/*************************************************************************/
/*  physics_body_2d.cpp                                                  */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
/*************************************************************************/
/* Copyright (c) 2007-2014 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 "physics_body_2d.h"
#include "scene/scene_string_names.h"

void PhysicsBody2D::_notification(int p_what) {

/*
	switch(p_what) {

		case NOTIFICATION_TRANSFORM_CHANGED: {

			Physics2DServer::get_singleton()->body_set_state(get_rid(),Physics2DServer::BODY_STATE_TRANSFORM,get_global_transform());

		} break;
	}
	*/
}

PhysicsBody2D::PhysicsBody2D(Physics2DServer::BodyMode p_mode) : CollisionObject2D( Physics2DServer::get_singleton()->body_create(p_mode), false) {



}

void StaticBody2D::set_constant_linear_velocity(const Vector2& p_vel) {

	constant_linear_velocity=p_vel;
	Physics2DServer::get_singleton()->body_set_state(get_rid(),Physics2DServer::BODY_STATE_LINEAR_VELOCITY,constant_linear_velocity);

}

void StaticBody2D::set_constant_angular_velocity(real_t p_vel) {

	constant_angular_velocity=p_vel;
	Physics2DServer::get_singleton()->body_set_state(get_rid(),Physics2DServer::BODY_STATE_ANGULAR_VELOCITY,constant_angular_velocity);
}

Vector2 StaticBody2D::get_constant_linear_velocity() const {

	return constant_linear_velocity;
}
real_t StaticBody2D::get_constant_angular_velocity() const {

	return constant_angular_velocity;
}
#if 0
void StaticBody2D::_update_xform() {

	if (!pre_xform || !pending)
		return;

	setting=true;


	Matrix32 new_xform = get_global_transform(); //obtain the new one

	set_block_transform_notify(true);
	Physics2DServer::get_singleton()->body_set_state(get_rid(),Physics2DServer::BODY_STATE_TRANSFORM,*pre_xform); //then simulate motion!
	set_global_transform(*pre_xform); //but restore state to previous one in both visual and physics
	set_block_transform_notify(false);

	Physics2DServer::get_singleton()->body_static_simulate_motion(get_rid(),new_xform); //then simulate motion!

	setting=false;
	pending=false;

}
#endif


void StaticBody2D::set_friction(real_t p_friction){

	ERR_FAIL_COND(p_friction<0 || p_friction>1);

	friction=p_friction;
	Physics2DServer::get_singleton()->body_set_param(get_rid(),Physics2DServer::BODY_PARAM_FRICTION,friction);

}
real_t StaticBody2D::get_friction() const{

	return friction;
}

void StaticBody2D::set_bounce(real_t p_bounce){

	ERR_FAIL_COND(p_bounce<0 || p_bounce>1);

	bounce=p_bounce;
	Physics2DServer::get_singleton()->body_set_param(get_rid(),Physics2DServer::BODY_PARAM_BOUNCE,bounce);

}
real_t StaticBody2D::get_bounce() const{

	return bounce;
}

void StaticBody2D::_bind_methods() {

	ObjectTypeDB::bind_method(_MD("set_constant_linear_velocity","vel"),&StaticBody2D::set_constant_linear_velocity);
	ObjectTypeDB::bind_method(_MD("set_constant_angular_velocity","vel"),&StaticBody2D::set_constant_angular_velocity);
	ObjectTypeDB::bind_method(_MD("get_constant_linear_velocity"),&StaticBody2D::get_constant_linear_velocity);
	ObjectTypeDB::bind_method(_MD("get_constant_angular_velocity"),&StaticBody2D::get_constant_angular_velocity);
	ObjectTypeDB::bind_method(_MD("set_friction","friction"),&StaticBody2D::set_friction);
	ObjectTypeDB::bind_method(_MD("get_friction"),&StaticBody2D::get_friction);

	ObjectTypeDB::bind_method(_MD("set_bounce","bounce"),&StaticBody2D::set_bounce);
	ObjectTypeDB::bind_method(_MD("get_bounce"),&StaticBody2D::get_bounce);

	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2,"constant_linear_velocity"),_SCS("set_constant_linear_velocity"),_SCS("get_constant_linear_velocity"));
	ADD_PROPERTY(PropertyInfo(Variant::REAL,"constant_angular_velocity"),_SCS("set_constant_angular_velocity"),_SCS("get_constant_angular_velocity"));
	ADD_PROPERTY( PropertyInfo(Variant::REAL,"friction",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
	ADD_PROPERTY( PropertyInfo(Variant::REAL,"bounce",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_bounce"),_SCS("get_bounce"));
}

StaticBody2D::StaticBody2D() : PhysicsBody2D(Physics2DServer::BODY_MODE_STATIC) {

	constant_angular_velocity=0;
	bounce=0;
	friction=1;


