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diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp
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+++ b/servers/physics_3d/physics_server_3d_sw.cpp
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+/*************************************************************************/
+/* physics_server_sw.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 "physics_server_3d_sw.h"
+
+#include "broad_phase_3d_basic.h"
+#include "broad_phase_octree.h"
+#include "core/debugger/engine_debugger.h"
+#include "core/os/os.h"
+#include "joints/cone_twist_joint_3d_sw.h"
+#include "joints/generic_6dof_joint_3d_sw.h"
+#include "joints/hinge_joint_3d_sw.h"
+#include "joints/pin_joint_3d_sw.h"
+#include "joints/slider_joint_3d_sw.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 PhysicsServer3DSW::shape_create(ShapeType p_shape) {
+
+ Shape3DSW *shape = NULL;
+ switch (p_shape) {
+
+ case SHAPE_PLANE: {
+
+ shape = memnew(PlaneShape3DSW);
+ } break;
+ case SHAPE_RAY: {
+
+ shape = memnew(RayShape3DSW);
+ } break;
+ case SHAPE_SPHERE: {
+
+ shape = memnew(SphereShape3DSW);
+ } break;
+ case SHAPE_BOX: {
+
+ shape = memnew(BoxShape3DSW);
+ } break;
+ case SHAPE_CAPSULE: {
+
+ shape = memnew(CapsuleShape3DSW);
+ } break;
+ case SHAPE_CYLINDER: {
+
+ ERR_FAIL_V_MSG(RID(), "CylinderShape is not supported in GodotPhysics. Please switch to Bullet in the Project Settings.");
+ } break;
+ case SHAPE_CONVEX_POLYGON: {
+
+ shape = memnew(ConvexPolygonShape3DSW);
+ } break;
+ case SHAPE_CONCAVE_POLYGON: {
+
+ shape = memnew(ConcavePolygonShape3DSW);
+ } break;
+ case SHAPE_HEIGHTMAP: {
+
+ shape = memnew(HeightMapShape3DSW);
+ } break;
+ case SHAPE_CUSTOM: {
+
+ ERR_FAIL_V(RID());
+
+ } break;
+ }
+
+ RID id = shape_owner.make_rid(shape);
+ shape->set_self(id);
+
+ return id;
+};
+
+void PhysicsServer3DSW::shape_set_data(RID p_shape, const Variant &p_data) {
+
+ Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND(!shape);
+ shape->set_data(p_data);
+};
+
+void PhysicsServer3DSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
+
+ Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND(!shape);
+ shape->set_custom_bias(p_bias);
+}
+
+PhysicsServer3D::ShapeType PhysicsServer3DSW::shape_get_type(RID p_shape) const {
+
+ const Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
+ return shape->get_type();
+};
+
+Variant PhysicsServer3DSW::shape_get_data(RID p_shape) const {
+
+ const Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND_V(!shape, Variant());
+ ERR_FAIL_COND_V(!shape->is_configured(), Variant());
+ return shape->get_data();
+};
+
+void PhysicsServer3DSW::shape_set_margin(RID p_shape, real_t p_margin) {
+}
+
+real_t PhysicsServer3DSW::shape_get_margin(RID p_shape) const {
+ return 0.0;
+}
+
+real_t PhysicsServer3DSW::shape_get_custom_solver_bias(RID p_shape) const {
+
+ const Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND_V(!shape, 0);
+ return shape->get_custom_bias();
+}
+
+RID PhysicsServer3DSW::space_create() {
+
+ Space3DSW *space = memnew(Space3DSW);
+ RID id = space_owner.make_rid(space);
+ space->set_self(id);
+ RID area_id = area_create();
+ Area3DSW *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);
+ RID sgb = body_create();
+ body_set_space(sgb, id);
+ body_set_mode(sgb, BODY_MODE_STATIC);
+ space->set_static_global_body(sgb);
+
+ return id;
+};
+
+void PhysicsServer3DSW::space_set_active(RID p_space, bool p_active) {
+
+ Space3DSW *space = space_owner.getornull(p_space);
+ ERR_FAIL_COND(!space);
+ if (p_active)
+ active_spaces.insert(space);
+ else
+ active_spaces.erase(space);
+}
+
+bool PhysicsServer3DSW::space_is_active(RID p_space) const {
+
+ const Space3DSW *space = space_owner.getornull(p_space);
+ ERR_FAIL_COND_V(!space, false);
+
+ return active_spaces.has(space);
+}
+
+void PhysicsServer3DSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
+
+ Space3DSW *space = space_owner.getornull(p_space);
+ ERR_FAIL_COND(!space);
+
+ space->set_param(p_param, p_value);
+}
+
+real_t PhysicsServer3DSW::space_get_param(RID p_space, SpaceParameter p_param) const {
+
+ const Space3DSW *space = space_owner.getornull(p_space);
+ ERR_FAIL_COND_V(!space, 0);
+ return space->get_param(p_param);
+}
+
+PhysicsDirectSpaceState3D *PhysicsServer3DSW::space_get_direct_state(RID p_space) {
+
+ Space3DSW *space = space_owner.getornull(p_space);
+ ERR_FAIL_COND_V(!space, NULL);
