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-rw-r--r--servers/physics/space_sw.cpp1492
-rw-r--r--servers/physics/space_sw.h374
2 files changed, 933 insertions, 933 deletions
diff --git a/servers/physics/space_sw.cpp b/servers/physics/space_sw.cpp
index a4fe1dd3fc..d36b004989 100644
--- a/servers/physics/space_sw.cpp
+++ b/servers/physics/space_sw.cpp
@@ -1,746 +1,746 @@
-/*************************************************************************/
-/* space_sw.cpp */
-/*************************************************************************/
-/* This file is part of: */
-/* GODOT ENGINE */
-/* http://www.godotengine.org */
-/*************************************************************************/
-/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
-/* */
-/* 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 "globals.h"
-#include "space_sw.h"
-#include "collision_solver_sw.h"
-#include "physics_server_sw.h"
-
-
-_FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) {
-
- if ((p_object->get_layer_mask()&p_layer_mask)==0)
- return false;
-
- if (p_object->get_type()==CollisionObjectSW::TYPE_AREA && !(p_type_mask&PhysicsDirectSpaceState::TYPE_MASK_AREA))
- return false;
-
- BodySW *body = static_cast<BodySW*>(p_object);
-
- return (1<<body->get_mode())&p_type_mask;
-
-}
-
-
-bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
-
-
- ERR_FAIL_COND_V(space->locked,false);
-
- Vector3 begin,end;
- Vector3 normal;
- begin=p_from;
- end=p_to;
- normal=(end-begin).normalized();
-
-
- int amount = space->broadphase->cull_segment(begin,end,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
-
-
- //todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
-
- bool collided=false;
- Vector3 res_point,res_normal;
- int res_shape;
- const CollisionObjectSW *res_obj;
- real_t min_d=1e10;
-
-
-
- for(int i=0;i<amount;i++) {
-
- if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
- continue;
-
- if (!(static_cast<CollisionObjectSW*>(space->intersection_query_results[i])->is_ray_pickable()))
- continue;
-
- if (p_exclude.has( space->intersection_query_results[i]->get_self()))
- continue;
-
- const CollisionObjectSW *col_obj=space->intersection_query_results[i];
-
- int shape_idx=space->intersection_query_subindex_results[i];
- Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
-
- Vector3 local_from = inv_xform.xform(begin);
- Vector3 local_to = inv_xform.xform(end);
-
- const ShapeSW *shape = col_obj->get_shape(shape_idx);
-
- Vector3 shape_point,shape_normal;
-
-
- if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) {
-
-
-
- Transform 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!=0)
- r_result.collider=ObjectDB::get_instance(r_result.collider_id);
- else
- r_result.collider=NULL;
- 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 PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
-
- if (p_result_max<=0)
- return 0;
-
- ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
- ERR_FAIL_COND_V(!shape,0);
-
- AABB aabb = p_xform.xform(shape->get_aabb());
-
- int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
-
- bool collided=false;
- int cc=0;
-
- //Transform ai = p_xform.affine_inverse();
-
- for(int i=0;i<amount;i++) {
-
- if (cc>=p_result_max)
- break;
-
- if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
- continue;
-
- //area cant be picked by ray (default)
-
- if (p_exclude.has( space->intersection_query_results[i]->get_self()))
- continue;
-
-
- const CollisionObjectSW *col_obj=space->intersection_query_results[i];
- int shape_idx=space->intersection_query_subindex_results[i];
-
- if (!CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL,NULL,NULL,p_margin,0))
- continue;
-
- r_results[cc].collider_id=col_obj->get_instance_id();
- if (r_results[cc].collider_id!=0)
- r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
- else
- r_results[cc].collider=NULL;
- r_results[cc].rid=col_obj->get_self();
- r_results[cc].shape=shape_idx;
-
- cc++;
-
- }
-
- return cc;
-
-}
-
-
-bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,ShapeRestInfo *r_info) {
-
-
-
- ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
- ERR_FAIL_COND_V(!shape,false);
-
- AABB aabb = p_xform.xform(shape->get_aabb());
- aabb=aabb.merge(AABB(aabb.pos+p_motion,aabb.size)); //motion
- aabb=aabb.grow(p_margin);
-
- //if (p_motion!=Vector3())
- // print_line(p_motion);
-
- int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
-
- float best_safe=1;
- float best_unsafe=1;
-
- Transform xform_inv = p_xform.affine_inverse();
- MotionShapeSW mshape;
- mshape.shape=shape;
- mshape.motion=xform_inv.basis.xform(p_motion);
-
- bool best_first=true;
-
- Vector3 closest_A,closest_B;
-
- for(int i=0;i<amount;i++) {
-
-
- if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
- continue;
-
- if (p_exclude.has( space->intersection_query_results[i]->get_self()))
- continue; //ignore excluded
-
-
- const CollisionObjectSW *col_obj=space->intersection_query_results[i];
- int shape_idx=space->intersection_query_subindex_results[i];
-
- Vector3 point_A,point_B;
- Vector3 sep_axis=p_motion.normalized();
-
- Transform 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 (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
- //print_line("failed motion cast (no collision)");
- continue;
- }
-
-
- //test initial overlap
-#if 0
- if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) {
- print_line("failed initial cast (collision at begining)");
- return false;
- }
-#else
- sep_axis=p_motion.normalized();
-
- if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
- //print_line("failed motion cast (no collision)");
- return false;
- }
-#endif
-
-
- //just do kinematic solving
- float low=0;
- float hi=1;
- Vector3 mnormal=p_motion.normalized();
-
- for(int i=0;i<8;i++) { //steps should be customizable..