}

StaticBody2D::~StaticBody2D() {

}




void RigidBody2D::_body_enter_scene(ObjectID p_id) {

	Object *obj = ObjectDB::get_instance(p_id);
	Node *node = obj ? obj->cast_to<Node>() : NULL;
	ERR_FAIL_COND(!node);

	Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(p_id);
	ERR_FAIL_COND(!E);
	ERR_FAIL_COND(E->get().in_scene);

	E->get().in_scene=true;
	emit_signal(SceneStringNames::get_singleton()->body_enter,node);

	for(int i=0;i<E->get().shapes.size();i++) {

		emit_signal(SceneStringNames::get_singleton()->body_enter_shape,p_id,node,E->get().shapes[i].body_shape,E->get().shapes[i].local_shape);
	}

}

void RigidBody2D::_body_exit_scene(ObjectID p_id) {

	Object *obj = ObjectDB::get_instance(p_id);
	Node *node = obj ? obj->cast_to<Node>() : NULL;
	ERR_FAIL_COND(!node);
	Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(p_id);
	ERR_FAIL_COND(!E);
	ERR_FAIL_COND(!E->get().in_scene);
	E->get().in_scene=false;
	emit_signal(SceneStringNames::get_singleton()->body_exit,node);
	for(int i=0;i<E->get().shapes.size();i++) {

		emit_signal(SceneStringNames::get_singleton()->body_exit_shape,p_id,node,E->get().shapes[i].body_shape,E->get().shapes[i].local_shape);
	}
}

void RigidBody2D::_body_inout(int p_status, ObjectID p_instance, int p_body_shape,int p_local_shape) {

	bool body_in = p_status==1;
	ObjectID objid=p_instance;

	Object *obj = ObjectDB::get_instance(objid);
	Node *node = obj ? obj->cast_to<Node>() : NULL;

	Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(objid);

	ERR_FAIL_COND(!body_in && !E);

	if (body_in) {
		if (!E) {

			E = contact_monitor->body_map.insert(objid,BodyState());
			E->get().rc=0;
			E->get().in_scene=node && node->is_inside_scene();
			if (node) {
				node->connect(SceneStringNames::get_singleton()->enter_scene,this,SceneStringNames::get_singleton()->_body_enter_scene,make_binds(objid));
				node->connect(SceneStringNames::get_singleton()->exit_scene,this,SceneStringNames::get_singleton()->_body_exit_scene,make_binds(objid));
				if (E->get().in_scene) {
					emit_signal(SceneStringNames::get_singleton()->body_enter,node);
				}
			}

		}
		E->get().rc++;
		if (node)
			E->get().shapes.insert(ShapePair(p_body_shape,p_local_shape));


		if (E->get().in_scene) {
			emit_signal(SceneStringNames::get_singleton()->body_enter_shape,objid,node,p_body_shape,p_local_shape);
		}

	} else {

		E->get().rc--;

		if (node)
			E->get().shapes.erase(ShapePair(p_body_shape,p_local_shape));

		if (E->get().rc==0) {

			if (node) {
				node->disconnect(SceneStringNames::get_singleton()->enter_scene,this,SceneStringNames::get_singleton()->_body_enter_scene);
				node->disconnect(SceneStringNames::get_singleton()->exit_scene,this,SceneStringNames::get_singleton()->_body_exit_scene);
				if (E->get().in_scene)
					emit_signal(SceneStringNames::get_singleton()->body_exit,obj);

			}

			contact_monitor->body_map.erase(E);
		}
		if (node && E->get().in_scene) {
			emit_signal(SceneStringNames::get_singleton()->body_exit_shape,objid,obj,p_body_shape,p_local_shape);
		}

	}

}


struct _RigidBody2DInOut {

	ObjectID id;
	int shape;
	int local_shape;
};

void RigidBody2D::_direct_state_changed(Object *p_state) {

	//eh.. fuck
#ifdef DEBUG_ENABLED

	state=p_state->cast_to<Physics2DDirectBodyState>();
#else
	state=(Physics2DDirectBodyState*)p_state; //trust it
#endif

	if (contact_monitor) {

		//untag all
		int rc=0;
		for( Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {

			for(int i=0;i<E->get().shapes.size();i++) {

				E->get().shapes[i].tagged=false;
				rc++;
			}
		}

		_RigidBody2DInOut *toadd=(_RigidBody2DInOut*)alloca(state->get_contact_count()*sizeof(_RigidBody2DInOut));
		int toadd_count=0;//state->get_contact_count();
		RigidBody2D_RemoveAction *toremove=(RigidBody2D_RemoveAction*)alloca(rc*sizeof(RigidBody2D_RemoveAction));
		int toremove_count=0;