+ ERR_FAIL_COND_V_MSG(!doing_sync || space->is_locked(), NULL, "Space state is inaccessible right now, wait for iteration or physics process notification.");
+
+ return space->get_direct_state();
+}
+
+void PhysicsServer3DSW::space_set_debug_contacts(RID p_space, int p_max_contacts) {
+
+ Space3DSW *space = space_owner.getornull(p_space);
+ ERR_FAIL_COND(!space);
+ space->set_debug_contacts(p_max_contacts);
+}
+
+Vector<Vector3> PhysicsServer3DSW::space_get_contacts(RID p_space) const {
+
+ Space3DSW *space = space_owner.getornull(p_space);
+ ERR_FAIL_COND_V(!space, Vector<Vector3>());
+ return space->get_debug_contacts();
+}
+
+int PhysicsServer3DSW::space_get_contact_count(RID p_space) const {
+
+ Space3DSW *space = space_owner.getornull(p_space);
+ ERR_FAIL_COND_V(!space, 0);
+ return space->get_debug_contact_count();
+}
+
+RID PhysicsServer3DSW::area_create() {
+
+ Area3DSW *area = memnew(Area3DSW);
+ RID rid = area_owner.make_rid(area);
+ area->set_self(rid);
+ return rid;
+};
+
+void PhysicsServer3DSW::area_set_space(RID p_area, RID p_space) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ Space3DSW *space = NULL;
+ 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 PhysicsServer3DSW::area_get_space(RID p_area) const {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, RID());
+
+ Space3DSW *space = area->get_space();
+ if (!space)
+ return RID();
+ return space->get_self();
+};
+
+void PhysicsServer3DSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ area->set_space_override_mode(p_mode);
+}
+
+PhysicsServer3D::AreaSpaceOverrideMode PhysicsServer3DSW::area_get_space_override_mode(RID p_area) const {
+
+ const Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);
+
+ return area->get_space_override_mode();
+}
+
+void PhysicsServer3DSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND(!shape);
+
+ area->add_shape(shape, p_transform, p_disabled);
+}
+
+void PhysicsServer3DSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND(!shape);
+ ERR_FAIL_COND(!shape->is_configured());
+
+ area->set_shape(p_shape_idx, shape);
+}
+
+void PhysicsServer3DSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ area->set_shape_transform(p_shape_idx, p_transform);
+}
+
+int PhysicsServer3DSW::area_get_shape_count(RID p_area) const {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, -1);
+
+ return area->get_shape_count();
+}
+RID PhysicsServer3DSW::area_get_shape(RID p_area, int p_shape_idx) const {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, RID());
+
+ Shape3DSW *shape = area->get_shape(p_shape_idx);
+ ERR_FAIL_COND_V(!shape, RID());
+
+ return shape->get_self();
+}
+Transform PhysicsServer3DSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, Transform());
+
+ return area->get_shape_transform(p_shape_idx);
+}
+
+void PhysicsServer3DSW::area_remove_shape(RID p_area, int p_shape_idx) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ area->remove_shape(p_shape_idx);
+}
+
+void PhysicsServer3DSW::area_clear_shapes(RID p_area) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ while (area->get_shape_count())
+ area->remove_shape(0);
+}
+
+void PhysicsServer3DSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+ ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
+ FLUSH_QUERY_CHECK(area);
+ area->set_shape_as_disabled(p_shape_idx, p_disabled);
+}
+
+void PhysicsServer3DSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
+
+ if (space_owner.owns(p_area)) {
+ Space3DSW *space = space_owner.getornull(p_area);
+ p_area = space->get_default_area()->get_self();
+ }
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+ area->set_instance_id(p_id);
+}
+ObjectID PhysicsServer3DSW::area_get_object_instance_id(RID p_area) const {
+
+ if (space_owner.owns(p_area)) {
+ Space3DSW *space = space_owner.getornull(p_area);
+ p_area = space->get_default_area()->get_self();
+ }
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, ObjectID());
+ return area->get_instance_id();
+}
+
+void PhysicsServer3DSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
+
+ if (space_owner.owns(p_area)) {
+ Space3DSW *space = space_owner.getornull(p_area);
+ p_area = space->get_default_area()->get_self();
+ }
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+ area->set_param(p_param, p_value);
+};
+
+void PhysicsServer3DSW::area_set_transform(RID p_area, const Transform &p_transform) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+ area->set_transform(p_transform);
+};
+
+Variant PhysicsServer3DSW::area_get_param(RID p_area, AreaParameter p_param) const {
