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Diffstat (limited to 'servers/physics_3d/space_3d_sw.h')
| -rw-r--r-- | servers/physics_3d/space_3d_sw.h | 208 |
1 files changed, 208 insertions, 0 deletions
diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/space_3d_sw.h new file mode 100644 index 0000000000..3634834952 --- /dev/null +++ b/servers/physics_3d/space_3d_sw.h @@ -0,0 +1,208 @@ +/*************************************************************************/ +/* space_3d_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 SPACE_SW_H +#define SPACE_SW_H + +#include "area_3d_sw.h" +#include "area_pair_3d_sw.h" +#include "body_3d_sw.h" +#include "body_pair_3d_sw.h" +#include "broad_phase_3d_sw.h" +#include "collision_object_3d_sw.h" +#include "core/hash_map.h" +#include "core/project_settings.h" +#include "core/typedefs.h" + +class PhysicsDirectSpaceState3DSW : public PhysicsDirectSpaceState3D { + + GDCLASS(PhysicsDirectSpaceState3DSW, PhysicsDirectSpaceState3D); + +public: + Space3DSW *space; + + virtual int intersect_point(const Vector3 &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); + virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &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, bool p_pick_ray = false); + virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, 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); + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &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, ShapeRestInfo *r_info = nullptr); + virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *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); + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, 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); + virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const; + + PhysicsDirectSpaceState3DSW(); +}; + +class Space3DSW { + +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: + uint64_t elapsed_time[ELAPSED_TIME_MAX]; + + PhysicsDirectSpaceState3DSW *direct_access; + RID self; + + BroadPhase3DSW *broadphase; + SelfList<Body3DSW>::List active_list; + SelfList<Body3DSW>::List inertia_update_list; + SelfList<Body3DSW>::List state_query_list; + SelfList<Area3DSW>::List monitor_query_list; + SelfList<Area3DSW>::List area_moved_list; + + static void *_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self); + static void _broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self); + + Set<CollisionObject3DSW *> objects; + + Area3DSW *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 + }; + + CollisionObject3DSW *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; + real_t body_angular_velocity_damp_ratio; + + bool locked; + + int island_count; + int active_objects; + int collision_pairs; + + RID static_global_body; + + Vector<Vector3> contact_debug; + int contact_debug_count; + + friend class PhysicsDirectSpaceState3DSW; + + int _cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb); + +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(Area3DSW *p_area) { area = p_area; } + Area3DSW *get_default_area() const { return area; } + + const SelfList<Body3DSW>::List &get_active_body_list() const; + void body_add_to_active_list(SelfList<Body3DSW> *p_body); + void body_remove_from_active_list(SelfList<Body3DSW> *p_body); + void body_add_to_inertia_update_list(SelfList<Body3DSW> *p_body); + void body_remove_from_inertia_update_list(SelfList<Body3DSW> *p_body); + + void body_add_to_state_query_list(SelfList<Body3DSW> *p_body); + void body_remove_from_state_query_list(SelfList<Body3DSW> *p_body); + + void area_add_to_monitor_query_list(SelfList<Area3DSW> *p_area); + void area_remove_from_monitor_query_list(SelfList<Area3DSW> *p_area); + void area_add_to_moved_list(SelfList<Area3DSW> *p_area); + void area_remove_from_moved_list(SelfList<Area3DSW> *p_area); + const SelfList<Area3DSW>::List &get_moved_area_list() const; + + BroadPhase3DSW *get_broadphase(); + + void add_object(CollisionObject3DSW *p_object); + void remove_object(CollisionObject3DSW *p_object); + const Set<CollisionObject3DSW *> &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; } + _FORCE_INLINE_ real_t get_body_angular_velocity_damp_ratio() const { return body_angular_velocity_damp_ratio; } + + void update(); + void setup(); + void call_queries(); + + bool is_locked() const; + void lock(); + void unlock(); + + void set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value); + real_t get_param(PhysicsServer3D::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; } + + PhysicsDirectSpaceState3DSW *get_direct_state(); + + void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); } + _FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.empty(); } + _FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) { + if (contact_debug_count < contact_debug.size()) contact_debug.write[contact_debug_count++] = p_contact; + } + _FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contact_debug; } + _FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; } + + void set_static_global_body(RID p_body) { static_global_body = p_body; } + RID get_static_global_body() { return static_global_body; } + + 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]; } + + int test_body_ray_separation(Body3DSW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer3D::SeparationResult *r_results, int p_result_max, real_t p_margin); + bool test_body_motion(Body3DSW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer3D::MotionResult *r_result, bool p_exclude_raycast_shapes); + + Space3DSW(); + ~Space3DSW(); +}; + +#endif // SPACE__SW_H |