		//put the ones to add

		for(int i=0;i<state->get_contact_count();i++) {

			ObjectID obj = state->get_contact_collider_id(i);
			int local_shape = state->get_contact_local_shape(i);
			int shape = state->get_contact_collider_shape(i);
			toadd[i].local_shape=local_shape;
			toadd[i].id=obj;
			toadd[i].shape=shape;

//			bool found=false;

			Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.find(obj);
			if (!E) {
				toadd_count++;
				continue;
			}

			ShapePair sp( shape,local_shape );
			int idx = E->get().shapes.find(sp);
			if (idx==-1) {

				toadd_count++;
				continue;
			}

			E->get().shapes[idx].tagged=true;
		}

		//put the ones to remove

		for( Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {

			for(int i=0;i<E->get().shapes.size();i++) {

				if (!E->get().shapes[i].tagged) {

					toremove[toremove_count].body_id=E->key();
					toremove[toremove_count].pair=E->get().shapes[i];
					toremove_count++;
				}
			}
		}


		//process remotions

		for(int i=0;i<toremove_count;i++) {

			_body_inout(0,toremove[i].body_id,toremove[i].pair.body_shape,toremove[i].pair.local_shape);
		}

		//process aditions

		for(int i=0;i<toadd_count;i++) {

			_body_inout(1,toadd[i].id,toadd[i].shape,toadd[i].local_shape);
		}

	}

	set_block_transform_notify(true); // don't want notify (would feedback loop)
	if (mode!=MODE_KINEMATIC)
		set_global_transform(state->get_transform());
	linear_velocity=state->get_linear_velocity();
	angular_velocity=state->get_angular_velocity();
	active=!state->is_sleeping();
	if (get_script_instance())
		get_script_instance()->call("_integrate_forces",state);
	set_block_transform_notify(false); // want it back

	state=NULL;
}


void RigidBody2D::set_mode(Mode p_mode) {

	mode=p_mode;
	switch(p_mode) {

		case MODE_RIGID: {

			Physics2DServer::get_singleton()->body_set_mode(get_rid(),Physics2DServer::BODY_MODE_RIGID);
		} break;
		case MODE_STATIC: {

			Physics2DServer::get_singleton()->body_set_mode(get_rid(),Physics2DServer::BODY_MODE_STATIC);

		} break;
		case MODE_KINEMATIC: {

			Physics2DServer::get_singleton()->body_set_mode(get_rid(),Physics2DServer::BODY_MODE_KINEMATIC);

		} break;
		case MODE_CHARACTER: {
			Physics2DServer::get_singleton()->body_set_mode(get_rid(),Physics2DServer::BODY_MODE_CHARACTER);

		} break;

	}
}

RigidBody2D::Mode RigidBody2D::get_mode() const{

	return mode;
}

void RigidBody2D::set_mass(real_t p_mass){

	ERR_FAIL_COND(p_mass<=0);
	mass=p_mass;
	_change_notify("mass");
	_change_notify("weight");
	Physics2DServer::get_singleton()->body_set_param(get_rid(),Physics2DServer::BODY_PARAM_MASS,mass);

}
real_t RigidBody2D::get_mass() const{

	return mass;
}

void RigidBody2D::set_weight(real_t p_weight){

	set_mass(p_weight/9.8);
}
real_t RigidBody2D::get_weight() const{

	return mass*9.8;
}


void RigidBody2D::set_friction(real_t p_friction){

	ERR_FAIL_COND(p_friction<0 || p_friction>1);

	friction=p_friction;
	Physics2DServer::get_singleton()->body_set_param(get_rid(),Physics2DServer::BODY_PARAM_FRICTION,friction);

}
real_t RigidBody2D::get_friction() const{

	return friction;
}

void RigidBody2D::set_bounce(real_t p_bounce){

	ERR_FAIL_COND(p_bounce<0 || p_bounce>1);

	bounce=p_bounce;
	Physics2DServer::get_singleton()->body_set_param(get_rid(),Physics2DServer::BODY_PARAM_BOUNCE,bounce);

}
real_t RigidBody2D::get_bounce() const{

	return bounce;
}

void RigidBody2D::set_axis_velocity(const Vector2& p_axis) {

	Vector2 v = state? state->get_linear_velocity() : linear_velocity;
	Vector2 axis = p_axis.normalized();
	v-=axis*axis.dot(v);
	v+=p_axis;
	if (state) {
		set_linear_velocity(v);
	} else {
		Physics2DServer::get_singleton()->body_set_axis_velocity(get_rid(),p_axis);
		linear_velocity=v;
	}
}

void RigidBody2D::set_linear_velocity(const Vector2& p_velocity){

	linear_velocity=p_velocity;
	if (state)
		state->set_linear_velocity(linear_velocity);
	else {