-
- Transform xfa = p_xform;
- float ofs = (low+hi)*0.5;
-
- Vector3 sep=mnormal; //important optimization for this to work fast enough
-
- mshape.motion=xform_inv.basis.xform(p_motion*ofs);
-
- Vector3 lA,lB;
-
- bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep);
-
- if (collided) {
-
- //print_line(itos(i)+": "+rtos(ofs));
- hi=ofs;
- } else {
-
- point_A=lA;
- point_B=lB;
- low=ofs;
- }
- }
-
- if (low<best_safe) {
- best_first=true; //force reset
- best_safe=low;
- best_unsafe=hi;
- }
-
- if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low<=best_safe))) {
- closest_A=point_A;
- closest_B=point_B;
- r_info->collider_id=col_obj->get_instance_id();
- r_info->rid=col_obj->get_self();
- r_info->shape=shape_idx;
- r_info->point=closest_B;
- r_info->normal=(closest_A-closest_B).normalized();
- best_first=false;
- if (col_obj->get_type()==CollisionObjectSW::TYPE_BODY) {
- const BodySW *body=static_cast<const BodySW*>(col_obj);
- r_info->linear_velocity= body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
- }
-
- }
-
-
- }
-
- p_closest_safe=best_safe;
- p_closest_unsafe=best_unsafe;
-
- return true;
-}
-
-bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask){
-
- if (p_result_max<=0)
- return 0;
-
- ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
- ERR_FAIL_COND_V(!shape,0);
-
- AABB aabb = p_shape_xform.xform(shape->get_aabb());
- aabb=aabb.grow(p_margin);
-
- int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
-
- bool collided=false;
- int cc=0;
- r_result_count=0;
-
- PhysicsServerSW::CollCbkData cbk;
- cbk.max=p_result_max;
- cbk.amount=0;
- cbk.ptr=r_results;
- CollisionSolverSW::CallbackResult cbkres=NULL;
-
- PhysicsServerSW::CollCbkData *cbkptr=NULL;
- if (p_result_max>0) {
- cbkptr=&cbk;
- cbkres=PhysicsServerSW::_shape_col_cbk;
- }
-
-
- for(int i=0;i<amount;i++) {
-
- if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
- continue;
-
- const CollisionObjectSW *col_obj=space->intersection_query_results[i];
- int shape_idx=space->intersection_query_subindex_results[i];
-
- if (p_exclude.has( col_obj->get_self() )) {
- continue;
- }
-
- //print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx));
- //print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb()));
-
- if (CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),cbkres,cbkptr,NULL,p_margin)) {
- collided=true;
- }
-
- }
-
- r_result_count=cbk.amount;
-
- return collided;
-
-}
-
-
-struct _RestCallbackData {
-
- const CollisionObjectSW *object;
- const CollisionObjectSW *best_object;
- int shape;
- int best_shape;
- Vector3 best_contact;
- Vector3 best_normal;
- float best_len;
-};
-
-static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
-
-
- _RestCallbackData *rd=(_RestCallbackData*)p_userdata;
-
- Vector3 contact_rel = p_point_B - p_point_A;
- float len = contact_rel.length();
- if (len <= rd->best_len)
- return;
-
- rd->best_len=len;
- rd->best_contact=p_point_B;
- rd->best_normal=contact_rel/len;
- rd->best_object=rd->object;
- rd->best_shape=rd->shape;
-
-}
-bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
-
-
- ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
- ERR_FAIL_COND_V(!shape,0);
-
- AABB aabb = p_shape_xform.xform(shape->get_aabb());
- aabb=aabb.grow(p_margin);
-
- int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
-
- _RestCallbackData rcd;
- rcd.best_len=0;
- rcd.best_object=NULL;
- rcd.best_shape=0;
-
- for(int i=0;i<amount;i++) {
-
-
- if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
- continue;
-
- const CollisionObjectSW *col_obj=space->intersection_query_results[i];
- int shape_idx=space->intersection_query_subindex_results[i];
-
- if (p_exclude.has( col_obj->get_self() ))
- continue;
-
- rcd.object=col_obj;
- rcd.shape=shape_idx;
- bool sc = CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),_rest_cbk_result,&rcd,NULL,p_margin);
- if (!sc)
- continue;
-
-
- }
-
- if (rcd.best_len==0)
- 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()==CollisionObjectSW::TYPE_BODY) {
-
- const BodySW *body = static_cast<const BodySW*>(rcd.best_object);
- Vector3 rel_vec = r_info->point-body->get_transform().get_origin();
- r_info->linear_velocity = body->get_linear_velocity() +
- (body->get_angular_velocity()).cross(body->get_transform().origin-rcd.best_contact);// * mPos);
-
-
- } else {
- r_info->linear_velocity=Vector3();
- }
-
- return true;
-}
-
-
-PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() {
-
-
- space=NULL;
-}
-
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-
-
-
-
-
-
-
-
-void* SpaceSW::_broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self) {
-
- CollisionObjectSW::Type type_A=A->get_type();
- CollisionObjectSW::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);
- }
-
- SpaceSW *self = (SpaceSW*)p_self;
-
- self->collision_pairs++;
-
- if (type_A==CollisionObjectSW::TYPE_AREA) {
-
- AreaSW *area=static_cast<AreaSW*>(A);
- if (type_B==CollisionObjectSW::TYPE_AREA) {
-
- AreaSW *area_b=static_cast<AreaSW*>(B);
- Area2PairSW *area2_pair = memnew(Area2PairSW(area_b,p_subindex_B,area,p_subindex_A) );
- return area2_pair;
- } else {
-
