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Diffstat (limited to 'servers/physics_3d/physics_server_3d_sw.h')
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1 files changed, 382 insertions, 0 deletions
diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/physics_server_3d_sw.h new file mode 100644 index 0000000000..7f0cd0ba9f --- /dev/null +++ b/servers/physics_3d/physics_server_3d_sw.h @@ -0,0 +1,382 @@ +/*************************************************************************/ +/* physics_server_sw.h */ +/*************************************************************************/ +/* 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. */ +/*************************************************************************/ + +#ifndef PHYSICS_SERVER_SW +#define PHYSICS_SERVER_SW + +#include "core/rid_owner.h" +#include "joints_3d_sw.h" +#include "servers/physics_server_3d.h" +#include "shape_3d_sw.h" +#include "space_3d_sw.h" +#include "step_3d_sw.h" + +class PhysicsServer3DSW : public PhysicsServer3D { + + GDCLASS(PhysicsServer3DSW, PhysicsServer3D); + + friend class PhysicsDirectSpaceState3DSW; + bool active; + int iterations; + bool doing_sync; + real_t last_step; + + int island_count; + int active_objects; + int collision_pairs; + + bool flushing_queries; + + Step3DSW *stepper; + Set<const Space3DSW *> active_spaces; + + PhysicsDirectBodyState3DSW *direct_state; + + mutable RID_PtrOwner<Shape3DSW> shape_owner; + mutable RID_PtrOwner<Space3DSW> space_owner; + mutable RID_PtrOwner<Area3DSW> area_owner; + mutable RID_PtrOwner<Body3DSW> body_owner; + mutable RID_PtrOwner<Joint3DSW> joint_owner; + + //void _clear_query(QuerySW *p_query); + friend class CollisionObject3DSW; + SelfList<CollisionObject3DSW>::List pending_shape_update_list; + void _update_shapes(); + +public: + static PhysicsServer3DSW *singleton; + + struct CollCbkData { + + int max; + int amount; + Vector3 *ptr; + }; + + static void _shape_col_cbk(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata); + + virtual RID shape_create(ShapeType p_shape); + virtual void shape_set_data(RID p_shape, const Variant &p_data); + virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias); + + virtual ShapeType shape_get_type(RID p_shape) const; + virtual Variant shape_get_data(RID p_shape) const; + + virtual void shape_set_margin(RID p_shape, real_t p_margin); + virtual real_t shape_get_margin(RID p_shape) const; + + virtual real_t shape_get_custom_solver_bias(RID p_shape) const; + + /* SPACE API */ + + virtual RID space_create(); + virtual void space_set_active(RID p_space, bool p_active); + virtual bool space_is_active(RID p_space) const; + + virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value); + virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const; + + // this function only works on physics process, errors and returns null otherwise + virtual PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space); + + virtual void space_set_debug_contacts(RID p_space, int p_max_contacts); + virtual Vector<Vector3> space_get_contacts(RID p_space) const; + virtual int space_get_contact_count(RID p_space) const; + + /* AREA API */ + + virtual RID area_create(); + + virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode); + virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const; + + virtual void area_set_space(RID p_area, RID p_space); + virtual RID area_get_space(RID p_area) const; + + virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false); + virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape); + virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform); + + virtual int area_get_shape_count(RID p_area) const; + virtual RID area_get_shape(RID p_area, int p_shape_idx) const; + virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const; + + virtual void area_remove_shape(RID p_area, int p_shape_idx); + virtual void area_clear_shapes(RID p_area); + + virtual void area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled); + + virtual void area_attach_object_instance_id(RID p_area, ObjectID p_id); + virtual ObjectID area_get_object_instance_id(RID p_area) const; + + virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value); + virtual void area_set_transform(RID p_area, const Transform &p_transform); + + virtual Variant area_get_param(RID p_area, AreaParameter p_param) const; + virtual Transform area_get_transform(RID p_area) const; + + virtual void area_set_ray_pickable(RID p_area, bool p_enable); + virtual bool area_is_ray_pickable(RID p_area) const; + + virtual void area_set_collision_mask(RID p_area, uint32_t p_mask); + virtual void area_set_collision_layer(RID p_area, uint32_t p_layer); + + virtual void area_set_monitorable(RID p_area, bool p_monitorable); + + virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); + virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method); + + /* BODY API */ + + // create a body of a given type + virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false); + + virtual