		Physics2DServer::get_singleton()->body_set_state(get_rid(),Physics2DServer::BODY_STATE_LINEAR_VELOCITY,linear_velocity);
	}

}

Vector2 RigidBody2D::get_linear_velocity() const{

	return linear_velocity;
}

void RigidBody2D::set_angular_velocity(real_t p_velocity){

	angular_velocity=p_velocity;
	if (state)
		state->set_angular_velocity(angular_velocity);
	else
		Physics2DServer::get_singleton()->body_set_state(get_rid(),Physics2DServer::BODY_STATE_ANGULAR_VELOCITY,angular_velocity);
}
real_t RigidBody2D::get_angular_velocity() const{

	return angular_velocity;
}

void RigidBody2D::set_use_custom_integrator(bool p_enable){

	if (custom_integrator==p_enable)
		return;

	custom_integrator=p_enable;
	Physics2DServer::get_singleton()->body_set_omit_force_integration(get_rid(),p_enable);


}
bool RigidBody2D::is_using_custom_integrator(){

	return custom_integrator;
}

void RigidBody2D::set_active(bool p_active) {

	active=p_active;
	Physics2DServer::get_singleton()->body_set_state(get_rid(),Physics2DServer::BODY_STATE_SLEEPING,!active);

}

void RigidBody2D::set_can_sleep(bool p_active) {

	can_sleep=p_active;
	Physics2DServer::get_singleton()->body_set_state(get_rid(),Physics2DServer::BODY_STATE_CAN_SLEEP,p_active);
}

bool RigidBody2D::is_able_to_sleep() const {

	return can_sleep;
}

bool RigidBody2D::is_active() const {

	return active;
}

void RigidBody2D::set_max_contacts_reported(int p_amount) {

	max_contacts_reported=p_amount;
	Physics2DServer::get_singleton()->body_set_max_contacts_reported(get_rid(),p_amount);
}

int RigidBody2D::get_max_contacts_reported() const{

	return max_contacts_reported;
}

void RigidBody2D::apply_impulse(const Vector2& p_pos, const Vector2& p_impulse) {

	Physics2DServer::get_singleton()->body_apply_impulse(get_rid(),p_pos,p_impulse);
}

void RigidBody2D::set_applied_force(const Vector2& p_force) {

	Physics2DServer::get_singleton()->body_set_applied_force(get_rid(), p_force);
};

Vector2 RigidBody2D::get_applied_force() const {

	return Physics2DServer::get_singleton()->body_get_applied_force(get_rid());
};


void RigidBody2D::set_continuous_collision_detection_mode(CCDMode p_mode) {

	ccd_mode=p_mode;
	Physics2DServer::get_singleton()->body_set_continuous_collision_detection_mode(get_rid(),Physics2DServer::CCDMode(p_mode));

}

RigidBody2D::CCDMode RigidBody2D::get_continuous_collision_detection_mode() const {

	return ccd_mode;
}


void RigidBody2D::set_contact_monitor(bool p_enabled) {

	if (p_enabled==is_contact_monitor_enabled())
		return;

	if (!p_enabled) {

		for(Map<ObjectID,BodyState>::Element *E=contact_monitor->body_map.front();E;E=E->next()) {

			//clean up mess
		}

		memdelete( contact_monitor );
		contact_monitor=NULL;
	} else {

		contact_monitor = memnew( ContactMonitor );
	}

}

bool RigidBody2D::is_contact_monitor_enabled() const {

	return contact_monitor!=NULL;
}



void RigidBody2D::_bind_methods() {

	ObjectTypeDB::bind_method(_MD("set_mode","mode"),&RigidBody2D::set_mode);
	ObjectTypeDB::bind_method(_MD("get_mode"),&RigidBody2D::get_mode);

	ObjectTypeDB::bind_method(_MD("set_mass","mass"),&RigidBody2D::set_mass);
	ObjectTypeDB::bind_method(_MD("get_mass"),&RigidBody2D::get_mass);

	ObjectTypeDB::bind_method(_MD("set_weight","weight"),&RigidBody2D::set_weight);
	ObjectTypeDB::bind_method(_MD("get_weight"),&RigidBody2D::get_weight);

	ObjectTypeDB::bind_method(_MD("set_friction","friction"),&RigidBody2D::set_friction);
	ObjectTypeDB::bind_method(_MD("get_friction"),&RigidBody2D::get_friction);

	ObjectTypeDB::bind_method(_MD("set_bounce","bounce"),&RigidBody2D::set_bounce);
	ObjectTypeDB::bind_method(_MD("get_bounce"),&RigidBody2D::get_bounce);

	ObjectTypeDB::bind_method(_MD("set_linear_velocity","linear_velocity"),&RigidBody2D::set_linear_velocity);
	ObjectTypeDB::bind_method(_MD("get_linear_velocity"),&RigidBody2D::get_linear_velocity);