- BodySW *body=static_cast<BodySW*>(B);
- AreaPairSW *area_pair = memnew(AreaPairSW(body,p_subindex_B,area,p_subindex_A) );
- return area_pair;
- }
- } else {
-
-
- BodyPairSW *b = memnew( BodyPairSW((BodySW*)A,p_subindex_A,(BodySW*)B,p_subindex_B) );
- return b;
-
- }
-
- return NULL;
-}
-
-void SpaceSW::_broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self) {
-
-
-
- SpaceSW *self = (SpaceSW*)p_self;
- self->collision_pairs--;
- ConstraintSW *c = (ConstraintSW*)p_data;
- memdelete(c);
-}
-
-
-const SelfList<BodySW>::List& SpaceSW::get_active_body_list() const {
-
- return active_list;
-}
-void SpaceSW::body_add_to_active_list(SelfList<BodySW>* p_body) {
-
- active_list.add(p_body);
-}
-void SpaceSW::body_remove_from_active_list(SelfList<BodySW>* p_body) {
-
- active_list.remove(p_body);
-
-}
-
-void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW>* p_body) {
-
-
- inertia_update_list.add(p_body);
-}
-
-void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW>* p_body) {
-
- inertia_update_list.remove(p_body);
-}
-
-BroadPhaseSW *SpaceSW::get_broadphase() {
-
- return broadphase;
-}
-
-void SpaceSW::add_object(CollisionObjectSW *p_object) {
-
- ERR_FAIL_COND( objects.has(p_object) );
- objects.insert(p_object);
-}
-
-void SpaceSW::remove_object(CollisionObjectSW *p_object) {
-
- ERR_FAIL_COND( !objects.has(p_object) );
- objects.erase(p_object);
-}
-
-const Set<CollisionObjectSW*> &SpaceSW::get_objects() const {
-
- return objects;
-}
-
-void SpaceSW::body_add_to_state_query_list(SelfList<BodySW>* p_body) {
-
- state_query_list.add(p_body);
-}
-void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW>* p_body) {
-
- state_query_list.remove(p_body);
-}
-
-void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW>* p_area) {
-
- monitor_query_list.add(p_area);
-}
-void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area) {
-
- monitor_query_list.remove(p_area);
-}
-
-void SpaceSW::area_add_to_moved_list(SelfList<AreaSW>* p_area) {
-
- area_moved_list.add(p_area);
-}
-
-void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW>* p_area) {
-
- area_moved_list.remove(p_area);
-}
-
-const SelfList<AreaSW>::List& SpaceSW::get_moved_area_list() const {
-
- return area_moved_list;
-}
-
-
-
-
-void SpaceSW::call_queries() {
-
- while(state_query_list.first()) {
-
- BodySW * b = state_query_list.first()->self();
- b->call_queries();
- state_query_list.remove(state_query_list.first());
- }
-
- while(monitor_query_list.first()) {
-
- AreaSW * a = monitor_query_list.first()->self();
- a->call_queries();
- monitor_query_list.remove(monitor_query_list.first());
- }
-
-}
-
-void SpaceSW::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 SpaceSW::update() {
-
-
- broadphase->update();
-
-}
-
-
-void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
-
- switch(p_param) {
-
- case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
- case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
- case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
- case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_threshold=p_value; break;
- case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold=p_value; break;
- case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
- case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
- case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
- }
-}
-
-real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
-
- switch(p_param) {
-
- case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
- case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
- case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
- case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_threshold;
- case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_threshold;
- case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
- case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
- case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
- }
- return 0;
-}
-
-void SpaceSW::lock() {
-
- locked=true;
-}
-
-void SpaceSW::unlock() {
-
- locked=false;
-}
-
-bool SpaceSW::is_locked() const {
-
- return locked;
-}
-
-PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() {
-
- return direct_access;
-}
-
-SpaceSW::SpaceSW() {
-
- collision_pairs=0;
- active_objects=0;
- island_count=0;
- contact_debug_count=0;
-
- locked=false;
- contact_recycle_radius=0.01;
- contact_max_separation=0.05;
- contact_max_allowed_penetration= 0.01;
-
- constraint_bias = 0.01;
- body_linear_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_linear",0.1);
- body_angular_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_angular", (8.0 / 180.0 * Math_PI) );
- body_time_to_sleep=0.5;
- body_angular_velocity_damp_ratio=10;
-
-
- broadphase = BroadPhaseSW::create_func();
- broadphase->set_pair_callback(_broadphase_pair,this);
- broadphase->set_unpair_callback(_broadphase_unpair,this);
- area=NULL;
-
- direct_access = memnew( PhysicsDirectSpaceStateSW );
- direct_access->space=this;
-}
-
-SpaceSW::~SpaceSW() {
-
- memdelete(broadphase);
- memdelete( direct_access );
-}
-
-
-
+/*************************************************************************/
