINE_ SeparatorAxisTest2D(const ShapeA *p_shape_A, const Transform2D &p_transform_a, const ShapeB *p_shape_B, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_A = Vector2(), const Vector2 &p_motion_B = Vector2(), real_t p_margin_A = 0, real_t p_margin_B = 0) { margin_A = p_margin_A; margin_B = p_margin_B; - best_depth = 1e15; shape_A = p_shape_A; shape_B = p_shape_B; transform_A = &p_transform_a; transform_B = &p_transform_b; motion_A = p_motion_A; motion_B = p_motion_B; - callback = p_collector; -#ifdef DEBUG_ENABLED - best_axis_count = 0; - best_axis_index = -1; -#endif } }; @@ -388,14 +380,14 @@ public: (castB && !separator.test_axis(((m_a) - ((m_b) + p_motion_b)).normalized())) || \ (castA && castB && !separator.test_axis(((m_a) + p_motion_a - ((m_b) + p_motion_b)).normalized()))) -typedef void (*CollisionFunc)(const Shape2DSW *, const Transform2D &, const Shape2DSW *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t); +typedef void (*CollisionFunc)(const GodotShape2D *, const Transform2D &, const GodotShape2D *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t); template <bool castA, bool castB, bool withMargin> -static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); - const SegmentShape2DSW *segment_B = static_cast<const SegmentShape2DSW *>(p_b); +static void _collision_segment_segment(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a); + const GodotSegmentShape2D *segment_B = static_cast<const GodotSegmentShape2D *>(p_b); - SeparatorAxisTest2D<SegmentShape2DSW, SegmentShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, segment_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotSegmentShape2D, GodotSegmentShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, segment_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -434,11 +426,11 @@ static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D & } template <bool castA, bool castB, bool withMargin> -static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); - const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW *>(p_b); +static void _collision_segment_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a); + const GodotCircleShape2D *circle_B = static_cast<const GodotCircleShape2D *>(p_b); - SeparatorAxisTest2D<SegmentShape2DSW, CircleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotSegmentShape2D, GodotCircleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -467,11 +459,11 @@ static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p } template <bool castA, bool castB, bool withMargin> -static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); - const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b); +static void _collision_segment_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a); + const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b); - SeparatorAxisTest2D<SegmentShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotSegmentShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -485,11 +477,11 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D return; } - if (!separator.test_axis(p_transform_b.elements[0].normalized())) { + if (!separator.test_axis(p_transform_b.columns[0].normalized())) { return; } - if (!separator.test_axis(p_transform_b.elements[1].normalized())) { + if (!separator.test_axis(p_transform_b.columns[1].normalized())) { return; } @@ -538,11 +530,11 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D } template <bool castA, bool castB, bool withMargin> -static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); - const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b); +static void _collision_segment_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a); + const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b); - SeparatorAxisTest2D<SegmentShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotSegmentShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -556,20 +548,22 @@ static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D & return; } - if (!separator.test_axis(p_transform_b.elements[0].normalized())) { + if (!separator.test_axis(p_transform_b.columns[0].normalized())) { return; } - if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * 0.5))) { + real_t capsule_dir = capsule_B->get_height() * 0.5 - capsule_B->get_radius(); + + if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), (p_transform_b.get_origin() + p_transform_b.columns[1] * capsule_dir))) { return; } - if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * -0.5))) { + if (TEST_POINT(p_transform_a.xform(segment_A->get_a()), (p_transform_b.get_origin() - p_transform_b.columns[1] * capsule_dir))) { return; } - if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * 0.5))) { + if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), (p_transform_b.get_origin() + p_transform_b.columns[1] * capsule_dir))) { return; } - if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * -0.5))) { + if (TEST_POINT(p_transform_a.xform(segment_A->get_b()), (p_transform_b.get_origin() - p_transform_b.columns[1] * capsule_dir))) { return; } @@ -577,11 +571,11 @@ static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D & } template <bool castA, bool castB, bool withMargin> -static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); +static void _collision_segment_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b); - SeparatorAxisTest2D<SegmentShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotSegmentShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -616,11 +610,11 @@ static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transf ///////// template <bool castA, bool castB, bool withMargin> -static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a); - const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW *>(p_b); +static void _collision_circle_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a); + const GodotCircleShape2D *circle_B = static_cast<const GodotCircleShape2D *>(p_b); - SeparatorAxisTest2D<CircleShape2DSW, CircleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotCircleShape2D, GodotCircleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -638,11 +632,11 @@ static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_ } template <bool castA, bool castB, bool withMargin> -static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a); - const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b); +static void _collision_circle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a); + const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b); - SeparatorAxisTest2D<CircleShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotCircleShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -652,8 +646,8 @@ static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D return; } - const Vector2 &sphere = p_transform_a.elements[2]; - const Vector2 *axis = &p_transform_b.elements[0]; + const Vector2 &sphere = p_transform_a.columns[2]; + const Vector2 *axis = &p_transform_b.columns[0]; //const Vector2& half_extents = rectangle_B->get_half_extents(); if (!separator.test_axis(axis[0].normalized())) { @@ -696,11 +690,11 @@ static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D } template <bool castA, bool castB, bool withMargin> -static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a); - const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b); +static void _collision_circle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a); + const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b); - SeparatorAxisTest2D<CircleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotCircleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -711,15 +705,17 @@ static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p } //capsule axis - if (!separator.test_axis(p_transform_b.elements[0].normalized())) { + if (!separator.test_axis(p_transform_b.columns[0].normalized())) { return; } + real_t capsule_dir = capsule_B->get_height() * 0.5 - capsule_B->get_radius(); + //capsule endpoints - if (TEST_POINT(p_transform_a.get_origin(), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * 0.5))) { + if (TEST_POINT(p_transform_a.get_origin(), (p_transform_b.get_origin() + p_transform_b.columns[1] * capsule_dir))) { return; } - if (TEST_POINT(p_transform_a.get_origin(), (p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * -0.5))) { + if (TEST_POINT(p_transform_a.get_origin(), (p_transform_b.get_origin() - p_transform_b.columns[1] * capsule_dir))) { return; } @@ -727,11 +723,11 @@ static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p } template <bool castA, bool castB, bool withMargin> -static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); +static void _collision_circle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b); - SeparatorAxisTest2D<CircleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotCircleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -758,11 +754,11 @@ static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transfo ///////// template <bool castA, bool castB, bool withMargin> -static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a); - const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b); +static void _collision_rectangle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a); + const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b); - SeparatorAxisTest2D<RectangleShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotRectangleShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -773,20 +769,20 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform } //box faces A - if (!separator.test_axis(p_transform_a.elements[0].normalized())) { + if (!separator.test_axis(p_transform_a.columns[0].normalized())) { return; } - if (!separator.test_axis(p_transform_a.elements[1].normalized())) { + if (!separator.test_axis(p_transform_a.columns[1].normalized())) { return; } //box faces B - if (!separator.test_axis(p_transform_b.elements[0].normalized())) { + if (!separator.test_axis(p_transform_b.columns[0].normalized())) { return; } - if (!separator.test_axis(p_transform_b.elements[1].normalized())) { + if (!separator.test_axis(p_transform_b.columns[1].normalized())) { return; } @@ -800,10 +796,10 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform if (castA || castB) { Transform2D aofs = p_transform_a; - aofs.elements[2] += p_motion_a; + aofs.columns[2] += p_motion_a; Transform2D bofs = p_transform_b; - bofs.elements[2] += p_motion_b; + bofs.columns[2] += p_motion_b; Transform2D aofsinv = aofs.affine_inverse(); Transform2D bofsinv = bofs.affine_inverse(); @@ -832,11 +828,11 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform } template <bool castA, bool castB, bool withMargin> -static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a); - const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b); +static void _collision_rectangle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a); + const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b); - SeparatorAxisTest2D<RectangleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotRectangleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -847,16 +843,16 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D } //box faces - if (!separator.test_axis(p_transform_a.elements[0].normalized())) { + if (!separator.test_axis(p_transform_a.columns[0].normalized())) { return; } - if (!separator.test_axis(p_transform_a.elements[1].normalized())) { + if (!separator.test_axis(p_transform_a.columns[1].normalized())) { return; } //capsule axis - if (!separator.test_axis(p_transform_b.elements[0].normalized())) { + if (!separator.test_axis(p_transform_b.columns[0].normalized())) { return; } @@ -864,9 +860,11 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D Transform2D boxinv = p_transform_a.affine_inverse(); + real_t capsule_dir = capsule_B->get_height() * 0.5 - capsule_B->get_radius(); + for (int i = 0; i < 2; i++) { { - Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5); + Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.columns[1] * capsule_dir; if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint))) { return; @@ -874,7 +872,7 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D } if (castA) { - Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5); + Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.columns[1] * capsule_dir; capsule_endpoint -= p_motion_a; if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint))) { @@ -883,7 +881,7 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D } if (castB) { - Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5); + Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.columns[1] * capsule_dir; capsule_endpoint += p_motion_b; if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint))) { @@ -892,7 +890,7 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D } if (castA && castB) { - Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5); + Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.columns[1] * capsule_dir; capsule_endpoint -= p_motion_a; capsule_endpoint += p_motion_b; @@ -900,17 +898,19 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D return; } } + + capsule_dir *= -1.0; } separator.generate_contacts(); } template <bool castA, bool castB, bool withMargin> -static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); +static void _collision_rectangle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b); - SeparatorAxisTest2D<RectangleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotRectangleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -921,11 +921,11 @@ static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Tran } //box faces - if (!separator.test_axis(p_transform_a.elements[0].normalized())) { + if (!separator.test_axis(p_transform_a.columns[0].normalized())) { return; } - if (!separator.test_axis(p_transform_a.elements[1].normalized())) { + if (!separator.test_axis(p_transform_a.columns[1].normalized())) { return; } @@ -968,11 +968,11 @@ static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Tran ///////// template <bool castA, bool castB, bool withMargin> -static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW *>(p_a); - const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b); +static void _collision_capsule_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCapsuleShape2D *capsule_A = static_cast<const GodotCapsuleShape2D *>(p_a); + const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b); - SeparatorAxisTest2D<CapsuleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotCapsuleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -984,37 +984,43 @@ static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D & //capsule axis - if (!separator.test_axis(p_transform_b.elements[0].normalized())) { + if (!separator.test_axis(p_transform_b.columns[0].normalized())) { return; } - if (!separator.test_axis(p_transform_a.elements[0].normalized())) { + if (!separator.test_axis(p_transform_a.columns[0].normalized())) { return; } //capsule endpoints + real_t capsule_dir_A = capsule_A->get_height() * 0.5 - capsule_A->get_radius(); for (int i = 0; i < 2; i++) { - Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.elements[1] * capsule_A->get_height() * (i == 0 ? 0.5 : -0.5); + Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.columns[1] * capsule_dir_A; + real_t capsule_dir_B = capsule_B->get_height() * 0.5 - capsule_B->get_radius(); for (int j = 0; j < 2; j++) { - Vector2 capsule_endpoint_B = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (j == 0 ? 0.5 : -0.5); + Vector2 capsule_endpoint_B = p_transform_b.get_origin() + p_transform_b.columns[1] * capsule_dir_B; if (TEST_POINT(capsule_endpoint_A, capsule_endpoint_B)) { return; } + + capsule_dir_B *= -1.0; } + + capsule_dir_A *= -1.0; } separator.generate_contacts(); } template <bool castA, bool castB, bool withMargin> -static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW *>(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); +static void _collision_capsule_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCapsuleShape2D *capsule_A = static_cast<const GodotCapsuleShape2D *>(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b); - SeparatorAxisTest2D<CapsuleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(capsule_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotCapsuleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(capsule_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -1026,7 +1032,7 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf //capsule axis - if (!separator.test_axis(p_transform_a.elements[0].normalized())) { + if (!separator.test_axis(p_transform_a.columns[0].normalized())) { return; } @@ -1034,12 +1040,15 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf for (int i = 0; i < convex_B->get_point_count(); i++) { Vector2 cpoint = p_transform_b.xform(convex_B->get_point(i)); + real_t capsule_dir = capsule_A->get_height() * 0.5 - capsule_A->get_radius(); for (int j = 0; j < 2; j++) { - Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.elements[1] * capsule_A->get_height() * (j == 0 ? 0.5 : -0.5); + Vector2 capsule_endpoint_A = p_transform_a.get_origin() + p_transform_a.columns[1] * capsule_dir; if (TEST_POINT(capsule_endpoint_A, cpoint)) { return; } + + capsule_dir *= -1.0; } if (!separator.test_axis(convex_B->get_xformed_segment_normal(p_transform_b, i))) { @@ -1053,11 +1062,11 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf ///////// template <bool castA, bool castB, bool withMargin> -static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const ConvexPolygonShape2DSW *convex_A = static_cast<const ConvexPolygonShape2DSW *>(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b); +static void _collision_convex_polygon_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotConvexPolygonShape2D *convex_A = static_cast<const GodotConvexPolygonShape2D *>(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b); - SeparatorAxisTest2D<ConvexPolygonShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(convex_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D<GodotConvexPolygonShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(convex_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -1094,17 +1103,17 @@ static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const //////// -bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { +bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { PhysicsServer2D::ShapeType type_A = p_shape_A->get_type(); - ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_LINE, false); - //ERR_FAIL_COND_V(type_A==PhysicsServer2D::SHAPE_RAY,false); + ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_WORLD_BOUNDARY, false); + ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_SEPARATION_RAY, false); ERR_FAIL_COND_V(p_shape_A->is_concave(), false); PhysicsServer2D::ShapeType type_B = p_shape_B->get_type(); - ERR_FAIL_COND_V(type_B == PhysicsServer2D::SHAPE_LINE, false); - //ERR_FAIL_COND_V(type_B==PhysicsServer2D::SHAPE_RAY,false); + ERR_FAIL_COND_V(type_B == PhysicsServer2D::SHAPE_WORLD_BOUNDARY, false); + ERR_FAIL_COND_V(type_B == PhysicsServer2D::SHAPE_SEPARATION_RAY, false); ERR_FAIL_COND_V(p_shape_B->is_concave(), false); static const CollisionFunc collision_table[5][5] = { @@ -1346,8 +1355,8 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D callback.collided = false; callback.sep_axis = sep_axis; - const Shape2DSW *A = p_shape_A; - const Shape2DSW *B = p_shape_B; + const GodotShape2D *A = p_shape_A; + const GodotShape2D *B = p_shape_B; const Transform2D *transform_A = &p_transform_A; const Transform2D *transform_B = &p_transform_B; const Vector2 *motion_A = &p_motion_A; diff --git a/servers/physics_2d/collision_solver_2d_sat.h b/servers/physics_2d/godot_collision_solver_2d_sat.h index 49cc5176f9..3d8e29c41a 100644 --- a/servers/physics_2d/collision_solver_2d_sat.h +++ b/servers/physics_2d/godot_collision_solver_2d_sat.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* collision_solver_2d_sat.h */ +/* godot_collision_solver_2d_sat.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,11 +28,11 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_SOLVER_2D_SAT_H -#define COLLISION_SOLVER_2D_SAT_H +#ifndef GODOT_COLLISION_SOLVER_2D_SAT_H +#define GODOT_COLLISION_SOLVER_2D_SAT_H -#include "collision_solver_2d_sw.h" +#include "godot_collision_solver_2d.h" -bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); +bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); -#endif // COLLISION_SOLVER_2D_SAT_H +#endif // GODOT_COLLISION_SOLVER_2D_SAT_H diff --git a/servers/physics_2d/constraint_2d_sw.h b/servers/physics_2d/godot_constraint_2d.h index 49ae4dd848..d9bf035c2b 100644 --- a/servers/physics_2d/constraint_2d_sw.h +++ b/servers/physics_2d/godot_constraint_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* constraint_2d_sw.h */ +/* godot_constraint_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,27 +28,23 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef CONSTRAINT_2D_SW_H -#define CONSTRAINT_2D_SW_H +#ifndef GODOT_CONSTRAINT_2D_H +#define GODOT_CONSTRAINT_2D_H -#include "body_2d_sw.h" +#include "godot_body_2d.h" -class Constraint2DSW { - Body2DSW **_body_ptr; +class GodotConstraint2D { + GodotBody2D **_body_ptr; int _body_count; - uint64_t island_step; - Constraint2DSW *island_next; - Constraint2DSW *island_list_next; - bool disabled_collisions_between_bodies; + uint64_t island_step = 0; + bool disabled_collisions_between_bodies = true; RID self; protected: - Constraint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) { + GodotConstraint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) { _body_ptr = p_body_ptr; _body_count = p_body_count; - island_step = 0; - disabled_collisions_between_bodies = true; } public: @@ -58,22 +54,17 @@ public: _FORCE_INLINE_ uint64_t get_island_step() const { return island_step; } _FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; } - _FORCE_INLINE_ Constraint2DSW *get_island_next() const { return island_next; } - _FORCE_INLINE_ void set_island_next(Constraint2DSW *p_next) { island_next = p_next; } - - _FORCE_INLINE_ Constraint2DSW *get_island_list_next() const { return island_list_next; } - _FORCE_INLINE_ void set_island_list_next(Constraint2DSW *p_next) { island_list_next = p_next; } - - _FORCE_INLINE_ Body2DSW **get_body_ptr() const { return _body_ptr; } + _FORCE_INLINE_ GodotBody2D **get_body_ptr() const { return _body_ptr; } _FORCE_INLINE_ int get_body_count() const { return _body_count; } _FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; } _FORCE_INLINE_ bool is_disabled_collisions_between_bodies() const { return disabled_collisions_between_bodies; } virtual bool setup(real_t p_step) = 0; + virtual bool pre_solve(real_t p_step) = 0; virtual void solve(real_t p_step) = 0; - virtual ~Constraint2DSW() {} + virtual ~GodotConstraint2D() {} }; -#endif // CONSTRAINT_2D_SW_H +#endif // GODOT_CONSTRAINT_2D_H diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/godot_joints_2d.cpp index c7b556deba..0c21b08ea9 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/godot_joints_2d.cpp @@ -1,12 +1,12 @@ /*************************************************************************/ -/* joints_2d_sw.cpp */ +/* godot_joints_2d.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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,9 +28,9 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "joints_2d_sw.h" +#include "godot_joints_2d.h" -#include "space_2d_sw.h" +#include "godot_space_2d.h" //based on chipmunk joint constraints @@ -55,7 +55,7 @@ * SOFTWARE. */ -void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) { +void GodotJoint2D::copy_settings_from(GodotJoint2D *p_joint) { set_self(p_joint->get_self()); set_max_force(p_joint->get_max_force()); set_bias(p_joint->get_bias()); @@ -63,18 +63,18 @@ void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) { disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies()); } -static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) { - real_t value = 0; +static inline real_t k_scalar(GodotBody2D *a, GodotBody2D *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) { + real_t value = 0.0; { value += a->get_inv_mass(); - real_t rcn = rA.cross(n); + real_t rcn = (rA - a->get_center_of_mass()).cross(n); value += a->get_inv_inertia() * rcn * rcn; } if (b) { value += b->get_inv_mass(); - real_t rcn = rB.cross(n); + real_t rcn = (rB - b->get_center_of_mass()).cross(n); value += b->get_inv_inertia() * rcn * rcn; } @@ -82,23 +82,31 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const } static inline Vector2 -relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) { - Vector2 sum = a->get_linear_velocity() - rA.orthogonal() * a->get_angular_velocity(); +relative_velocity(GodotBody2D *a, GodotBody2D *b, Vector2 rA, Vector2 rB) { + Vector2 sum = a->get_linear_velocity() - (rA - a->get_center_of_mass()).orthogonal() * a->get_angular_velocity(); if (b) { - return (b->get_linear_velocity() - rB.orthogonal() * b->get_angular_velocity()) - sum; + return (b->get_linear_velocity() - (rB - b->get_center_of_mass()).orthogonal() * b->get_angular_velocity()) - sum; } else { return -sum; } } static inline real_t -normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vector2 n) { +normal_relative_velocity(GodotBody2D *a, GodotBody2D *b, Vector2 rA, Vector2 rB, Vector2 n) { return relative_velocity(a, b, rA, rB).dot(n); } -bool PinJoint2DSW::setup(real_t p_step) { - Space2DSW *space = A->get_space(); +bool GodotPinJoint2D::setup(real_t p_step) { + dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); + dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); + + if (!dynamic_A && !dynamic_B) { + return false; + } + + GodotSpace2D *space = A->get_space(); ERR_FAIL_COND_V(!space, false); + rA = A->get_transform().basis_xform(anchor_A); rB = B ? B->get_transform().basis_xform(anchor_B) : anchor_B; @@ -110,22 +118,26 @@ bool PinJoint2DSW::setup(real_t p_step) { K1[0].y = 0.0f; K1[1].y = A->get_inv_mass() + B_inv_mass; + Vector2 r1 = rA - A->get_center_of_mass(); + Transform2D K2; - K2[0].x = A->get_inv_inertia() * rA.y * rA.y; - K2[1].x = -A->get_inv_inertia() * rA.x * rA.y; - K2[0].y = -A->get_inv_inertia() * rA.x * rA.y; - K2[1].y = A->get_inv_inertia() * rA.x * rA.x; + K2[0].x = A->get_inv_inertia() * r1.y * r1.y; + K2[1].x = -A->get_inv_inertia() * r1.x * r1.y; + K2[0].y = -A->get_inv_inertia() * r1.x * r1.y; + K2[1].y = A->get_inv_inertia() * r1.x * r1.x; Transform2D K; K[0] = K1[0] + K2[0]; K[1] = K1[1] + K2[1]; if (B) { + Vector2 r2 = rB - B->get_center_of_mass(); + Transform2D K3; - K3[0].x = B->get_inv_inertia() * rB.y * rB.y; - K3[1].x = -B->get_inv_inertia() * rB.x * rB.y; - K3[0].y = -B->get_inv_inertia() * rB.x * rB.y; - K3[1].y = B->get_inv_inertia() * rB.x * rB.x; + K3[0].x = B->get_inv_inertia() * r2.y * r2.y; + K3[1].x = -B->get_inv_inertia() * r2.x * r2.y; + K3[0].y = -B->get_inv_inertia() * r2.x * r2.y; + K3[1].y = B->get_inv_inertia() * r2.x * r2.x; K[0] += K3[0]; K[1] += K3[1]; @@ -143,12 +155,6 @@ bool PinJoint2DSW::setup(real_t p_step) { bias = delta * -(get_bias() == 0 ? space->get_constraint_bias() : get_bias()) * (1.0 / p_step); - // apply accumulated impulse - A->apply_impulse(-P, rA); - if (B) { - B->apply_impulse(P, rB); - } - return true; } @@ -156,49 +162,61 @@ inline Vector2 custom_cross(const Vector2 &p_vec, real_t p_other) { return Vector2(p_other * p_vec.y, -p_other * p_vec.x); } -void PinJoint2DSW::solve(real_t p_step) { +bool GodotPinJoint2D::pre_solve(real_t p_step) { + // Apply accumulated impulse. + if (dynamic_A) { + A->apply_impulse(-P, rA); + } + if (B && dynamic_B) { + B->apply_impulse(P, rB); + } + + return true; +} + +void GodotPinJoint2D::solve(real_t p_step) { // compute relative velocity - Vector2 vA = A->get_linear_velocity() - custom_cross(rA, A->get_angular_velocity()); + Vector2 vA = A->get_linear_velocity() - custom_cross(rA - A->get_center_of_mass(), A->get_angular_velocity()); Vector2 rel_vel; if (B) { - rel_vel = B->get_linear_velocity() - custom_cross(rB, B->get_angular_velocity()) - vA; + rel_vel = B->get_linear_velocity() - custom_cross(rB - B->get_center_of_mass(), B->get_angular_velocity()) - vA; } else { rel_vel = -vA; } Vector2 impulse = M.basis_xform(bias - rel_vel - Vector2(softness, softness) * P); - A->apply_impulse(-impulse, rA); - if (B) { + if (dynamic_A) { + A->apply_impulse(-impulse, rA); + } + if (B && dynamic_B) { B->apply_impulse(impulse, rB); } P += impulse; } -void PinJoint2DSW::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) { +void GodotPinJoint2D::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) { if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) { softness = p_value; } } -real_t PinJoint2DSW::get_param(PhysicsServer2D::PinJointParam p_param) const { +real_t GodotPinJoint2D::get_param(PhysicsServer2D::PinJointParam p_param) const { if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) { return softness; } ERR_FAIL_V(0); } -PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b) : - Joint2DSW(_arr, p_body_b ? 