	ObjectTypeDB::bind_method(_MD("set_angular_velocity","angular_velocity"),&RigidBody2D::set_angular_velocity);
	ObjectTypeDB::bind_method(_MD("get_angular_velocity"),&RigidBody2D::get_angular_velocity);

	ObjectTypeDB::bind_method(_MD("set_max_contacts_reported","amount"),&RigidBody2D::set_max_contacts_reported);
	ObjectTypeDB::bind_method(_MD("get_max_contacts_reported"),&RigidBody2D::get_max_contacts_reported);

	ObjectTypeDB::bind_method(_MD("set_use_custom_integrator","enable"),&RigidBody2D::set_use_custom_integrator);
	ObjectTypeDB::bind_method(_MD("is_using_custom_integrator"),&RigidBody2D::is_using_custom_integrator);

	ObjectTypeDB::bind_method(_MD("set_contact_monitor","enabled"),&RigidBody2D::set_contact_monitor);
	ObjectTypeDB::bind_method(_MD("is_contact_monitor_enabled"),&RigidBody2D::is_contact_monitor_enabled);

	ObjectTypeDB::bind_method(_MD("set_continuous_collision_detection_mode","mode"),&RigidBody2D::set_continuous_collision_detection_mode);
	ObjectTypeDB::bind_method(_MD("get_continuous_collision_detection_mode"),&RigidBody2D::get_continuous_collision_detection_mode);

	ObjectTypeDB::bind_method(_MD("set_axis_velocity","axis_velocity"),&RigidBody2D::set_axis_velocity);
	ObjectTypeDB::bind_method(_MD("apply_impulse","pos","impulse"),&RigidBody2D::apply_impulse);

	ObjectTypeDB::bind_method(_MD("set_applied_force","force"),&RigidBody2D::set_applied_force);
	ObjectTypeDB::bind_method(_MD("get_applied_force"),&RigidBody2D::get_applied_force);

	ObjectTypeDB::bind_method(_MD("set_active","active"),&RigidBody2D::set_active);
	ObjectTypeDB::bind_method(_MD("is_active"),&RigidBody2D::is_active);

	ObjectTypeDB::bind_method(_MD("set_can_sleep","able_to_sleep"),&RigidBody2D::set_can_sleep);
	ObjectTypeDB::bind_method(_MD("is_able_to_sleep"),&RigidBody2D::is_able_to_sleep);

	ObjectTypeDB::bind_method(_MD("_direct_state_changed"),&RigidBody2D::_direct_state_changed);
	ObjectTypeDB::bind_method(_MD("_body_enter_scene"),&RigidBody2D::_body_enter_scene);
	ObjectTypeDB::bind_method(_MD("_body_exit_scene"),&RigidBody2D::_body_exit_scene);

	BIND_VMETHOD(MethodInfo("_integrate_forces",PropertyInfo(Variant::OBJECT,"state:Physics2DDirectBodyState")));

	ADD_PROPERTY( PropertyInfo(Variant::INT,"mode",PROPERTY_HINT_ENUM,"Rigid,Static,Character,Kinematic"),_SCS("set_mode"),_SCS("get_mode"));
	ADD_PROPERTY( PropertyInfo(Variant::REAL,"mass",PROPERTY_HINT_EXP_RANGE,"0.01,65535,0.01"),_SCS("set_mass"),_SCS("get_mass"));
	ADD_PROPERTY( PropertyInfo(Variant::REAL,"weight",PROPERTY_HINT_EXP_RANGE,"0.01,65535,0.01",PROPERTY_USAGE_EDITOR),_SCS("set_weight"),_SCS("get_weight"));
	ADD_PROPERTY( PropertyInfo(Variant::REAL,"friction",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_friction"),_SCS("get_friction"));
	ADD_PROPERTY( PropertyInfo(Variant::REAL,"bounce",PROPERTY_HINT_RANGE,"0,1,0.01"),_SCS("set_bounce"),_SCS("get_bounce"));
	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"custom_integrator"),_SCS("set_use_custom_integrator"),_SCS("is_using_custom_integrator"));
	ADD_PROPERTY( PropertyInfo(Variant::INT,"continuous_cd",PROPERTY_HINT_ENUM,"Disabled,Cast Ray,Cast Shape"),_SCS("set_continuous_collision_detection_mode"),_SCS("get_continuous_collision_detection_mode"));
	ADD_PROPERTY( PropertyInfo(Variant::INT,"contacts_reported"),_SCS("set_max_contacts_reported"),_SCS("get_max_contacts_reported"));
	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"contact_monitor"),_SCS("set_contact_monitor"),_SCS("is_contact_monitor_enabled"));
	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"active"),_SCS("set_active"),_SCS("is_active"));
	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"can_sleep"),_SCS("set_can_sleep"),_SCS("is_able_to_sleep"));
	ADD_PROPERTY( PropertyInfo(Variant::VECTOR2,"velocity/linear"),_SCS("set_linear_velocity"),_SCS("get_linear_velocity"));
	ADD_PROPERTY( PropertyInfo(Variant::REAL,"velocity/angular"),_SCS("set_angular_velocity"),_SCS("get_angular_velocity"));