+/* space_sw.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
+/* */
+/* 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 "globals.h"
+#include "space_sw.h"
+#include "collision_solver_sw.h"
+#include "physics_server_sw.h"
+
+
+_FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) {
+
+ if ((p_object->get_layer_mask()&p_layer_mask)==0)
+ return false;
+
+ if (p_object->get_type()==CollisionObjectSW::TYPE_AREA && !(p_type_mask&PhysicsDirectSpaceState::TYPE_MASK_AREA))
+ return false;
+
+ BodySW *body = static_cast<BodySW*>(p_object);
+
+ return (1<<body->get_mode())&p_type_mask;
+
+}
+
+
+bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
+
+
+ ERR_FAIL_COND_V(space->locked,false);
+
+ Vector3 begin,end;
+ Vector3 normal;
+ begin=p_from;
+ end=p_to;
+ normal=(end-begin).normalized();
+
+
+ int amount = space->broadphase->cull_segment(begin,end,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
+
+
+ //todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
+
+ bool collided=false;
+ Vector3 res_point,res_normal;
+ int res_shape;
+ const CollisionObjectSW *res_obj;
+ real_t min_d=1e10;
+
+
+
+ for(int i=0;i<amount;i++) {
+
+ if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
+ continue;
+
+ if (!(static_cast<CollisionObjectSW*>(space->intersection_query_results[i])->is_ray_pickable()))
+ continue;
+
+ if (p_exclude.has( space->intersection_query_results[i]->get_self()))
+ continue;
+
+ const CollisionObjectSW *col_obj=space->intersection_query_results[i];
+
+ int shape_idx=space->intersection_query_subindex_results[i];
+ Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
+
+ Vector3 local_from = inv_xform.xform(begin);
+ Vector3 local_to = inv_xform.xform(end);
+
+ const ShapeSW *shape = col_obj->get_shape(shape_idx);
+
+ Vector3 shape_point,shape_normal;
+
+
+ if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) {
+
+
+
+ Transform 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!=0)
+ r_result.collider=ObjectDB::get_instance(r_result.collider_id);
+ else
+ r_result.collider=NULL;
+ 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 PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
+
+ if (p_result_max<=0)
+ return 0;
+
+ ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
+ ERR_FAIL_COND_V(!shape,0);
+
+ AABB aabb = p_xform.xform(shape->get_aabb());
+
+ int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
+
+ bool collided=false;
+ int cc=0;
+
+ //Transform ai = p_xform.affine_inverse();
+
+ for(int i=0;i<amount;i++) {
+
+ if (cc>=p_result_max)
+ break;
+
+ if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
+ continue;
+
+ //area cant be picked by ray (default)
+
+ if (p_exclude.has( space->intersection_query_results[i]->get_self()))
+ continue;
+
+
+ const CollisionObjectSW *col_obj=space->intersection_query_results[i];
+ int shape_idx=space->intersection_query_subindex_results[i];
+
+ if (!CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL,NULL,NULL,p_margin,0))
+ continue;
+
+ r_results[cc].collider_id=col_obj->get_instance_id();
+ if (r_results[cc].collider_id!=0)
+ r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
+ else
+ r_results[cc].collider=NULL;
+ r_results[cc].rid=col_obj->get_self();
+ r_results[cc].shape=shape_idx;
+
+ cc++;
+
+ }
+
+ return cc;
+
+}
+
+
+bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,ShapeRestInfo *r_info) {
+
+
+
+ ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
+ ERR_FAIL_COND_V(!shape,false);
+
+ AABB aabb = p_xform.xform(shape->get_aabb());
+ aabb=aabb.merge(AABB(aabb.pos+p_motion,aabb.size)); //motion
+ aabb=aabb.grow(p_margin);
+
+ //if (p_motion!=Vector3())
+ // print_line(p_motion);
+
+ int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
+
+ float best_safe=1;
+ float best_unsafe=1;
+
+ Transform xform_inv = p_xform.affine_inverse();
+ MotionShapeSW mshape;
+ mshape.shape=shape;
+ mshape.motion=xform_inv.basis.xform(p_motion);
+
+ bool best_first=true;
+
+ Vector3 closest_A,closest_B;
+
+ for(int i=0;i<amount;i++) {
+
+
+ if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
+ continue;
+
+ if (p_exclude.has( space->intersection_query_results[i]->get_self()))
+ continue; //ignore excluded
+
+
+ const CollisionObjectSW *col_obj=space->intersection_query_results[i];
+ int shape_idx=space->intersection_query_subindex_results[i];
+
+ Vector3 point_A,point_B;
+ Vector3 sep_axis=p_motion.normalized();
+
+ Transform 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 (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
+ //print_line("failed motion cast (no collision)");
+ continue;
+ }
+
+
+ //test initial overlap
+#if 0
+ if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) {
+ print_line("failed initial cast (collision at begining)");
+ return false;
+ }
+#else
+ sep_axis=p_motion.normalized();
+
+ if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
+ //print_line("failed motion cast (no collision)");
+ return false;
+ }
+#endif
+
+
+ //just do kinematic solving
+ float low=0;
+ float hi=1;
+ Vector3 mnormal=p_motion.normalized();
+
+ for(int i=0;i<8;i++) { //steps should be customizable..