void body_set_space(RID p_body, RID p_space); + virtual RID body_get_space(RID p_body) const; + + virtual void body_set_mode(RID p_body, BodyMode p_mode); + virtual BodyMode body_get_mode(RID p_body) const; + + virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform(), bool p_disabled = false); + virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape); + virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform); + + virtual int body_get_shape_count(RID p_body) const; + virtual RID body_get_shape(RID p_body, int p_shape_idx) const; + virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const; + + virtual void body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled); + + virtual void body_remove_shape(RID p_body, int p_shape_idx); + virtual void body_clear_shapes(RID p_body); + + virtual void body_attach_object_instance_id(RID p_body, ObjectID p_id); + virtual ObjectID body_get_object_instance_id(RID p_body) const; + + virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable); + virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const; + + virtual void body_set_collision_layer(RID p_body, uint32_t p_layer); + virtual uint32_t body_get_collision_layer(RID p_body) const; + + virtual void body_set_collision_mask(RID p_body, uint32_t p_mask); + virtual uint32_t body_get_collision_mask(RID p_body) const; + + virtual void body_set_user_flags(RID p_body, uint32_t p_flags); + virtual uint32_t body_get_user_flags(RID p_body) const; + + virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value); + virtual real_t body_get_param(RID p_body, BodyParameter p_param) const; + + virtual void body_set_kinematic_safe_margin(RID p_body, real_t p_margin); + virtual real_t body_get_kinematic_safe_margin(RID p_body) const; + + virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant); + virtual Variant body_get_state(RID p_body, BodyState p_state) const; + + virtual void body_set_applied_force(RID p_body, const Vector3 &p_force); + virtual Vector3 body_get_applied_force(RID p_body) const; + + virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque); + virtual Vector3 body_get_applied_torque(RID p_body) const; + + virtual void body_add_central_force(RID p_body, const Vector3 &p_force); + virtual void body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos); + virtual void body_add_torque(RID p_body, const Vector3 &p_torque); + + virtual void body_apply_central_impulse(RID p_body, const Vector3 &p_impulse); + virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse); + virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse); + virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity); + + virtual void body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock); + virtual bool body_is_axis_locked(RID p_body, BodyAxis p_axis) const; + + virtual void body_add_collision_exception(RID p_body, RID p_body_b); + virtual void body_remove_collision_exception(RID p_body, RID p_body_b); + virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions); + + virtual void body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold); + virtual real_t body_get_contacts_reported_depth_threshold(RID p_body) const; + + virtual void body_set_omit_force_integration(RID p_body, bool p_omit); + virtual bool body_is_omitting_force_integration(RID p_body) const; + + virtual void body_set_max_contacts_reported(RID p_body, int p_contacts); + virtual int body_get_max_contacts_reported(RID p_body) const; + + virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant()); + + virtual void body_set_ray_pickable(RID p_body, bool p_enable); + virtual bool body_is_ray_pickable(RID p_body) const; + + virtual bool body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result = NULL, bool p_exclude_raycast_shapes = true); + virtual int 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 = 0.001); + + // this function only works on physics process, errors and returns null otherwise + virtual PhysicsDirectBodyState3D *body_get_direct_state(RID p_body); + + /* SOFT BODY */ + + virtual RID soft_body_create(bool p_init_sleeping = false) { return RID(); } + + virtual void soft_body_update_rendering_server(RID p_body, class SoftBodyRenderingServerHandler *p_rendering_server_handler) {} + + virtual void soft_body_set_space(RID p_body, RID p_space) {} + virtual RID soft_body_get_space(RID p_body) const { return RID(); } + + virtual void soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {} + virtual uint32_t soft_body_get_collision_layer(RID p_body) const { return 0; } + + virtual void soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {} + virtual uint32_t soft_body_get_collision_mask(RID p_body) const { return 0; } + + virtual void soft_body_add_collision_exception(RID p_body, RID p_body_b) {} + virtual void soft_body_remove_collision_exception(RID p_body, RID p_body_b) {} + virtual void soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {} + + virtual void soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {} + virtual Variant