/*************************************************************************/
/*  physics_server_sw.cpp                                                */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                      https://godotengine.org                          */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md)    */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
/*                                                                       */
/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
/*************************************************************************/
#include "physics_server_sw.h"

#include "broad_phase_basic.h"
#include "broad_phase_octree.h"
#include "joints/cone_twist_joint_sw.h"
#include "joints/generic_6dof_joint_sw.h"
#include "joints/hinge_joint_sw.h"
#include "joints/pin_joint_sw.h"
#include "joints/slider_joint_sw.h"
#include "os/os.h"
#include "script_language.h"

RID PhysicsServerSW::shape_create(ShapeType p_shape) {

	ShapeSW *shape = NULL;
	switch (p_shape) {

		case SHAPE_PLANE: {

			shape = memnew(PlaneShapeSW);
		} break;
		case SHAPE_RAY: {

			shape = memnew(RayShapeSW);
		} break;
		case SHAPE_SPHERE: {

			shape = memnew(SphereShapeSW);
		} break;
		case SHAPE_BOX: {

			shape = memnew(BoxShapeSW);
		} break;
		case SHAPE_CAPSULE: {

			shape = memnew(CapsuleShapeSW);
		} break;
		case SHAPE_CONVEX_POLYGON: {

			shape = memnew(ConvexPolygonShapeSW);
		} break;
		case SHAPE_CONCAVE_POLYGON: {

			shape = memnew(ConcavePolygonShapeSW);
		} break;
		case SHAPE_HEIGHTMAP: {

			shape = memnew(HeightMapShapeSW);
		} break;
		case SHAPE_CUSTOM: {

			ERR_FAIL_V(RID());

		} break;
	}

	RID id = shape_owner.make_rid(shape);
	shape->set_self(id);

	return id;
};

void PhysicsServerSW::shape_set_data(RID p_shape, const Variant &p_data) {

	ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND(!shape);
	shape->set_data(p_data);
};

void PhysicsServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {

	ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND(!shape);
	shape->set_custom_bias(p_bias);
}

PhysicsServer::ShapeType PhysicsServerSW::shape_get_type(RID p_shape) const {

	const ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
	return shape->get_type();
};

Variant PhysicsServerSW::shape_get_data(RID p_shape) const {

	const ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND_V(!shape, Variant());
	ERR_FAIL_COND_V(!shape->is_configured(), Variant());
	return shape->get_data();
};

real_t PhysicsServerSW::shape_get_custom_solver_bias(RID p_shape) const {

	const ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND_V(!shape, 0);
	return shape->get_custom_bias();
}

RID PhysicsServerSW::space_create() {

	SpaceSW *space = memnew(SpaceSW);
	RID id = space_owner.make_rid(space);
	space->set_self(id);
	RID area_id = area_create();
	AreaSW *area = area_owner.get(area_id);
	ERR_FAIL_COND_V(!area, RID());
	space->set_default_area(area);
	area->set_space(space);
	area->set_priority(-1);
	RID sgb = body_create();
	body_set_space(sgb, id);
	body_set_mode(sgb, BODY_MODE_STATIC);
	space->set_static_global_body(sgb);

	return id;
};

void PhysicsServerSW::space_set_active(RID p_space, bool p_active) {

	SpaceSW *space = space_owner.get(p_space);
	ERR_FAIL_COND(!space);
	if (p_active)
		active_spaces.insert(space);
	else
		active_spaces.erase(space);
}

bool PhysicsServerSW::space_is_active(RID p_space) const {

	const SpaceSW *space = space_owner.get(p_space);
	ERR_FAIL_COND_V(!space, false);

	return active_spaces.has(space);
}

void PhysicsServerSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {

	SpaceSW *space = space_owner.get(p_space);
	ERR_FAIL_COND(!space);

	space->set_param(p_param, p_value);
}

real_t PhysicsServerSW::space_get_param(RID p_space, SpaceParameter p_param) const {

	const SpaceSW *space = space_owner.get(p_space);
	ERR_FAIL_COND_V(!space, 0);
	return space->get_param(p_param);
}

PhysicsDirectSpaceState *PhysicsServerSW::space_get_direct_state(RID p_space) {

	SpaceSW *space = space_owner.get(p_space);
	ERR_FAIL_COND_V(!space, NULL);
	if (!doing_sync || space->is_locked()) {