+
+ Transform xfa = p_xform;
+ float ofs = (low+hi)*0.5;
+
+ Vector3 sep=mnormal; //important optimization for this to work fast enough
+
+ mshape.motion=xform_inv.basis.xform(p_motion*ofs);
+
+ Vector3 lA,lB;
+
+ bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep);
+
+ if (collided) {
+
+ //print_line(itos(i)+": "+rtos(ofs));
+ hi=ofs;
+ } else {
+
+ point_A=lA;
+ point_B=lB;
+ low=ofs;
+ }
+ }
+
+ if (low<best_safe) {
+ best_first=true; //force reset
+ best_safe=low;
+ best_unsafe=hi;
+ }
+
+ if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low<=best_safe))) {
+ closest_A=point_A;
+ closest_B=point_B;
+ r_info->collider_id=col_obj->get_instance_id();
+ r_info->rid=col_obj->get_self();
+ r_info->shape=shape_idx;
+ r_info->point=closest_B;
+ r_info->normal=(closest_A-closest_B).normalized();
+ best_first=false;
+ if (col_obj->get_type()==CollisionObjectSW::TYPE_BODY) {
+ const BodySW *body=static_cast<const BodySW*>(col_obj);
+ r_info->linear_velocity= body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
+ }
+
+ }
+
+
+ }
+
+ p_closest_safe=best_safe;
+ p_closest_unsafe=best_unsafe;
+
+ return true;
+}
+
+bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask){
+
+ if (p_result_max<=0)
+ return 0;
+
+ ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
+ ERR_FAIL_COND_V(!shape,0);
+
+ AABB aabb = p_shape_xform.xform(shape->get_aabb());
+ aabb=aabb.grow(p_margin);
+
+ int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
+
+ bool collided=false;
+ int cc=0;
+ r_result_count=0;
+
+ PhysicsServerSW::CollCbkData cbk;
+ cbk.max=p_result_max;
+ cbk.amount=0;
+ cbk.ptr=r_results;
+ CollisionSolverSW::CallbackResult cbkres=NULL;
+
+ PhysicsServerSW::CollCbkData *cbkptr=NULL;
+ if (p_result_max>0) {
+ cbkptr=&cbk;
+ cbkres=PhysicsServerSW::_shape_col_cbk;
+ }
+
+
+ for(int i=0;i<amount;i++) {
+
+ if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
+ continue;
+
+ const CollisionObjectSW *col_obj=space->intersection_query_results[i];
+ int shape_idx=space->intersection_query_subindex_results[i];
+
+ if (p_exclude.has( col_obj->get_self() )) {
+ continue;
+ }
+
+ //print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx));
+ //print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb()));
+
+ if (CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),cbkres,cbkptr,NULL,p_margin)) {
+ collided=true;
+ }
+
+ }
+
+ r_result_count=cbk.amount;
+
+ return collided;
+
+}
+
+
+struct _RestCallbackData {
+
+ const CollisionObjectSW *object;
+ const CollisionObjectSW *best_object;
+ int shape;
+ int best_shape;
+ Vector3 best_contact;
+ Vector3 best_normal;
+ float best_len;
+};
+
+static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
+
+
+ _RestCallbackData *rd=(_RestCallbackData*)p_userdata;
+
+ Vector3 contact_rel = p_point_B - p_point_A;
+ float len = contact_rel.length();
+ if (len <= rd->best_len)
+ return;
+
+ rd->best_len=len;
+ rd->best_contact=p_point_B;
+ rd->best_normal=contact_rel/len;
+ rd->best_object=rd->object;
+ rd->best_shape=rd->shape;
+
+}
+bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
+
+
+ ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
+ ERR_FAIL_COND_V(!shape,0);
+
+ AABB aabb = p_shape_xform.xform(shape->get_aabb());
+ aabb=aabb.grow(p_margin);
+
+ int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
+
+ _RestCallbackData rcd;
+ rcd.best_len=0;
+ rcd.best_object=NULL;
+ rcd.best_shape=0;
+
+ for(int i=0;i<amount;i++) {
+
+
+ if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
+ continue;
+
+ const CollisionObjectSW *col_obj=space->intersection_query_results[i];
+ int shape_idx=space->intersection_query_subindex_results[i];
+
+ if (p_exclude.has( col_obj->get_self() ))
+ continue;
+
+ rcd.object=col_obj;
+ rcd.shape=shape_idx;
+ bool sc = CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),_rest_cbk_result,&rcd,NULL,p_margin);
+ if (!sc)
+ continue;
+
+
+ }
+
+ if (rcd.best_len==0)
+ 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()==CollisionObjectSW::TYPE_BODY) {
+
+ const BodySW *body = static_cast<const BodySW*>(rcd.best_object);
+ Vector3 rel_vec = r_info->point-body->get_transform().get_origin();
+ r_info->linear_velocity = body->get_linear_velocity() +
+ (body->get_angular_velocity()).cross(body->get_transform().origin-rcd.best_contact);// * mPos);
+
+
+ } else {
+ r_info->linear_velocity=Vector3();
+ }
+
+ return true;
+}
+
+
+PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() {
+
+
+ space=NULL;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