soft_body_get_state(RID p_body, BodyState p_state) const { return Variant(); } + + virtual void soft_body_set_transform(RID p_body, const Transform &p_transform) {} + virtual Vector3 soft_body_get_vertex_position(RID p_body, int vertex_index) const { return Vector3(); } + + virtual void soft_body_set_ray_pickable(RID p_body, bool p_enable) {} + virtual bool soft_body_is_ray_pickable(RID p_body) const { return false; } + + virtual void soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {} + virtual int soft_body_get_simulation_precision(RID p_body) { return 0; } + + virtual void soft_body_set_total_mass(RID p_body, real_t p_total_mass) {} + virtual real_t soft_body_get_total_mass(RID p_body) { return 0.; } + + virtual void soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {} + virtual real_t soft_body_get_linear_stiffness(RID p_body) { return 0.; } + + virtual void soft_body_set_areaAngular_stiffness(RID p_body, real_t p_stiffness) {} + virtual real_t soft_body_get_areaAngular_stiffness(RID p_body) { return 0.; } + + virtual void soft_body_set_volume_stiffness(RID p_body, real_t p_stiffness) {} + virtual real_t soft_body_get_volume_stiffness(RID p_body) { return 0.; } + + virtual void soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {} + virtual real_t soft_body_get_pressure_coefficient(RID p_body) { return 0.; } + + virtual void soft_body_set_pose_matching_coefficient(RID p_body, real_t p_pose_matching_coefficient) {} + virtual real_t soft_body_get_pose_matching_coefficient(RID p_body) { return 0.; } + + virtual void soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {} + virtual real_t soft_body_get_damping_coefficient(RID p_body) { return 0.; } + + virtual void soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {} + virtual real_t soft_body_get_drag_coefficient(RID p_body) { return 0.; } + + virtual void soft_body_set_mesh(RID p_body, const REF &p_mesh) {} + + virtual void soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {} + virtual Vector3 soft_body_get_point_global_position(RID p_body, int p_point_index) { return Vector3(); } + + virtual Vector3 soft_body_get_point_offset(RID p_body, int p_point_index) const { return Vector3(); } + + virtual void soft_body_remove_all_pinned_points(RID p_body) {} + virtual void soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {} + virtual bool soft_body_is_point_pinned(RID p_body, int p_point_index) { return 0; } + + /* JOINT API */ + + virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B); + + virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value); + virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const; + + virtual void pin_joint_set_local_a(RID p_joint, const Vector3 &p_A); + virtual Vector3 pin_joint_get_local_a(RID p_joint) const; + + virtual void pin_joint_set_local_b(RID p_joint, const Vector3 &p_B); + virtual Vector3 pin_joint_get_local_b(RID p_joint) const; + + virtual RID joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B); + virtual RID 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); + + virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value); + virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const; + + virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value); + virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const; + + virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); //reference frame is A + + virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value); + virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const; + + virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); //reference frame is A + + virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value); + virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const; + + virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); //reference frame is A + + virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value); + virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param); + + virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable); + virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag); + + virtual void generic_6dof_joint_set_precision(RID p_joint, int precision) {} + virtual int generic_6dof_joint_get_precision(RID p_joint) { return 0; } + + virtual JointType joint_get_type(RID p_joint) const; + + virtual void joint_set_solver_priority(RID p_joint, int p_priority); + virtual int joint_get_solver_priority(RID p_joint) const; + + virtual void joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable); + virtual bool joint_is_disabled_collisions_between_bodies(RID p_joint) const; + + /* MISC */ + + virtual void free(RID p_rid); + + virtual void set_active(bool p_active); + virtual void init(); + virtual void step(real_t p_step); + virtual void sync(); + virtual void flush_queries(); + virtual void finish(); + + virtual bool is_flushing_queries() const { return flushing_queries; } + + int get_process_info(ProcessInfo p_info); + + PhysicsServer3DSW(); + ~PhysicsServer3DSW(); +}; + +#endif |