		ERR_EXPLAIN("Space state is inaccessible right now, wait for iteration or physics process notification.");
		ERR_FAIL_V(NULL);
	}

	return space->get_direct_state();
}

void PhysicsServerSW::space_set_debug_contacts(RID p_space, int p_max_contacts) {

	SpaceSW *space = space_owner.get(p_space);
	ERR_FAIL_COND(!space);
	space->set_debug_contacts(p_max_contacts);
}

Vector<Vector3> PhysicsServerSW::space_get_contacts(RID p_space) const {

	SpaceSW *space = space_owner.get(p_space);
	ERR_FAIL_COND_V(!space, Vector<Vector3>());
	return space->get_debug_contacts();
}

int PhysicsServerSW::space_get_contact_count(RID p_space) const {

	SpaceSW *space = space_owner.get(p_space);
	ERR_FAIL_COND_V(!space, 0);
	return space->get_debug_contact_count();
}

RID PhysicsServerSW::area_create() {

	AreaSW *area = memnew(AreaSW);
	RID rid = area_owner.make_rid(area);
	area->set_self(rid);
	return rid;
};

void PhysicsServerSW::area_set_space(RID p_area, RID p_space) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	SpaceSW *space = NULL;
	if (p_space.is_valid()) {
		space = space_owner.get(p_space);
		ERR_FAIL_COND(!space);
	}

	if (area->get_space() == space)
		return; //pointless

	area->clear_constraints();
	area->set_space(space);
};

RID PhysicsServerSW::area_get_space(RID p_area) const {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, RID());

	SpaceSW *space = area->get_space();
	if (!space)
		return RID();
	return space->get_self();
};

void PhysicsServerSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->set_space_override_mode(p_mode);
}

PhysicsServer::AreaSpaceOverrideMode PhysicsServerSW::area_get_space_override_mode(RID p_area) const {

	const AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);

	return area->get_space_override_mode();
}

void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND(!shape);

	area->add_shape(shape, p_transform);
}

void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND(!shape);
	ERR_FAIL_COND(!shape->is_configured());

	area->set_shape(p_shape_idx, shape);
}
void PhysicsServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->set_shape_transform(p_shape_idx, p_transform);
}

int PhysicsServerSW::area_get_shape_count(RID p_area) const {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, -1);

	return area->get_shape_count();
}
RID PhysicsServerSW::area_get_shape(RID p_area, int p_shape_idx) const {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, RID());

	ShapeSW *shape = area->get_shape(p_shape_idx);
	ERR_FAIL_COND_V(!shape, RID());

	return shape->get_self();
}
Transform PhysicsServerSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, Transform());

	return area->get_shape_transform(p_shape_idx);
}

void PhysicsServerSW::area_remove_shape(RID p_area, int p_shape_idx) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->remove_shape(p_shape_idx);
}

void PhysicsServerSW::area_clear_shapes(RID p_area) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	while (area->get_shape_count())
		area->remove_shape(0);
}

void PhysicsServerSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);
	ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
	area->set_shape_as_disabled(p_shape_idx, p_disabled);
}

void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_ID) {

	if (space_owner.owns(p_area)) {
		SpaceSW *space = space_owner.get(p_area);
		p_area = space->get_default_area()->get_self();
	}
	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);
	area->set_instance_id(p_ID);
}
ObjectID PhysicsServerSW::area_get_object_instance_id(RID p_area) const {

	if (space_owner.owns(p_area)) {
		SpaceSW *space = space_owner.get(p_area);
		p_area = space->get_default_area()->get_self();
	}
	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, 0);
	return area->get_instance_id();
}

void PhysicsServerSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {

	if (space_owner.owns(p_area)) {
		SpaceSW *space = space_owner.get(p_area);
		p_area = space->get_default_area()->get_self();
	}
	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);
	area->set_param(p_param, p_value);
};

void PhysicsServerSW::area_set_transform(RID p_area, const Transform &p_transform) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);
	area->set_transform(p_transform);
};