+
+
+
+
+
+
+
+
+void* SpaceSW::_broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self) {
+
+ CollisionObjectSW::Type type_A=A->get_type();
+ CollisionObjectSW::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);
+ }
+
+ SpaceSW *self = (SpaceSW*)p_self;
+
+ self->collision_pairs++;
+
+ if (type_A==CollisionObjectSW::TYPE_AREA) {
+
+ AreaSW *area=static_cast<AreaSW*>(A);
+ if (type_B==CollisionObjectSW::TYPE_AREA) {
+
+ AreaSW *area_b=static_cast<AreaSW*>(B);
+ Area2PairSW *area2_pair = memnew(Area2PairSW(area_b,p_subindex_B,area,p_subindex_A) );
+ return area2_pair;
+ } else {
+
+ BodySW *body=static_cast<BodySW*>(B);
+ AreaPairSW *area_pair = memnew(AreaPairSW(body,p_subindex_B,area,p_subindex_A) );
+ return area_pair;
+ }
+ } else {
+
+
+ BodyPairSW *b = memnew( BodyPairSW((BodySW*)A,p_subindex_A,(BodySW*)B,p_subindex_B) );
+ return b;
+
+ }
+
+ return NULL;
+}
+
+void SpaceSW::_broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self) {
+
+
+
+ SpaceSW *self = (SpaceSW*)p_self;
+ self->collision_pairs--;
+ ConstraintSW *c = (ConstraintSW*)p_data;
+ memdelete(c);
+}
+
+
+const SelfList<BodySW>::List& SpaceSW::get_active_body_list() const {
+
+ return active_list;
+}
+void SpaceSW::body_add_to_active_list(SelfList<BodySW>* p_body) {
+
+ active_list.add(p_body);
+}
+void SpaceSW::body_remove_from_active_list(SelfList<BodySW>* p_body) {
+
+ active_list.remove(p_body);
+
+}
+
+void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW>* p_body) {
+
+
+ inertia_update_list.add(p_body);
+}
+
+void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW>* p_body) {
+
+ inertia_update_list.remove(p_body);
+}
+
+BroadPhaseSW *SpaceSW::get_broadphase() {
+
+ return broadphase;
+}
+
+void SpaceSW::add_object(CollisionObjectSW *p_object) {
+
+ ERR_FAIL_COND( objects.has(p_object) );
+ objects.insert(p_object);
+}
+
+void SpaceSW::remove_object(CollisionObjectSW *p_object) {
+
+ ERR_FAIL_COND( !objects.has(p_object) );
+ objects.erase(p_object);
+}
+
+const Set<CollisionObjectSW*> &SpaceSW::get_objects() const {
+
+ return objects;
+}
+
+void SpaceSW::body_add_to_state_query_list(SelfList<BodySW>* p_body) {
+
+ state_query_list.add(p_body);
+}
+void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW>* p_body) {
+
+ state_query_list.remove(p_body);
+}
+
+void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW>* p_area) {
+
+ monitor_query_list.add(p_area);
+}
+void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area) {
+
+ monitor_query_list.remove(p_area);
+}
+
+void SpaceSW::area_add_to_moved_list(SelfList<AreaSW>* p_area) {
+
+ area_moved_list.add(p_area);
+}
+
+void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW>* p_area) {
+
+ area_moved_list.remove(p_area);
+}
+
+const SelfList<AreaSW>::List& SpaceSW::get_moved_area_list() const {
+
+ return area_moved_list;
+}
+
+
+
+
+void SpaceSW::call_queries() {
+
+ while(state_query_list.first()) {
+
+ BodySW * b = state_query_list.first()->self();
+ b->call_queries();
+ state_query_list.remove(state_query_list.first());
+ }
+
+ while(monitor_query_list.first()) {
+
+ AreaSW * a = monitor_query_list.first()->self();
+ a->call_queries();
+ monitor_query_list.remove(monitor_query_list.first());
+ }
+
+}
+
+void SpaceSW::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 SpaceSW::update() {
+
+
+ broadphase->update();
+
+}
+
+
+void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
+
+ switch(p_param) {
+
+ case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
+ case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_threshold=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
+ case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
+ case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
+ }
+}
+
+real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
+
+ switch(p_param) {
+
+ case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
+ case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
+ case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
+ case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_threshold;
+ case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_threshold;
+ case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
+ case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
+ case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
+ }
+ return 0;
+}
+
+void SpaceSW::lock() {
+
+ locked=true;
+}
+
+void SpaceSW::unlock() {
+
+ locked=false;
+}
+
+bool SpaceSW::is_locked() const {
+
