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diff --git a/servers/physics_3d/broad_phase_3d_basic.cpp b/servers/physics_3d/broad_phase_3d_basic.cpp
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+/*************************************************************************/
+/* broad_phase_basic.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2020 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_3d_basic.h"
+#include "core/list.h"
+#include "core/print_string.h"
+
+BroadPhase3DSW::ID BroadPhase3DBasic::create(CollisionObject3DSW *p_object, int p_subindex) {
+
+ ERR_FAIL_COND_V(p_object == NULL, 0);
+
+ current++;
+
+ Element e;
+ e.owner = p_object;
+ e._static = false;
+ e.subindex = p_subindex;
+
+ element_map[current] = e;
+ return current;
+}
+
+void BroadPhase3DBasic::move(ID p_id, const AABB &p_aabb) {
+
+ Map<ID, Element>::Element *E = element_map.find(p_id);
+ ERR_FAIL_COND(!E);
+ E->get().aabb = p_aabb;
+}
+void BroadPhase3DBasic::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 BroadPhase3DBasic::remove(ID p_id) {
+
+ Map<ID, Element>::Element *E = element_map.find(p_id);
+ ERR_FAIL_COND(!E);
+ List<PairKey> to_erase;
+ //unpair must be done immediately on removal to avoid potential invalid pointers
+ for (Map<PairKey, void *>::Element *F = pair_map.front(); F; F = F->next()) {
+
+ if (F->key().a == p_id || F->key().b == p_id) {
+
+ if (unpair_callback) {
+ Element *elem_A = &element_map[F->key().a];
+ Element *elem_B = &element_map[F->key().b];
+ unpair_callback(elem_A->owner, elem_A->subindex, elem_B->owner, elem_B->subindex, F->get(), unpair_userdata);
+ }
+ to_erase.push_back(F->key());
+ }
+ }
+ while (to_erase.size()) {
+
+ pair_map.erase(to_erase.front()->get());
+ to_erase.pop_front();
+ }
+ element_map.erase(E);
+}
+
+CollisionObject3DSW *BroadPhase3DBasic::get_object(ID p_id) const {
+
+ const Map<ID, Element>::Element *E = element_map.find(p_id);
+ ERR_FAIL_COND_V(!E, NULL);
+ return E->get().owner;
+}
+bool BroadPhase3DBasic::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 BroadPhase3DBasic::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 BroadPhase3DBasic::cull_point(const Vector3 &p_point, CollisionObject3DSW **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 AABB aabb = E->get().aabb;
+ if (aabb.has_point(p_point)) {
+
+ p_results[rc] = E->get().owner;
+ p_result_indices[rc] = E->get().subindex;
+ rc++;
+ if (rc >= p_max_results)
+ break;
+ }
+ }
+
+ return rc;
+}
+
+int BroadPhase3DBasic::cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **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 AABB 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 BroadPhase3DBasic::cull_aabb(const AABB &p_aabb, CollisionObject3DSW **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 AABB 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 BroadPhase3DBasic::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
+
+ pair_userdata = p_userdata;
+ pair_callback = p_pair_callback;
+}
+void BroadPhase3DBasic::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
+
+ unpair_userdata = p_userdata;
+ unpair_callback = p_unpair_callback;
+}
+
+void BroadPhase3DBasic::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 = NULL;
+ if (pair_callback)
+ data = pair_callback(elem_A->owner, elem_A->subindex, elem_B->owner, elem_B->subindex, unpair_userdata);
+ pair_map.insert(key, data);
+ }
+ }
+ }
+}
+
+BroadPhase3DSW *BroadPhase3DBasic::_create() {
+
+ return memnew(BroadPhase3DBasic);
+}
+
+BroadPhase3DBasic::BroadPhase3DBasic() {
+
+ current = 1;
+ unpair_callback = NULL;
+ unpair_userdata = NULL;
+ pair_callback = NULL;
+ pair_userdata = NULL;
+}
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