Variant PhysicsServerSW::area_get_param(RID p_area, AreaParameter p_param) const {

	if (space_owner.owns(p_area)) {
		SpaceSW *space = space_owner.get(p_area);
		p_area = space->get_default_area()->get_self();
	}
	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, Variant());

	return area->get_param(p_param);
};

Transform PhysicsServerSW::area_get_transform(RID p_area) const {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, Transform());

	return area->get_transform();
};

void PhysicsServerSW::area_set_collision_layer(RID p_area, uint32_t p_layer) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->set_collision_layer(p_layer);
}

void PhysicsServerSW::area_set_collision_mask(RID p_area, uint32_t p_mask) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->set_collision_mask(p_mask);
}

void PhysicsServerSW::area_set_monitorable(RID p_area, bool p_monitorable) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->set_monitorable(p_monitorable);
}

void PhysicsServerSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : 0, p_method);
}

void PhysicsServerSW::area_set_ray_pickable(RID p_area, bool p_enable) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->set_ray_pickable(p_enable);
}

bool PhysicsServerSW::area_is_ray_pickable(RID p_area) const {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND_V(!area, false);

	return area->is_ray_pickable();
}

void PhysicsServerSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {

	AreaSW *area = area_owner.get(p_area);
	ERR_FAIL_COND(!area);

	area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : 0, p_method);
}

/* BODY API */

RID PhysicsServerSW::body_create(BodyMode p_mode, bool p_init_sleeping) {

	BodySW *body = memnew(BodySW);
	if (p_mode != BODY_MODE_RIGID)
		body->set_mode(p_mode);
	if (p_init_sleeping)
		body->set_state(BODY_STATE_SLEEPING, p_init_sleeping);
	RID rid = body_owner.make_rid(body);
	body->set_self(rid);
	return rid;
};

void PhysicsServerSW::body_set_space(RID p_body, RID p_space) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	SpaceSW *space = NULL;
	if (p_space.is_valid()) {
		space = space_owner.get(p_space);
		ERR_FAIL_COND(!space);
	}

	if (body->get_space() == space)
		return; //pointless

	body->clear_constraint_map();
	body->set_space(space);
};

RID PhysicsServerSW::body_get_space(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, RID());

	SpaceSW *space = body->get_space();
	if (!space)
		return RID();
	return space->get_self();
};

void PhysicsServerSW::body_set_mode(RID p_body, BodyMode p_mode) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_mode(p_mode);
};

PhysicsServer::BodyMode PhysicsServerSW::body_get_mode(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);

	return body->get_mode();
};

void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND(!shape);

	body->add_shape(shape, p_transform);
}

void PhysicsServerSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	ShapeSW *shape = shape_owner.get(p_shape);
	ERR_FAIL_COND(!shape);
	ERR_FAIL_COND(!shape->is_configured());

	body->set_shape(p_shape_idx, shape);
}
void PhysicsServerSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_shape_transform(p_shape_idx, p_transform);
}

int PhysicsServerSW::body_get_shape_count(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, -1);

	return body->get_shape_count();
}
RID PhysicsServerSW::body_get_shape(RID p_body, int p_shape_idx) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, RID());

	ShapeSW *shape = body->get_shape(p_shape_idx);
	ERR_FAIL_COND_V(!shape, RID());

	return shape->get_self();
}

void PhysicsServerSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);
	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
	body->set_shape_as_disabled(p_shape_idx, p_disabled);
}

Transform PhysicsServerSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, Transform());

	return body->get_shape_transform(p_shape_idx);
}

void PhysicsServerSW::body_remove_shape(RID p_body, int p_shape_idx) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->remove_shape(p_shape_idx);
}

void PhysicsServerSW::body_clear_shapes(RID p_body) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	while (body->get_shape_count())
		body->remove_shape(0);
}

void PhysicsServerSW::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_continuous_collision_detection(p_enable);
}

bool PhysicsServerSW::body_is_continuous_collision_detection_enabled(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, false);

	return body->is_continuous_collision_detection_enabled();
}

void PhysicsServerSW::body_set_collision_layer(RID p_body, uint32_t p_layer) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_collision_layer(p_layer);
	body->wakeup();
}

uint32_t PhysicsServerSW::body_get_collision_layer(RID p_body) const {

	const BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, 0);