+ return locked;
+}
+
+PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() {
+
+ return direct_access;
+}
+
+SpaceSW::SpaceSW() {
+
+ collision_pairs=0;
+ active_objects=0;
+ island_count=0;
+ contact_debug_count=0;
+
+ locked=false;
+ contact_recycle_radius=0.01;
+ contact_max_separation=0.05;
+ contact_max_allowed_penetration= 0.01;
+
+ constraint_bias = 0.01;
+ body_linear_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_linear",0.1);
+ body_angular_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_angular", (8.0 / 180.0 * Math_PI) );
+ body_time_to_sleep=0.5;
+ body_angular_velocity_damp_ratio=10;
+
+
+ broadphase = BroadPhaseSW::create_func();
+ broadphase->set_pair_callback(_broadphase_pair,this);
+ broadphase->set_unpair_callback(_broadphase_unpair,this);
+ area=NULL;
+
+ direct_access = memnew( PhysicsDirectSpaceStateSW );
+ direct_access->space=this;
+}
+
+SpaceSW::~SpaceSW() {
+
+ memdelete(broadphase);
+ memdelete( direct_access );
+}
+
+
+
diff --git a/servers/physics/space_sw.h b/servers/physics/space_sw.h
index e88f61d881..ac788ba93f 100644
--- a/servers/physics/space_sw.h
+++ b/servers/physics/space_sw.h
@@ -1,187 +1,187 @@
-/*************************************************************************/
-/* space_sw.h */
-/*************************************************************************/
-/* This file is part of: */
-/* GODOT ENGINE */
-/* http://www.godotengine.org */
-/*************************************************************************/
-/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
-/* */
-/* 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 "typedefs.h"
-#include "hash_map.h"
-#include "body_sw.h"
-#include "area_sw.h"
-#include "body_pair_sw.h"
-#include "area_pair_sw.h"
-#include "broad_phase_sw.h"
-#include "collision_object_sw.h"
-
-
-class PhysicsDirectSpaceStateSW : public PhysicsDirectSpaceState {
-
- OBJ_TYPE( PhysicsDirectSpaceStateSW, PhysicsDirectSpaceState );
-public:
-
- SpaceSW *space;
-
- 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_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
- virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
- virtual bool cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,ShapeRestInfo *r_info=NULL);
- virtual bool collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
- virtual bool rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
-
- PhysicsDirectSpaceStateSW();
-};
-
-
-
-class SpaceSW {
-
-
- PhysicsDirectSpaceStateSW *direct_access;
- RID self;
-
- BroadPhaseSW *broadphase;
- SelfList<BodySW>::List active_list;
- SelfList<BodySW>::List inertia_update_list;
- SelfList<BodySW>::List state_query_list;
- SelfList<AreaSW>::List monitor_query_list;
- SelfList<AreaSW>::List area_moved_list;
-
- static void* _broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self);
- static void _broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self);
-
- Set<CollisionObjectSW*> objects;
-
- AreaSW *area;
-
- real_t contact_recycle_radius;
- real_t contact_max_separation;
- real_t contact_max_allowed_penetration;
- real_t constraint_bias;
-
- enum {
-
- INTERSECTION_QUERY_MAX=2048
- };
-
- CollisionObjectSW *intersection_query_results[INTERSECTION_QUERY_MAX];
- int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
-
- float body_linear_velocity_sleep_threshold;
- float body_angular_velocity_sleep_threshold;
- float body_time_to_sleep;
- float 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 PhysicsDirectSpaceStateSW;
-
-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(AreaSW *p_area) { area=p_area; }
- AreaSW *get_default_area() const { return area; }
-
- const SelfList<BodySW>::List& get_active_body_list() const;
- void body_add_to_active_list(SelfList<BodySW>* p_body);
- void body_remove_from_active_list(SelfList<BodySW>* p_body);
- void body_add_to_inertia_update_list(SelfList<BodySW>* p_body);
- void body_remove_from_inertia_update_list(SelfList<BodySW>* p_body);
-
- void body_add_to_state_query_list(SelfList<BodySW>* p_body);
- void body_remove_from_state_query_list(SelfList<BodySW>* p_body);
-
- void area_add_to_monitor_query_list(SelfList<AreaSW>* p_area);
- void area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area);
- void area_add_to_moved_list(SelfList<AreaSW>* p_area);
- void area_remove_from_moved_list(SelfList<AreaSW>* p_area);
- const SelfList<AreaSW>::List& get_moved_area_list() const;
-
- BroadPhaseSW *get_broadphase();
-
- void add_object(CollisionObjectSW *p_object);