+
+ if (space_owner.owns(p_area)) {
+ Space3DSW *space = space_owner.getornull(p_area);
+ p_area = space->get_default_area()->get_self();
+ }
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, Variant());
+
+ return area->get_param(p_param);
+};
+
+Transform PhysicsServer3DSW::area_get_transform(RID p_area) const {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, Transform());
+
+ return area->get_transform();
+};
+
+void PhysicsServer3DSW::area_set_collision_layer(RID p_area, uint32_t p_layer) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ area->set_collision_layer(p_layer);
+}
+
+void PhysicsServer3DSW::area_set_collision_mask(RID p_area, uint32_t p_mask) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ area->set_collision_mask(p_mask);
+}
+
+void PhysicsServer3DSW::area_set_monitorable(RID p_area, bool p_monitorable) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+ FLUSH_QUERY_CHECK(area);
+
+ area->set_monitorable(p_monitorable);
+}
+
+void PhysicsServer3DSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
+
+ Area3DSW *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 PhysicsServer3DSW::area_set_ray_pickable(RID p_area, bool p_enable) {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND(!area);
+
+ area->set_ray_pickable(p_enable);
+}
+
+bool PhysicsServer3DSW::area_is_ray_pickable(RID p_area) const {
+
+ Area3DSW *area = area_owner.getornull(p_area);
+ ERR_FAIL_COND_V(!area, false);
+
+ return area->is_ray_pickable();
+}
+
+void PhysicsServer3DSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
+
+ Area3DSW *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 PhysicsServer3DSW::body_create(BodyMode p_mode, bool p_init_sleeping) {
+
+ Body3DSW *body = memnew(Body3DSW);
+ if (p_mode != BODY_MODE_RIGID)
+ body->set_mode(p_mode);
+ if (p_init_sleeping)
+ body->set_state(BODY_STATE_SLEEPING, p_init_sleeping);
+ RID rid = body_owner.make_rid(body);
+ body->set_self(rid);
+ return rid;
+};
+
+void PhysicsServer3DSW::body_set_space(RID p_body, RID p_space) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ Space3DSW *space = NULL;
+ 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_map();
+ body->set_space(space);
+};
+
+RID PhysicsServer3DSW::body_get_space(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, RID());
+
+ Space3DSW *space = body->get_space();
+ if (!space)
+ return RID();
+ return space->get_self();
+};
+
+void PhysicsServer3DSW::body_set_mode(RID p_body, BodyMode p_mode) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_mode(p_mode);
+};
+
+PhysicsServer3D::BodyMode PhysicsServer3DSW::body_get_mode(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
+
+ return body->get_mode();
+};
+
+void PhysicsServer3DSW::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform, bool p_disabled) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND(!shape);
+
+ body->add_shape(shape, p_transform, p_disabled);
+}
+
+void PhysicsServer3DSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ Shape3DSW *shape = shape_owner.getornull(p_shape);
+ ERR_FAIL_COND(!shape);
+ ERR_FAIL_COND(!shape->is_configured());
+
+ body->set_shape(p_shape_idx, shape);
+}
+void PhysicsServer3DSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_shape_transform(p_shape_idx, p_transform);
+}
+
+int PhysicsServer3DSW::body_get_shape_count(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, -1);
+
+ return body->get_shape_count();
+}
+RID PhysicsServer3DSW::body_get_shape(RID p_body, int p_shape_idx) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, RID());
+
+ Shape3DSW *shape = body->get_shape(p_shape_idx);
+ ERR_FAIL_COND_V(!shape, RID());
+
+ return shape->get_self();
+}
+
+void PhysicsServer3DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
+
+ Body3DSW *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);
+}
+
+Transform PhysicsServer3DSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, Transform());
+
+ return body->get_shape_transform(p_shape_idx);
+}
+
+void PhysicsServer3DSW::body_remove_shape(RID p_body, int p_shape_idx) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->remove_shape(p_shape_idx);
+}
+
+void PhysicsServer3DSW::body_clear_shapes(RID p_body) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ while (body->get_shape_count())
+ body->remove_shape(0);
+}
+
+void PhysicsServer3DSW::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_continuous_collision_detection(p_enable);
+}
+