	return body->get_collision_layer();
}

void PhysicsServerSW::body_set_collision_mask(RID p_body, uint32_t p_mask) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_collision_mask(p_mask);
	body->wakeup();
}

uint32_t PhysicsServerSW::body_get_collision_mask(RID p_body) const {

	const BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, 0);

	return body->get_collision_mask();
}

void PhysicsServerSW::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_instance_id(p_ID);
};

uint32_t PhysicsServerSW::body_get_object_instance_id(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, 0);

	return body->get_instance_id();
};

void PhysicsServerSW::body_set_user_flags(RID p_body, uint32_t p_flags) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);
};

uint32_t PhysicsServerSW::body_get_user_flags(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, 0);

	return 0;
};

void PhysicsServerSW::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_param(p_param, p_value);
};

real_t PhysicsServerSW::body_get_param(RID p_body, BodyParameter p_param) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, 0);

	return body->get_param(p_param);
};

void PhysicsServerSW::body_set_kinematic_safe_margin(RID p_body, real_t p_margin) {
	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);
	body->set_kinematic_margin(p_margin);
}

real_t PhysicsServerSW::body_get_kinematic_safe_margin(RID p_body) const {
	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, 0);

	return body->get_kinematic_margin();
}

void PhysicsServerSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_state(p_state, p_variant);
};

Variant PhysicsServerSW::body_get_state(RID p_body, BodyState p_state) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, Variant());

	return body->get_state(p_state);
};

void PhysicsServerSW::body_set_applied_force(RID p_body, const Vector3 &p_force) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_applied_force(p_force);
	body->wakeup();
};

Vector3 PhysicsServerSW::body_get_applied_force(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, Vector3());
	return body->get_applied_force();
};

void PhysicsServerSW::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_applied_torque(p_torque);
	body->wakeup();
};

Vector3 PhysicsServerSW::body_get_applied_torque(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, Vector3());

	return body->get_applied_torque();
};

void PhysicsServerSW::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	_update_shapes();

	body->apply_impulse(p_pos, p_impulse);
	body->wakeup();
};

void PhysicsServerSW::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	_update_shapes();

	body->apply_torque_impulse(p_impulse);
	body->wakeup();
};

void PhysicsServerSW::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	_update_shapes();

	Vector3 v = body->get_linear_velocity();
	Vector3 axis = p_axis_velocity.normalized();
	v -= axis * axis.dot(v);
	v += p_axis_velocity;
	body->set_linear_velocity(v);
	body->wakeup();
};

void PhysicsServerSW::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool lock) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_axis_lock(p_axis, lock);
	body->wakeup();
}

bool PhysicsServerSW::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {

	const BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, 0);
	return body->is_axis_locked(p_axis);
}

void PhysicsServerSW::body_add_collision_exception(RID p_body, RID p_body_b) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->add_exception(p_body_b);
	body->wakeup();
};

void PhysicsServerSW::body_remove_collision_exception(RID p_body, RID p_body_b) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->remove_exception(p_body_b);
	body->wakeup();
};

void PhysicsServerSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	for (int i = 0; i < body->get_exceptions().size(); i++) {
		p_exceptions->push_back(body->get_exceptions()[i]);
	}
};

void PhysicsServerSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);
};

real_t PhysicsServerSW::body_get_contacts_reported_depth_threshold(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, 0);
	return 0;
};

void PhysicsServerSW::body_set_omit_force_integration(RID p_body, bool p_omit) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);

	body->set_omit_force_integration(p_omit);
};

bool PhysicsServerSW::body_is_omitting_force_integration(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, false);
	return body->get_omit_force_integration();
};

void PhysicsServerSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);
	body->set_max_contacts_reported(p_contacts);
}

int PhysicsServerSW::body_get_max_contacts_reported(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, -1);
	return body->get_max_contacts_reported();
}

void PhysicsServerSW::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);
	body->set_force_integration_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(0), p_method, p_udata);
}

void PhysicsServerSW::body_set_ray_pickable(RID p_body, bool p_enable) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND(!body);
	body->set_ray_pickable(p_enable);
}

bool PhysicsServerSW::body_is_ray_pickable(RID p_body) const {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, false);
	return body->is_ray_pickable();
}

bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, MotionResult *r_result) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, false);
	ERR_FAIL_COND_V(!body->get_space(), false);
	ERR_FAIL_COND_V(body->get_space()->is_locked(), false);