	ADD_SIGNAL( MethodInfo("body_enter_shape",PropertyInfo(Variant::INT,"body_id"),PropertyInfo(Variant::OBJECT,"body"),PropertyInfo(Variant::INT,"body_shape"),PropertyInfo(Variant::INT,"local_shape")));
	ADD_SIGNAL( MethodInfo("body_exit_shape",PropertyInfo(Variant::INT,"body_id"),PropertyInfo(Variant::OBJECT,"body"),PropertyInfo(Variant::INT,"body_shape"),PropertyInfo(Variant::INT,"local_shape")));
	ADD_SIGNAL( MethodInfo("body_enter",PropertyInfo(Variant::OBJECT,"body")));
	ADD_SIGNAL( MethodInfo("body_exit",PropertyInfo(Variant::OBJECT,"body")));

	BIND_CONSTANT( MODE_STATIC );
	BIND_CONSTANT( MODE_KINEMATIC );
	BIND_CONSTANT( MODE_RIGID );
	BIND_CONSTANT( MODE_CHARACTER );

	BIND_CONSTANT( CCD_MODE_DISABLED );
	BIND_CONSTANT( CCD_MODE_CAST_RAY );
	BIND_CONSTANT( CCD_MODE_CAST_SHAPE );

}

RigidBody2D::RigidBody2D() : PhysicsBody2D(Physics2DServer::BODY_MODE_RIGID) {

	mode=MODE_RIGID;

	bounce=0;
	mass=1;
	friction=1;
	max_contacts_reported=0;
	state=NULL;

	angular_velocity=0;
	active=true;
	ccd_mode=CCD_MODE_DISABLED;

	custom_integrator=false;
	contact_monitor=NULL;
	can_sleep=true;

	Physics2DServer::get_singleton()->body_set_force_integration_callback(get_rid(),this,"_direct_state_changed");
}

RigidBody2D::~RigidBody2D() {

	if (contact_monitor)
		memdelete( contact_monitor );



}

//////////////////////////


Variant KinematicBody2D::_get_collider() const {

	ObjectID oid=get_collider();
	if (oid==0)
		return Variant();
	Object *obj = ObjectDB::get_instance(oid);
	if (!obj)
		return Variant();

	Reference *ref = obj->cast_to<Reference>();
	if (ref) {
		return Ref<Reference>(ref);
	}

	return obj;
}


bool KinematicBody2D::_ignores_mode(Physics2DServer::BodyMode p_mode) const {

	switch(p_mode) {
		case Physics2DServer::BODY_MODE_STATIC: return !collide_static;
		case Physics2DServer::BODY_MODE_KINEMATIC: return !collide_kinematic;
		case Physics2DServer::BODY_MODE_RIGID: return !collide_rigid;
		case Physics2DServer::BODY_MODE_CHARACTER: return !collide_character;
	}

	return true;
}

bool KinematicBody2D::is_trapped() const {

	ERR_FAIL_COND_V(!is_inside_scene(),false);

	Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
	ERR_FAIL_COND_V(!dss,false);

	const int max_shapes=32;
	Physics2DDirectSpaceState::ShapeResult sr[max_shapes];

	Set<RID> exclude;
	exclude.insert(get_rid());


	for(int i=0;i<get_shape_count();i++) {


		int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),Vector2(),sr,max_shapes,exclude);

		for(int j=0;j<res;j++) {

			Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
			if (!_ignores_mode(bm)) {
				return true; //it's indeed trapped
			}

		}

	}

	return false;

}
void KinematicBody2D::untrap() {

	//this is reaaaaaaaaally wild, will probably only work for simple cases
	ERR_FAIL_COND(!is_inside_scene());

	Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
	ERR_FAIL_COND(!dss);

	const int max_shapes=32;
	Physics2DDirectSpaceState::ShapeResult sr[max_shapes];
	const int max_contacts=8;
	Vector2 pairs[max_contacts*2];

	Set<RID> exclude;
	exclude.insert(get_rid());