2 : 1) { +GodotPinJoint2D::GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b) : + GodotJoint2D(_arr, p_body_b ? 2 : 1) { A = p_body_a; B = p_body_b; anchor_A = p_body_a->get_inv_transform().xform(p_pos); anchor_B = p_body_b ? p_body_b->get_inv_transform().xform(p_pos) : p_pos; - softness = 0; - p_body_a->add_constraint(this, 0); if (p_body_b) { p_body_b->add_constraint(this, 1); @@ -210,7 +228,7 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p ////////////////////////////////////////////// static inline void -k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) { +k_tensor(GodotBody2D *a, GodotBody2D *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) { // calculate mass matrix // If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross... real_t k11, k12, k21, k22; @@ -222,6 +240,9 @@ k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 k21 = 0.0f; k22 = m_sum; + r1 -= a->get_center_of_mass(); + r2 -= b->get_center_of_mass(); + // add the influence from r1 real_t a_i_inv = a->get_inv_inertia(); real_t r1xsq = r1.x * r1.x * a_i_inv; @@ -256,11 +277,20 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) { return Vector2(vr.dot(k1), vr.dot(k2)); } -bool GrooveJoint2DSW::setup(real_t p_step) { +bool GodotGrooveJoint2D::setup(real_t p_step) { + dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); + dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); + + if (!dynamic_A && !dynamic_B) { + return false; + } + + GodotSpace2D *space = A->get_space(); + ERR_FAIL_COND_V(!space, false); + // calculate endpoints in worldspace Vector2 ta = A->get_transform().xform(A_groove_1); Vector2 tb = A->get_transform().xform(A_groove_2); - Space2DSW *space = A->get_space(); // calculate axis Vector2 n = -(tb - ta).orthogonal().normalized(); @@ -297,17 +327,25 @@ bool GrooveJoint2DSW::setup(real_t p_step) { Vector2 delta = (B->get_transform().get_origin() + rB) - (A->get_transform().get_origin() + rA); real_t _b = get_bias(); - gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).clamped(get_max_bias()); - - // apply accumulated impulse - A->apply_impulse(-jn_acc, rA); - B->apply_impulse(jn_acc, rB); + gbias = (delta * -(_b == 0 ? space->get_constraint_bias() : _b) * (1.0 / p_step)).limit_length(get_max_bias()); correct = true; return true; } -void GrooveJoint2DSW::solve(real_t p_step) { +bool GodotGrooveJoint2D::pre_solve(real_t p_step) { + // Apply accumulated impulse. + if (dynamic_A) { + A->apply_impulse(-jn_acc, rA); + } + if (dynamic_B) { + B->apply_impulse(jn_acc, rB); + } + + return true; +} + +void GodotGrooveJoint2D::solve(real_t p_step) { // compute impulse Vector2 vr = relative_velocity(A, B, rA, rB); @@ -315,16 +353,20 @@ void GrooveJoint2DSW::solve(real_t p_step) { Vector2 jOld = jn_acc; j += jOld; - jn_acc = (((clamp * j.cross(xf_normal)) > 0) ? j : j.project(xf_normal)).clamped(jn_max); + jn_acc = (((clamp * j.cross(xf_normal)) > 0) ? j : j.project(xf_normal)).limit_length(jn_max); j = jn_acc - jOld; - A->apply_impulse(-j, rA); - B->apply_impulse(j, rB); + if (dynamic_A) { + A->apply_impulse(-j, rA); + } + if (dynamic_B) { + B->apply_impulse(j, rB); + } } -GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) : - Joint2DSW(_arr, 2) { +GodotGrooveJoint2D::GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b) : + GodotJoint2D(_arr, 2) { A = p_body_a; B = p_body_b; @@ -341,7 +383,14 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_ ////////////////////////////////////////////// ////////////////////////////////////////////// -bool DampedSpringJoint2DSW::setup(real_t p_step) { +bool GodotDampedSpringJoint2D::setup(real_t p_step) { + dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); + dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); + + if (!dynamic_A && !dynamic_B) { + return false; + } + rA = A->get_transform().basis_xform(anchor_A); rB = B->get_transform().basis_xform(anchor_B); @@ -360,17 +409,26 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) { target_vrn = 0.0f; v_coef = 1.0f - Math::exp(-damping * (p_step)*k); - // apply spring force + // Calculate spring force. real_t f_spring = (rest_length - dist) * stiffness; - Vector2 j = n * f_spring * (p_step); + j = n * f_spring * (p_step); - A->apply_impulse(-j, rA); - B->apply_impulse(j, rB); + return true; +} + +bool GodotDampedSpringJoint2D::pre_solve(real_t p_step) { + // Apply spring force. + if (dynamic_A) { + A->apply_impulse(-j, rA); + } + if (dynamic_B) { + B->apply_impulse(j, rB); + } return true; } -void DampedSpringJoint2DSW::solve(real_t p_step) { +void GodotDampedSpringJoint2D::solve(real_t p_step) { // compute relative velocity real_t vrn = normal_relative_velocity(A, B, rA, rB, n) - target_vrn; @@ -380,11 +438,15 @@ void DampedSpringJoint2DSW::solve(real_t p_step) { target_vrn = vrn + v_damp; Vector2 j = n * v_damp * n_mass; - A->apply_impulse(-j, rA); - B->apply_impulse(j, rB); + if (dynamic_A) { + A->apply_impulse(-j, rA); + } + if (dynamic_B) { + B->apply_impulse(j, rB); + } } -void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) { +void GodotDampedSpringJoint2D::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: { rest_length = p_value; @@ -398,7 +460,7 @@ void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param } } -real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_param) const { +real_t GodotDampedSpringJoint2D::get_param(PhysicsServer2D::DampedSpringParam p_param) const { switch (p_param) { case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: { return rest_length; @@ -414,16 +476,14 @@ real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_par ERR_FAIL_V(0); } -DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b) : - Joint2DSW(_arr, 2) { +GodotDampedSpringJoint2D::GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b) : + GodotJoint2D(_arr, 2) { A = p_body_a; B = p_body_b; anchor_A = A->get_inv_transform().xform(p_anchor_a); anchor_B = B->get_inv_transform().xform(p_anchor_b); rest_length = p_anchor_a.distance_to(p_anchor_b); - stiffness = 20; - damping = 1.5; A->add_constraint(this, 0); B->add_constraint(this, 1); diff --git a/servers/physics_2d/joints_2d_sw.h b/servers/physics_2d/godot_joints_2d.h index 628de972ae..acaaf0f629 100644 --- a/servers/physics_2d/joints_2d_sw.h +++ b/servers/physics_2d/godot_joints_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* joints_2d_sw.h */ +/* godot_joints_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,16 +28,20 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef JOINTS_2D_SW_H -#define JOINTS_2D_SW_H +#ifndef GODOT_JOINTS_2D_H +#define GODOT_JOINTS_2D_H -#include "body_2d_sw.h" -#include "constraint_2d_sw.h" +#include "godot_body_2d.h" +#include "godot_constraint_2d.h" -class Joint2DSW : public Constraint2DSW { - real_t max_force; - real_t bias; - real_t max_bias; +class GodotJoint2D : public GodotConstraint2D { + real_t bias = 0; + real_t max_bias = 3.40282e+38; + real_t max_force = 3.40282e+38; + +protected: + bool dynamic_A = false; + bool dynamic_B = false; public: _FORCE_INLINE_ void set_max_force(real_t p_force) { max_force = p_force; } @@ -49,21 +53,19 @@ public: _FORCE_INLINE_ void set_max_bias(real_t p_bias) { max_bias = p_bias; } _FORCE_INLINE_ real_t get_max_bias() const { return max_bias; } - virtual bool setup(real_t p_step) { return false; } - virtual void solve(real_t p_step) {} + virtual bool setup(real_t p_step) override { return false; } + virtual bool pre_solve(real_t p_step) override { return false; } + virtual void solve(real_t p_step) override {} - void copy_settings_from(Joint2DSW *p_joint); + void copy_settings_from(GodotJoint2D *p_joint); virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_MAX; } - Joint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) : - Constraint2DSW(p_body_ptr, p_body_count) { - bias = 0; - max_force = max_bias = 3.40282e+38; - }; + GodotJoint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) : + GodotConstraint2D(p_body_ptr, p_body_count) {} - virtual ~Joint2DSW() { + virtual ~GodotJoint2D() { for (int i = 0; i < get_body_count(); i++) { - Body2DSW *body = get_body_ptr()[i]; + GodotBody2D *body = get_body_ptr()[i]; if (body) { body->remove_constraint(this, i); } @@ -71,14 +73,14 @@ public: }; }; -class PinJoint2DSW : public Joint2DSW { +class GodotPinJoint2D : public GodotJoint2D { union { struct { - Body2DSW *A; - Body2DSW *B; + GodotBody2D *A; + GodotBody2D *B; }; - Body2DSW *_arr[2]; + GodotBody2D *_arr[2] = { nullptr, nullptr }; }; Transform2D M; @@ -87,28 +89,29 @@ class PinJoint2DSW : public Joint2DSW { Vector2 anchor_B; Vector2 bias; Vector2 P; - real_t softness; + real_t softness = 0.0; public: - virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_PIN; } + virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_PIN; } - virtual bool setup(real_t p_step); - virtual void solve(real_t p_step); + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; void set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value); real_t get_param(PhysicsServer2D::PinJointParam p_param) const; - PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b = nullptr); + GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b = nullptr); }; -class GrooveJoint2DSW : public Joint2DSW { +class GodotGrooveJoint2D : public GodotJoint2D { union { struct { - Body2DSW *A; - Body2DSW *B; + GodotBody2D *A; + GodotBody2D *B; }; - Body2DSW *_arr[2]; + GodotBody2D *_arr[2] = { nullptr, nullptr }; }; Vector2 A_groove_1; @@ -117,56 +120,59 @@ class GrooveJoint2DSW : public Joint2DSW { Vector2 B_anchor; Vector2 jn_acc; Vector2 gbias; - real_t jn_max; - real_t clamp; + real_t jn_max = 0.0; + real_t clamp = 0.0; Vector2 xf_normal; Vector2 rA, rB; Vector2 k1, k2; - bool correct; + bool correct = false; public: - virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_GROOVE; } + virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_GROOVE; } - virtual bool setup(real_t p_step); - virtual void solve(real_t p_step); + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; - GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b); + GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b); }; -class DampedSpringJoint2DSW : public Joint2DSW { +class GodotDampedSpringJoint2D : public GodotJoint2D { union { struct { - Body2DSW *A; - Body2DSW *B; + GodotBody2D *A; + GodotBody2D *B; }; - Body2DSW *_arr[2]; + GodotBody2D *_arr[2] = { nullptr, nullptr }; }; Vector2 anchor_A; Vector2 anchor_B; - real_t rest_length; - real_t damping; - real_t stiffness; + real_t rest_length = 0.0; + real_t damping = 1.5; + real_t stiffness = 20.0; Vector2 rA, rB; Vector2 n; - real_t n_mass; - real_t target_vrn; - real_t v_coef; + Vector2 j; + real_t n_mass = 0.0; + real_t target_vrn = 0.0; + real_t v_coef = 0.0; public: - virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_DAMPED_SPRING; } + virtual PhysicsServer2D::JointType get_type() const override { return PhysicsServer2D::JOINT_TYPE_DAMPED_SPRING; } - virtual bool setup(real_t p_step); - virtual void solve(real_t p_step); + virtual bool setup(real_t p_step) override; + virtual bool pre_solve(real_t p_step) override; + virtual void solve(real_t p_step) override; void set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value); real_t get_param(PhysicsServer2D::DampedSpringParam p_param) const; - DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b); + GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b); }; -#endif // JOINTS_2D_SW_H +#endif // GODOT_JOINTS_2D_H diff --git a/servers/physics_2d/godot_physics_server_2d.cpp b/servers/physics_2d/godot_physics_server_2d.cpp new file mode 100644 index 0000000000..99e68de07c --- /dev/null +++ b/servers/physics_2d/godot_physics_server_2d.cpp @@ -0,0 +1,1353 @@ +/*************************************************************************/ +/* godot_physics_server_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 "godot_physics_server_2d.h" + +#include "godot_body_direct_state_2d.h" +#include "godot_broad_phase_2d_bvh.h" +#include "godot_collision_solver_2d.h" + +#include "core/config/project_settings.h" +#include "core/debugger/engine_debugger.h" +#include "core/os/os.h" + +#define FLUSH_QUERY_CHECK(m_object) \ + ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead."); + +RID GodotPhysicsServer2D::_shape_create(ShapeType p_shape) { + GodotShape2D *shape = nullptr; + switch (p_shape) { + case SHAPE_WORLD_BOUNDARY: { + shape = memnew(GodotWorldBoundaryShape2D); + } break; + case SHAPE_SEPARATION_RAY: { + shape = memnew(GodotSeparationRayShape2D); + } break; + case SHAPE_SEGMENT: { + shape = memnew(GodotSegmentShape2D); + } break; + case SHAPE_CIRCLE: { + shape = memnew(GodotCircleShape2D); + } break; + case SHAPE_RECTANGLE: { + shape = memnew(GodotRectangleShape2D); + } break; + case SHAPE_CAPSULE: { + shape = memnew(GodotCapsuleShape2D); + } break; + case SHAPE_CONVEX_POLYGON: { + shape = memnew(GodotConvexPolygonShape2D); + } break; + case SHAPE_CONCAVE_POLYGON: { + shape = memnew(GodotConcavePolygonShape2D); + } break; + case SHAPE_CUSTOM: { + ERR_FAIL_V(RID()); + + } break; + } + + RID id = shape_owner.make_rid(shape); + shape->set_self(id); + + return id; +} + +RID GodotPhysicsServer2D::world_boundary_shape_create() { + return _shape_create(SHAPE_WORLD_BOUNDARY); +} + +RID GodotPhysicsServer2D::separation_ray_shape_create() { + return _shape_create(SHAPE_SEPARATION_RAY); +} + +RID GodotPhysicsServer2D::segment_shape_create() { + return _shape_create(SHAPE_SEGMENT); +} + +RID GodotPhysicsServer2D::circle_shape_create() { + return _shape_create(SHAPE_CIRCLE); +} + +RID GodotPhysicsServer2D::rectangle_shape_create() { + return _shape_create(SHAPE_RECTANGLE); +} + +RID GodotPhysicsServer2D::capsule_shape_create() { + return _shape_create(SHAPE_CAPSULE); +} + +RID GodotPhysicsServer2D::convex_polygon_shape_create() { + return _shape_create(SHAPE_CONVEX_POLYGON); +} + +RID GodotPhysicsServer2D::concave_polygon_shape_create() { + return _shape_create(SHAPE_CONCAVE_POLYGON); +} + +void GodotPhysicsServer2D::shape_set_data(RID p_shape, const Variant &p_data) { + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + shape->set_data(p_data); +}; + +void GodotPhysicsServer2D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + shape->set_custom_bias(p_bias); +} + +PhysicsServer2D::ShapeType GodotPhysicsServer2D::shape_get_type(RID p_shape) const { + const GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM); + return shape->get_type(); +}; + +Variant GodotPhysicsServer2D::shape_get_data(RID p_shape) const { + const GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, Variant()); + ERR_FAIL_COND_V(!shape->is_configured(), Variant()); + return shape->get_data(); +}; + +real_t GodotPhysicsServer2D::shape_get_custom_solver_bias(RID p_shape) const { + const GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, 0); + return shape->get_custom_bias(); +} + +void GodotPhysicsServer2D::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { + CollCbkData *cbk = static_cast<CollCbkData *>(p_userdata); + + if (cbk->max == 0) { + return; + } + + Vector2 rel_dir = (p_point_A - p_point_B); + real_t rel_length2 = rel_dir.length_squared(); + if (cbk->valid_dir != Vector2()) { + if (cbk->valid_depth < 10e20) { + if (rel_length2 > cbk->valid_depth * cbk->valid_depth || + (rel_length2 > CMP_EPSILON && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON)) { + cbk->invalid_by_dir++; + return; + } + } else { + if (rel_length2 > 0 && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON) { + return; + } + } + } + + if (cbk->amount == cbk->max) { + //find least deep + real_t min_depth = 1e20; + int min_depth_idx = 0; + for (int i = 0; i < cbk->amount; i++) { + real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]); + if (d < min_depth) { + min_depth = d; + min_depth_idx = i; + } + } + + if (rel_length2 < min_depth) { + return; + } + cbk->ptr[min_depth_idx * 2 + 0] = p_point_A; + cbk->ptr[min_depth_idx * 2 + 1] = p_point_B; + cbk->passed++; + + } else { + cbk->ptr[cbk->amount * 2 + 0] = p_point_A; + cbk->ptr[cbk->amount * 2 + 1] = p_point_B; + cbk->amount++; + cbk->passed++; + } +} + +bool GodotPhysicsServer2D::shape_collide(RID p_shape_A, const Transform2D &p_xform_A, const Vector2 &p_motion_A, RID p_shape_B, const Transform2D &p_xform_B, const Vector2 &p_motion_B, Vector2 *r_results, int p_result_max, int &r_result_count) { + GodotShape2D *shape_A = shape_owner.get_or_null(p_shape_A); + ERR_FAIL_COND_V(!shape_A, false); + GodotShape2D *shape_B = shape_owner.get_or_null(p_shape_B); + ERR_FAIL_COND_V(!shape_B, false); + + if (p_result_max == 0) { + return GodotCollisionSolver2D::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, nullptr, nullptr); + } + + CollCbkData cbk; + cbk.max = p_result_max; + cbk.amount = 0; + cbk.passed = 0; + cbk.ptr = r_results; + + bool res = GodotCollisionSolver2D::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, _shape_col_cbk, &cbk); + r_result_count = cbk.amount; + return res; +} + +RID GodotPhysicsServer2D::space_create() { + GodotSpace2D *space = memnew(GodotSpace2D); + RID id = space_owner.make_rid(space); + space->set_self(id); + RID area_id = area_create(); + GodotArea2D *area = area_owner.get_or_null(area_id); + ERR_FAIL_COND_V(!area, RID()); + space->set_default_area(area); + area->set_space(space); + area->set_priority(-1); + + return id; +}; + +void GodotPhysicsServer2D::space_set_active(RID p_space, bool p_active) { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + if (p_active) { + active_spaces.insert(space); + } else { + active_spaces.erase(space); + } +} + +bool GodotPhysicsServer2D::space_is_active(RID p_space) const { + const GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, false); + + return active_spaces.has(space); +} + +void GodotPhysicsServer2D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + + space->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer2D::space_get_param(RID p_space, SpaceParameter p_param) const { + const GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, 0); + return space->get_param(p_param); +} + +void GodotPhysicsServer2D::space_set_debug_contacts(RID p_space, int p_max_contacts) { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + space->set_debug_contacts(p_max_contacts); +} + +Vector<Vector2> GodotPhysicsServer2D::space_get_contacts(RID p_space) const { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, Vector<Vector2>()); + return space->get_debug_contacts(); +} + +int GodotPhysicsServer2D::space_get_contact_count(RID p_space) const { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, 0); + return space->get_debug_contact_count(); +} + +PhysicsDirectSpaceState2D *GodotPhysicsServer2D::space_get_direct_state(RID p_space) { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, nullptr); + ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification."); + + return space->get_direct_state(); +} + +RID GodotPhysicsServer2D::area_create() { + GodotArea2D *area = memnew(GodotArea2D); + RID rid = area_owner.make_rid(area); + area->set_self(rid); + return rid; +} + +void GodotPhysicsServer2D::area_set_space(RID p_area, RID p_space) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotSpace2D *space = nullptr; + if (p_space.is_valid()) { + space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + } + + if (area->get_space() == space) { + return; //pointless + } + + area->clear_constraints(); + area->set_space(space); +} + +RID GodotPhysicsServer2D::area_get_space(RID p_area) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, RID()); + + GodotSpace2D *space = area->get_space(); + if (!space) { + return RID(); + } + return space->get_self(); +} + +void GodotPhysicsServer2D::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform, bool p_disabled) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + + area->add_shape(shape, p_transform, p_disabled); +} + +void GodotPhysicsServer2D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + ERR_FAIL_COND(!shape->is_configured()); + + area->set_shape(p_shape_idx, shape); +} + +void GodotPhysicsServer2D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_shape_transform(p_shape_idx, p_transform); +} + +void GodotPhysicsServer2D::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + ERR_FAIL_INDEX(p_shape, area->get_shape_count()); + FLUSH_QUERY_CHECK(area); + + area->set_shape_disabled(p_shape, p_disabled); +} + +int GodotPhysicsServer2D::area_get_shape_count(RID p_area) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, -1); + + return area->get_shape_count(); +} + +RID GodotPhysicsServer2D::area_get_shape(RID p_area, int p_shape_idx) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, RID()); + + GodotShape2D *shape = area->get_shape(p_shape_idx); + ERR_FAIL_COND_V(!shape, RID()); + + return shape->get_self(); +} + +Transform2D GodotPhysicsServer2D::area_get_shape_transform(RID p_area, int p_shape_idx) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Transform2D()); + + return area->get_shape_transform(p_shape_idx); +} + +void GodotPhysicsServer2D::area_remove_shape(RID p_area, int p_shape_idx) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->remove_shape(p_shape_idx); +} + +void GodotPhysicsServer2D::area_clear_shapes(RID p_area) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + while (area->get_shape_count()) { + area->remove_shape(0); + } +} + +void GodotPhysicsServer2D::area_attach_object_instance_id(RID p_area, ObjectID p_id) { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_instance_id(p_id); +} + +ObjectID GodotPhysicsServer2D::area_get_object_instance_id(RID p_area) const { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, ObjectID()); + return area->get_instance_id(); +} + +void GodotPhysicsServer2D::area_attach_canvas_instance_id(RID p_area, ObjectID p_id) { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_canvas_instance_id(p_id); +} + +ObjectID GodotPhysicsServer2D::area_get_canvas_instance_id(RID p_area) const { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, ObjectID()); + return area->get_canvas_instance_id(); +} + +void GodotPhysicsServer2D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_param(p_param, p_value); +}; + +void GodotPhysicsServer2D::area_set_transform(RID p_area, const Transform2D &p_transform) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_transform(p_transform); +}; + +Variant GodotPhysicsServer2D::area_get_param(RID p_area, AreaParameter p_param) const { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Variant()); + + return area->get_param(p_param); +}; + +Transform2D GodotPhysicsServer2D::area_get_transform(RID p_area) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Transform2D()); + + return area->get_transform(); +}; + +void GodotPhysicsServer2D::area_set_pickable(RID p_area, bool p_pickable) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_pickable(p_pickable); +} + +void GodotPhysicsServer2D::area_set_monitorable(RID p_area, bool p_monitorable) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + FLUSH_QUERY_CHECK(area); + + area->set_monitorable(p_monitorable); +} + +void GodotPhysicsServer2D::area_set_collision_mask(RID p_area, uint32_t p_mask) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_collision_mask(p_mask); +} + +void GodotPhysicsServer2D::area_set_collision_layer(RID p_area, uint32_t p_layer) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_collision_layer(p_layer); +} + +void GodotPhysicsServer2D::area_set_monitor_callback(RID p_area, const Callable &p_callback) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_monitor_callback(p_callback.is_valid() ? p_callback : Callable()); +} + +void GodotPhysicsServer2D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_area_monitor_callback(p_callback.is_valid() ? p_callback : Callable()); +} + +/* BODY API */ + +RID GodotPhysicsServer2D::body_create() { + GodotBody2D *body = memnew(GodotBody2D); + RID rid = body_owner.make_rid(body); + body->set_self(rid); + return rid; +} + +void GodotPhysicsServer2D::body_set_space(RID p_body, RID p_space) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + GodotSpace2D *space = nullptr; + if (p_space.is_valid()) { + space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + } + + if (body->get_space() == space) { + return; //pointless + } + + body->clear_constraint_list(); + body->set_space(space); +}; + +RID GodotPhysicsServer2D::body_get_space(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, RID()); + + GodotSpace2D *space = body->get_space(); + if (!space) { + return RID(); + } + return space->get_self(); +}; + +void GodotPhysicsServer2D::body_set_mode(RID p_body, BodyMode p_mode) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + FLUSH_QUERY_CHECK(body); + + body->set_mode(p_mode); +}; + +PhysicsServer2D::BodyMode GodotPhysicsServer2D::body_get_mode(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); + + return body->get_mode(); +}; + +void GodotPhysicsServer2D::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform, bool p_disabled) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + + body->add_shape(shape, p_transform, p_disabled); +} + +void GodotPhysicsServer2D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + ERR_FAIL_COND(!shape->is_configured()); + + body->set_shape(p_shape_idx, shape); +} + +void GodotPhysicsServer2D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_shape_transform(p_shape_idx, p_transform); +} + +int GodotPhysicsServer2D::body_get_shape_count(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, -1); + + return body->get_shape_count(); +} + +RID GodotPhysicsServer2D::body_get_shape(RID p_body, int p_shape_idx) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, RID()); + + GodotShape2D *shape = body->get_shape(p_shape_idx); + ERR_FAIL_COND_V(!shape, RID()); + + return shape->get_self(); +} + +Transform2D GodotPhysicsServer2D::body_get_shape_transform(RID p_body, int p_shape_idx) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Transform2D()); + + return body->get_shape_transform(p_shape_idx); +} + +void GodotPhysicsServer2D::body_remove_shape(RID p_body, int p_shape_idx) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->remove_shape(p_shape_idx); +} + +void GodotPhysicsServer2D::body_clear_shapes(RID p_body) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + while (body->get_shape_count()) { + body->remove_shape(0); + } +} + +void GodotPhysicsServer2D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); + FLUSH_QUERY_CHECK(body); + + body->set_shape_disabled(p_shape_idx, p_disabled); +} + +void GodotPhysicsServer2D::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); + FLUSH_QUERY_CHECK(body); + + body->set_shape_as_one_way_collision(p_shape_idx, p_enable, p_margin); +} + +void