	_update_shapes();

	return body->get_space()->test_body_motion(body, p_from, p_motion, body->get_kinematic_margin(), r_result);
}

PhysicsDirectBodyState *PhysicsServerSW::body_get_direct_state(RID p_body) {

	BodySW *body = body_owner.get(p_body);
	ERR_FAIL_COND_V(!body, NULL);

	if (!doing_sync || body->get_space()->is_locked()) {

		ERR_EXPLAIN("Body state is inaccessible right now, wait for iteration or physics process notification.");
		ERR_FAIL_V(NULL);
	}

	direct_state->body = body;
	return direct_state;
}

/* JOINT API */

RID PhysicsServerSW::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {

	BodySW *body_A = body_owner.get(p_body_A);
	ERR_FAIL_COND_V(!body_A, RID());

	if (!p_body_B.is_valid()) {
		ERR_FAIL_COND_V(!body_A->get_space(), RID());
		p_body_B = body_A->get_space()->get_static_global_body();
	}

	BodySW *body_B = body_owner.get(p_body_B);
	ERR_FAIL_COND_V(!body_B, RID());

	ERR_FAIL_COND_V(body_A == body_B, RID());

	JointSW *joint = memnew(PinJointSW(body_A, p_local_A, body_B, p_local_B));
	RID rid = joint_owner.make_rid(joint);
	joint->set_self(rid);
	return rid;
}

void PhysicsServerSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
	PinJointSW *pin_joint = static_cast<PinJointSW *>(joint);
	pin_joint->set_param(p_param, p_value);
}
real_t PhysicsServerSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, 0);
	ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0);
	PinJointSW *pin_joint = static_cast<PinJointSW *>(joint);
	return pin_joint->get_param(p_param);
}

void PhysicsServerSW::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
	PinJointSW *pin_joint = static_cast<PinJointSW *>(joint);
	pin_joint->set_pos_a(p_A);
}
Vector3 PhysicsServerSW::pin_joint_get_local_a(RID p_joint) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, Vector3());
	ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
	PinJointSW *pin_joint = static_cast<PinJointSW *>(joint);
	return pin_joint->get_position_a();
}

void PhysicsServerSW::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_PIN);
	PinJointSW *pin_joint = static_cast<PinJointSW *>(joint);
	pin_joint->set_pos_b(p_B);
}
Vector3 PhysicsServerSW::pin_joint_get_local_b(RID p_joint) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, Vector3());
	ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3());
	PinJointSW *pin_joint = static_cast<PinJointSW *>(joint);
	return pin_joint->get_position_b();
}

RID PhysicsServerSW::joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B) {

	BodySW *body_A = body_owner.get(p_body_A);
	ERR_FAIL_COND_V(!body_A, RID());

	if (!p_body_B.is_valid()) {
		ERR_FAIL_COND_V(!body_A->get_space(), RID());
		p_body_B = body_A->get_space()->get_static_global_body();
	}

	BodySW *body_B = body_owner.get(p_body_B);
	ERR_FAIL_COND_V(!body_B, RID());

	ERR_FAIL_COND_V(body_A == body_B, RID());

	JointSW *joint = memnew(HingeJointSW(body_A, body_B, p_frame_A, p_frame_B));
	RID rid = joint_owner.make_rid(joint);
	joint->set_self(rid);
	return rid;
}

RID PhysicsServerSW::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) {

	BodySW *body_A = body_owner.get(p_body_A);
	ERR_FAIL_COND_V(!body_A, RID());

	if (!p_body_B.is_valid()) {
		ERR_FAIL_COND_V(!body_A->get_space(), RID());
		p_body_B = body_A->get_space()->get_static_global_body();
	}

	BodySW *body_B = body_owner.get(p_body_B);
	ERR_FAIL_COND_V(!body_B, RID());

	ERR_FAIL_COND_V(body_A == body_B, RID());