+bool PhysicsServer3DSW::body_is_continuous_collision_detection_enabled(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, false);
+
+ return body->is_continuous_collision_detection_enabled();
+}
+
+void PhysicsServer3DSW::body_set_collision_layer(RID p_body, uint32_t p_layer) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_collision_layer(p_layer);
+ body->wakeup();
+}
+
+uint32_t PhysicsServer3DSW::body_get_collision_layer(RID p_body) const {
+
+ const Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+
+ return body->get_collision_layer();
+}
+
+void PhysicsServer3DSW::body_set_collision_mask(RID p_body, uint32_t p_mask) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_collision_mask(p_mask);
+ body->wakeup();
+}
+
+uint32_t PhysicsServer3DSW::body_get_collision_mask(RID p_body) const {
+
+ const Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+
+ return body->get_collision_mask();
+}
+
+void PhysicsServer3DSW::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_instance_id(p_id);
+};
+
+ObjectID PhysicsServer3DSW::body_get_object_instance_id(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, ObjectID());
+
+ return body->get_instance_id();
+};
+
+void PhysicsServer3DSW::body_set_user_flags(RID p_body, uint32_t p_flags) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+};
+
+uint32_t PhysicsServer3DSW::body_get_user_flags(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+
+ return 0;
+};
+
+void PhysicsServer3DSW::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_param(p_param, p_value);
+};
+
+real_t PhysicsServer3DSW::body_get_param(RID p_body, BodyParameter p_param) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+
+ return body->get_param(p_param);
+};
+
+void PhysicsServer3DSW::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_kinematic_margin(p_margin);
+}
+
+real_t PhysicsServer3DSW::body_get_kinematic_safe_margin(RID p_body) const {
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+
+ return body->get_kinematic_margin();
+}
+
+void PhysicsServer3DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_state(p_state, p_variant);
+};
+
+Variant PhysicsServer3DSW::body_get_state(RID p_body, BodyState p_state) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, Variant());
+
+ return body->get_state(p_state);
+};
+
+void PhysicsServer3DSW::body_set_applied_force(RID p_body, const Vector3 &p_force) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_applied_force(p_force);
+ body->wakeup();
+};
+
+Vector3 PhysicsServer3DSW::body_get_applied_force(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, Vector3());
+ return body->get_applied_force();
+};
+
+void PhysicsServer3DSW::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_applied_torque(p_torque);
+ body->wakeup();
+};
+
+Vector3 PhysicsServer3DSW::body_get_applied_torque(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, Vector3());
+
+ return body->get_applied_torque();
+};
+
+void PhysicsServer3DSW::body_add_central_force(RID p_body, const Vector3 &p_force) {
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->add_central_force(p_force);
+ body->wakeup();
+}
+
+void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->add_force(p_force, p_pos);
+ body->wakeup();
+};
+
+void PhysicsServer3DSW::body_add_torque(RID p_body, const Vector3 &p_torque) {
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->add_torque(p_torque);
+ body->wakeup();
+};
+
+void PhysicsServer3DSW::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ _update_shapes();
+
+ body->apply_central_impulse(p_impulse);
+ body->wakeup();
+}
+
+void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ _update_shapes();
+
+ body->apply_impulse(p_pos, p_impulse);
+ body->wakeup();
+};
+
+void PhysicsServer3DSW::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ _update_shapes();
+
+ body->apply_torque_impulse(p_impulse);
+ body->wakeup();
+};
+
+void PhysicsServer3DSW::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ _update_shapes();
+
+ Vector3 v = body->get_linear_velocity();
+ Vector3 axis = p_axis_velocity.normalized();
+ v -= axis * axis.dot(v);
+ v += p_axis_velocity;
+ body->set_linear_velocity(v);
+ body->wakeup();
+};
+
+void PhysicsServer3DSW::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_axis_lock(p_axis, p_lock);
+ body->wakeup();
+}
+
+bool PhysicsServer3DSW::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
+
+ const Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+ return body->is_axis_locked(p_axis);
+}
+