GodotPhysicsServer2D::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_continuous_collision_detection_mode(p_mode); +} + +GodotPhysicsServer2D::CCDMode GodotPhysicsServer2D::body_get_continuous_collision_detection_mode(RID p_body) const { + const GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED); + + return body->get_continuous_collision_detection_mode(); +} + +void GodotPhysicsServer2D::body_attach_object_instance_id(RID p_body, ObjectID p_id) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_instance_id(p_id); +} + +ObjectID GodotPhysicsServer2D::body_get_object_instance_id(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, ObjectID()); + + return body->get_instance_id(); +} + +void GodotPhysicsServer2D::body_attach_canvas_instance_id(RID p_body, ObjectID p_id) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_canvas_instance_id(p_id); +} + +ObjectID GodotPhysicsServer2D::body_get_canvas_instance_id(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, ObjectID()); + + return body->get_canvas_instance_id(); +} + +void GodotPhysicsServer2D::body_set_collision_layer(RID p_body, uint32_t p_layer) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_collision_layer(p_layer); +} + +uint32_t GodotPhysicsServer2D::body_get_collision_layer(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_layer(); +} + +void GodotPhysicsServer2D::body_set_collision_mask(RID p_body, uint32_t p_mask) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_collision_mask(p_mask); +} + +uint32_t GodotPhysicsServer2D::body_get_collision_mask(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_mask(); +} + +void GodotPhysicsServer2D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_param(p_param, p_value); +} + +Variant GodotPhysicsServer2D::body_get_param(RID p_body, BodyParameter p_param) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_param(p_param); +} + +void GodotPhysicsServer2D::body_reset_mass_properties(RID p_body) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + return body->reset_mass_properties(); +} + +void GodotPhysicsServer2D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_state(p_state, p_variant); +} + +Variant GodotPhysicsServer2D::body_get_state(RID p_body, BodyState p_state) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Variant()); + + return body->get_state(p_state); +} + +void GodotPhysicsServer2D::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->apply_central_impulse(p_impulse); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_apply_torque_impulse(RID p_body, real_t p_torque) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + body->apply_torque_impulse(p_torque); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + body->apply_impulse(p_impulse, p_position); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_apply_central_force(RID p_body, const Vector2 &p_force) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->apply_central_force(p_force); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_apply_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->apply_force(p_force, p_position); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_apply_torque(RID p_body, real_t p_torque) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->apply_torque(p_torque); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_add_constant_central_force(RID p_body, const Vector2 &p_force) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_constant_central_force(p_force); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_add_constant_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_constant_force(p_force, p_position); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_add_constant_torque(RID p_body, real_t p_torque) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_constant_torque(p_torque); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_set_constant_force(RID p_body, const Vector2 &p_force) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_constant_force(p_force); + if (!p_force.is_equal_approx(Vector2())) { + body->wakeup(); + } +} + +Vector2 GodotPhysicsServer2D::body_get_constant_force(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Vector2()); + return body->get_constant_force(); +} + +void GodotPhysicsServer2D::body_set_constant_torque(RID p_body, real_t p_torque) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_constant_torque(p_torque); + if (!Math::is_zero_approx(p_torque)) { + body->wakeup(); + } +} + +real_t GodotPhysicsServer2D::body_get_constant_torque(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_constant_torque(); +} + +void GodotPhysicsServer2D::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + Vector2 v = body->get_linear_velocity(); + Vector2 axis = p_axis_velocity.normalized(); + v -= axis * axis.dot(v); + v += p_axis_velocity; + body->set_linear_velocity(v); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_add_collision_exception(RID p_body, RID p_body_b) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_exception(p_body_b); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_remove_collision_exception(RID p_body, RID p_body_b) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->remove_exception(p_body_b); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + for (int i = 0; i < body->get_exceptions().size(); i++) { + p_exceptions->push_back(body->get_exceptions()[i]); + } +}; + +void GodotPhysicsServer2D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); +}; + +real_t GodotPhysicsServer2D::body_get_contacts_reported_depth_threshold(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + return 0; +}; + +void GodotPhysicsServer2D::body_set_omit_force_integration(RID p_body, bool p_omit) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_omit_force_integration(p_omit); +}; + +bool GodotPhysicsServer2D::body_is_omitting_force_integration(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + return body->get_omit_force_integration(); +}; + +void GodotPhysicsServer2D::body_set_max_contacts_reported(RID p_body, int p_contacts) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_max_contacts_reported(p_contacts); +} + +int GodotPhysicsServer2D::body_get_max_contacts_reported(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, -1); + return body->get_max_contacts_reported(); +} + +void GodotPhysicsServer2D::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_state_sync_callback(p_instance, p_callback); +} + +void GodotPhysicsServer2D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_force_integration_callback(p_callable, p_udata); +} + +bool GodotPhysicsServer2D::body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + ERR_FAIL_INDEX_V(p_body_shape, body->get_shape_count(), false); + + return shape_collide(body->get_shape(p_body_shape)->get_self(), body->get_transform() * body->get_shape_transform(p_body_shape), Vector2(), p_shape, p_shape_xform, p_motion, r_results, p_result_max, r_result_count); +} + +void GodotPhysicsServer2D::body_set_pickable(RID p_body, bool p_pickable) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_pickable(p_pickable); +} + +bool GodotPhysicsServer2D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + ERR_FAIL_COND_V(!body->get_space(), false); + ERR_FAIL_COND_V(body->get_space()->is_locked(), false); + + _update_shapes(); + + return body->get_space()->test_body_motion(body, p_parameters, r_result); +} + +PhysicsDirectBodyState2D *GodotPhysicsServer2D::body_get_direct_state(RID p_body) { + ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); + + if (!body_owner.owns(p_body)) { + return nullptr; + } + + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, nullptr); + + if (!body->get_space()) { + return nullptr; + } + + ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); + + return body->get_direct_state(); +} + +/* JOINT API */ + +RID GodotPhysicsServer2D::joint_create() { + GodotJoint2D *joint = memnew(GodotJoint2D); + RID joint_rid = joint_owner.make_rid(joint); + joint->set_self(joint_rid); + return joint_rid; +} + +void GodotPhysicsServer2D::joint_clear(RID p_joint) { + GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + if (joint->get_type() != JOINT_TYPE_MAX) { + GodotJoint2D *empty_joint = memnew(GodotJoint2D); + empty_joint->copy_settings_from(joint); + + joint_owner.replace(p_joint, empty_joint); + memdelete(joint); + } +} + +void GodotPhysicsServer2D::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) { + GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + + switch (p_param) { + case JOINT_PARAM_BIAS: + joint->set_bias(p_value); + break; + case JOINT_PARAM_MAX_BIAS: + joint->set_max_bias(p_value); + break; + case JOINT_PARAM_MAX_FORCE: + joint->set_max_force(p_value); + break; + } +} + +real_t GodotPhysicsServer2D::joint_get_param(RID p_joint, JointParam p_param) const { + const GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, -1); + + switch (p_param) { + case JOINT_PARAM_BIAS: + return joint->get_bias(); + break; + case JOINT_PARAM_MAX_BIAS: + return joint->get_max_bias(); + break; + case JOINT_PARAM_MAX_FORCE: + return joint->get_max_force(); + break; + } + + return 0; +} + +void GodotPhysicsServer2D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); + + if (2 == joint->get_body_count()) { + GodotBody2D *body_a = *joint->get_body_ptr(); + GodotBody2D *body_b = *(joint->get_body_ptr() + 1); + + if (p_disable) { + body_add_collision_exception(body_a->get_self(), body_b->get_self()); + body_add_collision_exception(body_b->get_self(), body_a->get_self()); + } else { + body_remove_collision_exception(body_a->get_self(), body_b->get_self()); + body_remove_collision_exception(body_b->get_self(), body_a->get_self()); + } + } +} + +bool GodotPhysicsServer2D::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + const GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, true); + + return joint->is_disabled_collisions_between_bodies(); +} + +void GodotPhysicsServer2D::joint_make_pin(RID p_joint, const Vector2 &p_pos, RID p_body_a, RID p_body_b) { + GodotBody2D *A = body_owner.get_or_null(p_body_a); + ERR_FAIL_COND(!A); + GodotBody2D *B = nullptr; + if (body_owner.owns(p_body_b)) { + B = body_owner.get_or_null(p_body_b); + ERR_FAIL_COND(!B); + } + + GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint2D *joint = memnew(GodotPinJoint2D(p_pos, A, B)); + + joint_owner.replace(p_joint, joint); + joint->copy_settings_from(prev_joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer2D::joint_make_groove(RID p_joint, const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) { + GodotBody2D *A = body_owner.get_or_null(p_body_a); + ERR_FAIL_COND(!A); + + GodotBody2D *B = body_owner.get_or_null(p_body_b); + ERR_FAIL_COND(!B); + + GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint2D *joint = memnew(GodotGrooveJoint2D(p_a_groove1, p_a_groove2, p_b_anchor, A, B)); + + joint_owner.replace(p_joint, joint); + joint->copy_settings_from(prev_joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer2D::joint_make_damped_spring(RID p_joint, const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) { + GodotBody2D *A = body_owner.get_or_null(p_body_a); + ERR_FAIL_COND(!A); + + GodotBody2D *B = body_owner.get_or_null(p_body_b); + ERR_FAIL_COND(!B); + + GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint2D *joint = memnew(GodotDampedSpringJoint2D(p_anchor_a, p_anchor_b, A, B)); + + joint_owner.replace(p_joint, joint); + joint->copy_settings_from(prev_joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer2D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { + GodotJoint2D *j = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!j); + ERR_FAIL_COND(j->get_type() != JOINT_TYPE_PIN); + + GodotPinJoint2D *pin_joint = static_cast<GodotPinJoint2D *>(j); + pin_joint->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer2D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { + GodotJoint2D *j = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!j, 0); + ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_PIN, 0); + + GodotPinJoint2D *pin_joint = static_cast<GodotPinJoint2D *>(j); + return pin_joint->get_param(p_param); +} + +void GodotPhysicsServer2D::damped_spring_joint_set_param(RID p_joint, DampedSpringParam p_param, real_t p_value) { + GodotJoint2D *j = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!j); + ERR_FAIL_COND(j->get_type() != JOINT_TYPE_DAMPED_SPRING); + + GodotDampedSpringJoint2D *dsj = static_cast<GodotDampedSpringJoint2D *>(j); + dsj->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer2D::damped_spring_joint_get_param(RID p_joint, DampedSpringParam p_param) const { + GodotJoint2D *j = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!j, 0); + ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_DAMPED_SPRING, 0); + + GodotDampedSpringJoint2D *dsj = static_cast<GodotDampedSpringJoint2D *>(j); + return dsj->get_param(p_param); +} + +PhysicsServer2D::JointType GodotPhysicsServer2D::joint_get_type(RID p_joint) const { + GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN); + + return joint->get_type(); +} + +void GodotPhysicsServer2D::free(RID p_rid) { + _update_shapes(); // just in case + + if (shape_owner.owns(p_rid)) { + GodotShape2D *shape = shape_owner.get_or_null(p_rid); + + while (shape->get_owners().size()) { + GodotShapeOwner2D *so = shape->get_owners().begin()->key; + so->remove_shape(shape); + } + + shape_owner.free(p_rid); + memdelete(shape); + } else if (body_owner.owns(p_rid)) { + GodotBody2D *body = body_owner.get_or_null(p_rid); + + body_set_space(p_rid, RID()); + + while (body->get_shape_count()) { + body->remove_shape(0); + } + + body_owner.free(p_rid); + memdelete(body); + + } else if (area_owner.owns(p_rid)) { + GodotArea2D *area = area_owner.get_or_null(p_rid); + + area->set_space(nullptr); + + while (area->get_shape_count()) { + area->remove_shape(0); + } + + area_owner.free(p_rid); + memdelete(area); + } else if (space_owner.owns(p_rid)) { + GodotSpace2D *space = space_owner.get_or_null(p_rid); + + while (space->get_objects().size()) { + GodotCollisionObject2D *co = static_cast<GodotCollisionObject2D *>(*space->get_objects().begin()); + co->set_space(nullptr); + } + + active_spaces.erase(space); + free(space->get_default_area()->get_self()); + space_owner.free(p_rid); + memdelete(space); + } else if (joint_owner.owns(p_rid)) { + GodotJoint2D *joint = joint_owner.get_or_null(p_rid); + + joint_owner.free(p_rid); + memdelete(joint); + + } else { + ERR_FAIL_MSG("Invalid ID."); + } +} + +void GodotPhysicsServer2D::set_active(bool p_active) { + active = p_active; +} + +void GodotPhysicsServer2D::init() { + doing_sync = false; + stepper = memnew(GodotStep2D); +} + +void GodotPhysicsServer2D::step(real_t p_step) { + if (!active) { + return; + } + + _update_shapes(); + + island_count = 0; + active_objects = 0; + collision_pairs = 0; + for (const GodotSpace2D *E : active_spaces) { + stepper->step(const_cast<GodotSpace2D *>(E), p_step); + island_count += E->get_island_count(); + active_objects += E->get_active_objects(); + collision_pairs += E->get_collision_pairs(); + } +} + +void GodotPhysicsServer2D::sync() { + doing_sync = true; +} + +void GodotPhysicsServer2D::flush_queries() { + if (!active) { + return; + } + + flushing_queries = true; + + uint64_t time_beg = OS::get_singleton()->get_ticks_usec(); + + for (const GodotSpace2D *E : active_spaces) { + GodotSpace2D *space = const_cast<GodotSpace2D *>(E); + space->call_queries(); + } + + flushing_queries = false; + + if (EngineDebugger::is_profiling("servers")) { + uint64_t total_time[GodotSpace2D::ELAPSED_TIME_MAX]; + static const char *time_name[GodotSpace2D::ELAPSED_TIME_MAX] = { + "integrate_forces", + "generate_islands", + "setup_constraints", + "solve_constraints", + "integrate_velocities" + }; + + for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) { + total_time[i] = 0; + } + + for (const GodotSpace2D *E : active_spaces) { + for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) { + total_time[i] += E->get_elapsed_time(GodotSpace2D::ElapsedTime(i)); + } + } + + Array values; + values.resize(GodotSpace2D::ELAPSED_TIME_MAX * 2); + for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) { + values[i * 2 + 0] = time_name[i]; + values[i * 2 + 1] = USEC_TO_SEC(total_time[i]); + } + values.push_back("flush_queries"); + values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg)); + + values.push_front("physics_2d"); + EngineDebugger::profiler_add_frame_data("servers", values); + } +} + +void GodotPhysicsServer2D::end_sync() { + doing_sync = false; +} + +void GodotPhysicsServer2D::finish() { + memdelete(stepper); +} + +void GodotPhysicsServer2D::_update_shapes() { + while (pending_shape_update_list.first()) { + pending_shape_update_list.first()->self()->_shape_changed(); + pending_shape_update_list.remove(pending_shape_update_list.first()); + } +} + +int GodotPhysicsServer2D::get_process_info(ProcessInfo p_info) { + switch (p_info) { + case INFO_ACTIVE_OBJECTS: { + return active_objects; + } break; + case INFO_COLLISION_PAIRS: { + return collision_pairs; + } break; + case INFO_ISLAND_COUNT: { + return island_count; + } break; + } + + return 0; +} + +GodotPhysicsServer2D *GodotPhysicsServer2D::godot_singleton = nullptr; + +GodotPhysicsServer2D::GodotPhysicsServer2D(bool p_using_threads) { + godot_singleton = this; + GodotBroadPhase2D::create_func = GodotBroadPhase2DBVH::_create; + + using_threads = p_using_threads; +} diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/godot_physics_server_2d.h index 65c5df0fce..2af6e5c97c 100644 --- a/servers/physics_2d/physics_server_2d_sw.h +++ b/servers/physics_2d/godot_physics_server_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* physics_server_2d_sw.h */ +/* godot_physics_server_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,50 +28,46 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef PHYSICS_2D_SERVER_SW -#define PHYSICS_2D_SERVER_SW +#ifndef GODOT_PHYSICS_SERVER_2D_H +#define GODOT_PHYSICS_SERVER_2D_H + +#include "godot_joints_2d.h" +#include "godot_shape_2d.h" +#include "godot_space_2d.h" +#include "godot_step_2d.h" #include "core/templates/rid_owner.h" -#include "joints_2d_sw.h" #include "servers/physics_server_2d.h" -#include "shape_2d_sw.h" -#include "space_2d_sw.h" -#include "step_2d_sw.h" - -class PhysicsServer2DSW : public PhysicsServer2D { - GDCLASS(PhysicsServer2DSW, PhysicsServer2D); - friend class PhysicsDirectSpaceState2DSW; - friend class PhysicsDirectBodyState2DSW; - bool active; - int iterations; - bool doing_sync; - real_t last_step; +class GodotPhysicsServer2D : public PhysicsServer2D { + GDCLASS(GodotPhysicsServer2D, PhysicsServer2D); - int island_count; - int active_objects; - int collision_pairs; + friend class GodotPhysicsDirectSpaceState2D; + friend class GodotPhysicsDirectBodyState2D; + bool active = true; + bool doing_sync = false; - bool using_threads; + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; - bool flushing_queries; + bool using_threads = false; - Step2DSW *stepper; - Set<const Space2DSW *> active_spaces; + bool flushing_queries = false; - PhysicsDirectBodyState2DSW *direct_state; + GodotStep2D *stepper = nullptr; + HashSet<const GodotSpace2D *> active_spaces; - mutable RID_PtrOwner<Shape2DSW, true> shape_owner; - mutable RID_PtrOwner<Space2DSW, true> space_owner; - mutable RID_PtrOwner<Area2DSW, true> area_owner; - mutable RID_PtrOwner<Body2DSW, true> body_owner; - mutable RID_PtrOwner<Joint2DSW, true> joint_owner; + mutable RID_PtrOwner<GodotShape2D, true> shape_owner; + mutable RID_PtrOwner<GodotSpace2D, true> space_owner; + mutable RID_PtrOwner<GodotArea2D, true> area_owner; + mutable RID_PtrOwner<GodotBody2D, true> body_owner; + mutable RID_PtrOwner<GodotJoint2D, true> joint_owner; - static PhysicsServer2DSW *singletonsw; + static GodotPhysicsServer2D *godot_singleton; - //void _clear_query(Query2DSW *p_query); - friend class CollisionObject2DSW; - SelfList<CollisionObject2DSW>::List pending_shape_update_list; + friend class GodotCollisionObject2D; + SelfList<GodotCollisionObject2D>::List pending_shape_update_list; void _update_shapes(); RID _shape_create(ShapeType p_shape); @@ -79,16 +75,16 @@ class PhysicsServer2DSW : public PhysicsServer2D { public: struct CollCbkData { Vector2 valid_dir; - real_t valid_depth; - int max; - int amount; - int passed; - int invalid_by_dir; - Vector2 *ptr; + real_t valid_depth = 0.0; + int max = 0; + int amount = 0; + int passed = 0; + int invalid_by_dir = 0; + Vector2 *ptr = nullptr; }; - virtual RID line_shape_create() override; - virtual RID ray_shape_create() override; + virtual RID world_boundary_shape_create() override; + virtual RID separation_ray_shape_create() override; virtual RID segment_shape_create() override; virtual RID circle_shape_create() override; virtual RID rectangle_shape_create() override; @@ -127,9 +123,6 @@ public: virtual RID area_create() override; - virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) override; - virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const override; - virtual void area_set_space(RID p_area, RID p_space) override; virtual RID area_get_space(RID p_area) const override; @@ -161,8 +154,8 @@ public: virtual void area_set_collision_mask(RID p_area, uint32_t p_mask) override; virtual void area_set_collision_layer(RID p_area, uint32_t p_layer) override; - virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override; - virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) override; + virtual void area_set_monitor_callback(RID p_area, const Callable &p_callback) override; + virtual void area_set_area_monitor_callback(RID p_area, const Callable &p_callback) override; virtual void area_set_pickable(RID p_area, bool p_pickable) override; @@ -180,12 +173,10 @@ public: virtual void body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false) override; virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape) override; virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) override; - virtual void body_set_shape_metadata(RID p_body, int p_shape_idx, const Variant &p_metadata) override; virtual int body_get_shape_count(RID p_body) const override; virtual RID body_get_shape(RID p_body, int p_shape_idx) const override; virtual Transform2D body_get_shape_transform(RID p_body, int p_shape_idx) const override; - virtual Variant body_get_shape_metadata(RID p_body, int p_shape_idx) const override; virtual void body_remove_shape(RID p_body, int p_shape_idx) override; virtual void body_clear_shapes(RID p_body) override; @@ -208,25 +199,32 @@ public: virtual void body_set_collision_mask(RID p_body, uint32_t p_mask) override; virtual uint32_t body_get_collision_mask(RID p_body) const override; - virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value) override; - virtual real_t body_get_param(RID p_body, BodyParameter p_param) const override; + virtual void body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) override; + virtual Variant body_get_param(RID p_body, BodyParameter p_param) const override; + + virtual void body_reset_mass_properties(RID p_body) override; virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) override; virtual Variant body_get_state(RID p_body, BodyState p_state) const override; - virtual void body_set_applied_force(RID p_body, const Vector2 &p_force) override; - virtual Vector2 body_get_applied_force(RID p_body) const override; - - virtual void body_set_applied_torque(RID p_body, real_t p_torque) override; - virtual real_t body_get_applied_torque(RID p_body) const override; - - virtual void body_add_central_force(RID p_body, const Vector2 &p_force) override; - virtual void body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) override; - virtual void body_add_torque(RID p_body, real_t p_torque) override; - virtual void body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) override; virtual void body_apply_torque_impulse(RID p_body, real_t p_torque) override; virtual void body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) override; + + virtual void body_apply_central_force(RID p_body, const Vector2 &p_force) override; + virtual void body_apply_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) override; + virtual void body_apply_torque(RID p_body, real_t p_torque) override; + + virtual void body_add_constant_central_force(RID p_body, const Vector2 &p_force) override; + virtual void body_add_constant_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position = Vector2()) override; + virtual void body_add_constant_torque(RID p_body, real_t p_torque) override; + + virtual void body_set_constant_force(RID p_body, const Vector2 &p_force) override; + virtual Vector2 body_get_constant_force(RID p_body) const override; + + virtual void body_set_constant_torque(RID p_body, real_t p_torque) override; + virtual real_t body_get_constant_torque(RID p_body) const override; + virtual void body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) override; virtual void body_add_collision_exception(RID p_body, RID p_body_b) override; @@ -242,13 +240,14 @@ public: virtual void body_set_max_contacts_reported(RID p_body, int p_contacts) override; virtual int body_get_max_contacts_reported(RID p_body) const override; - virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()) override; + virtual void body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) override; + virtual void body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata = Variant()) override; + virtual bool body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) override; virtual void body_set_pickable(RID p_body, bool p_pickable) override; - virtual bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override; - virtual int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override; + virtual bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) override; // this function only works on physics process, errors and returns null otherwise virtual PhysicsDirectBodyState2D *body_get_direct_state(RID p_body) override; @@ -292,8 +291,8 @@ public: int get_process_info(ProcessInfo p_info) override; - PhysicsServer2DSW(bool p_using_threads = false); - ~PhysicsServer2DSW() {} + GodotPhysicsServer2D(bool p_using_threads = false); + ~GodotPhysicsServer2D() {} }; -#endif +#endif // GODOT_PHYSICS_SERVER_2D_H diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/godot_shape_2d.cpp index 6e7e802a8b..72ade3757b 100644 --- a/servers/physics_2d/shape_2d_sw.cpp +++ b/servers/physics_2d/godot_shape_2d.cpp @@ -1,12 +1,12 @@ /*************************************************************************/ -/* shape_2d_sw.cpp */ +/* godot_shape_2d.