	JointSW *joint = memnew(HingeJointSW(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
	RID rid = joint_owner.make_rid(joint);
	joint->set_self(rid);
	return rid;
}

void PhysicsServerSW::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
	HingeJointSW *hinge_joint = static_cast<HingeJointSW *>(joint);
	hinge_joint->set_param(p_param, p_value);
}
real_t PhysicsServerSW::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, 0);
	ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0);
	HingeJointSW *hinge_joint = static_cast<HingeJointSW *>(joint);
	return hinge_joint->get_param(p_param);
}

void PhysicsServerSW::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_HINGE);
	HingeJointSW *hinge_joint = static_cast<HingeJointSW *>(joint);
	hinge_joint->set_flag(p_flag, p_value);
}
bool PhysicsServerSW::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, false);
	ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false);
	HingeJointSW *hinge_joint = static_cast<HingeJointSW *>(joint);
	return hinge_joint->get_flag(p_flag);
}

void PhysicsServerSW::joint_set_solver_priority(RID p_joint, int p_priority) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	joint->set_priority(p_priority);
}

int PhysicsServerSW::joint_get_solver_priority(RID p_joint) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, 0);
	return joint->get_priority();
}

PhysicsServerSW::JointType PhysicsServerSW::joint_get_type(RID p_joint) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, JOINT_PIN);
	return joint->get_type();
}

RID PhysicsServerSW::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {

	BodySW *body_A = body_owner.get(p_body_A);
	ERR_FAIL_COND_V(!body_A, RID());

	if (!p_body_B.is_valid()) {
		ERR_FAIL_COND_V(!body_A->get_space(), RID());
		p_body_B = body_A->get_space()->get_static_global_body();
	}

	BodySW *body_B = body_owner.get(p_body_B);
	ERR_FAIL_COND_V(!body_B, RID());

	ERR_FAIL_COND_V(body_A == body_B, RID());

	JointSW *joint = memnew(SliderJointSW(body_A, body_B, p_local_frame_A, p_local_frame_B));
	RID rid = joint_owner.make_rid(joint);
	joint->set_self(rid);
	return rid;
}

void PhysicsServerSW::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER);
	SliderJointSW *slider_joint = static_cast<SliderJointSW *>(joint);
	slider_joint->set_param(p_param, p_value);
}
real_t PhysicsServerSW::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, 0);
	ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0);
	SliderJointSW *slider_joint = static_cast<SliderJointSW *>(joint);
	return slider_joint->get_param(p_param);
}

RID PhysicsServerSW::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {

	BodySW *body_A = body_owner.get(p_body_A);
	ERR_FAIL_COND_V(!body_A, RID());

	if (!p_body_B.is_valid()) {
		ERR_FAIL_COND_V(!body_A->get_space(), RID());
		p_body_B = body_A->get_space()->get_static_global_body();
	}

	BodySW *body_B = body_owner.get(p_body_B);
	ERR_FAIL_COND_V(!body_B, RID());

	ERR_FAIL_COND_V(body_A == body_B, RID());

	JointSW *joint = memnew(ConeTwistJointSW(body_A, body_B, p_local_frame_A, p_local_frame_B));
	RID rid = joint_owner.make_rid(joint);
	joint->set_self(rid);
	return rid;
}

void PhysicsServerSW::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST);
	ConeTwistJointSW *cone_twist_joint = static_cast<ConeTwistJointSW *>(joint);
	cone_twist_joint->set_param(p_param, p_value);
}
real_t PhysicsServerSW::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, 0);
	ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0);
	ConeTwistJointSW *cone_twist_joint = static_cast<ConeTwistJointSW *>(joint);
	return cone_twist_joint->get_param(p_param);
}

RID PhysicsServerSW::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) {

	BodySW *body_A = body_owner.get(p_body_A);
	ERR_FAIL_COND_V(!body_A, RID());

	if (!p_body_B.is_valid()) {
		ERR_FAIL_COND_V(!body_A->get_space(), RID());
		p_body_B = body_A->get_space()->get_static_global_body();
	}

	BodySW *body_B = body_owner.get(p_body_B);
	ERR_FAIL_COND_V(!body_B, RID());

	ERR_FAIL_COND_V(body_A == body_B, RID());