+void PhysicsServer3DSW::body_add_collision_exception(RID p_body, RID p_body_b) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->add_exception(p_body_b);
+ body->wakeup();
+};
+
+void PhysicsServer3DSW::body_remove_collision_exception(RID p_body, RID p_body_b) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->remove_exception(p_body_b);
+ body->wakeup();
+};
+
+void PhysicsServer3DSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
+
+ Body3DSW *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 PhysicsServer3DSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+};
+
+real_t PhysicsServer3DSW::body_get_contacts_reported_depth_threshold(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, 0);
+ return 0;
+};
+
+void PhysicsServer3DSW::body_set_omit_force_integration(RID p_body, bool p_omit) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+
+ body->set_omit_force_integration(p_omit);
+};
+
+bool PhysicsServer3DSW::body_is_omitting_force_integration(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, false);
+ return body->get_omit_force_integration();
+};
+
+void PhysicsServer3DSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_max_contacts_reported(p_contacts);
+}
+
+int PhysicsServer3DSW::body_get_max_contacts_reported(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, -1);
+ return body->get_max_contacts_reported();
+}
+
+void PhysicsServer3DSW::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {
+
+ Body3DSW *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);
+}
+
+void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND(!body);
+ body->set_ray_pickable(p_enable);
+}
+
+bool PhysicsServer3DSW::body_is_ray_pickable(RID p_body) const {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, false);
+ return body->is_ray_pickable();
+}
+
+bool PhysicsServer3DSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes) {
+
+ Body3DSW *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, body->get_kinematic_margin(), r_result, p_exclude_raycast_shapes);
+}
+
+int PhysicsServer3DSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
+
+ Body3DSW *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_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
+}
+
+PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) {
+
+ Body3DSW *body = body_owner.getornull(p_body);
+ ERR_FAIL_COND_V(!body, NULL);
+ ERR_FAIL_COND_V_MSG(!doing_sync || body->get_space()->is_locked(), NULL, "Body state is inaccessible right now, wait for iteration or physics process notification.");
+
+ direct_state->body = body;
+ return direct_state;
+}
+
+/* JOINT API */
+
+RID PhysicsServer3DSW::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
+
+ Body3DSW *body_A = body_owner.getornull(p_body_A);
+ ERR_FAIL_COND_V(!body_A, RID());
+
+ if (!p_body_B.is_valid()) {
+ ERR_FAIL_COND_V(!body_A->get_space(), RID());
+ p_body_B = body_A->get_space()->get_static_global_body();
+ }
+
+ Body3DSW *body_B = body_owner.getornull(p_body_B);
+ ERR_FAIL_COND_V(!body_B, RID());
+
+ ERR_FAIL_COND_V(body_A == body_B, RID());
+
+ Joint3DSW *joint = memnew(PinJoint3DSW(body_A, p_local_A, body_B, p_local_B));
+ RID rid = joint_owner.make_rid(joint);
+ joint->set_self(rid);
+ return rid;
+}
+
+void PhysicsServer3DSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
+ PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
+ pin_joint->set_param(p_param, p_value);
+}
+real_t PhysicsServer3DSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, 0);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0);
+ PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
+ return pin_joint->get_param(p_param);
+}
+
+void PhysicsServer3DSW::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
+ PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
+ pin_joint->set_pos_a(p_A);
+}
+Vector3 PhysicsServer3DSW::pin_joint_get_local_a(RID p_joint) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, Vector3());
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
+ PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
+ return pin_joint->get_position_a();
+}
+
+void PhysicsServer3DSW::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
+ PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
+ pin_joint->set_pos_b(p_B);
+}
+Vector3 PhysicsServer3DSW::pin_joint_get_local_b(RID p_joint) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, Vector3());
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
+ PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