	Vector2 untrap_vec;

	for(int i=0;i<get_shape_count();i++) {

		Matrix32 shape_xform = get_global_transform() * get_shape_transform(i);
		int res = dss->intersect_shape(get_shape(i)->get_rid(), shape_xform,Vector2(),sr,max_shapes,exclude);

		for(int j=0;j<res;j++) {

			Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
			if (_ignores_mode(bm)) {
				exclude.insert(sr[j].rid);
			} else {

				int rc;
				bool c = Physics2DServer::get_singleton()->body_collide_shape(sr[j].rid,sr[j].shape,get_shape(i)->get_rid(),shape_xform,Vector2(),pairs,max_contacts,rc);

				if (c) {

					for(int k=0;k<rc;k++) {

						untrap_vec+=pairs[k*2+0]-pairs[k*2+1];
					}
				}

			}

		}

	}

	untrap_vec += untrap_vec.normalized()*margin;


	Matrix32 gt = get_global_transform();
	gt.elements[2]+=untrap_vec;
	set_global_transform(gt);

}

Vector2 KinematicBody2D::move(const Vector2& p_motion) {

	colliding=false;
	ERR_FAIL_COND_V(!is_inside_scene(),Vector2());
	Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
	ERR_FAIL_COND_V(!dss,Vector2());
	const int max_shapes=32;
	Physics2DDirectSpaceState::ShapeResult sr[max_shapes];

	float best_travel = 1e20;
	Physics2DDirectSpaceState::MotionCastCollision mcc_final;
	Set<RID> exclude;
	exclude.insert(get_rid());

	print_line("pos: "+get_global_pos());
	print_line("mlen: "+p_motion);

	if (!collide_static || ! collide_rigid || !collide_character || !collide_kinematic) {
		//fill exclude list..
		for(int i=0;i<get_shape_count();i++) {


			int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),p_motion,sr,max_shapes,exclude);

			for(int j=0;j<res;j++) {

				Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
				if (_ignores_mode(bm)) {
					exclude.insert(sr[j].rid);
				} else {
				//	print_line("DANGER???");
				}
			}
		}
	}

	for(int i=0;i<get_shape_count();i++) {

		Physics2DDirectSpaceState::MotionCastCollision mcc;

		bool res = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, mcc,exclude,0);
		if (res==false)
			continue;
		if (mcc.travel<=0) {
			//uh it's trapped
			colliding=false;
			return p_motion;
		}
		if (mcc.travel < best_travel) {

			mcc_final=mcc;
			best_travel=mcc.travel;
		}
	}

	float motion;
	Vector2 motion_ret;
	Vector2 push;
	if (best_travel>1) {
		//not collided
		colliding=false;
		motion=p_motion.length(); //no stopped
	} else {

		colliding=true;
		collision=mcc_final.point;
		normal=mcc_final.normal;
		collider=mcc_final.collider_id;
		Vector2 mnormal=p_motion.normalized();

		float sine = Math::abs(mnormal.dot(normal));
		float retreat=0;
		motion = p_motion.length()*mcc_final.travel;

		if (sine==0) {
			//something odd going on, do not allow motion?

			retreat=motion;

		} else {

			retreat = margin/sine;
			if (retreat>motion)
				retreat=motion;
		}

		motion_ret=p_motion.normalized() * ( p_motion.length() - motion);
		motion-=retreat;


	}

	Matrix32 gt = get_global_transform();
	gt.elements[2]+=p_motion.normalized()*motion;
	set_global_transform(gt);

	return motion_ret;

}

Vector2 KinematicBody2D::move_to(const Vector2& p_position) {

	return move(p_position-get_global_pos());
}

bool KinematicBody2D::can_move_to(const Vector2& p_position) {

	ERR_FAIL_COND_V(!is_inside_scene(),false);
	Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
	ERR_FAIL_COND_V(!dss,false);

	const int max_shapes=32;
	Physics2DDirectSpaceState::ShapeResult sr[max_shapes];

	Vector2 motion = p_position-get_global_pos();

	Physics2DDirectSpaceState::MotionCastCollision mcc_final;
	Set<RID> exclude;
	exclude.insert(get_rid());

	//fill exclude list..
	for(int i=0;i<get_shape_count();i++) {


		int res = dss->intersect_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),motion,sr,max_shapes,exclude);

		for(int j=0;j<res;j++) {

			Physics2DServer::BodyMode bm = Physics2DServer::get_singleton()->body_get_mode(sr[j].rid);
			if (_ignores_mode(bm)) {
				exclude.insert(sr[j].rid);
				continue;
			}

			return false; //omg collided

		}
	}

	return true;
}

bool KinematicBody2D::is_colliding() const {

	ERR_FAIL_COND_V(!is_inside_scene(),false);

	return colliding;
}
Vector2 KinematicBody2D::get_collision_pos() const {

	ERR_FAIL_COND_V(!colliding,Vector2());
	return collision;

}
Vector2 KinematicBody2D::get_collision_normal() const {

	ERR_FAIL_COND_V(!colliding,Vector2());
	return normal;