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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,59 +28,54 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "shape_2d_sw.h" +#include "godot_shape_2d.h" #include "core/math/geometry_2d.h" #include "core/templates/sort_array.h" -void Shape2DSW::configure(const Rect2 &p_aabb) { +void GodotShape2D::configure(const Rect2 &p_aabb) { aabb = p_aabb; configured = true; - for (Map<ShapeOwner2DSW *, int>::Element *E = owners.front(); E; E = E->next()) { - ShapeOwner2DSW *co = (ShapeOwner2DSW *)E->key(); + for (const KeyValue<GodotShapeOwner2D *, int> &E : owners) { + GodotShapeOwner2D *co = const_cast<GodotShapeOwner2D *>(E.key); co->_shape_changed(); } } -Vector2 Shape2DSW::get_support(const Vector2 &p_normal) const { +Vector2 GodotShape2D::get_support(const Vector2 &p_normal) const { Vector2 res[2]; int amnt; get_supports(p_normal, res, amnt); return res[0]; } -void Shape2DSW::add_owner(ShapeOwner2DSW *p_owner) { - Map<ShapeOwner2DSW *, int>::Element *E = owners.find(p_owner); +void GodotShape2D::add_owner(GodotShapeOwner2D *p_owner) { + HashMap<GodotShapeOwner2D *, int>::Iterator E = owners.find(p_owner); if (E) { - E->get()++; + E->value++; } else { owners[p_owner] = 1; } } -void Shape2DSW::remove_owner(ShapeOwner2DSW *p_owner) { - Map<ShapeOwner2DSW *, int>::Element *E = owners.find(p_owner); +void GodotShape2D::remove_owner(GodotShapeOwner2D *p_owner) { + HashMap<GodotShapeOwner2D *, int>::Iterator E = owners.find(p_owner); ERR_FAIL_COND(!E); - E->get()--; - if (E->get() == 0) { - owners.erase(E); + E->value--; + if (E->value == 0) { + owners.remove(E); } } -bool Shape2DSW::is_owner(ShapeOwner2DSW *p_owner) const { +bool GodotShape2D::is_owner(GodotShapeOwner2D *p_owner) const { return owners.has(p_owner); } -const Map<ShapeOwner2DSW *, int> &Shape2DSW::get_owners() const { +const HashMap<GodotShapeOwner2D *, int> &GodotShape2D::get_owners() const { return owners; } -Shape2DSW::Shape2DSW() { - custom_bias = 0; - configured = false; -} - -Shape2DSW::~Shape2DSW() { +GodotShape2D::~GodotShape2D() { ERR_FAIL_COND(owners.size()); } @@ -88,15 +83,15 @@ Shape2DSW::~Shape2DSW() { /*********************************************************/ /*********************************************************/ -void LineShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotWorldBoundaryShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { r_amount = 0; } -bool LineShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotWorldBoundaryShape2D::contains_point(const Vector2 &p_point) const { return normal.dot(p_point) < d; } -bool LineShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotWorldBoundaryShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { Vector2 segment = p_begin - p_end; real_t den = normal.dot(segment); @@ -118,11 +113,11 @@ bool LineShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_e return true; } -real_t LineShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotWorldBoundaryShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return 0; } -void LineShape2DSW::set_data(const Variant &p_data) { +void GodotWorldBoundaryShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY); Array arr = p_data; ERR_FAIL_COND(arr.size() != 2); @@ -131,7 +126,7 @@ void LineShape2DSW::set_data(const Variant &p_data) { configure(Rect2(Vector2(-1e4, -1e4), Vector2(1e4 * 2, 1e4 * 2))); } -Variant LineShape2DSW::get_data() const { +Variant GodotWorldBoundaryShape2D::get_data() const { Array arr; arr.resize(2); arr[0] = normal; @@ -143,7 +138,7 @@ Variant LineShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void RayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotSeparationRayShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { r_amount = 1; if (p_normal.y > 0) { @@ -153,29 +148,29 @@ void RayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, in } } -bool RayShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotSeparationRayShape2D::contains_point(const Vector2 &p_point) const { return false; } -bool RayShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotSeparationRayShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { return false; //rays can't be intersected } -real_t RayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotSeparationRayShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return 0; //rays are mass-less } -void RayShape2DSW::set_data(const Variant &p_data) { +void GodotSeparationRayShape2D::set_data(const Variant &p_data) { Dictionary d = p_data; length = d["length"]; - slips_on_slope = d["slips_on_slope"]; + slide_on_slope = d["slide_on_slope"]; configure(Rect2(0, 0, 0.001, length)); } -Variant RayShape2DSW::get_data() const { +Variant GodotSeparationRayShape2D::get_data() const { Dictionary d; d["length"] = length; - d["slips_on_slope"] = slips_on_slope; + d["slide_on_slope"] = slide_on_slope; return d; } @@ -183,7 +178,7 @@ Variant RayShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotSegmentShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { if (Math::abs(p_normal.dot(n)) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) { r_supports[0] = a; r_supports[1] = b; @@ -200,11 +195,11 @@ void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports r_amount = 1; } -bool SegmentShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotSegmentShape2D::contains_point(const Vector2 &p_point) const { return false; } -bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotSegmentShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { if (!Geometry2D::segment_intersects_segment(p_begin, p_end, a, b, &r_point)) { return false; } @@ -218,11 +213,11 @@ bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 & return true; } -real_t SegmentShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotSegmentShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return p_mass * ((a * p_scale).distance_squared_to(b * p_scale)) / 12; } -void SegmentShape2DSW::set_data(const Variant &p_data) { +void GodotSegmentShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::RECT2); Rect2 r = p_data; @@ -242,7 +237,7 @@ void SegmentShape2DSW::set_data(const Variant &p_data) { configure(aabb); } -Variant SegmentShape2DSW::get_data() const { +Variant GodotSegmentShape2D::get_data() const { Rect2 r; r.position = a; r.size = b; @@ -253,16 +248,16 @@ Variant SegmentShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void CircleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotCircleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { r_amount = 1; *r_supports = p_normal * radius; } -bool CircleShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotCircleShape2D::contains_point(const Vector2 &p_point) const { return p_point.length_squared() < radius * radius; } -bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotCircleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { Vector2 line_vec = p_end - p_begin; real_t a, b, c; @@ -288,19 +283,19 @@ bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p return true; } -real_t CircleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotCircleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { real_t a = radius * p_scale.x; real_t b = radius * p_scale.y; return p_mass * (a * a + b * b) / 4; } -void CircleShape2DSW::set_data(const Variant &p_data) { +void GodotCircleShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(!p_data.is_num()); radius = p_data; configure(Rect2(-radius, -radius, radius * 2, radius * 2)); } -Variant CircleShape2DSW::get_data() const { +Variant GodotCircleShape2D::get_data() const { return radius; } @@ -308,7 +303,7 @@ Variant CircleShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotRectangleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { for (int i = 0; i < 2; i++) { Vector2 ag; ag[i] = 1.0; @@ -338,7 +333,7 @@ void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_suppor (p_normal.y < 0) ? -half_extents.y : half_extents.y); } -bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotRectangleShape2D::contains_point(const Vector2 &p_point) const { real_t x = p_point.x; real_t y = p_point.y; real_t edge_x = half_extents.x; @@ -346,23 +341,23 @@ bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const { return (x >= -edge_x) && (x < edge_x) && (y >= -edge_y) && (y < edge_y); } -bool RectangleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotRectangleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { return get_aabb().intersects_segment(p_begin, p_end, &r_point, &r_normal); } -real_t RectangleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotRectangleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { Vector2 he2 = half_extents * 2 * p_scale; return p_mass * he2.dot(he2) / 12.0; } -void RectangleShape2DSW::set_data(const Variant &p_data) { +void GodotRectangleShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::VECTOR2); half_extents = p_data; configure(Rect2(-half_extents, half_extents * 2.0)); } -Variant RectangleShape2DSW::get_data() const { +Variant GodotRectangleShape2D::get_data() const { return half_extents; } @@ -370,7 +365,7 @@ Variant RectangleShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotCapsuleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { Vector2 n = p_normal; real_t d = n.y; @@ -383,24 +378,24 @@ void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports r_amount = 2; r_supports[0] = n; - r_supports[0].y += height * 0.5; + r_supports[0].y += height * 0.5 - radius; r_supports[1] = n; - r_supports[1].y -= height * 0.5; + r_supports[1].y -= height * 0.5 - radius; } else { - real_t h = (d > 0) ? height : -height; + real_t h = height * 0.5 - radius; n *= radius; - n.y += h * 0.5; + n.y += (d > 0) ? h : -h; r_amount = 1; *r_supports = n; } } -bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotCapsuleShape2D::contains_point(const Vector2 &p_point) const { Vector2 p = p_point; p.y = Math::abs(p.y); - p.y -= height * 0.5; + p.y -= height * 0.5 - radius; if (p.y < 0) { p.y = 0; } @@ -408,7 +403,7 @@ bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const { return p.length_squared() < radius * radius; } -bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotCapsuleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { real_t d = 1e10; Vector2 n = (p_end - p_begin).normalized(); bool collided = false; @@ -417,7 +412,7 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 & for (int i = 0; i < 2; i++) { Vector2 begin = p_begin; Vector2 end = p_end; - real_t ofs = (i == 0) ? -height * 0.5 : height * 0.5; + real_t ofs = (i == 0) ? -height * 0.5 + radius : height * 0.5 - radius; begin.y += ofs; end.y += ofs; @@ -454,7 +449,7 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 & } Vector2 rpos, rnorm; - if (Rect2(Point2(-radius, -height * 0.5), Size2(radius * 2.0, height)).intersects_segment(p_begin, p_end, &rpos, &rnorm)) { + if (Rect2(Point2(-radius, -height * 0.5 + radius), Size2(radius * 2.0, height - radius * 2)).intersects_segment(p_begin, p_end, &rpos, &rnorm)) { real_t pd = n.dot(rpos); if (pd < d) { r_point = rpos; @@ -468,12 +463,12 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 & return collided; //todo } -real_t CapsuleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { - Vector2 he2 = Vector2(radius * 2, height + radius * 2) * p_scale; +real_t GodotCapsuleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { + Vector2 he2 = Vector2(radius * 2, height) * p_scale; return p_mass * he2.dot(he2) / 12.0; } -void CapsuleShape2DSW::set_data(const Variant &p_data) { +void GodotCapsuleShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY && p_data.get_type() != Variant::VECTOR2); if (p_data.get_type() == Variant::ARRAY) { @@ -487,11 +482,11 @@ void CapsuleShape2DSW::set_data(const Variant &p_data) { height = p.y; } - Point2 he(radius, height * 0.5 + radius); + Point2 he(radius, height * 0.5); configure(Rect2(-he, he * 2)); } -Variant CapsuleShape2DSW::get_data() const { +Variant GodotCapsuleShape2D::get_data() const { return Point2(height, radius); } @@ -499,9 +494,10 @@ Variant CapsuleShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotConvexPolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { int support_idx = -1; real_t d = -1e10; + r_amount = 0; for (int i = 0; i < point_count; i++) { //test point @@ -520,13 +516,13 @@ void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_su } } - ERR_FAIL_COND(support_idx == -1); + ERR_FAIL_COND_MSG(support_idx == -1, "Convex polygon shape support not found."); r_amount = 1; r_supports[0] = points[support_idx].pos; } -bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotConvexPolygonShape2D::contains_point(const Vector2 &p_point) const { bool out = false; bool in = false; @@ -542,18 +538,12 @@ bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const { return in != out; } -bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotConvexPolygonShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { Vector2 n = (p_end - p_begin).normalized(); real_t d = 1e10; bool inters = false; for (int i = 0; i < point_count; i++) { - //hmm.. no can do.. - /* - if (d.dot(points[i].normal)>=0) - continue; - */ - Vector2 res; if (!Geometry2D::segment_intersects_segment(p_begin, p_end, points[i].pos, points[(i + 1) % point_count].pos, &res)) { @@ -569,17 +559,11 @@ bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vec } } - if (inters) { - if (n.dot(r_normal) > 0) { - r_normal = -r_normal; - } - } - - //return get_aabb().intersects_segment(p_begin,p_end,&r_point,&r_normal); - return inters; //todo + return inters; } -real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotConvexPolygonShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { + ERR_FAIL_COND_V_MSG(point_count == 0, 0, "Convex polygon shape has no points."); Rect2 aabb; aabb.position = points[0].pos * p_scale; for (int i = 0; i < point_count; i++) { @@ -589,7 +573,7 @@ real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 return p_mass * aabb.size.dot(aabb.size) / 12.0; } -void ConvexPolygonShape2DSW::set_data(const Variant &p_data) { +void GodotConvexPolygonShape2D::set_data(const Variant &p_data) { #ifdef REAL_T_IS_DOUBLE ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY); #else @@ -645,7 +629,7 @@ void ConvexPolygonShape2DSW::set_data(const Variant &p_data) { configure(aabb); } -Variant ConvexPolygonShape2DSW::get_data() const { +Variant GodotConvexPolygonShape2D::get_data() const { Vector<Vector2> dvr; dvr.resize(point_count); @@ -657,12 +641,7 @@ Variant ConvexPolygonShape2DSW::get_data() const { return dvr; } -ConvexPolygonShape2DSW::ConvexPolygonShape2DSW() { - points = nullptr; - point_count = 0; -} - -ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() { +GodotConvexPolygonShape2D::~GodotConvexPolygonShape2D() { if (points) { memdelete_arr(points); } @@ -670,7 +649,7 @@ ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() { ////////////////////////////////////////////////// -void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotConcavePolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { real_t d = -1e10; int idx = -1; for (int i = 0; i < points.size(); i++) { @@ -686,11 +665,15 @@ void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_s *r_supports = points[idx]; } -bool ConcavePolygonShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotConcavePolygonShape2D::contains_point(const Vector2 &p_point) const { return false; //sorry } -bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotConcavePolygonShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { + if (segments.size() == 0 || points.size() == 0) { + return false; + } + uint32_t *stack = (uint32_t *)alloca(sizeof(int) * bvh_depth); enum { @@ -794,7 +777,7 @@ bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Ve return inters; } -int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) { +int GodotConcavePolygonShape2D::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) { if (p_len == 1) { bvh_depth = MAX(p_depth, bvh_depth); bvh.push_back(*p_bvh); @@ -832,7 +815,7 @@ int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) { return node_idx; } -void ConcavePolygonShape2DSW::set_data(const Variant &p_data) { +void GodotConcavePolygonShape2D::set_data(const Variant &p_data) { #ifdef REAL_T_IS_DOUBLE ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY); #else @@ -858,7 +841,7 @@ void ConcavePolygonShape2DSW::set_data(const Variant &p_data) { const Vector2 *arr = p2arr.ptr(); - Map<Point2, int> pointmap; + HashMap<Point2, int> pointmap; for (int i = 0; i < len; i += 2) { Point2 p1 = arr[i]; Point2 p2 = arr[i + 1]; @@ -885,10 +868,10 @@ void ConcavePolygonShape2DSW::set_data(const Variant &p_data) { } points.resize(pointmap.size()); - aabb.position = pointmap.front()->key(); - for (Map<Point2, int>::Element *E = pointmap.front(); E; E = E->next()) { - aabb.expand_to(E->key()); - points.write[E->get()] = E->key(); + aabb.position = pointmap.begin()->key; + for (const KeyValue<Point2, int> &E : pointmap) { + aabb.expand_to(E.key); + points.write[E.value] = E.key; } Vector<BVH> main_vbh; @@ -909,7 +892,7 @@ void ConcavePolygonShape2DSW::set_data(const Variant &p_data) { configure(aabb); } -Variant ConcavePolygonShape2DSW::get_data() const { +Variant GodotConcavePolygonShape2D::get_data() const { Vector<Vector2> rsegments; int len = segments.size(); rsegments.resize(len * 2); @@ -922,7 +905,7 @@ Variant ConcavePolygonShape2DSW::get_data() const { return rsegments; } -void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, Callback p_callback, void *p_userdata) const { +void GodotConcavePolygonShape2D::cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const { uint32_t *stack = (uint32_t *)alloca(sizeof(int) * bvh_depth); enum { @@ -968,9 +951,11 @@ void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, Callback p_callbac Vector2 a = pointptr[s.points[0]]; Vector2 b = pointptr[s.points[1]]; - SegmentShape2DSW ss(a, b, (b - a).orthogonal().normalized()); + GodotSegmentShape2D ss(a, b, (b - a).orthogonal().normalized()); - p_callback(p_userdata, &ss); + if (p_callback(p_userdata, &ss)) { + return; + } stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node; } else { diff --git a/servers/physics_2d/shape_2d_sw.h b/servers/physics_2d/godot_shape_2d.h index ee2730ebb5..cede01e18d 100644 --- a/servers/physics_2d/shape_2d_sw.h +++ b/servers/physics_2d/godot_shape_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* shape_2d_sw.h */ +/* godot_shape_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,41 +28,29 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef SHAPE_2D_2DSW_H -#define SHAPE_2D_2DSW_H +#ifndef GODOT_SHAPE_2D_H +#define GODOT_SHAPE_2D_H #include "servers/physics_server_2d.h" #define _SEGMENT_IS_VALID_SUPPORT_THRESHOLD 0.99998 -/* +class GodotShape2D; -SHAPE_LINE, ///< plane:"plane" -SHAPE_SEGMENT, ///< real_t:"length" -SHAPE_CIRCLE, ///< real_t:"radius" -SHAPE_RECTANGLE, ///< vec3:"extents" -SHAPE_CONVEX_POLYGON, ///< array of planes:"planes" -SHAPE_CONCAVE_POLYGON, ///< Vector2 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector2 array) -SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error - -*/ - -class Shape2DSW; - -class ShapeOwner2DSW { +class GodotShapeOwner2D { public: virtual void _shape_changed() = 0; - virtual void remove_shape(Shape2DSW *p_shape) = 0; + virtual void remove_shape(GodotShape2D *p_shape) = 0; - virtual ~ShapeOwner2DSW() {} + virtual ~GodotShapeOwner2D() {} }; -class Shape2DSW { +class GodotShape2D { RID self; Rect2 aabb; - bool configured; - real_t custom_bias; + bool configured = false; + real_t custom_bias = 0.0; - Map<ShapeOwner2DSW *, int> owners; + HashMap<GodotShapeOwner2D *, int> owners; protected: void configure(const Rect2 &p_aabb); @@ -76,6 +64,8 @@ public: _FORCE_INLINE_ Rect2 get_aabb() const { return aabb; } _FORCE_INLINE_ bool is_configured() const { return configured; } + virtual bool allows_one_way_collision() const { return true; } + virtual bool is_concave() const { return false; } virtual bool contains_point(const Vector2 &p_point) const = 0; @@ -93,10 +83,10 @@ public: _FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; } _FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; } - void add_owner(ShapeOwner2DSW *p_owner); - void remove_owner(ShapeOwner2DSW *p_owner); - bool is_owner(ShapeOwner2DSW *p_owner) const; - const Map<ShapeOwner2DSW *, int> &get_owners() const; + void add_owner(GodotShapeOwner2D *p_owner); + void remove_owner(GodotShapeOwner2D *p_owner); + bool is_owner(GodotShapeOwner2D *p_owner) const; + const HashMap<GodotShapeOwner2D *, int> &get_owners() const; _FORCE_INLINE_ void get_supports_transformed_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_xform, Vector2 *r_supports, int &r_amount) const { get_supports(p_xform.basis_xform_inv(p_normal).normalized(), r_supports, r_amount); @@ -131,46 +121,45 @@ public: } } } - - Shape2DSW(); - virtual ~Shape2DSW(); + GodotShape2D() {} + virtual ~GodotShape2D(); }; //let the optimizer do the magic -#define DEFAULT_PROJECT_RANGE_CAST \ - virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { \ - project_range_cast(p_cast, p_normal, p_transform, r_min, r_max); \ - } \ - _FORCE_INLINE_ void project_range_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { \ - real_t mina, maxa; \ - real_t minb, maxb; \ - Transform2D ofsb = p_transform; \ - ofsb.elements[2] += p_cast; \ - project_range(p_normal, p_transform, mina, maxa); \ - project_range(p_normal, ofsb, minb, maxb); \ - r_min = MIN(mina, minb); \ - r_max = MAX(maxa, maxb); \ +#define DEFAULT_PROJECT_RANGE_CAST \ + virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { \ + project_range_cast(p_cast, p_normal, p_transform, r_min, r_max); \ + } \ + _FORCE_INLINE_ void project_range_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { \ + real_t mina, maxa; \ + real_t minb, maxb; \ + Transform2D ofsb = p_transform; \ + ofsb.columns[2] += p_cast; \ + project_range(p_normal, p_transform, mina, maxa); \ + project_range(p_normal, ofsb, minb, maxb); \ + r_min = MIN(mina, minb); \ + r_max = MAX(maxa, maxb); \ } -class LineShape2DSW : public Shape2DSW { +class GodotWorldBoundaryShape2D : public GodotShape2D { Vector2 normal; - real_t d; + real_t d = 0.0; public: _FORCE_INLINE_ Vector2 get_normal() const { return normal; } _FORCE_INLINE_ real_t get_d() const { return d; } - virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_LINE; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_WORLD_BOUNDARY; } - virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); } - virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const; + virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); } + virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; - virtual bool contains_point(const Vector2 &p_point) const; - virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const; - virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const; + virtual bool contains_point(const Vector2 &p_point) const override; + virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override; + virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override; - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; _FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { //real large @@ -178,7 +167,7 @@ public: r_max = 1e10; } - virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { + virtual void project_range_castv(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range_cast(p_cast, p_normal, p_transform, r_min, r_max); } @@ -189,25 +178,27 @@ public: } }; -class RayShape2DSW : public Shape2DSW { - real_t length; - bool slips_on_slope; +class GodotSeparationRayShape2D : public GodotShape2D { + real_t length = 0.0; + bool slide_on_slope = false; public: _FORCE_INLINE_ real_t get_length() const { return length; } - _FORCE_INLINE_ bool get_slips_on_slope() const { return slips_on_slope; } + _FORCE_INLINE_ bool get_slide_on_slope() const { return slide_on_slope; } - virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_RAY; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_SEPARATION_RAY; } - virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); } - virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const; + virtual bool allows_one_way_collision() const override { return false; } - virtual bool contains_point(const Vector2 &p_point) const; - virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const; - virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const; + virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); } + virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual bool contains_point(const Vector2 &p_point) const override; + virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override; + virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override; + + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; _FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { //real large @@ -220,11 +211,11 @@ public: DEFAULT_PROJECT_RANGE_CAST - _FORCE_INLINE_ RayShape2DSW() {} - _FORCE_INLINE_ RayShape2DSW(real_t p_length) { length = p_length; } + _FORCE_INLINE_ GodotSeparationRayShape2D() {} + _FORCE_INLINE_ GodotSeparationRayShape2D(real_t p_length) { length = p_length; } }; -class SegmentShape2DSW : public Shape2DSW { +class GodotSegmentShape2D : public GodotShape2D { Vector2 a; Vector2 b; Vector2 n; @@ -234,20 +225,20 @@ public: _FORCE_INLINE_ const Vector2 &get_b() const { return b; } _FORCE_INLINE_ const Vector2 &get_normal() const { return n; } - virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_SEGMENT; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_SEGMENT; } _FORCE_INLINE_ Vector2 get_xformed_normal(const Transform2D &p_xform) const { return (p_xform.xform(b) - p_xform.xform(a)).normalized().orthogonal(); } - virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); } - virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const; + virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); } + virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; - virtual bool contains_point(const Vector2 &p_point) const; - virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const; - virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const; + virtual bool contains_point(const Vector2 &p_point) const override; + virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override; + virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override; - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; _FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { //real large @@ -260,31 +251,31 @@ public: DEFAULT_PROJECT_RANGE_CAST - _FORCE_INLINE_ SegmentShape2DSW() {} - _FORCE_INLINE_ SegmentShape2DSW(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) { + _FORCE_INLINE_ GodotSegmentShape2D() {} + _FORCE_INLINE_ GodotSegmentShape2D(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) { a = p_a; b = p_b; n = p_n; } }; -class CircleShape2DSW : public Shape2DSW { +class GodotCircleShape2D : public GodotShape2D { real_t radius; public: _FORCE_INLINE_ const real_t &get_radius() const { return radius; } - virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_CIRCLE; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_CIRCLE; } - virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); } - virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const; + virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); } + virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; - virtual bool contains_point(const Vector2 &p_point) const; - virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const; - virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const; + virtual bool contains_point(const Vector2 &p_point) const override; + virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override; + virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override; - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; _FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { //real large @@ -301,23 +292,23 @@ public: DEFAULT_PROJECT_RANGE_CAST }; -class RectangleShape2DSW : public Shape2DSW { +class GodotRectangleShape2D : public GodotShape2D { Vector2 half_extents; public: _FORCE_INLINE_ const Vector2 &get_half_extents() const { return half_extents; } - virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_RECTANGLE; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_RECTANGLE; } - virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); } - virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const; + virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); } + virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; - virtual bool contains_point(const Vector2 &p_point) const; - virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const; - virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const; + virtual bool contains_point(const Vector2 &p_point) const override; + virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override; + virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override; - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; _FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { // no matter the angle, the box is mirrored anyway @@ -345,7 +336,7 @@ public: return (p_xform.xform(he) - p_circle).normalized(); } - _FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const RectangleShape2DSW *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const { + _FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const GodotRectangleShape2D *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const { Vector2 a, b; { @@ -373,33 +364,33 @@ public: DEFAULT_PROJECT_RANGE_CAST }; -class CapsuleShape2DSW : public Shape2DSW { - real_t radius; - real_t height; +class GodotCapsuleShape2D : public GodotShape2D { + real_t radius = 0.0; + real_t height = 0.0; public: _FORCE_INLINE_ const real_t &get_radius() const { return radius; } _FORCE_INLINE_ const real_t &get_height() const { return height; } - virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_CAPSULE; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_CAPSULE; } - virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); } - virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const; + virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); } + virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; - virtual bool contains_point(const Vector2 &p_point) const; - virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const; - virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const; + virtual bool contains_point(const Vector2 &p_point) const override; + virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override; + virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override; - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; _FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { // no matter the angle, the box is mirrored anyway Vector2 n = p_transform.basis_xform_inv(p_normal).normalized(); - real_t h = (n.y > 0) ? height : -height; + real_t h = height * 0.5 - radius; n *= radius; - n.y += h * 0.5; + n.y += (n.y > 0) ? h : -h; r_max = p_normal.dot(p_transform.xform(n)); r_min = p_normal.dot(p_transform.xform(-n)); @@ -414,14 +405,14 @@ public: DEFAULT_PROJECT_RANGE_CAST }; -class ConvexPolygonShape2DSW : public Shape2DSW { +class GodotConvexPolygonShape2D : public GodotShape2D { struct Point { Vector2 pos; Vector2 normal; //normal to next segment }; - Point *points; - int point_count; + Point *points = nullptr; + int point_count = 0; public: _FORCE_INLINE_ int get_point_count() const { return point_count; } @@ -434,17 +425,17 @@ public: return (p_xform.xform(b) - p_xform.xform(a)).normalized().orthogonal(); } - virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_CONVEX_POLYGON; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_CONVEX_POLYGON; } - virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal, p_transform, r_min, r_max); } - virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const; + virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { project_range(p_normal, p_transform, r_min, r_max); } + virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; - virtual bool contains_point(const Vector2 &p_point) const; - virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const; - virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const; + virtual bool contains_point(const Vector2 &p_point) const override; + virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override; + virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override; - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; _FORCE_INLINE_ void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { if (!points || point_count <= 0) { @@ -466,21 +457,23 @@ public: DEFAULT_PROJECT_RANGE_CAST - ConvexPolygonShape2DSW(); - ~ConvexPolygonShape2DSW(); + GodotConvexPolygonShape2D() {} + ~GodotConvexPolygonShape2D(); }; -class ConcaveShape2DSW : public Shape2DSW { +class GodotConcaveShape2D : public GodotShape2D { public: - virtual bool is_concave() const { return true; } - typedef void (*Callback)(void *p_userdata, Shape2DSW *p_convex); + virtual bool is_concave() const override { return true; } + + // Returns true to stop the query. + typedef bool (*QueryCallback)(void *p_userdata, GodotShape2D *p_convex); - virtual void cull(const Rect2 &p_local_aabb, Callback p_callback, void *p_userdata) const = 0; + virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0; }; -class ConcavePolygonShape2DSW : public ConcaveShape2DSW { +class GodotConcavePolygonShape2D : public GodotConcaveShape2D { struct Segment { - int points[2]; + int points[2] = {}; }; Vector<Segment> segments; @@ -488,11 +481,11 @@ class ConcavePolygonShape2DSW : public ConcaveShape2DSW { struct BVH { Rect2 aabb; - int left, right; + int left = 0, right = 0; }; Vector<BVH> bvh; - int bvh_depth; + int bvh_depth = 0; struct BVH_CompareX { _FORCE_INLINE_ bool operator()(const BVH &a, const BVH &b) const { @@ -509,27 +502,35 @@ class ConcavePolygonShape2DSW : public ConcaveShape2DSW { int _generate_bvh(BVH *p_bvh, int p_len, int p_depth); public: - virtual PhysicsServer2D::ShapeType get_type() const { return PhysicsServer2D::SHAPE_CONCAVE_POLYGON; } + virtual PhysicsServer2D::ShapeType get_type() const override { return PhysicsServer2D::SHAPE_CONCAVE_POLYGON; } - virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { /*project_range(p_normal,p_transform,r_min,r_max);*/ + virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { + r_min = 0; + r_max = 0; + ERR_FAIL_MSG("Unsupported call to project_rangev in GodotConcavePolygonShape2D"); } - virtual void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { /*project_range(p_normal,p_transform,r_min,r_max);*/ + + void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { + r_min = 0; + r_max = 0; + ERR_FAIL_MSG("Unsupported call to project_range in GodotConcavePolygonShape2D"); } - virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const; - virtual bool contains_point(const Vector2 &p_point) const; - virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const; + virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; + + virtual bool contains_point(const Vector2 &p_point) const override; + virtual bool intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const override; - virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return 0; } + virtual real_t get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const override { return 0; } - virtual void set_data(const Variant &p_data); - virtual Variant get_data() const; + virtual void set_data(const Variant &p_data) override; + virtual Variant get_data() const override; - virtual void cull(const Rect2 &p_local_aabb, Callback p_callback, void *p_userdata) const; + virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override; DEFAULT_PROJECT_RANGE_CAST }; #undef DEFAULT_PROJECT_RANGE_CAST -#endif // SHAPE_2D_2DSW_H +#endif // GODOT_SHAPE_2D_H diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp new file mode 100644 index 0000000000..166ec3049e --- /dev/null +++ b/servers/physics_2d/godot_space_2d.cpp @@ -0,0 +1,1242 @@ +/*************************************************************************/ +/* godot_space_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 "godot_space_2d.h" + +#include "godot_collision_solver_2d.h" +#include "godot_physics_server_2d.h" + +#include "core/os/os.h" +#include "core/templates/pair.h" + +#define TEST_MOTION_MARGIN_MIN_VALUE 0.0001 +#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05 + +_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject2D *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() == GodotCollisionObject2D::TYPE_AREA && !p_collide_with_areas) { + return false; + } + + if (p_object->get_type() == GodotCollisionObject2D::TYPE_BODY && !p_collide_with_bodies) { + return false; + } + + return true; +} + +int GodotPhysicsDirectSpaceState2D::intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) { + if (p_result_max <= 0) { + return 0; + } + + Rect2 aabb; + aabb.position = p_parameters.position - Vector2(0.00001, 0.00001); + aabb.size = Vector2(0.00002, 0.00002); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::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_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + + if (p_parameters.pick_point && !col_obj->is_pickable()) { + continue; + } + + if (p_parameters.canvas_instance_id.is_valid() && col_obj->get_canvas_instance_id() != p_parameters.canvas_instance_id) { + continue; + } + + int shape_idx = space->intersection_query_subindex_results[i]; + + GodotShape2D *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_parameters.position); + + 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; + + cc++; + } + + return cc; +} + +bool GodotPhysicsDirectSpaceState2D::intersect_ray(const RayParameters &p_parameters, RayResult &r_result) { + ERR_FAIL_COND_V(space->locked, false); + + Vector2 begin, end; + Vector2 normal; + begin = p_parameters.from; + end = p_parameters.to; + normal = (end - begin).normalized(); + + int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace2D::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 GodotCollisionObject2D *res_obj; + real_t min_d = 1e10; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject2D *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); + + const GodotShape2D *shape = col_obj->get_shape(shape_idx); + + Vector2 shape_point, shape_normal; + + if (shape->contains_point(local_from)) { + if (p_parameters.hit_from_inside) { + // Hit shape at starting point. + min_d = 0; + res_point = begin; + res_normal = Vector2(); + res_shape = shape_idx; + res_obj = col_obj; + collided = true; + break; + } else { + // Ignore shape when starting inside. + continue; + } + } + + 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.position = res_point; + r_result.rid = res_obj->get_self(); + r_result.shape = res_shape; + + return true; +} + +int GodotPhysicsDirectSpaceState2D::intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) { + if (p_result_max <= 0) { + return 0; + } + + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); + ERR_FAIL_COND_V(!shape, 0); + + Rect2 aabb = p_parameters.transform.xform(shape->get_aabb()); + aabb = aabb.merge(Rect2(aabb.position + p_parameters.motion, aabb.size)); //motion + aabb = aabb.grow(p_parameters.margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::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_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; + + if (!GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_parameters.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; + + cc++; + } + + return cc; +} + +bool GodotPhysicsDirectSpaceState2D::cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe) { + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); + ERR_FAIL_COND_V(!shape, false); + + Rect2 aabb = p_parameters.transform.xform(shape->get_aabb()); + aabb = aabb.merge(Rect2(aabb.position + p_parameters.motion, aabb.size)); //motion + aabb = aabb.grow(p_parameters.margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::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_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + if (p_parameters.exclude.has(space->intersection_query_results[i]->get_self())) { + continue; //ignore excluded + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; + + 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 (!GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_parameters.margin)) { + continue; + } + + //test initial overlap, ignore objects it's inside of. + if (GodotCollisionSolver2D::solve(shape, p_parameters.transform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_parameters.margin)) { + continue; + } + + Vector2 mnormal = p_parameters.motion.normalized(); + + //just do kinematic solving + real_t low = 0.0; + real_t hi = 1.0; + real_t fraction_coeff = 0.5; + for (int j = 0; j < 8; j++) { //steps should be customizable.. + real_t fraction = low + (hi - low) * fraction_coeff; + + Vector2 sep = mnormal; //important optimization for this to work fast enough + bool collided = GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_parameters.margin); + + if (collided) { + hi = fraction; + if ((j == 0) || (low > 0.0)) { // Did it not collide before? + // When alternating or first iteration, use dichotomy. + fraction_coeff = 0.5; + } else { + // When colliding again, converge faster towards low fraction + // for more accurate results with long motions that collide near the start. + fraction_coeff = 0.25; + } + } else { + low = fraction; + if ((j == 0) || (hi < 1.0)) { // Did it collide before? + // When alternating or first iteration, use dichotomy. + fraction_coeff = 0.5; + } else { + // When not colliding again, converge faster towards high fraction + // for more accurate results with long motions that collide near the end. + fraction_coeff = 0.75; + } + } + } + + if (low < best_safe) { + best_safe = low; + best_unsafe = hi; + } + } + + p_closest_safe = best_safe; + p_closest_unsafe = best_unsafe; + + return true; +} + +bool GodotPhysicsDirectSpaceState2D::collide_shape(const ShapeParameters &p_parameters, Vector2 *r_results, int p_result_max, int &r_result_count) { + if (p_result_max <= 0) { + return false; + } + + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); + ERR_FAIL_COND_V(!shape, 0); + + Rect2 aabb = p_parameters.transform.xform(shape->get_aabb()); + aabb = aabb.merge(Rect2(aabb.position + p_parameters.motion, aabb.size)); //motion + aabb = aabb.grow(p_parameters.margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + bool collided = false; + r_result_count = 0; + + GodotPhysicsServer2D::CollCbkData cbk; + cbk.max = p_result_max; + cbk.amount = 0; + cbk.passed = 0; + cbk.ptr = r_results; + GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk; + + GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk; + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + + if (p_parameters.exclude.has(col_obj->get_self())) { + continue; + } + + int shape_idx = space->intersection_query_subindex_results[i]; + + cbk.valid_dir = Vector2(); + cbk.valid_depth = 0; + + if (GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) { + collided = cbk.amount > 0; + } + } + + r_result_count = cbk.amount; + + return collided; +} + +struct _RestCallbackData2D { + const GodotCollisionObject2D *object = nullptr; + const GodotCollisionObject2D *best_object = nullptr; + int local_shape = 0; + int best_local_shape = 0; + int shape = 0; + int best_shape = 0; + Vector2 best_contact; + Vector2 best_normal; + real_t best_len = 0.0; + Vector2 valid_dir; + real_t valid_depth = 0.0; + real_t min_allowed_depth = 0.0; +}; + +static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { + _RestCallbackData2D *rd = static_cast<_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 GodotPhysicsDirectSpaceState2D::rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) { + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_parameters.shape_rid); + ERR_FAIL_COND_V(!shape, 0); + + real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE); + + Rect2 aabb = p_parameters.transform.xform(shape->get_aabb()); + aabb = aabb.merge(Rect2(aabb.position + p_parameters.motion, aabb.size)); //motion + aabb = aabb.grow(margin); + + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + + _RestCallbackData2D rcd; + + // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. + real_t motion_length = p_parameters.motion.length(); + real_t min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); + + for (int i = 0; i < amount; i++) { + if (!_can_collide_with(space->intersection_query_results[i], p_parameters.collision_mask, p_parameters.collide_with_bodies, p_parameters.collide_with_areas)) { + continue; + } + + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; + + if (p_parameters.exclude.has(col_obj->get_self())) { + continue; + } + + int shape_idx = space->intersection_query_subindex_results[i]; + + rcd.valid_dir = Vector2(); + rcd.object = col_obj; + rcd.shape = shape_idx; + rcd.local_shape = 0; + bool sc = GodotCollisionSolver2D::solve(shape, p_parameters.transform, p_parameters.motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, 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(); + if (rcd.best_object->get_type() == GodotCollisionObject2D::TYPE_BODY) { + const GodotBody2D *body = static_cast<const GodotBody2D *>(rcd.best_object); + Vector2 rel_vec = r_info->point - (body->get_transform().get_origin() + body->get_center_of_mass()); + 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; +} + +//////////////////////////////////////////////////////////////////////////////////////////////////////////// + +int GodotSpace2D::_cull_aabb_for_body(GodotBody2D *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() == GodotCollisionObject2D::TYPE_AREA) { + keep = false; + } else if (!p_body->collides_with(static_cast<GodotBody2D *>(intersection_query_results[i]))) { + keep = false; + } else if (static_cast<GodotBody2D *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { + 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; +} + +bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) { + //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_disabled(i)) { + 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->travel = p_parameters.motion; + } + return false; + } + + real_t margin = MAX(p_parameters.margin, TEST_MOTION_MARGIN_MIN_VALUE); + + // Undo the currently transform the physics server is aware of and apply the provided one + body_aabb = p_parameters.from.xform(p_body->get_inv_transform().xform(body_aabb)); + body_aabb = body_aabb.grow(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 min_contact_depth = margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; + + real_t motion_length = p_parameters.motion.length(); + Vector2 motion_normal = p_parameters.motion / motion_length; + + Transform2D body_transform = p_parameters.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 { + GodotPhysicsServer2D::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 + + GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk; + GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_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_disabled(j)) { + continue; + } + + GodotShape2D *body_shape = p_body->get_shape(j); + Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j); + + for (int i = 0; i < amount; i++) { + const GodotCollisionObject2D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + int shape_idx = intersection_query_subindex_results[i]; + + Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); + + if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(shape_idx)) { + cbk.valid_dir = col_obj_shape_xform.columns[1].normalized(); + + real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); + cbk.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work + cbk.invalid_by_dir = 0; + + if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) { + const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj); + if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) { + //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 * last_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; + + GodotShape2D *against_shape = col_obj->get_shape(shape_idx); + if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, 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; + } + + recovered = true; + + 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 > min_contact_depth + CMP_EPSILON) { + // Only recover if there is penetration. + recover_motion -= n * (depth - min_contact_depth) * 0.4; + } + } + + if (recover_motion == Vector2()) { + collided = false; + break; + } + + body_transform.columns[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_parameters.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_disabled(body_shape_idx)) { + continue; + } + + GodotShape2D *body_shape = p_body->get_shape(body_shape_idx); + + // Colliding separation rays allows to properly snap to the ground, + // otherwise it's not needed in regular motion. + if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY)) { + // When slide on slope is on, separation ray shape acts like a regular shape. + if (!static_cast<GodotSeparationRayShape2D *>(body_shape)->get_slide_on_slope()) { + 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 GodotCollisionObject2D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + int col_shape_idx = intersection_query_subindex_results[i]; + GodotShape2D *against_shape = col_obj->get_shape(col_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 == 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 (!GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { + continue; + } + + //test initial overlap + if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { + if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) { + Vector2 direction = col_obj_shape_xform.columns[1].normalized(); + if (motion_normal.dot(direction) < 0) { + continue; + } + } + + stuck = true; + break; + } + + //just do kinematic solving + real_t low = 0.0; + real_t hi = 1.0; + real_t fraction_coeff = 0.5; + for (int k = 0; k < 8; k++) { //steps should be customizable.. + real_t fraction = low + (hi - low) * fraction_coeff; + + Vector2 sep = motion_normal; //important optimization for this to work fast enough + bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0); + + if (collided) { + hi = fraction; + if ((k == 0) || (low > 0.0)) { // Did it not collide before? + // When alternating or first iteration, use dichotomy. + fraction_coeff = 0.5; + } else { + // When colliding again, converge faster towards low fraction + // for more accurate results with long motions that collide near the start. + fraction_coeff = 0.25; + } + } else { + low = fraction; + if ((k == 0) || (hi < 1.0)) { // Did it collide before? + // When alternating or first iteration, use dichotomy. + fraction_coeff = 0.5; + } else { + // When not colliding again, converge faster towards high fraction + // for more accurate results with long motions that collide near the end. + fraction_coeff = 0.75; + } + } + } + + if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) { + Vector2 cd[2]; + GodotPhysicsServer2D::CollCbkData cbk; + cbk.max = 1; + cbk.amount = 0; + cbk.passed = 0; + cbk.ptr = cd; + cbk.valid_dir = col_obj_shape_xform.columns[1].normalized(); + + cbk.valid_depth = 10e20; + + Vector2 sep = motion_normal; //important optimization for this to work fast enough + bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), GodotPhysicsServer2D::_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 ((p_parameters.recovery_as_collision && 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.columns[2] += p_parameters.motion * unsafe; + + _RestCallbackData2D rcd; + + // Allowed depth can't be lower than motion length, in order to handle contacts at low speed. + rcd.min_allowed_depth = MIN(motion_length, min_contact_depth); + + body_aabb.position += p_parameters.motion * unsafe; + int amount = _cull_aabb_for_body(p_body, body_aabb); + + 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_disabled(j)) { + continue; + } + + Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j); + GodotShape2D *body_shape = p_body->get_shape(j); + + for (int i = 0; i < amount; i++) { + const GodotCollisionObject2D *col_obj = intersection_query_results[i]; + if (p_parameters.exclude_bodies.has(col_obj->get_self())) { + continue; + } + if (p_parameters.exclude_objects.has(col_obj->get_instance_id())) { + continue; + } + + int shape_idx = intersection_query_subindex_results[i]; + + GodotShape2D *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 (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(shape_idx)) { + rcd.valid_dir = col_obj_shape_xform.columns[1].normalized(); + + real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); + rcd.valid_depth = MAX(owc_margin, margin); //user specified, but never less than actual margin or it won't work + + if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) { + const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj); + if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) { + //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 * last_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 = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, 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->collision_depth = rcd.best_len; + r_result->collision_safe_fraction = safe; + r_result->collision_unsafe_fraction = unsafe; + + const GodotBody2D *body = static_cast<const GodotBody2D *>(rcd.best_object); + Vector2 rel_vec = r_result->collision_point - (body->get_transform().get_origin() + body->get_center_of_mass()); + 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->travel = safe * p_parameters.motion; + r_result->remainder = p_parameters.motion - safe * p_parameters.motion; + r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin()); + } + + collided = true; + } + } + + if (!collided && r_result) { + r_result->travel = p_parameters.motion; + r_result->remainder = Vector2(); + r_result->travel += (body_transform.get_origin() - p_parameters.from.get_origin()); + } + + return collided; +} + +// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree. +void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self) { + GodotCollisionObject2D::Type type_A = A->get_type(); + GodotCollisionObject2D::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); + } + + GodotSpace2D *self = static_cast<GodotSpace2D *>(p_self); + self->collision_pairs++; + + if (type_A == GodotCollisionObject2D::TYPE_AREA) { + GodotArea2D *area = static_cast<GodotArea2D *>(A); + if (type_B == GodotCollisionObject2D::TYPE_AREA) { + GodotArea2D *area_b = static_cast<GodotArea2D *>(B); + GodotArea2Pair2D *area2_pair = memnew(GodotArea2Pair2D(area_b, p_subindex_B, area, p_subindex_A)); + return area2_pair; + } else { + GodotBody2D *body = static_cast<GodotBody2D *>(B); + GodotAreaPair2D *area_pair = memnew(GodotAreaPair2D(body, p_subindex_B, area, p_subindex_A)); + return area_pair; + } + + } else { + GodotBodyPair2D *b = memnew(GodotBodyPair2D(static_cast<GodotBody2D *>(A), p_subindex_A, static_cast<GodotBody2D *>(B), p_subindex_B)); + return b; + } + + return nullptr; +} + +void GodotSpace2D::_broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self) { + if (!p_data) { + return; + } + + GodotSpace2D *self = static_cast<GodotSpace2D *>(p_self); + self->collision_pairs--; + GodotConstraint2D *c = static_cast<GodotConstraint2D *>(p_data); + memdelete(c); +} + +const SelfList<GodotBody2D>::List &GodotSpace2D::get_active_body_list() const { + return active_list; +} + +void GodotSpace2D::body_add_to_active_list(SelfList<GodotBody2D> *p_body) { + active_list.add(p_body); +} + +void GodotSpace2D::body_remove_from_active_list(SelfList<GodotBody2D> *p_body) { + active_list.remove(p_body); +} + +void GodotSpace2D::body_add_to_mass_properties_update_list(SelfList<GodotBody2D> *p_body) { + mass_properties_update_list.add(p_body); +} + +void GodotSpace2D::body_remove_from_mass_properties_update_list(SelfList<GodotBody2D> *p_body) { + mass_properties_update_list.remove(p_body); +} + +GodotBroadPhase2D *GodotSpace2D::get_broadphase() { + return broadphase; +} + +void GodotSpace2D::add_object(GodotCollisionObject2D *p_object) { + ERR_FAIL_COND(objects.has(p_object)); + objects.insert(p_object); +} + +void GodotSpace2D::remove_object(GodotCollisionObject2D *p_object) { + ERR_FAIL_COND(!objects.has(p_object)); + objects.erase(p_object); +} + +const HashSet<GodotCollisionObject2D *> &GodotSpace2D::get_objects() const { + return objects; +} + +void GodotSpace2D::body_add_to_state_query_list(SelfList<GodotBody2D> *p_body) { + state_query_list.add(p_body); +} + +void GodotSpace2D::body_remove_from_state_query_list(SelfList<GodotBody2D> *p_body) { + state_query_list.remove(p_body); +} + +void