+ return pin_joint->get_position_b();
+}
+
+RID PhysicsServer3DSW::joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B) {
+
+ Body3DSW *body_A = body_owner.getornull(p_body_A);
+ ERR_FAIL_COND_V(!body_A, RID());
+
+ if (!p_body_B.is_valid()) {
+ ERR_FAIL_COND_V(!body_A->get_space(), RID());
+ p_body_B = body_A->get_space()->get_static_global_body();
+ }
+
+ Body3DSW *body_B = body_owner.getornull(p_body_B);
+ ERR_FAIL_COND_V(!body_B, RID());
+
+ ERR_FAIL_COND_V(body_A == body_B, RID());
+
+ Joint3DSW *joint = memnew(HingeJoint3DSW(body_A, body_B, p_frame_A, p_frame_B));
+ RID rid = joint_owner.make_rid(joint);
+ joint->set_self(rid);
+ return rid;
+}
+
+RID PhysicsServer3DSW::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) {
+
+ Body3DSW *body_A = body_owner.getornull(p_body_A);
+ ERR_FAIL_COND_V(!body_A, RID());
+
+ if (!p_body_B.is_valid()) {
+ ERR_FAIL_COND_V(!body_A->get_space(), RID());
+ p_body_B = body_A->get_space()->get_static_global_body();
+ }
+
+ Body3DSW *body_B = body_owner.getornull(p_body_B);
+ ERR_FAIL_COND_V(!body_B, RID());
+
+ ERR_FAIL_COND_V(body_A == body_B, RID());
+
+ Joint3DSW *joint = memnew(HingeJoint3DSW(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
+ RID rid = joint_owner.make_rid(joint);
+ joint->set_self(rid);
+ return rid;
+}
+
+void PhysicsServer3DSW::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
+ HingeJoint3DSW *hinge_joint = static_cast<HingeJoint3DSW *>(joint);
+ hinge_joint->set_param(p_param, p_value);
+}
+real_t PhysicsServer3DSW::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, 0);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0);
+ HingeJoint3DSW *hinge_joint = static_cast<HingeJoint3DSW *>(joint);
+ return hinge_joint->get_param(p_param);
+}
+
+void PhysicsServer3DSW::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
+ HingeJoint3DSW *hinge_joint = static_cast<HingeJoint3DSW *>(joint);
+ hinge_joint->set_flag(p_flag, p_value);
+}
+bool PhysicsServer3DSW::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, false);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false);
+ HingeJoint3DSW *hinge_joint = static_cast<HingeJoint3DSW *>(joint);
+ return hinge_joint->get_flag(p_flag);
+}
+
+void PhysicsServer3DSW::joint_set_solver_priority(RID p_joint, int p_priority) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ joint->set_priority(p_priority);
+}
+
+int PhysicsServer3DSW::joint_get_solver_priority(RID p_joint) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, 0);
+ return joint->get_priority();
+}
+
+void PhysicsServer3DSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+
+ joint->disable_collisions_between_bodies(p_disable);
+
+ if (2 == joint->get_body_count()) {
+ Body3DSW *body_a = *joint->get_body_ptr();
+ Body3DSW *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 PhysicsServer3DSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, true);
+
+ return joint->is_disabled_collisions_between_bodies();
+}
+
+PhysicsServer3DSW::JointType PhysicsServer3DSW::joint_get_type(RID p_joint) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, JOINT_PIN);
+ return joint->get_type();
+}
+
+RID PhysicsServer3DSW::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
+
+ Body3DSW *body_A = body_owner.getornull(p_body_A);
+ ERR_FAIL_COND_V(!body_A, RID());
+
+ if (!p_body_B.is_valid()) {
+ ERR_FAIL_COND_V(!body_A->get_space(), RID());
+ p_body_B = body_A->get_space()->get_static_global_body();
+ }
+
+ Body3DSW *body_B = body_owner.getornull(p_body_B);
+ ERR_FAIL_COND_V(!body_B, RID());
+
+ ERR_FAIL_COND_V(body_A == body_B, RID());
+
+ Joint3DSW *joint = memnew(SliderJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B));
+ RID rid = joint_owner.make_rid(joint);
+ joint->set_self(rid);
+ return rid;
+}
+
+void PhysicsServer3DSW::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER);
+ SliderJoint3DSW *slider_joint = static_cast<SliderJoint3DSW *>(joint);
+ slider_joint->set_param(p_param, p_value);
+}
+real_t PhysicsServer3DSW::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, 0);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0);
+ SliderJoint3DSW *slider_joint = static_cast<SliderJoint3DSW *>(joint);
+ return slider_joint->get_param(p_param);
+}
+
+RID PhysicsServer3DSW::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
+
+ Body3DSW *body_A = body_owner.getornull(p_body_A);
+ ERR_FAIL_COND_V(!body_A, RID());
+
+ if (!p_body_B.is_valid()) {
+ ERR_FAIL_COND_V(!body_A->get_space(), RID());