}
ObjectID KinematicBody2D::get_collider() const {

	ERR_FAIL_COND_V(!colliding,0);
	return collider;
}

void KinematicBody2D::set_collide_with_static_bodies(bool p_enable) {

	collide_static=p_enable;
}
bool KinematicBody2D::can_collide_with_static_bodies() const {

	return collide_static;
}

void KinematicBody2D::set_collide_with_rigid_bodies(bool p_enable) {

	collide_rigid=p_enable;

}
bool KinematicBody2D::can_collide_with_rigid_bodies() const {


	return collide_rigid;
}

void KinematicBody2D::set_collide_with_kinematic_bodies(bool p_enable) {

	collide_kinematic=p_enable;

}
bool KinematicBody2D::can_collide_with_kinematic_bodies() const {

	return collide_kinematic;
}

void KinematicBody2D::set_collide_with_character_bodies(bool p_enable) {

	collide_character=p_enable;
}
bool KinematicBody2D::can_collide_with_character_bodies() const {

	return collide_character;
}

void KinematicBody2D::set_collision_margin(float p_margin) {

	margin=p_margin;
}

float KinematicBody2D::get_collision_margin() const{

	return margin;
}

void KinematicBody2D::_bind_methods() {


	ObjectTypeDB::bind_method(_MD("is_trapped"),&KinematicBody2D::is_trapped);
	ObjectTypeDB::bind_method(_MD("untrap"),&KinematicBody2D::untrap);

	ObjectTypeDB::bind_method(_MD("move","rel_vec"),&KinematicBody2D::move);
	ObjectTypeDB::bind_method(_MD("move_to","position"),&KinematicBody2D::move_to);

	ObjectTypeDB::bind_method(_MD("can_move_to","position"),&KinematicBody2D::can_move_to);

	ObjectTypeDB::bind_method(_MD("is_colliding"),&KinematicBody2D::is_colliding);

	ObjectTypeDB::bind_method(_MD("get_collision_pos"),&KinematicBody2D::get_collision_pos);
	ObjectTypeDB::bind_method(_MD("get_collision_normal"),&KinematicBody2D::get_collision_normal);
	ObjectTypeDB::bind_method(_MD("get_collider:Object"),&KinematicBody2D::get_collider);


	ObjectTypeDB::bind_method(_MD("set_collide_with_static_bodies","enable"),&KinematicBody2D::set_collide_with_static_bodies);
	ObjectTypeDB::bind_method(_MD("can_collide_with_static_bodies"),&KinematicBody2D::can_collide_with_static_bodies);

	ObjectTypeDB::bind_method(_MD("set_collide_with_kinematic_bodies","enable"),&KinematicBody2D::set_collide_with_kinematic_bodies);
	ObjectTypeDB::bind_method(_MD("can_collide_with_kinematic_bodies"),&KinematicBody2D::can_collide_with_kinematic_bodies);

	ObjectTypeDB::bind_method(_MD("set_collide_with_rigid_bodies","enable"),&KinematicBody2D::set_collide_with_rigid_bodies);
	ObjectTypeDB::bind_method(_MD("can_collide_with_rigid_bodies"),&KinematicBody2D::can_collide_with_rigid_bodies);

	ObjectTypeDB::bind_method(_MD("set_collide_with_character_bodies","enable"),&KinematicBody2D::set_collide_with_character_bodies);
	ObjectTypeDB::bind_method(_MD("can_collide_with_character_bodies"),&KinematicBody2D::can_collide_with_character_bodies);

	ObjectTypeDB::bind_method(_MD("set_collision_margin","pixels"),&KinematicBody2D::set_collision_margin);
	ObjectTypeDB::bind_method(_MD("get_collision_margin","pixels"),&KinematicBody2D::get_collision_margin);

	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/static"),_SCS("set_collide_with_static_bodies"),_SCS("can_collide_with_static_bodies"));
	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/kinematic"),_SCS("set_collide_with_kinematic_bodies"),_SCS("can_collide_with_kinematic_bodies"));
	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/rigid"),_SCS("set_collide_with_rigid_bodies"),_SCS("can_collide_with_rigid_bodies"));
	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"collide_with/character"),_SCS("set_collide_with_character_bodies"),_SCS("can_collide_with_character_bodies"));
	ADD_PROPERTY( PropertyInfo(Variant::REAL,"collision/margin",PROPERTY_HINT_RANGE,"0.01,256,0.01"),_SCS("set_collision_margin"),_SCS("get_collision_margin"));


}

KinematicBody2D::KinematicBody2D() : PhysicsBody2D(Physics2DServer::BODY_MODE_KINEMATIC){

	collide_static=true;
	collide_rigid=true;
	collide_kinematic=true;
	collide_character=true;

	colliding=false;
	collider=0;

	margin=1;
}
KinematicBody2D::~KinematicBody2D()  {


}