GodotSpace2D::area_add_to_monitor_query_list(SelfList<GodotArea2D> *p_area) { + monitor_query_list.add(p_area); +} + +void GodotSpace2D::area_remove_from_monitor_query_list(SelfList<GodotArea2D> *p_area) { + monitor_query_list.remove(p_area); +} + +void GodotSpace2D::area_add_to_moved_list(SelfList<GodotArea2D> *p_area) { + area_moved_list.add(p_area); +} + +void GodotSpace2D::area_remove_from_moved_list(SelfList<GodotArea2D> *p_area) { + area_moved_list.remove(p_area); +} + +const SelfList<GodotArea2D>::List &GodotSpace2D::get_moved_area_list() const { + return area_moved_list; +} + +void GodotSpace2D::call_queries() { + while (state_query_list.first()) { + GodotBody2D *b = state_query_list.first()->self(); + state_query_list.remove(state_query_list.first()); + b->call_queries(); + } + + while (monitor_query_list.first()) { + GodotArea2D *a = monitor_query_list.first()->self(); + monitor_query_list.remove(monitor_query_list.first()); + a->call_queries(); + } +} + +void GodotSpace2D::setup() { + contact_debug_count = 0; + + while (mass_properties_update_list.first()) { + mass_properties_update_list.first()->self()->update_mass_properties(); + mass_properties_update_list.remove(mass_properties_update_list.first()); + } +} + +void GodotSpace2D::update() { + broadphase->update(); +} + +void GodotSpace2D::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_CONTACT_MAX_ALLOWED_PENETRATION: + contact_max_allowed_penetration = p_value; + break; + case PhysicsServer2D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: + contact_bias = 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_SOLVER_ITERATIONS: + solver_iterations = p_value; + break; + } +} + +real_t GodotSpace2D::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_CONTACT_MAX_ALLOWED_PENETRATION: + return contact_max_allowed_penetration; + case PhysicsServer2D::SPACE_PARAM_CONTACT_DEFAULT_BIAS: + return contact_bias; + 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_SOLVER_ITERATIONS: + return solver_iterations; + } + return 0; +} + +void GodotSpace2D::lock() { + locked = true; +} + +void GodotSpace2D::unlock() { + locked = false; +} + +bool GodotSpace2D::is_locked() const { + return locked; +} + +GodotPhysicsDirectSpaceState2D *GodotSpace2D::get_direct_state() { + return direct_access; +} + +GodotSpace2D::GodotSpace2D() { + 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")); + + solver_iterations = GLOBAL_DEF("physics/2d/solver/solver_iterations", 16); + ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/solver_iterations", PropertyInfo(Variant::INT, "physics/2d/solver/solver_iterations", PROPERTY_HINT_RANGE, "1,32,1,or_greater")); + + contact_recycle_radius = GLOBAL_DEF("physics/2d/solver/contact_recycle_radius", 1.0); + ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_recycle_radius", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater")); + + contact_max_separation = GLOBAL_DEF("physics/2d/solver/contact_max_separation", 1.5); + ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_max_separation", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_separation", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater")); + + contact_max_allowed_penetration = GLOBAL_DEF("physics/2d/solver/contact_max_allowed_penetration", 0.3); + ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/contact_max_allowed_penetration", PropertyInfo(Variant::FLOAT, "physics/2d/solver/contact_max_allowed_penetration", PROPERTY_HINT_RANGE, "0,10,0.01,or_greater")); + + contact_bias = GLOBAL_DEF("physics/2d/solver/default_contact_bias", 0.8); + ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/default_contact_bias", PropertyInfo(Variant::FLOAT, "physics/2d/solver/default_contact_bias", PROPERTY_HINT_RANGE, "0,1,0.01")); + + constraint_bias = GLOBAL_DEF("physics/2d/solver/default_constraint_bias", 0.2); + ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/solver/default_constraint_bias", PropertyInfo(Variant::FLOAT, "physics/2d/solver/default_constraint_bias", PROPERTY_HINT_RANGE, "0,1,0.01")); + + broadphase = GodotBroadPhase2D::create_func(); + broadphase->set_pair_callback(_broadphase_pair, this); + broadphase->set_unpair_callback(_broadphase_unpair, this); + + direct_access = memnew(GodotPhysicsDirectSpaceState2D); + direct_access->space = this; +} + +GodotSpace2D::~GodotSpace2D() { + memdelete(broadphase); + memdelete(direct_access); +} diff --git a/servers/physics_2d/godot_space_2d.h b/servers/physics_2d/godot_space_2d.h new file mode 100644 index 0000000000..b6fc48bd70 --- /dev/null +++ b/servers/physics_2d/godot_space_2d.h @@ -0,0 +1,214 @@ +/*************************************************************************/ +/* godot_space_2d.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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. */ +/*************************************************************************/ + +#ifndef GODOT_SPACE_2D_H +#define GODOT_SPACE_2D_H + +#include "godot_area_2d.h" +#include "godot_area_pair_2d.h" +#include "godot_body_2d.h" +#include "godot_body_pair_2d.h" +#include "godot_broad_phase_2d.h" +#include "godot_collision_object_2d.h" + +#include "core/config/project_settings.h" +#include "core/templates/hash_map.h" +#include "core/typedefs.h" + +class GodotPhysicsDirectSpaceState2D : public PhysicsDirectSpaceState2D { + GDCLASS(GodotPhysicsDirectSpaceState2D, PhysicsDirectSpaceState2D); + +public: + GodotSpace2D *space = nullptr; + + virtual int intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) override; + virtual bool intersect_ray(const RayParameters &p_parameters, RayResult &r_result) override; + virtual int intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) override; + virtual bool cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe) override; + virtual bool collide_shape(const ShapeParameters &p_parameters, Vector2 *r_results, int p_result_max, int &r_result_count) override; + virtual bool rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) override; + + GodotPhysicsDirectSpaceState2D() {} +}; + +class GodotSpace2D { +public: + enum ElapsedTime { + ELAPSED_TIME_INTEGRATE_FORCES, + ELAPSED_TIME_GENERATE_ISLANDS, + ELAPSED_TIME_SETUP_CONSTRAINTS, + ELAPSED_TIME_SOLVE_CONSTRAINTS, + ELAPSED_TIME_INTEGRATE_VELOCITIES, + ELAPSED_TIME_MAX + + }; + +private: + struct ExcludedShapeSW { + GodotShape2D *local_shape = nullptr; + const GodotCollisionObject2D *against_object = nullptr; + int against_shape_index = 0; + }; + + uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; + + GodotPhysicsDirectSpaceState2D *direct_access = nullptr; + RID self; + + GodotBroadPhase2D *broadphase = nullptr; + SelfList<GodotBody2D>::List active_list; + SelfList<GodotBody2D>::List mass_properties_update_list; + SelfList<GodotBody2D>::List state_query_list; + SelfList<GodotArea2D>::List monitor_query_list; + SelfList<GodotArea2D>::List area_moved_list; + + static void *_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self); + static void _broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self); + + HashSet<GodotCollisionObject2D *> objects; + + GodotArea2D *area = nullptr; + + int solver_iterations = 0; + + real_t contact_recycle_radius = 0.0; + real_t contact_max_separation = 0.0; + real_t contact_max_allowed_penetration = 0.0; + real_t contact_bias = 0.0; + real_t constraint_bias = 0.0; + + enum { + INTERSECTION_QUERY_MAX = 2048 + }; + + GodotCollisionObject2D *intersection_query_results[INTERSECTION_QUERY_MAX]; + int intersection_query_subindex_results[INTERSECTION_QUERY_MAX]; + + real_t body_linear_velocity_sleep_threshold = 0.0; + real_t body_angular_velocity_sleep_threshold = 0.0; + real_t body_time_to_sleep = 0.0; + + bool locked = false; + + real_t last_step = 0.001; + + int island_count = 0; + int active_objects = 0; + int collision_pairs = 0; + + int _cull_aabb_for_body(GodotBody2D *p_body, const Rect2 &p_aabb); + + Vector<Vector2> contact_debug; + int contact_debug_count = 0; + + friend class GodotPhysicsDirectSpaceState2D; + +public: + _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } + _FORCE_INLINE_ RID get_self() const { return self; } + + void set_default_area(GodotArea2D *p_area) { area = p_area; } + GodotArea2D *get_default_area() const { return area; } + + const SelfList<GodotBody2D>::List &get_active_body_list() const; + void body_add_to_active_list(SelfList<GodotBody2D> *p_body); + void body_remove_from_active_list(SelfList<GodotBody2D> *p_body); + void body_add_to_mass_properties_update_list(SelfList<GodotBody2D> *p_body); + void body_remove_from_mass_properties_update_list(SelfList<GodotBody2D> *p_body); + void area_add_to_moved_list(SelfList<GodotArea2D> *p_area); + void area_remove_from_moved_list(SelfList<GodotArea2D> *p_area); + const SelfList<GodotArea2D>::List &get_moved_area_list() const; + + void body_add_to_state_query_list(SelfList<GodotBody2D> *p_body); + void body_remove_from_state_query_list(SelfList<GodotBody2D> *p_body); + + void area_add_to_monitor_query_list(SelfList<GodotArea2D> *p_area); + void area_remove_from_monitor_query_list(SelfList<GodotArea2D> *p_area); + + GodotBroadPhase2D *get_broadphase(); + + void add_object(GodotCollisionObject2D *p_object); + void remove_object(GodotCollisionObject2D *p_object); + const HashSet<GodotCollisionObject2D *> &get_objects() const; + + _FORCE_INLINE_ int get_solver_iterations() const { return solver_iterations; } + _FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; } + _FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; } + _FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; } + _FORCE_INLINE_ real_t get_contact_bias() const { return contact_bias; } + _FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; } + _FORCE_INLINE_ real_t get_body_linear_velocity_sleep_threshold() const { return body_linear_velocity_sleep_threshold; } + _FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() const { return body_angular_velocity_sleep_threshold; } + _FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; } + + void update(); + void setup(); + void call_queries(); + + bool is_locked() const; + void lock(); + void unlock(); + + real_t get_last_step() const { return last_step; } + void set_last_step(real_t p_step) { last_step = p_step; } + + void set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value); + real_t get_param(PhysicsServer2D::SpaceParameter p_param) const; + + void set_island_count(int p_island_count) { island_count = p_island_count; } + int get_island_count() const { return island_count; } + + void set_active_objects(int p_active_objects) { active_objects = p_active_objects; } + int get_active_objects() const { return active_objects; } + + int get_collision_pairs() const { return collision_pairs; } + + bool test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result); + + void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); } + _FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); } + _FORCE_INLINE_ void add_debug_contact(const Vector2 &p_contact) { + if (contact_debug_count < contact_debug.size()) { + contact_debug.write[contact_debug_count++] = p_contact; + } + } + _FORCE_INLINE_ Vector<Vector2> get_debug_contacts() { return contact_debug; } + _FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; } + + GodotPhysicsDirectSpaceState2D *get_direct_state(); + + void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; } + uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; } + + GodotSpace2D(); + ~GodotSpace2D(); +}; + +#endif // GODOT_SPACE_2D_H diff --git a/servers/physics_2d/godot_step_2d.cpp b/servers/physics_2d/godot_step_2d.cpp new file mode 100644 index 0000000000..0603458acd --- /dev/null +++ b/servers/physics_2d/godot_step_2d.cpp @@ -0,0 +1,305 @@ +/*************************************************************************/ +/* godot_step_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 "godot_step_2d.h" + +#include "core/os/os.h" + +#define BODY_ISLAND_COUNT_RESERVE 128 +#define BODY_ISLAND_SIZE_RESERVE 512 +#define ISLAND_COUNT_RESERVE 128 +#define ISLAND_SIZE_RESERVE 512 +#define CONSTRAINT_COUNT_RESERVE 1024 + +void GodotStep2D::_populate_island(GodotBody2D *p_body, LocalVector<GodotBody2D *> &p_body_island, LocalVector<GodotConstraint2D *> &p_constraint_island) { + p_body->set_island_step(_step); + + if (p_body->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) { + // Only dynamic bodies are tested for activation. + p_body_island.push_back(p_body); + } + + for (const Pair<GodotConstraint2D *, int> &E : p_body->get_constraint_list()) { + GodotConstraint2D *constraint = const_cast<GodotConstraint2D *>(E.first); + if (constraint->get_island_step() == _step) { + continue; // Already processed. + } + constraint->set_island_step(_step); + p_constraint_island.push_back(constraint); + all_constraints.push_back(constraint); + + for (int i = 0; i < constraint->get_body_count(); i++) { + if (i == E.second) { + continue; + } + GodotBody2D *other_body = constraint->get_body_ptr()[i]; + if (other_body->get_island_step() == _step) { + continue; // Already processed. + } + if (other_body->get_mode() == PhysicsServer2D::BODY_MODE_STATIC) { + continue; // Static bodies don't connect islands. + } + _populate_island(other_body, p_body_island, p_constraint_island); + } + } +} + +void GodotStep2D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) { + GodotConstraint2D *constraint = all_constraints[p_constraint_index]; + constraint->setup(delta); +} + +void GodotStep2D::_pre_solve_island(LocalVector<GodotConstraint2D *> &p_constraint_island) const { + uint32_t constraint_count = p_constraint_island.size(); + uint32_t valid_constraint_count = 0; + for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) { + GodotConstraint2D *constraint = p_constraint_island[constraint_index]; + if (p_constraint_island[constraint_index]->pre_solve(delta)) { + // Keep this constraint for solving. + p_constraint_island[valid_constraint_count++] = constraint; + } + } + p_constraint_island.resize(valid_constraint_count); +} + +void GodotStep2D::_solve_island(uint32_t p_island_index, void *p_userdata) const { + const LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[p_island_index]; + + for (int i = 0; i < iterations; i++) { + uint32_t constraint_count = constraint_island.size(); + for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) { + constraint_island[constraint_index]->solve(delta); + } + } +} + +void GodotStep2D::_check_suspend(LocalVector<GodotBody2D *> &p_body_island) const { + bool can_sleep = true; + + uint32_t body_count = p_body_island.size(); + for (uint32_t body_index = 0; body_index < body_count; ++body_index) { + GodotBody2D *body = p_body_island[body_index]; + + if (!body->sleep_test(delta)) { + can_sleep = false; + } + } + + // Put all to sleep or wake up everyone. + for (uint32_t body_index = 0; body_index < body_count; ++body_index) { + GodotBody2D *body = p_body_island[body_index]; + + bool active = body->is_active(); + + if (active == can_sleep) { + body->set_active(!can_sleep); + } + } +} + +void GodotStep2D::step(GodotSpace2D *p_space, real_t p_delta) { + p_space->lock(); // can't access space during this + + p_space->setup(); //update inertias, etc + + p_space->set_last_step(p_delta); + + iterations = p_space->get_solver_iterations(); + delta = p_delta; + + const SelfList<GodotBody2D>::List *body_list = &p_space->get_active_body_list(); + + /* INTEGRATE FORCES */ + + uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec(); + uint64_t profile_endtime = 0; + + int active_count = 0; + + const SelfList<GodotBody2D> *b = body_list->first(); + while (b) { + b->self()->integrate_forces(p_delta); + b = b->next(); + active_count++; + } + + p_space->set_active_objects(active_count); + + // Update the broadphase to register collision pairs. + p_space->update(); + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + /* GENERATE CONSTRAINT ISLANDS FOR MOVING AREAS */ + + uint32_t island_count = 0; + + const SelfList<GodotArea2D>::List &aml = p_space->get_moved_area_list(); + + while (aml.first()) { + for (GodotConstraint2D *E : aml.first()->self()->get_constraints()) { + GodotConstraint2D *constraint = E; + if (constraint->get_island_step() == _step) { + continue; + } + constraint->set_island_step(_step); + + // Each constraint can be on a separate island for areas as there's no solving phase. + ++island_count; + if (constraint_islands.size() < island_count) { + constraint_islands.resize(island_count); + } + LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[island_count - 1]; + constraint_island.clear(); + + all_constraints.push_back(constraint); + constraint_island.push_back(constraint); + } + p_space->area_remove_from_moved_list((SelfList<GodotArea2D> *)aml.first()); //faster to remove here + } + + /* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */ + + b = body_list->first(); + + uint32_t body_island_count = 0; + + while (b) { + GodotBody2D *body = b->self(); + + if (body->get_island_step() != _step) { + ++body_island_count; + if (body_islands.size() < body_island_count) { + body_islands.resize(body_island_count); + } + LocalVector<GodotBody2D *> &body_island = body_islands[body_island_count - 1]; + body_island.clear(); + body_island.reserve(BODY_ISLAND_SIZE_RESERVE); + + ++island_count; + if (constraint_islands.size() < island_count) { + constraint_islands.resize(island_count); + } + LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[island_count - 1]; + constraint_island.clear(); + constraint_island.reserve(ISLAND_SIZE_RESERVE); + + _populate_island(body, body_island, constraint_island); + + if (body_island.is_empty()) { + --body_island_count; + } + + if (constraint_island.is_empty()) { + --island_count; + } + } + b = b->next(); + } + + p_space->set_island_count((int)island_count); + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + /* SETUP CONSTRAINTS / PROCESS COLLISIONS */ + + uint32_t total_contraint_count = all_constraints.size(); + WorkerThreadPool::GroupID group_task = WorkerThreadPool::get_singleton()->add_template_group_task(this, &GodotStep2D::_setup_contraint, nullptr, total_contraint_count, -1, true, SNAME("Physics2DConstraintSetup")); + WorkerThreadPool::get_singleton()->wait_for_group_task_completion(group_task); + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + /* PRE-SOLVE CONSTRAINT ISLANDS */ + + // Warning: This doesn't run on threads, because it involves thread-unsafe processing. + for (uint32_t island_index = 0; island_index < island_count; ++island_index) { + _pre_solve_island(constraint_islands[island_index]); + } + + /* SOLVE CONSTRAINT ISLANDS */ + + // Warning: _solve_island modifies the constraint islands for optimization purpose, + // their content is not reliable after these calls and shouldn't be used anymore. + group_task = WorkerThreadPool::get_singleton()->add_template_group_task(this, &GodotStep2D::_solve_island, nullptr, island_count, -1, true, SNAME("Physics2DConstraintSolveIslands")); + WorkerThreadPool::get_singleton()->wait_for_group_task_completion(group_task); + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime); + profile_begtime = profile_endtime; + } + + /* INTEGRATE VELOCITIES */ + + b = body_list->first(); + while (b) { + const SelfList<GodotBody2D> *n = b->next(); + b->self()->integrate_velocities(p_delta); + b = n; // in case it shuts itself down + } + + /* SLEEP / WAKE UP ISLANDS */ + + for (uint32_t island_index = 0; island_index < body_island_count; ++island_index) { + _check_suspend(body_islands[island_index]); + } + + { //profile + profile_endtime = OS::get_singleton()->get_ticks_usec(); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime); + //profile_begtime=profile_endtime; + } + + all_constraints.clear(); + + p_space->unlock(); + _step++; +} + +GodotStep2D::GodotStep2D() { + body_islands.reserve(BODY_ISLAND_COUNT_RESERVE); + constraint_islands.reserve(ISLAND_COUNT_RESERVE); + all_constraints.reserve(CONSTRAINT_COUNT_RESERVE); +} + +GodotStep2D::~GodotStep2D() { +} diff --git a/servers/physics_2d/area_pair_2d_sw.h b/servers/physics_2d/godot_step_2d.h index 4015aad5d1..9f8fdd6ce3 100644 --- a/servers/physics_2d/area_pair_2d_sw.h +++ b/servers/physics_2d/godot_step_2d.h @@ -1,12 +1,12 @@ /*************************************************************************/ -/* area_pair_2d_sw.h */ +/* godot_step_2d.h */ /*************************************************************************/ /* 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). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 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 */ @@ -28,41 +28,34 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef AREA_PAIR_2D_SW_H -#define AREA_PAIR_2D_SW_H +#ifndef GODOT_STEP_2D_H +#define GODOT_STEP_2D_H -#include "area_2d_sw.h" -#include "body_2d_sw.h" -#include "constraint_2d_sw.h" +#include "godot_space_2d.h" -class AreaPair2DSW : public Constraint2DSW { - Body2DSW *body; - Area2DSW *area; - int body_shape; - int area_shape; - bool colliding; +#include "core/object/worker_thread_pool.h" +#include "core/templates/local_vector.h" -public: - bool setup(real_t p_step); - void solve(real_t p_step); +class GodotStep2D { + uint64_t _step = 1; - AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape); - ~AreaPair2DSW(); -}; + int iterations = 0; + real_t delta = 0.0; -class Area2Pair2DSW : public Constraint2DSW { - Area2DSW *area_a; - Area2DSW *area_b; - int shape_a; - int shape_b; - bool colliding; + LocalVector<LocalVector<GodotBody2D *>> body_islands; + LocalVector<LocalVector<GodotConstraint2D *>> constraint_islands; + LocalVector<GodotConstraint2D *> all_constraints; -public: - bool setup(real_t p_step); - void solve(real_t p_step); + void _populate_island(GodotBody2D *p_body, LocalVector<GodotBody2D *> &p_body_island, LocalVector<GodotConstraint2D *> &p_constraint_island); + void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr); + void _pre_solve_island(LocalVector<GodotConstraint2D *> &p_constraint_island) const; + void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr) const; + void _check_suspend(LocalVector<GodotBody2D *> &p_body_island) const; - Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b); - ~Area2Pair2DSW(); +public: + void step(GodotSpace2D *p_space, real_t p_delta); + GodotStep2D(); + ~GodotStep2D(); }; -#endif // AREA_PAIR_2D_SW_H +#endif // GODOT_STEP_2D_H diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp deleted file mode 100644 index 1040437ca7..0000000000 --- a/servers/physics_2d/physics_server_2d_sw.cpp +++ /dev/null @@ -1,1368 +0,0 @@ -/*************************************************************************/ -/* physics_server_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 "physics_server_2d_sw.h" - -#include "broad_phase_2d_basic.h" -#include "broad_phase_2d_hash_grid.h" -#include "collision_solver_2d_sw.h" -#include "core/config/project_settings.h" -#include "core/debugger/engine_debugger.h" -#include "core/os/os.h" - -#define FLUSH_QUERY_CHECK(m_object) \ - ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead."); - -RID PhysicsServer2DSW::_shape_create(ShapeType p_shape) { - Shape2DSW *shape = nullptr; - switch (p_shape) { - case SHAPE_LINE: { - shape = memnew(LineShape2DSW); - } break; - case SHAPE_RAY: { - shape = memnew(RayShape2DSW); - } break; - case SHAPE_SEGMENT: { - shape = memnew(SegmentShape2DSW); - } break; - case SHAPE_CIRCLE: { - shape = memnew(CircleShape2DSW); - } break; - case SHAPE_RECTANGLE: { - shape = memnew(RectangleShape2DSW); - } break; - case SHAPE_CAPSULE: { - shape = memnew(CapsuleShape2DSW); - } break; - case SHAPE_CONVEX_POLYGON: { - shape = memnew(ConvexPolygonShape2DSW); - } break; - case SHAPE_CONCAVE_POLYGON: { - shape = memnew(ConcavePolygonShape2DSW); - } break; - case SHAPE_CUSTOM: { - ERR_FAIL_V(RID()); - - } break; - } - - RID id = shape_owner.make_rid(shape); - shape->set_self(id); - - return id; -} - -RID PhysicsServer2DSW::line_shape_create() { - return _shape_create(SHAPE_LINE); -} - -RID PhysicsServer2DSW::ray_shape_create() { - return _shape_create(SHAPE_RAY); -} - -RID PhysicsServer2DSW::segment_shape_create() { - return _shape_create(SHAPE_SEGMENT); -} - -RID PhysicsServer2DSW::circle_shape_create() { - return _shape_create(SHAPE_CIRCLE); -} - -RID PhysicsServer2DSW::rectangle_shape_create() { - return _shape_create(SHAPE_RECTANGLE); -} - -RID PhysicsServer2DSW::capsule_shape_create() { - return _shape_create(SHAPE_CAPSULE); -} - -RID PhysicsServer2DSW::convex_polygon_shape_create() { - return _shape_create(SHAPE_CONVEX_POLYGON); -} - -RID PhysicsServer2DSW::concave_polygon_shape_create() { - return _shape_create(SHAPE_CONCAVE_POLYGON); -} - -void PhysicsServer2DSW::shape_set_data(RID p_shape, const Variant &p_data) { - Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND(!shape); - shape->set_data(p_data); -}; - -void PhysicsServer2DSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { - Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND(!shape); - shape->set_custom_bias(p_bias); -} - -PhysicsServer2D::ShapeType PhysicsServer2DSW::shape_get_type(RID p_shape) const { - const Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM); - return shape->get_type(); -}; - -Variant PhysicsServer2DSW::shape_get_data(RID p_shape) const { - const Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, Variant()); - ERR_FAIL_COND_V(!shape->is_configured(), Variant()); - return shape->get_data(); -}; - -real_t PhysicsServer2DSW::shape_get_custom_solver_bias(RID p_shape) const { - const Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND_V(!shape, 0); - return shape->get_custom_bias(); -} - -void PhysicsServer2DSW::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { - CollCbkData *cbk = (CollCbkData *)p_userdata; - - if (cbk->max == 0) { - return; - } - - Vector2 rel_dir = (p_point_A - p_point_B); - real_t rel_length2 = rel_dir.length_squared(); - if (cbk->valid_dir != Vector2()) { - if (cbk->valid_depth < 10e20) { - if (rel_length2 > cbk->valid_depth * cbk->valid_depth || - (rel_length2 > CMP_EPSILON && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON)) { - cbk->invalid_by_dir++; - return; - } - } else { - if (rel_length2 > 0 && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON) { - return; - } - } - } - - if (cbk->amount == cbk->max) { - //find least deep - real_t min_depth = 1e20; - int min_depth_idx = 0; - for (int i = 0; i < cbk->amount; i++) { - real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]); - if (d < min_depth) { - min_depth = d; - min_depth_idx = i; - } - } - - if (rel_length2 < min_depth) { - return; - } - cbk->ptr[min_depth_idx * 2 + 0] = p_point_A; - cbk->ptr[min_depth_idx * 2 + 1] = p_point_B; - cbk->passed++; - - } else { - cbk->ptr[cbk->amount * 2 + 0] = p_point_A; - cbk->ptr[cbk->amount * 2 + 1] = p_point_B; - cbk->amount++; - cbk->passed++; - } -} - -bool PhysicsServer2DSW::shape_collide(RID p_shape_A, const Transform2D &p_xform_A, const Vector2 &p_motion_A, RID p_shape_B, const Transform2D &p_xform_B, const Vector2 &p_motion_B, Vector2 *r_results, int p_result_max, int &r_result_count) { - Shape2DSW *shape_A = shape_owner.getornull(p_shape_A); - ERR_FAIL_COND_V(!shape_A, false); - Shape2DSW *shape_B = shape_owner.getornull(p_shape_B); - ERR_FAIL_COND_V(!shape_B, false); - - if (p_result_max == 0) { - return CollisionSolver2DSW::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, nullptr, nullptr); - } - - CollCbkData cbk; - cbk.max = p_result_max; - cbk.amount = 0; - cbk.passed = 0; - cbk.ptr = r_results; - - bool res = CollisionSolver2DSW::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, _shape_col_cbk, &cbk); - r_result_count = cbk.amount; - return res; -} - -RID PhysicsServer2DSW::space_create() { - Space2DSW *space = memnew(Space2DSW); - RID id = space_owner.make_rid(space); - space->set_self(id); - RID area_id = area_create(); - Area2DSW *area = area_owner.getornull(area_id); - ERR_FAIL_COND_V(!area, RID()); - space->set_default_area(area); - area->set_space(space); - area->set_priority(-1); - - return id; -}; - -void PhysicsServer2DSW::space_set_active(RID p_space, bool p_active) { - Space2DSW *space = space_owner.getornull(p_space); - ERR_FAIL_COND(!space); - if (p_active) { - active_spaces.insert(space); - } else { - active_spaces.erase(space); - } -} - -bool PhysicsServer2DSW::space_is_active(RID p_space) const { - const Space2DSW *space = space_owner.getornull(p_space); - ERR_FAIL_COND_V(!space, false); - - return active_spaces.has(space); -} - -void PhysicsServer2DSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { - Space2DSW *space = space_owner.getornull(p_space); - ERR_FAIL_COND(!space); - - space->set_param(p_param, p_value); -} - -real_t PhysicsServer2DSW::space_get_param(RID p_space, SpaceParameter p_param) const { - const Space2DSW *space = space_owner.getornull(p_space); - ERR_FAIL_COND_V(!space, 0); - return space->get_param(p_param); -} - -void PhysicsServer2DSW::space_set_debug_contacts(RID p_space, int p_max_contacts) { - Space2DSW *space = space_owner.getornull(p_space); - ERR_FAIL_COND(!space); - space->set_debug_contacts(p_max_contacts); -} - -Vector<Vector2> PhysicsServer2DSW::space_get_contacts(RID p_space) const { - Space2DSW *space = space_owner.getornull(p_space); - ERR_FAIL_COND_V(!space, Vector<Vector2>()); - return space->get_debug_contacts(); -} - -int PhysicsServer2DSW::space_get_contact_count(RID p_space) const { - Space2DSW *space = space_owner.getornull(p_space); - ERR_FAIL_COND_V(!space, 0); - return space->get_debug_contact_count(); -} - -PhysicsDirectSpaceState2D *PhysicsServer2DSW::space_get_direct_state(RID p_space) { - Space2DSW *space = space_owner.getornull(p_space); - ERR_FAIL_COND_V(!space, nullptr); - ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification."); - - return space->get_direct_state(); -} - -RID PhysicsServer2DSW::area_create() { - Area2DSW *area = memnew(Area2DSW); - RID rid = area_owner.make_rid(area); - area->set_self(rid); - return rid; -}; - -void PhysicsServer2DSW::area_set_space(RID p_area, RID p_space) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - Space2DSW *space = nullptr; - if (p_space.is_valid()) { - space = space_owner.getornull(p_space); - ERR_FAIL_COND(!space); - } - - if (area->get_space() == space) { - return; //pointless - } - - area->clear_constraints(); - area->set_space(space); -}; - -RID PhysicsServer2DSW::area_get_space(RID p_area) const { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, RID()); - - Space2DSW *space = area->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -}; - -void PhysicsServer2DSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - area->set_space_override_mode(p_mode); -} - -PhysicsServer2D::AreaSpaceOverrideMode PhysicsServer2DSW::area_get_space_override_mode(RID p_area) const { - const Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED); - - return area->get_space_override_mode(); -} - -void PhysicsServer2DSW::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform, bool p_disabled) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND(!shape); - - area->add_shape(shape, p_transform, p_disabled); -} - -void PhysicsServer2DSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND(!shape); - ERR_FAIL_COND(!shape->is_configured()); - - area->set_shape(p_shape_idx, shape); -} - -void PhysicsServer2DSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - area->set_shape_transform(p_shape_idx, p_transform); -} - -void PhysicsServer2DSW::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - ERR_FAIL_INDEX(p_shape, area->get_shape_count()); - FLUSH_QUERY_CHECK(area); - - area->set_shape_as_disabled(p_shape, p_disabled); -} - -int PhysicsServer2DSW::area_get_shape_count(RID p_area) const { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, -1); - - return area->get_shape_count(); -} - -RID PhysicsServer2DSW::area_get_shape(RID p_area, int p_shape_idx) const { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, RID()); - - Shape2DSW *shape = area->get_shape(p_shape_idx); - ERR_FAIL_COND_V(!shape, RID()); - - return shape->get_self(); -} - -Transform2D PhysicsServer2DSW::area_get_shape_transform(RID p_area, int p_shape_idx) const { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, Transform2D()); - - return area->get_shape_transform(p_shape_idx); -} - -void PhysicsServer2DSW::area_remove_shape(RID p_area, int p_shape_idx) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - area->remove_shape(p_shape_idx); -} - -void PhysicsServer2DSW::area_clear_shapes(RID p_area) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - while (area->get_shape_count()) { - area->remove_shape(0); - } -} - -void PhysicsServer2DSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.getornull(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - area->set_instance_id(p_id); -} - -ObjectID PhysicsServer2DSW::area_get_object_instance_id(RID p_area) const { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.getornull(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, ObjectID()); - return area->get_instance_id(); -} - -void PhysicsServer2DSW::area_attach_canvas_instance_id(RID p_area, ObjectID p_id) { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.getornull(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - area->set_canvas_instance_id(p_id); -} - -ObjectID PhysicsServer2DSW::area_get_canvas_instance_id(RID p_area) const { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.getornull(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, ObjectID()); - return area->get_canvas_instance_id(); -} - -void PhysicsServer2DSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.getornull(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - area->set_param(p_param, p_value); -}; - -void PhysicsServer2DSW::area_set_transform(RID p_area, const Transform2D &p_transform) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - area->set_transform(p_transform); -}; - -Variant PhysicsServer2DSW::area_get_param(RID p_area, AreaParameter p_param) const { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.getornull(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, Variant()); - - return area->get_param(p_param); -}; - -Transform2D PhysicsServer2DSW::area_get_transform(RID p_area) const { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND_V(!area, Transform2D()); - - return area->get_transform(); -}; - -void PhysicsServer2DSW::area_set_pickable(RID p_area, bool p_pickable) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - area->set_pickable(p_pickable); -} - -void PhysicsServer2DSW::area_set_monitorable(RID p_area, bool p_monitorable) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - FLUSH_QUERY_CHECK(area); - - area->set_monitorable(p_monitorable); -} - -void PhysicsServer2DSW::area_set_collision_mask(RID p_area, uint32_t p_mask) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - area->set_collision_mask(p_mask); -} - -void PhysicsServer2DSW::area_set_collision_layer(RID p_area, uint32_t p_layer) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - area->set_collision_layer(p_layer); -} - -void PhysicsServer2DSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); -} - -void PhysicsServer2DSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { - Area2DSW *area = area_owner.getornull(p_area); - ERR_FAIL_COND(!area); - - area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); -} - -/* BODY API */ - -RID PhysicsServer2DSW::body_create() { - Body2DSW *body = memnew(Body2DSW); - RID rid = body_owner.make_rid(body); - body->set_self(rid); - return rid; -} - -void PhysicsServer2DSW::body_set_space(RID p_body, RID p_space) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - Space2DSW *space = nullptr; - if (p_space.is_valid()) { - space = space_owner.getornull(p_space); - ERR_FAIL_COND(!space); - } - - if (body->get_space() == space) { - return; //pointless - } - - body->clear_constraint_list(); - body->set_space(space); -}; - -RID PhysicsServer2DSW::body_get_space(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, RID()); - - Space2DSW *space = body->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -}; - -void PhysicsServer2DSW::body_set_mode(RID p_body, BodyMode p_mode) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - FLUSH_QUERY_CHECK(body); - - body->set_mode(p_mode); -}; - -PhysicsServer2D::BodyMode PhysicsServer2DSW::body_get_mode(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); - - return body->get_mode(); -}; - -void PhysicsServer2DSW::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform, bool p_disabled) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND(!shape); - - body->add_shape(shape, p_transform, p_disabled); -} - -void PhysicsServer2DSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - Shape2DSW *shape = shape_owner.getornull(p_shape); - ERR_FAIL_COND(!shape); - ERR_FAIL_COND(!shape->is_configured()); - - body->set_shape(p_shape_idx, shape); -} - -void PhysicsServer2DSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->set_shape_transform(p_shape_idx, p_transform); -} - -void PhysicsServer2DSW::body_set_shape_metadata(RID p_body, int p_shape_idx, const Variant &p_metadata) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_shape_metadata(p_shape_idx, p_metadata); -} - -Variant PhysicsServer2DSW::body_get_shape_metadata(RID p_body, int p_shape_idx) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, Variant()); - return body->get_shape_metadata(p_shape_idx); -} - -int PhysicsServer2DSW::body_get_shape_count(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, -1); - - return body->get_shape_count(); -} - -RID PhysicsServer2DSW::body_get_shape(RID p_body, int p_shape_idx) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, RID()); - - Shape2DSW *shape = body->get_shape(p_shape_idx); - ERR_FAIL_COND_V(!shape, RID()); - - return shape->get_self(); -} - -Transform2D PhysicsServer2DSW::body_get_shape_transform(RID p_body, int p_shape_idx) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, Transform2D()); - - return body->get_shape_transform(p_shape_idx); -} - -void PhysicsServer2DSW::body_remove_shape(RID p_body, int p_shape_idx) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->remove_shape(p_shape_idx); -} - -void PhysicsServer2DSW::body_clear_shapes(RID p_body) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - while (body->get_shape_count()) { - body->remove_shape(0); - } -} - -void PhysicsServer2DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); - FLUSH_QUERY_CHECK(body); - - body->set_shape_as_disabled(p_shape_idx, p_disabled); -} - -void PhysicsServer2DSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); - FLUSH_QUERY_CHECK(body); - - body->set_shape_as_one_way_collision(p_shape_idx, p_enable, p_margin); -} - -void PhysicsServer2DSW::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_continuous_collision_detection_mode(p_mode); -} - -PhysicsServer2DSW::CCDMode PhysicsServer2DSW::body_get_continuous_collision_detection_mode(RID p_body) const { - const Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED); - - return body->get_continuous_collision_detection_mode(); -} - -void PhysicsServer2DSW::body_attach_object_instance_id(RID p_body, ObjectID p_id) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->set_instance_id(p_id); -}; - -ObjectID PhysicsServer2DSW::body_get_object_instance_id(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, ObjectID()); - - return body->get_instance_id(); -}; - -void PhysicsServer2DSW::body_attach_canvas_instance_id(RID p_body, ObjectID p_id) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->set_canvas_instance_id(p_id); -}; - -ObjectID PhysicsServer2DSW::body_get_canvas_instance_id(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, ObjectID()); - - return body->get_canvas_instance_id(); -}; - -void PhysicsServer2DSW::body_set_collision_layer(RID p_body, uint32_t p_layer) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_collision_layer(p_layer); -}; - -uint32_t PhysicsServer2DSW::body_get_collision_layer(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_layer(); -}; - -void PhysicsServer2DSW::body_set_collision_mask(RID p_body, uint32_t p_mask) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_collision_mask(p_mask); -}; - -uint32_t PhysicsServer2DSW::body_get_collision_mask(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_mask(); -}; - -void PhysicsServer2DSW::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->set_param(p_param, p_value); -}; - -real_t PhysicsServer2DSW::body_get_param(RID p_body, BodyParameter p_param) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_param(p_param); -}; - -void PhysicsServer2DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->set_state(p_state, p_variant); -}; - -Variant PhysicsServer2DSW::body_get_state(RID p_body, BodyState p_state) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, Variant()); - - return body->get_state(p_state); -}; - -void PhysicsServer2DSW::body_set_applied_force(RID p_body, const Vector2 &p_force) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->set_applied_force(p_force); - body->wakeup(); -}; - -Vector2 PhysicsServer2DSW::body_get_applied_force(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, Vector2()); - return body->get_applied_force(); -}; - -void PhysicsServer2DSW::body_set_applied_torque(RID p_body, real_t p_torque) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->set_applied_torque(p_torque); - body->wakeup(); -}; - -real_t PhysicsServer2DSW::body_get_applied_torque(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_applied_torque(); -}; - -void PhysicsServer2DSW::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->apply_central_impulse(p_impulse); - body->wakeup(); -} - -void PhysicsServer2DSW::body_apply_torque_impulse(RID p_body, real_t p_torque) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - body->apply_torque_impulse(p_torque); - body->wakeup(); -} - -void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - body->apply_impulse(p_impulse, p_position); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_add_central_force(RID p_body, const Vector2 &p_force) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->add_central_force(p_force); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->add_force(p_force, p_position); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_add_torque(RID p_body, real_t p_torque) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->add_torque(p_torque); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - Vector2 v = body->get_linear_velocity(); - Vector2 axis = p_axis_velocity.normalized(); - v -= axis * axis.dot(v); - v += p_axis_velocity; - body->set_linear_velocity(v); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_add_collision_exception(RID p_body, RID p_body_b) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->add_exception(p_body_b); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_remove_collision_exception(RID p_body, RID p_body_b) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->remove_exception(p_body_b); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - for (int i = 0; i < body->get_exceptions().size(); i++) { - p_exceptions->push_back(body->get_exceptions()[i]); - } -}; - -void PhysicsServer2DSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); -}; - -real_t PhysicsServer2DSW::body_get_contacts_reported_depth_threshold(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, 0); - return 0; -}; - -void PhysicsServer2DSW::body_set_omit_force_integration(RID p_body, bool p_omit) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - - body->set_omit_force_integration(p_omit); -}; - -bool PhysicsServer2DSW::body_is_omitting_force_integration(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, false); - return body->get_omit_force_integration(); -}; - -void PhysicsServer2DSW::body_set_max_contacts_reported(RID p_body, int p_contacts) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_max_contacts_reported(p_contacts); -} - -int PhysicsServer2DSW::body_get_max_contacts_reported(RID p_body) const { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, -1); - return body->get_max_contacts_reported(); -} - -void PhysicsServer2DSW::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_force_integration_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method, p_udata); -} - -bool PhysicsServer2DSW::body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, false); - ERR_FAIL_INDEX_V(p_body_shape, body->get_shape_count(), false); - - return shape_collide(body->get_shape(p_body_shape)->get_self(), body->get_transform() * body->get_shape_transform(p_body_shape), Vector2(), p_shape, p_shape_xform, p_motion, r_results, p_result_max, r_result_count); -} - -void PhysicsServer2DSW::body_set_pickable(RID p_body, bool p_pickable) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND(!body); - body->set_pickable(p_pickable); -} - -bool PhysicsServer2DSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, false); - ERR_FAIL_COND_V(!body->get_space(), false); - ERR_FAIL_COND_V(body->get_space()->is_locked(), false); - - _update_shapes(); - - return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes); -} - -int PhysicsServer2DSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin) { - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, false); - ERR_FAIL_COND_V(!body->get_space(), false); - ERR_FAIL_COND_V(body->get_space()->is_locked(), false); - - return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin); -} - -PhysicsDirectBodyState2D *PhysicsServer2DSW::body_get_direct_state(RID p_body) { - ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - - if (!body_owner.owns(p_body)) { - return nullptr; - } - - Body2DSW *body = body_owner.getornull(p_body); - ERR_FAIL_COND_V(!body, nullptr); - ERR_FAIL_COND_V(!body->get_space(), nullptr); - ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - - direct_state->body = body; - return direct_state; -} - -/* JOINT API */ - -RID PhysicsServer2DSW::joint_create() { - Joint2DSW *joint = memnew(Joint2DSW); - RID joint_rid = joint_owner.make_rid(joint); - joint->set_self(joint_rid); - return joint_rid; -} - -void PhysicsServer2DSW::joint_clear(RID p_joint) { - Joint2DSW *joint = joint_owner.getornull(p_joint); - if (joint->get_type() != JOINT_TYPE_MAX) { - Joint2DSW *empty_joint = memnew(Joint2DSW); - empty_joint->copy_settings_from(joint); - - joint_owner.replace(p_joint, empty_joint); - memdelete(joint); - } -} - -void PhysicsServer2DSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) { - Joint2DSW *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND(!joint); - - switch (p_param) { - case JOINT_PARAM_BIAS: - joint->set_bias(p_value); - break; - case JOINT_PARAM_MAX_BIAS: - joint->set_max_bias(p_value); - break; - case JOINT_PARAM_MAX_FORCE: - joint->set_max_force(p_value); - break; - } -} - -real_t PhysicsServer2DSW::joint_get_param(RID p_joint, JointParam p_param) const { - const Joint2DSW *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND_V(!joint, -1); - - switch (p_param) { - case JOINT_PARAM_BIAS: - return joint->get_bias(); - break; - case JOINT_PARAM_MAX_BIAS: - return joint->get_max_bias(); - break; - case JOINT_PARAM_MAX_FORCE: - return joint->get_max_force(); - break; - } - - return 0; -} - -void PhysicsServer2DSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { - Joint2DSW *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND(!joint); - - joint->disable_collisions_between_bodies(p_disable); - - if (2 == joint->get_body_count()) { - Body2DSW *body_a = *joint->get_body_ptr(); - Body2DSW *body_b = *(joint->get_body_ptr() + 1); - - if (p_disable) { - body_add_collision_exception(body_a->get_self(), body_b->get_self()); - body_add_collision_exception(body_b->get_self(), body_a->get_self()); - } else { - body_remove_collision_exception(body_a->get_self(), body_b->get_self()); - body_remove_collision_exception(body_b->get_self(), body_a->get_self()); - } - } -} - -bool PhysicsServer2DSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const { - const Joint2DSW *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND_V(!joint, true); - - return joint->is_disabled_collisions_between_bodies(); -} - -void PhysicsServer2DSW::joint_make_pin(RID p_joint, const Vector2 &p_pos, RID p_body_a, RID p_body_b) { - Body2DSW *A = body_owner.getornull(p_body_a); - ERR_FAIL_COND(!A); - Body2DSW *B = nullptr; - if (body_owner.owns(p_body_b)) { - B = body_owner.getornull(p_body_b); - ERR_FAIL_COND(!B); - } - - Joint2DSW *prev_joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint2DSW *joint = memnew(PinJoint2DSW(p_pos, A, B)); - - joint_owner.replace(p_joint, joint); - joint->copy_settings_from(prev_joint); - memdelete(prev_joint); -} - -void PhysicsServer2DSW::joint_make_groove(RID p_joint, const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) { - Body2DSW *A = body_owner.getornull(p_body_a); - ERR_FAIL_COND(!A); - - Body2DSW *B = body_owner.getornull(p_body_b); - ERR_FAIL_COND(!B); - - Joint2DSW *prev_joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint2DSW *joint = memnew(GrooveJoint2DSW(p_a_groove1, p_a_groove2, p_b_anchor, A, B)); - - joint_owner.replace(p_joint, joint); - joint->copy_settings_from(prev_joint); - memdelete(prev_joint); -} - -void PhysicsServer2DSW::joint_make_damped_spring(RID p_joint, const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) { - Body2DSW *A = body_owner.getornull(p_body_a); - ERR_FAIL_COND(!A); - - Body2DSW *B = body_owner.getornull(p_body_b); - ERR_FAIL_COND(!B); - - Joint2DSW *prev_joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint2DSW *joint = memnew(DampedSpringJoint2DSW(p_anchor_a, p_anchor_b, A, B)); - - joint_owner.replace(p_joint, joint); - joint->copy_settings_from(prev_joint); - memdelete(prev_joint); -} - -void PhysicsServer2DSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { - Joint2DSW *j = joint_owner.getornull(p_joint); - ERR_FAIL_COND(!j); - ERR_FAIL_COND(j->get_type() != JOINT_TYPE_PIN); - - PinJoint2DSW *pin_joint = static_cast<PinJoint2DSW *>(j); - pin_joint->set_param(p_param, p_value); -} - -real_t PhysicsServer2DSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { - Joint2DSW *j = joint_owner.getornull(p_joint); - ERR_FAIL_COND_V(!j, 0); - ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_PIN, 0); - - PinJoint2DSW *pin_joint = static_cast<PinJoint2DSW *>(j); - return pin_joint->get_param(p_param); -} - -void PhysicsServer2DSW::damped_spring_joint_set_param(RID p_joint, DampedSpringParam p_param, real_t p_value) { - Joint2DSW *j = joint_owner.getornull(p_joint); - ERR_FAIL_COND(!j); - ERR_FAIL_COND(j->get_type() != JOINT_TYPE_DAMPED_SPRING); - - DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW *>(j); - dsj->set_param(p_param, p_value); -} - -real_t PhysicsServer2DSW::damped_spring_joint_get_param(RID p_joint, DampedSpringParam p_param) const { - Joint2DSW *j = joint_owner.getornull(p_joint); - ERR_FAIL_COND_V(!j, 0); - ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_DAMPED_SPRING, 0); - - DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW *>(j); - return dsj->get_param(p_param); -} - -PhysicsServer2D::JointType PhysicsServer2DSW::joint_get_type(RID p_joint) const { - Joint2DSW *joint = joint_owner.getornull(p_joint); - ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN); - - return joint->get_type(); -} - -void PhysicsServer2DSW::free(RID p_rid) { - _update_shapes(); // just in case - - if (shape_owner.owns(p_rid)) { - Shape2DSW *shape = shape_owner.getornull(p_rid); - - while (shape->get_owners().size()) { - ShapeOwner2DSW *so = shape->get_owners().front()->key(); - so->remove_shape(shape); - } - - shape_owner.free(p_rid); - memdelete(shape); - } else if (body_owner.owns(p_rid)) { - Body2DSW *body = body_owner.getornull(p_rid); - - /* - if (body->get_state_query()) - _clear_query(body->get_state_query()); - - if (body->get_direct_state_query()) - _clear_query(body->get_direct_state_query()); - */ - - body_set_space(p_rid, RID()); - - while (body->get_shape_count()) { - body->remove_shape(0); - } - - body_owner.free(p_rid); - memdelete(body); - - } else if (area_owner.owns(p_rid)) { - Area2DSW *area = area_owner.getornull(p_rid); - - /* - if (area->get_monitor_query()) - _clear_query(area->get_monitor_query()); - */ - - area->set_space(nullptr); - - while (area->get_shape_count()) { - area->remove_shape(0); - } - - area_owner.free(p_rid); - memdelete(area); - } else if (space_owner.owns(p_rid)) { - Space2DSW *space = space_owner.getornull(p_rid); - - while (space->get_objects().size()) { - CollisionObject2DSW *co = (CollisionObject2DSW *)space->get_objects().front()->get(); - co->set_space(nullptr); - } - - active_spaces.erase(space); - free(space->get_default_area()->get_self()); - space_owner.free(p_rid); - memdelete(space); - } else if (joint_owner.owns(p_rid)) { - Joint2DSW *joint = joint_owner.getornull(p_rid); - - joint_owner.free(p_rid); - memdelete(joint); - - } else { - ERR_FAIL_MSG("Invalid ID."); - } -}; - -void PhysicsServer2DSW::set_active(bool p_active) { - active = p_active; -}; - -void PhysicsServer2DSW::init() { - doing_sync = false; - last_step = 0.001; - iterations = 8; // 8? - stepper = memnew(Step2DSW); - direct_state = memnew(PhysicsDirectBodyState2DSW); -}; - -void PhysicsServer2DSW::step(real_t p_step) { - if (!active) { - return; - } - - _update_shapes(); - - last_step = p_step; - PhysicsDirectBodyState2DSW::singleton->step = p_step; - island_count = 0; - active_objects = 0; - collision_pairs = 0; - for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) { - stepper->step((Space2DSW *)E->get(), p_step, iterations); - island_count += E->get()->get_island_count(); - active_objects += E->get()->get_active_objects(); - collision_pairs += E->get()->get_collision_pairs(); - } -}; - -void PhysicsServer2DSW::sync() { - doing_sync = true; -}; - -void PhysicsServer2DSW::flush_queries() { - if (!active) { - return; - } - - flushing_queries = true; - - uint64_t time_beg = OS::get_singleton()->get_ticks_usec(); - - for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) { - Space2DSW *space = (Space2DSW *)E->get(); - space->call_queries(); - } - - flushing_queries = false; - - if (EngineDebugger::is_profiling("servers")) { - uint64_t total_time[Space2DSW::ELAPSED_TIME_MAX]; - static const char *time_name[Space2DSW::ELAPSED_TIME_MAX] = { - "integrate_forces", - "generate_islands", - "setup_constraints", - "solve_constraints", - "integrate_velocities" - }; - - for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) { - total_time[i] = 0; - } - - for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) { - for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) { - total_time[i] += E->get()->get_elapsed_time(Space2DSW::ElapsedTime(i)); - } - } - - Array values; - values.resize(Space2DSW::ELAPSED_TIME_MAX * 2); - for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) { - values[i * 2 + 0] = time_name[i]; - values[i * 2 + 1] = USEC_TO_SEC(total_time[i]); - } - values.push_back("flush_queries"); - values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg)); - - values.push_front("physics_2d"); - EngineDebugger::profiler_add_frame_data("servers", values); - } -} - -void PhysicsServer2DSW::end_sync() { - doing_sync = false; -} - -void PhysicsServer2DSW::finish() { - memdelete(stepper); - memdelete(direct_state); -}; - -void PhysicsServer2DSW::_update_shapes() { - while (pending_shape_update_list.first()) { - pending_shape_update_list.first()->self()->_shape_changed(); - pending_shape_update_list.remove(pending_shape_update_list.first()); - } -} - -int PhysicsServer2DSW::get_process_info(ProcessInfo p_info) { - switch (p_info) { - case INFO_ACTIVE_OBJECTS: { - return active_objects; - } break; - case INFO_COLLISION_PAIRS: { - return collision_pairs; - } break; - case INFO_ISLAND_COUNT: { - return island_count; - } break; - } - - return 0; -} - -PhysicsServer2DSW *PhysicsServer2DSW::singletonsw = nullptr; - -PhysicsServer2DSW::PhysicsServer2DSW(bool p_using_threads) { - singletonsw = this; - BroadPhase2DSW::create_func = BroadPhase2DHashGrid::_create; - //BroadPhase2DSW::create_func=BroadPhase2DBasic::_create; - - active = true; - island_count = 0; - active_objects = 0; - collision_pairs = 0; - using_threads = p_using_threads; - flushing_queries = false; -}; diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.cpp b/servers/physics_2d/physics_server_2d_wrap_mt.cpp deleted file mode 100644 index 790c87cc44..0000000000 --- a/servers/physics_2d/physics_server_2d_wrap_mt.cpp +++ /dev/null @@ -1,139 +0,0 @@ -/*************************************************************************/ -/* physics_server_2d_wrap_mt.