+ p_body_B = body_A->get_space()->get_static_global_body();
+ }
+
+ Body3DSW *body_B = body_owner.getornull(p_body_B);
+ ERR_FAIL_COND_V(!body_B, RID());
+
+ ERR_FAIL_COND_V(body_A == body_B, RID());
+
+ Joint3DSW *joint = memnew(ConeTwistJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B));
+ RID rid = joint_owner.make_rid(joint);
+ joint->set_self(rid);
+ return rid;
+}
+
+void PhysicsServer3DSW::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST);
+ ConeTwistJoint3DSW *cone_twist_joint = static_cast<ConeTwistJoint3DSW *>(joint);
+ cone_twist_joint->set_param(p_param, p_value);
+}
+real_t PhysicsServer3DSW::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, 0);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0);
+ ConeTwistJoint3DSW *cone_twist_joint = static_cast<ConeTwistJoint3DSW *>(joint);
+ return cone_twist_joint->get_param(p_param);
+}
+
+RID PhysicsServer3DSW::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {
+
+ Body3DSW *body_A = body_owner.getornull(p_body_A);
+ ERR_FAIL_COND_V(!body_A, RID());
+
+ if (!p_body_B.is_valid()) {
+ ERR_FAIL_COND_V(!body_A->get_space(), RID());
+ p_body_B = body_A->get_space()->get_static_global_body();
+ }
+
+ Body3DSW *body_B = body_owner.getornull(p_body_B);
+ ERR_FAIL_COND_V(!body_B, RID());
+
+ ERR_FAIL_COND_V(body_A == body_B, RID());
+
+ Joint3DSW *joint = memnew(Generic6DOFJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
+ RID rid = joint_owner.make_rid(joint);
+ joint->set_self(rid);
+ return rid;
+}
+
+void PhysicsServer3DSW::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
+ Generic6DOFJoint3DSW *generic_6dof_joint = static_cast<Generic6DOFJoint3DSW *>(joint);
+ generic_6dof_joint->set_param(p_axis, p_param, p_value);
+}
+real_t PhysicsServer3DSW::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, 0);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
+ Generic6DOFJoint3DSW *generic_6dof_joint = static_cast<Generic6DOFJoint3DSW *>(joint);
+ return generic_6dof_joint->get_param(p_axis, p_param);
+}
+
+void PhysicsServer3DSW::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND(!joint);
+ ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
+ Generic6DOFJoint3DSW *generic_6dof_joint = static_cast<Generic6DOFJoint3DSW *>(joint);
+ generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
+}
+bool PhysicsServer3DSW::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_joint);
+ ERR_FAIL_COND_V(!joint, false);
+ ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false);
+ Generic6DOFJoint3DSW *generic_6dof_joint = static_cast<Generic6DOFJoint3DSW *>(joint);
+ return generic_6dof_joint->get_flag(p_axis, p_flag);
+}
+
+void PhysicsServer3DSW::free(RID p_rid) {
+
+ _update_shapes(); //just in case
+
+ if (shape_owner.owns(p_rid)) {
+
+ Shape3DSW *shape = shape_owner.getornull(p_rid);
+
+ while (shape->get_owners().size()) {
+ ShapeOwner3DSW *so = shape->get_owners().front()->key();
+ so->remove_shape(shape);
+ }
+
+ shape_owner.free(p_rid);
+ memdelete(shape);
+ } else if (body_owner.owns(p_rid)) {
+
+ Body3DSW *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(NULL);
+
+ while (body->get_shape_count()) {
+
+ body->remove_shape(0);
+ }
+
+ body_owner.free(p_rid);
+ memdelete(body);
+
+ } else if (area_owner.owns(p_rid)) {
+
+ Area3DSW *area = area_owner.getornull(p_rid);
+
+ /*
+ if (area->get_monitor_query())
+ _clear_query(area->get_monitor_query());
+ */
+
+ area->set_space(NULL);
+
+ while (area->get_shape_count()) {
+
+ area->remove_shape(0);
+ }
+
+ area_owner.free(p_rid);
+ memdelete(area);
+ } else if (space_owner.owns(p_rid)) {
+
+ Space3DSW *space = space_owner.getornull(p_rid);
+
+ while (space->get_objects().size()) {
+ CollisionObject3DSW *co = (CollisionObject3DSW *)space->get_objects().front()->get();
+ co->set_space(NULL);
+ }
+
+ active_spaces.erase(space);
+ free(space->get_default_area()->get_self());
+ free(space->get_static_global_body());
+
+ space_owner.free(p_rid);
+ memdelete(space);
+ } else if (joint_owner.owns(p_rid)) {
+
+ Joint3DSW *joint = joint_owner.getornull(p_rid);
+
+ for (int i = 0; i < joint->get_body_count(); i++) {
+
+ joint->get_body_ptr()[i]->remove_constraint(joint);
+ }
+ joint_owner.free(p_rid);
+ memdelete(joint);
+
+ } else {
+
+ ERR_FAIL_MSG("Invalid ID.");
+ }
+};
+
+void PhysicsServer3DSW::set_active(bool p_active) {
+
+ active = p_active;
+};
+
+void PhysicsServer3DSW::init() {
+
+ doing_sync = true;
+ last_step = 0.001;
+ iterations = 8; // 8?