- void remove_object(CollisionObjectSW *p_object);
- const Set<CollisionObjectSW*> &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_treshold() const { return body_linear_velocity_sleep_threshold; }
- _FORCE_INLINE_ real_t get_body_angular_velocity_sleep_treshold() 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(PhysicsServer::SpaceParameter p_param, real_t p_value);
- real_t get_param(PhysicsServer::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; }
-
- PhysicsDirectSpaceStateSW *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[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; }
-
-
- SpaceSW();
- ~SpaceSW();
-};
-
-
-#endif // SPACE__SW_H
+/*************************************************************************/
+/* space_sw.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
+/* */
+/* 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 "typedefs.h"
+#include "hash_map.h"
+#include "body_sw.h"
+#include "area_sw.h"
+#include "body_pair_sw.h"
+#include "area_pair_sw.h"
+#include "broad_phase_sw.h"
+#include "collision_object_sw.h"
+
+
+class PhysicsDirectSpaceStateSW : public PhysicsDirectSpaceState {
+
+ OBJ_TYPE( PhysicsDirectSpaceStateSW, PhysicsDirectSpaceState );
+public:
+
+ SpaceSW *space;
+
+ 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_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
+ virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
+ virtual bool cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,ShapeRestInfo *r_info=NULL);
+ virtual bool collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
+ virtual bool rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
+
+ PhysicsDirectSpaceStateSW();
+};
+
+
+
+class SpaceSW {
+
+
+ PhysicsDirectSpaceStateSW *direct_access;
+ RID self;
+
+ BroadPhaseSW *broadphase;
+ SelfList<BodySW>::List active_list;
+ SelfList<BodySW>::List inertia_update_list;
+ SelfList<BodySW>::List state_query_list;
+ SelfList<AreaSW>::List monitor_query_list;
+ SelfList<AreaSW>::List area_moved_list;
+
+ static void* _broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self);
+ static void _broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self);
+
+ Set<CollisionObjectSW*> objects;
+
+ AreaSW *area;
+
+ real_t contact_recycle_radius;
+ real_t contact_max_separation;
+ real_t contact_max_allowed_penetration;
+ real_t constraint_bias;
+
+ enum {
+
+ INTERSECTION_QUERY_MAX=2048
+ };
+
+ CollisionObjectSW *intersection_query_results[INTERSECTION_QUERY_MAX];
+ int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
+
+ float body_linear_velocity_sleep_threshold;
+ float body_angular_velocity_sleep_threshold;
+ float body_time_to_sleep;
+ float 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 PhysicsDirectSpaceStateSW;
+
+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(AreaSW *p_area) { area=p_area; }
+ AreaSW *get_default_area() const { return area; }
+
+ const SelfList<BodySW>::List& get_active_body_list() const;
+ void body_add_to_active_list(SelfList<BodySW>* p_body);
+ void body_remove_from_active_list(SelfList<BodySW>* p_body);
+ void body_add_to_inertia_update_list(SelfList<BodySW>* p_body);
+ void body_remove_from_inertia_update_list(SelfList<BodySW>* p_body);
+
+ void body_add_to_state_query_list(SelfList<BodySW>* p_body);
+ void body_remove_from_state_query_list(SelfList<BodySW>* p_body);
+
+ void area_add_to_monitor_query_list(SelfList<AreaSW>* p_area);
+ void area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area);
+ void area_add_to_moved_list(SelfList<AreaSW>* p_area);
+ void area_remove_from_moved_list(SelfList<AreaSW>* p_area);
+ const SelfList<AreaSW>::List& get_moved_area_list() const;
+
+ BroadPhaseSW *get_broadphase();
+
+ void add_object(CollisionObjectSW *p_object);
+ void remove_object(CollisionObjectSW *p_object);
+ const Set<CollisionObjectSW*> &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_treshold() const { return body_linear_velocity_sleep_threshold; }
+ _FORCE_INLINE_ real_t get_body_angular_velocity_sleep_treshold() 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(PhysicsServer::SpaceParameter p_param, real_t p_value);
+ real_t get_param(PhysicsServer::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; }
+
+ PhysicsDirectSpaceStateSW *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[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; }
+
+
+ SpaceSW();
+ ~SpaceSW();
+};
+
+
+#endif // SPACE__SW_H
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