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 "physics_server_2d_wrap_mt.h" - -#include "core/os/os.h" - -void PhysicsServer2DWrapMT::thread_exit() { - exit.set(); -} - -void PhysicsServer2DWrapMT::thread_step(real_t p_delta) { - physics_2d_server->step(p_delta); - step_sem.post(); -} - -void PhysicsServer2DWrapMT::_thread_callback(void *_instance) { - PhysicsServer2DWrapMT *vsmt = reinterpret_cast<PhysicsServer2DWrapMT *>(_instance); - - vsmt->thread_loop(); -} - -void PhysicsServer2DWrapMT::thread_loop() { - server_thread = Thread::get_caller_id(); - - physics_2d_server->init(); - - exit.clear(); - step_thread_up.set(); - while (!exit.is_set()) { - // flush commands one by one, until exit is requested - command_queue.wait_and_flush_one(); - } - - command_queue.flush_all(); // flush all - - physics_2d_server->finish(); -} - -/* EVENT QUEUING */ - -void PhysicsServer2DWrapMT::step(real_t p_step) { - if (create_thread) { - command_queue.push(this, &PhysicsServer2DWrapMT::thread_step, p_step); - } else { - command_queue.flush_all(); //flush all pending from other threads - physics_2d_server->step(p_step); - } -} - -void PhysicsServer2DWrapMT::sync() { - if (create_thread) { - if (first_frame) { - first_frame = false; - } else { - step_sem.wait(); //must not wait if a step was not issued - } - } - physics_2d_server->sync(); -} - -void PhysicsServer2DWrapMT::flush_queries() { - physics_2d_server->flush_queries(); -} - -void PhysicsServer2DWrapMT::end_sync() { - physics_2d_server->end_sync(); -} - -void PhysicsServer2DWrapMT::init() { - if (create_thread) { - //OS::get_singleton()->release_rendering_thread(); - thread.start(_thread_callback, this); - while (!step_thread_up.is_set()) { - OS::get_singleton()->delay_usec(1000); - } - } else { - physics_2d_server->init(); - } -} - -void PhysicsServer2DWrapMT::finish() { - if (thread.is_started()) { - command_queue.push(this, &PhysicsServer2DWrapMT::thread_exit); - thread.wait_to_finish(); - } else { - physics_2d_server->finish(); - } -} - -PhysicsServer2DWrapMT::PhysicsServer2DWrapMT(PhysicsServer2D *p_contained, bool p_create_thread) : - command_queue(p_create_thread) { - physics_2d_server = p_contained; - create_thread = p_create_thread; - step_pending = 0; - - pool_max_size = GLOBAL_GET("memory/limits/multithreaded_server/rid_pool_prealloc"); - - if (!p_create_thread) { - server_thread = Thread::get_caller_id(); - } else { - server_thread = 0; - } - - main_thread = Thread::get_caller_id(); - first_frame = true; -} - -PhysicsServer2DWrapMT::~PhysicsServer2DWrapMT() { - memdelete(physics_2d_server); - //finish(); -} diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_2d/physics_server_2d_wrap_mt.h deleted file mode 100644 index 3577f706de..0000000000 --- a/servers/physics_2d/physics_server_2d_wrap_mt.h +++ /dev/null @@ -1,336 +0,0 @@ -/*************************************************************************/ -/* physics_server_2d_wrap_mt.h */ -/*************************************************************************/ -/* 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. */ -/*************************************************************************/ - -#ifndef PHYSICS2DSERVERWRAPMT_H -#define PHYSICS2DSERVERWRAPMT_H - -#include "core/config/project_settings.h" -#include "core/os/thread.h" -#include "core/templates/command_queue_mt.h" -#include "core/templates/safe_refcount.h" -#include "servers/physics_server_2d.h" - -#ifdef DEBUG_SYNC -#define SYNC_DEBUG print_line("sync on: " + String(__FUNCTION__)); -#else -#define SYNC_DEBUG -#endif - -class PhysicsServer2DWrapMT : public PhysicsServer2D { - mutable PhysicsServer2D *physics_2d_server; - - mutable CommandQueueMT command_queue; - - static void _thread_callback(void *_instance); - void thread_loop(); - - Thread::ID server_thread; - Thread::ID main_thread; - SafeFlag exit; - Thread thread; - SafeFlag step_thread_up; - bool create_thread; - - Semaphore step_sem; - int step_pending; - void thread_step(real_t p_delta); - void thread_flush(); - - void thread_exit(); - - bool first_frame; - - Mutex alloc_mutex; - int pool_max_size; - -public: -#define ServerName PhysicsServer2D -#define ServerNameWrapMT PhysicsServer2DWrapMT -#define server_name physics_2d_server -#define WRITE_ACTION - -#include "servers/server_wrap_mt_common.h" - - //FUNC1RID(shape,ShapeType); todo fix - FUNCRID(line_shape) - FUNCRID(ray_shape) - FUNCRID(segment_shape) - FUNCRID(circle_shape) - FUNCRID(rectangle_shape) - FUNCRID(capsule_shape) - FUNCRID(convex_polygon_shape) - FUNCRID(concave_polygon_shape) - - FUNC2(shape_set_data, RID, const Variant &); - FUNC2(shape_set_custom_solver_bias, RID, real_t); - - FUNC1RC(ShapeType, shape_get_type, RID); - FUNC1RC(Variant, shape_get_data, RID); - FUNC1RC(real_t, shape_get_custom_solver_bias, RID); - - //these work well, but should be used from the main thread only - bool shape_collide(RID p_shape_A, const Transform2D &p_xform_A, const Vector2 &p_motion_A, RID p_shape_B, const Transform2D &p_xform_B, const Vector2 &p_motion_B, Vector2 *r_results, int p_result_max, int &r_result_count) override { - ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false); - return physics_2d_server->shape_collide(p_shape_A, p_xform_A, p_motion_A, p_shape_B, p_xform_B, p_motion_B, r_results, p_result_max, r_result_count); - } - - /* SPACE API */ - - FUNCRID(space); - FUNC2(space_set_active, RID, bool); - FUNC1RC(bool, space_is_active, RID); - - FUNC3(space_set_param, RID, SpaceParameter, real_t); - FUNC2RC(real_t, space_get_param, RID, SpaceParameter); - - // this function only works on physics process, errors and returns null otherwise - PhysicsDirectSpaceState2D *space_get_direct_state(RID p_space) override { - ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), nullptr); - return physics_2d_server->space_get_direct_state(p_space); - } - - FUNC2(space_set_debug_contacts, RID, int); - virtual Vector<Vector2> space_get_contacts(RID p_space) const override { - ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), Vector<Vector2>()); - return physics_2d_server->space_get_contacts(p_space); - } - - virtual int space_get_contact_count(RID p_space) const override { - ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), 0); - return physics_2d_server->space_get_contact_count(p_space); - } - - /* AREA API */ - - //FUNC0RID(area); - FUNCRID(area); - - FUNC2(area_set_space, RID, RID); - FUNC1RC(RID, area_get_space, RID); - - FUNC2(area_set_space_override_mode, RID, AreaSpaceOverrideMode); - FUNC1RC(AreaSpaceOverrideMode, area_get_space_override_mode, RID); - - FUNC4(area_add_shape, RID, RID, const Transform2D &, bool); - FUNC3(area_set_shape, RID, int, RID); - FUNC3(area_set_shape_transform, RID, int, const Transform2D &); - FUNC3(area_set_shape_disabled, RID, int, bool); - - FUNC1RC(int, area_get_shape_count, RID); - FUNC2RC(RID, area_get_shape, RID, int); - FUNC2RC(Transform2D, area_get_shape_transform, RID, int); - FUNC2(area_remove_shape, RID, int); - FUNC1(area_clear_shapes, RID); - - FUNC2(area_attach_object_instance_id, RID, ObjectID); - FUNC1RC(ObjectID, area_get_object_instance_id, RID); - - FUNC2(area_attach_canvas_instance_id, RID, ObjectID); - FUNC1RC(ObjectID, area_get_canvas_instance_id, RID); - - FUNC3(area_set_param, RID, AreaParameter, const Variant &); - FUNC2(area_set_transform, RID, const Transform2D &); - - FUNC2RC(Variant, area_get_param, RID, AreaParameter); - FUNC1RC(Transform2D, area_get_transform, RID); - - FUNC2(area_set_collision_mask, RID, uint32_t); - FUNC2(area_set_collision_layer, RID, uint32_t); - - FUNC2(area_set_monitorable, RID, bool); - FUNC2(area_set_pickable, RID, bool); - - FUNC3(area_set_monitor_callback, RID, Object *, const StringName &); - FUNC3(area_set_area_monitor_callback, RID, Object *, const StringName &); - - /* BODY API */ - - //FUNC2RID(body,BodyMode,bool); - FUNCRID(body) - - FUNC2(body_set_space, RID, RID); - FUNC1RC(RID, body_get_space, RID); - - FUNC2(body_set_mode, RID, BodyMode); - FUNC1RC(BodyMode, body_get_mode, RID); - - FUNC4(body_add_shape, RID, RID, const Transform2D &, bool); - FUNC3(body_set_shape, RID, int, RID); - FUNC3(body_set_shape_transform, RID, int, const Transform2D &); - FUNC3(body_set_shape_metadata, RID, int, const Variant &); - - FUNC1RC(int, body_get_shape_count, RID); - FUNC2RC(Transform2D, body_get_shape_transform, RID, int); - FUNC2RC(Variant, body_get_shape_metadata, RID, int); - FUNC2RC(RID, body_get_shape, RID, int); - - FUNC3(body_set_shape_disabled, RID, int, bool); - FUNC4(body_set_shape_as_one_way_collision, RID, int, bool, real_t); - - FUNC2(body_remove_shape, RID, int); - FUNC1(body_clear_shapes, RID); - - FUNC2(body_attach_object_instance_id, RID, ObjectID); - FUNC1RC(ObjectID, body_get_object_instance_id, RID); - - FUNC2(body_attach_canvas_instance_id, RID, ObjectID); - FUNC1RC(ObjectID, body_get_canvas_instance_id, RID); - - FUNC2(body_set_continuous_collision_detection_mode, RID, CCDMode); - FUNC1RC(CCDMode, body_get_continuous_collision_detection_mode, RID); - - FUNC2(body_set_collision_layer, RID, uint32_t); - FUNC1RC(uint32_t, body_get_collision_layer, RID); - - FUNC2(body_set_collision_mask, RID, uint32_t); - FUNC1RC(uint32_t, body_get_collision_mask, RID); - - FUNC3(body_set_param, RID, BodyParameter, real_t); - FUNC2RC(real_t, body_get_param, RID, BodyParameter); - - FUNC3(body_set_state, RID, BodyState, const Variant &); - FUNC2RC(Variant, body_get_state, RID, BodyState); - - FUNC2(body_set_applied_force, RID, const Vector2 &); - FUNC1RC(Vector2, body_get_applied_force, RID); - - FUNC2(body_set_applied_torque, RID, real_t); - FUNC1RC(real_t, body_get_applied_torque, RID); - - FUNC2(body_add_central_force, RID, const Vector2 &); - FUNC3(body_add_force, RID, const Vector2 &, const Vector2 &); - FUNC2(body_add_torque, RID, real_t); - FUNC2(body_apply_central_impulse, RID, const Vector2 &); - FUNC2(body_apply_torque_impulse, RID, real_t); - FUNC3(body_apply_impulse, RID, const Vector2 &, const Vector2 &); - FUNC2(body_set_axis_velocity, RID, const Vector2 &); - - FUNC2(body_add_collision_exception, RID, RID); - FUNC2(body_remove_collision_exception, RID, RID); - FUNC2S(body_get_collision_exceptions, RID, List<RID> *); - - FUNC2(body_set_max_contacts_reported, RID, int); - FUNC1RC(int, body_get_max_contacts_reported, RID); - - FUNC2(body_set_contacts_reported_depth_threshold, RID, real_t); - FUNC1RC(real_t, body_get_contacts_reported_depth_threshold, RID); - - FUNC2(body_set_omit_force_integration, RID, bool); - FUNC1RC(bool, body_is_omitting_force_integration, RID); - - FUNC4(body_set_force_integration_callback, RID, Object *, const StringName &, const Variant &); - - bool body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) override { - return physics_2d_server->body_collide_shape(p_body, p_body_shape, p_shape, p_shape_xform, p_motion, r_results, p_result_max, r_result_count); - } - - FUNC2(body_set_pickable, RID, bool); - - bool body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin = 0.001, MotionResult *r_result = nullptr, bool p_exclude_raycast_shapes = true) override { - ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false); - return physics_2d_server->body_test_motion(p_body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes); - } - - int body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, real_t p_margin = 0.001) override { - ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false); - return physics_2d_server->body_test_ray_separation(p_body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin); - } - - // this function only works on physics process, errors and returns null otherwise - PhysicsDirectBodyState2D *body_get_direct_state(RID p_body) override { - ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), nullptr); - return physics_2d_server->body_get_direct_state(p_body); - } - - /* JOINT API */ - - FUNCRID(joint) - - FUNC1(joint_clear, RID) - - FUNC3(joint_set_param, RID, JointParam, real_t); - FUNC2RC(real_t, joint_get_param, RID, JointParam); - - FUNC2(joint_disable_collisions_between_bodies, RID, const bool); - FUNC1RC(bool, joint_is_disabled_collisions_between_bodies, RID); - - ///FUNC3RID(pin_joint,const Vector2&,RID,RID); - ///FUNC5RID(groove_joint,const Vector2&,const Vector2&,const Vector2&,RID,RID); - ///FUNC4RID(damped_spring_joint,const Vector2&,const Vector2&,RID,RID); - - //TODO need to convert this to FUNCRID, but it's a hassle.. - - FUNC4(joint_make_pin, RID, const Vector2 &, RID, RID); - FUNC6(joint_make_groove, RID, const Vector2 &, const Vector2 &, const Vector2 &, RID, RID); - FUNC5(joint_make_damped_spring, RID, const Vector2 &, const Vector2 &, RID, RID); - - FUNC3(pin_joint_set_param, RID, PinJointParam, real_t); - FUNC2RC(real_t, pin_joint_get_param, RID, PinJointParam); - - FUNC3(damped_spring_joint_set_param, RID, DampedSpringParam, real_t); - FUNC2RC(real_t, damped_spring_joint_get_param, RID, DampedSpringParam); - - FUNC1RC(JointType, joint_get_type, RID); - - /* MISC */ - - FUNC1(free, RID); - FUNC1(set_active, bool); - - virtual void init() override; - virtual void step(real_t p_step) override; - virtual void sync() override; - virtual void end_sync() override; - virtual void flush_queries() override; - virtual void finish() override; - - virtual bool is_flushing_queries() const override { - return physics_2d_server->is_flushing_queries(); - } - - int get_process_info(ProcessInfo p_info) override { - return physics_2d_server->get_process_info(p_info); - } - - PhysicsServer2DWrapMT(PhysicsServer2D *p_contained, bool p_create_thread); - ~PhysicsServer2DWrapMT(); - -#undef ServerNameWrapMT -#undef ServerName -#undef server_name -#undef WRITE_ACTION -}; - -#ifdef DEBUG_SYNC -#undef DEBUG_SYNC -#endif -#undef SYNC_DEBUG - -#endif // PHYSICS2DSERVERWRAPMT_H 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); -} diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/space_2d_sw.h deleted file mode 100644 index 4d737d622f..0000000000 --- a/servers/physics_2d/space_2d_sw.h +++ /dev/null @@ -1,208 +0,0 @@ -/*************************************************************************/ -/* space_2d_sw.h */ -/*************************************************************************/ -/* 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. */ -/*************************************************************************/ - -#ifndef SPACE_2D_SW_H -#define SPACE_2D_SW_H - -#include "area_2d_sw.h" -#include "area_pair_2d_sw.h" -#include "body_2d_sw.h" -#include "body_pair_2d_sw.h" -#include "broad_phase_2d_sw.h" -#include "collision_object_2d_sw.h" -#include "core/config/project_settings.h" -#include "core/templates/hash_map.h" -#include "core/typedefs.h" - -class PhysicsDirectSpaceState2DSW : public PhysicsDirectSpaceState2D { - GDCLASS(PhysicsDirectSpaceState2DSW, PhysicsDirectSpaceState2D); - - int _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 = false, ObjectID p_canvas_instance_id = ObjectID()); - -public: - Space2DSW *space; - - virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; - virtual int 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; - virtual bool intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual int 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - - PhysicsDirectSpaceState2DSW(); -}; - -class Space2DSW { -public: - enum ElapsedTime { - ELAPSED_TIME_INTEGRATE_FORCES, - ELAPSED_TIME_GENERATE_ISLANDS, - ELAPSED_TIME_SETUP_CONSTRAINTS, - ELAPSED_TIME_SOLVE_CONSTRAINTS, - ELAPSED_TIME_INTEGRATE_VELOCITIES, - ELAPSED_TIME_MAX - - }; - -private: - struct ExcludedShapeSW { - Shape2DSW *local_shape; - const CollisionObject2DSW *against_object; - int against_shape_index; - }; - - uint64_t elapsed_time[ELAPSED_TIME_MAX]; - - PhysicsDirectSpaceState2DSW *direct_access; - RID self; - - BroadPhase2DSW *broadphase; - SelfList<Body2DSW>::List active_list; - SelfList<Body2DSW>::List inertia_update_list; - SelfList<Body2DSW>::List state_query_list; - SelfList<Area2DSW>::List monitor_query_list; - SelfList<Area2DSW>::List area_moved_list; - - static void *_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self); - static void _broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self); - - Set<CollisionObject2DSW *> objects; - - Area2DSW *area; - - real_t contact_recycle_radius; - real_t contact_max_separation; - real_t contact_max_allowed_penetration; - real_t constraint_bias; - real_t test_motion_min_contact_depth; - - enum { - INTERSECTION_QUERY_MAX = 2048 - }; - - CollisionObject2DSW *intersection_query_results[INTERSECTION_QUERY_MAX]; - int intersection_query_subindex_results[INTERSECTION_QUERY_MAX]; - - real_t body_linear_velocity_sleep_threshold; - real_t body_angular_velocity_sleep_threshold; - real_t body_time_to_sleep; - - bool locked; - - int island_count; - int active_objects; - int collision_pairs; - - int _cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb); - - Vector<Vector2> contact_debug; - int contact_debug_count; - - friend class PhysicsDirectSpaceState2DSW; - -public: - _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } - _FORCE_INLINE_ RID get_self() const { return self; } - - void set_default_area(Area2DSW *p_area) { area = p_area; } - Area2DSW *get_default_area() const { return area; } - - const SelfList<Body2DSW>::List &get_active_body_list() const; - void body_add_to_active_list(SelfList<Body2DSW> *p_body); - void body_remove_from_active_list(SelfList<Body2DSW> *p_body); - void body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body); - void body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body); - void area_add_to_moved_list(SelfList<Area2DSW> *p_area); - void area_remove_from_moved_list(SelfList<Area2DSW> *p_area); - const SelfList<Area2DSW>::List &get_moved_area_list() const; - - void body_add_to_state_query_list(SelfList<Body2DSW> *p_body); - void body_remove_from_state_query_list(SelfList<Body2DSW> *p_body); - - void area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area); - void area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area); - - BroadPhase2DSW *get_broadphase(); - - void add_object(CollisionObject2DSW *p_object); - void remove_object(CollisionObject2DSW *p_object); - const Set<CollisionObject2DSW *> &get_objects() const; - - _FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; } - _FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; } - _FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; } - _FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; } - _FORCE_INLINE_ real_t get_body_linear_velocity_sleep_threshold() const { return body_linear_velocity_sleep_threshold; } - _FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() const { return body_angular_velocity_sleep_threshold; } - _FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; } - - void update(); - void setup(); - void call_queries(); - - bool is_locked() const; - void lock(); - void unlock(); - - void set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value); - real_t get_param(PhysicsServer2D::SpaceParameter p_param) const; - - void set_island_count(int p_island_count) { island_count = p_island_count; } - int get_island_count() const { return island_count; } - - void set_active_objects(int p_active_objects) { active_objects = p_active_objects; } - int get_active_objects() const { return active_objects; } - - int get_collision_pairs() const { return collision_pairs; } - - bool 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 = true); - int 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); - - void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); } - _FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); } - _FORCE_INLINE_ void add_debug_contact(const Vector2 &p_contact) { - if (contact_debug_count < contact_debug.size()) { - contact_debug.write[contact_debug_count++] = p_contact; - } - } - _FORCE_INLINE_ Vector<Vector2> get_debug_contacts() { return contact_debug; } - _FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; } - - PhysicsDirectSpaceState2DSW *get_direct_state(); - - void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; } - uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; } - - Space2DSW(); - ~Space2DSW(); -}; - -#endif // SPACE_2D_SW_H diff --git a/servers/physics_2d/step_2d_sw.cpp b/servers/physics_2d/step_2d_sw.cpp deleted file mode 100644 index 6613d19729..0000000000 --- a/servers/physics_2d/step_2d_sw.cpp +++ /dev/null @@ -1,304 +0,0 @@ -/*************************************************************************/ -/* step_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 "step_2d_sw.h" -#include "core/os/os.h" - -void Step2DSW::_populate_island(Body2DSW *p_body, Body2DSW **p_island, Constraint2DSW **p_constraint_island) { - p_body->set_island_step(_step); - p_body->set_island_next(*p_island); - *p_island = p_body; - - for (const List<Pair<Constraint2DSW *, int>>::Element *E = p_body->get_constraint_list().front(); E; E = E->next()) { - Constraint2DSW *c = (Constraint2DSW *)E->get().first; - if (c->get_island_step() == _step) { - continue; //already processed - } - c->set_island_step(_step); - c->set_island_next(*p_constraint_island); - *p_constraint_island = c; - - for (int i = 0; i < c->get_body_count(); i++) { - if (i == E->get().second) { - continue; - } - Body2DSW *b = c->get_body_ptr()[i]; - if (b->get_island_step() == _step || b->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) { - continue; //no go - } - _populate_island(c->get_body_ptr()[i], p_island, p_constraint_island); - } - } -} - -bool Step2DSW::_setup_island(Constraint2DSW *p_island, real_t p_delta) { - Constraint2DSW *ci = p_island; - Constraint2DSW *prev_ci = nullptr; - bool removed_root = false; - while (ci) { - bool process = ci->setup(p_delta); - - if (!process) { - //remove from island if process fails - if (prev_ci) { - prev_ci->set_island_next(ci->get_island_next()); - } else { - removed_root = true; - prev_ci = ci; - } - } else { - prev_ci = ci; - } - ci = ci->get_island_next(); - } - - return removed_root; -} - -void Step2DSW::_solve_island(Constraint2DSW *p_island, int p_iterations, real_t p_delta) { - for (int i = 0; i < p_iterations; i++) { - Constraint2DSW *ci = p_island; - while (ci) { - ci->solve(p_delta); - ci = ci->get_island_next(); - } - } -} - -void Step2DSW::_check_suspend(Body2DSW *p_island, real_t p_delta) { - bool can_sleep = true; - - Body2DSW *b = p_island; - while (b) { - if (b->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) { - b = b->get_island_next(); - continue; //ignore for static - } - - if (!b->sleep_test(p_delta)) { - can_sleep = false; - } - - b = b->get_island_next(); - } - - //put all to sleep or wake up everyoen - - b = p_island; - while (b) { - if (b->get_mode() == PhysicsServer2D::BODY_MODE_STATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC) { - b = b->get_island_next(); - continue; //ignore for static - } - - bool active = b->is_active(); - - if (active == can_sleep) { - b->set_active(!can_sleep); - } - - b = b->get_island_next(); - } -} - -void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { - p_space->lock(); // can't access space during this - - p_space->setup(); //update inertias, etc - - const SelfList<Body2DSW>::List *body_list = &p_space->get_active_body_list(); - - /* INTEGRATE FORCES */ - - uint64_t profile_begtime = OS::get_singleton()->get_ticks_usec(); - uint64_t profile_endtime = 0; - - int active_count = 0; - - const SelfList<Body2DSW> *b = body_list->first(); - while (b) { - b->self()->integrate_forces(p_delta); - b = b->next(); - active_count++; - } - - p_space->set_active_objects(active_count); - - { //profile - profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime); - profile_begtime = profile_endtime; - } - - /* GENERATE CONSTRAINT ISLANDS */ - - Body2DSW *island_list = nullptr; - Constraint2DSW *constraint_island_list = nullptr; - b = body_list->first(); - - int island_count = 0; - - while (b) { - Body2DSW *body = b->self(); - - if (body->get_island_step() != _step) { - Body2DSW *island = nullptr; - Constraint2DSW *constraint_island = nullptr; - _populate_island(body, &island, &constraint_island); - - island->set_island_list_next(island_list); - island_list = island; - - if (constraint_island) { - constraint_island->set_island_list_next(constraint_island_list); - constraint_island_list = constraint_island; - island_count++; - } - } - b = b->next(); - } - - p_space->set_island_count(island_count); - - const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list(); - - while (aml.first()) { - for (const Set<Constraint2DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) { - Constraint2DSW *c = E->get(); - if (c->get_island_step() == _step) { - continue; - } - c->set_island_step(_step); - c->set_island_next(nullptr); - c->set_island_list_next(constraint_island_list); - constraint_island_list = c; - } - p_space->area_remove_from_moved_list((SelfList<Area2DSW> *)aml.first()); //faster to remove here - } - - { //profile - profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime); - profile_begtime = profile_endtime; - } - - /* SETUP CONSTRAINT ISLANDS */ - - { - Constraint2DSW *ci = constraint_island_list; - Constraint2DSW *prev_ci = nullptr; - while (ci) { - if (_setup_island(ci, p_delta)) { - //removed the root from the island graph because it is not to be processed - - Constraint2DSW *next = ci->get_island_next(); - - if (next) { - //root from list being deleted no longer exists, replace by next - next->set_island_list_next(ci->get_island_list_next()); - if (prev_ci) { - prev_ci->set_island_list_next(next); - } else { - constraint_island_list = next; - } - prev_ci = next; - } else { - //list is empty, just skip - if (prev_ci) { - prev_ci->set_island_list_next(ci->get_island_list_next()); - - } else { - constraint_island_list = ci->get_island_list_next(); - } - } - } else { - prev_ci = ci; - } - - ci = ci->get_island_list_next(); - } - } - - { //profile - profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime); - profile_begtime = profile_endtime; - } - - /* SOLVE CONSTRAINT ISLANDS */ - - { - Constraint2DSW *ci = constraint_island_list; - while (ci) { - //iterating each island separatedly improves cache efficiency - _solve_island(ci, p_iterations, p_delta); - ci = ci->get_island_list_next(); - } - } - - { //profile - profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime); - profile_begtime = profile_endtime; - } - - /* INTEGRATE VELOCITIES */ - - b = body_list->first(); - while (b) { - const SelfList<Body2DSW> *n = b->next(); - b->self()->integrate_velocities(p_delta); - b = n; // in case it shuts itself down - } - - /* SLEEP / WAKE UP ISLANDS */ - - { - Body2DSW *bi = island_list; - while (bi) { - _check_suspend(bi, p_delta); - bi = bi->get_island_list_next(); - } - } - - { //profile - profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime); - //profile_begtime=profile_endtime; - } - - p_space->update(); - p_space->unlock(); - _step++; -} - -Step2DSW::Step2DSW() { - _step = 1; -} |