+ stepper = memnew(Step3DSW);
+ direct_state = memnew(PhysicsDirectBodyState3DSW);
+};
+
+void PhysicsServer3DSW::step(real_t p_step) {
+
+#ifndef _3D_DISABLED
+
+ if (!active)
+ return;
+
+ _update_shapes();
+
+ doing_sync = false;
+
+ last_step = p_step;
+ PhysicsDirectBodyState3DSW::singleton->step = p_step;
+
+ island_count = 0;
+ active_objects = 0;
+ collision_pairs = 0;
+ for (Set<const Space3DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
+
+ stepper->step((Space3DSW *)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();
+ }
+#endif
+}
+
+void PhysicsServer3DSW::sync(){
+
+};
+
+void PhysicsServer3DSW::flush_queries() {
+
+#ifndef _3D_DISABLED
+
+ if (!active)
+ return;
+
+ doing_sync = true;
+
+ flushing_queries = true;
+
+ uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
+
+ for (Set<const Space3DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
+
+ Space3DSW *space = (Space3DSW *)E->get();
+ space->call_queries();
+ }
+
+ flushing_queries = false;
+
+ if (EngineDebugger::is_profiling("servers")) {
+
+ uint64_t total_time[Space3DSW::ELAPSED_TIME_MAX];
+ static const char *time_name[Space3DSW::ELAPSED_TIME_MAX] = {
+ "integrate_forces",
+ "generate_islands",
+ "setup_constraints",
+ "solve_constraints",
+ "integrate_velocities"
+ };
+
+ for (int i = 0; i < Space3DSW::ELAPSED_TIME_MAX; i++) {
+ total_time[i] = 0;
+ }
+
+ for (Set<const Space3DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
+
+ for (int i = 0; i < Space3DSW::ELAPSED_TIME_MAX; i++) {
+ total_time[i] += E->get()->get_elapsed_time(Space3DSW::ElapsedTime(i));
+ }
+ }
+
+ Array values;
+ values.resize(Space3DSW::ELAPSED_TIME_MAX * 2);
+ for (int i = 0; i < Space3DSW::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");
+ EngineDebugger::profiler_add_frame_data("server", values);
+ }
+#endif
+};
+
+void PhysicsServer3DSW::finish() {
+
+ memdelete(stepper);
+ memdelete(direct_state);
+};
+
+int PhysicsServer3DSW::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;
+}
+
+void PhysicsServer3DSW::_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());
+ }
+}
+
+void PhysicsServer3DSW::_shape_col_cbk(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
+
+ CollCbkData *cbk = (CollCbkData *)p_userdata;
+
+ if (cbk->max == 0)
+ 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;
+ }
+ }
+
+ real_t d = p_point_A.distance_squared_to(p_point_B);
+ if (d < min_depth)
+ return;
+ cbk->ptr[min_depth_idx * 2 + 0] = p_point_A;
+ cbk->ptr[min_depth_idx * 2 + 1] = p_point_B;
+
+ } else {
+
+ cbk->ptr[cbk->amount * 2 + 0] = p_point_A;
+ cbk->ptr[cbk->amount * 2 + 1] = p_point_B;
+ cbk->amount++;
+ }
+}
+
+PhysicsServer3DSW *PhysicsServer3DSW::singleton = NULL;
+PhysicsServer3DSW::PhysicsServer3DSW() {
+ singleton = this;
+ BroadPhase3DSW::create_func = BroadPhaseOctree::_create;
+ island_count = 0;
+ active_objects = 0;
+ collision_pairs = 0;
+
+ active = true;
+ flushing_queries = false;
+};
+
+PhysicsServer3DSW::~PhysicsServer3DSW(){
+
+};
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