	JointSW *joint = memnew(Generic6DOFJointSW(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
	RID rid = joint_owner.make_rid(joint);
	joint->set_self(rid);
	return rid;
}

void PhysicsServerSW::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
	Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW *>(joint);
	generic_6dof_joint->set_param(p_axis, p_param, p_value);
}
real_t PhysicsServerSW::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, 0);
	ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0);
	Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW *>(joint);
	return generic_6dof_joint->get_param(p_axis, p_param);
}

void PhysicsServerSW::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND(!joint);
	ERR_FAIL_COND(joint->get_type() != JOINT_6DOF);
	Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW *>(joint);
	generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
}
bool PhysicsServerSW::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) {

	JointSW *joint = joint_owner.get(p_joint);
	ERR_FAIL_COND_V(!joint, false);
	ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false);
	Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW *>(joint);
	return generic_6dof_joint->get_flag(p_axis, p_flag);
}

void PhysicsServerSW::free(RID p_rid) {

	_update_shapes(); //just in case

	if (shape_owner.owns(p_rid)) {

		ShapeSW *shape = shape_owner.get(p_rid);

		while (shape->get_owners().size()) {
			ShapeOwnerSW *so = shape->get_owners().front()->key();
			so->remove_shape(shape);
		}

		shape_owner.free(p_rid);
		memdelete(shape);
	} else if (body_owner.owns(p_rid)) {

		BodySW *body = body_owner.get(p_rid);

		/*
		if (body->get_state_query())
			_clear_query(body->get_state_query());

		if (body->get_direct_state_query())
			_clear_query(body->get_direct_state_query());
		*/

		body->set_space(NULL);

		while (body->get_shape_count()) {

			body->remove_shape(0);
		}

		body_owner.free(p_rid);
		memdelete(body);

	} else if (area_owner.owns(p_rid)) {

		AreaSW *area = area_owner.get(p_rid);

		/*
		if (area->get_monitor_query())
			_clear_query(area->get_monitor_query());
		*/

		area->set_space(NULL);

		while (area->get_shape_count()) {

			area->remove_shape(0);
		}

		area_owner.free(p_rid);
		memdelete(area);
	} else if (space_owner.owns(p_rid)) {

		SpaceSW *space = space_owner.get(p_rid);

		while (space->get_objects().size()) {
			CollisionObjectSW *co = (CollisionObjectSW *)space->get_objects().front()->get();
			co->set_space(NULL);
		}

		active_spaces.erase(space);
		free(space->get_default_area()->get_self());
		free(space->get_static_global_body());

		space_owner.free(p_rid);
		memdelete(space);
	} else if (joint_owner.owns(p_rid)) {

		JointSW *joint = joint_owner.get(p_rid);

		for (int i = 0; i < joint->get_body_count(); i++) {

			joint->get_body_ptr()[i]->remove_constraint(joint);
		}
		joint_owner.free(p_rid);
		memdelete(joint);

	} else {

		ERR_EXPLAIN("Invalid ID");
		ERR_FAIL();
	}
};

void PhysicsServerSW::set_active(bool p_active) {

	active = p_active;
};

void PhysicsServerSW::init() {

	doing_sync = true;
	last_step = 0.001;
	iterations = 8; // 8?
	stepper = memnew(StepSW);
	direct_state = memnew(PhysicsDirectBodyStateSW);
};

void PhysicsServerSW::step(real_t p_step) {

	if (!active)
		return;

	_update_shapes();

	doing_sync = false;

	last_step = p_step;
	PhysicsDirectBodyStateSW::singleton->step = p_step;

	island_count = 0;
	active_objects = 0;
	collision_pairs = 0;
	for (Set<const SpaceSW *>::Element *E = active_spaces.front(); E; E = E->next()) {

		stepper->step((SpaceSW *)E->get(), p_step, iterations);
		island_count += E->get()->get_island_count();
		active_objects += E->get()->get_active_objects();
		collision_pairs += E->get()->get_collision_pairs();
	}
}

void PhysicsServerSW::sync(){

};

void PhysicsServerSW::flush_queries() {

	if (!active)
		return;

	doing_sync = true;

	uint64_t time_beg = OS::get_singleton()->get_ticks_usec();

	for (Set<const SpaceSW *>::Element *E = active_spaces.front(); E; E = E->next()) {

		SpaceSW *space = (SpaceSW *)E->get();
		space->call_queries();
	}

	if (ScriptDebugger::get_singleton() && ScriptDebugger::get_singleton()->is_profiling()) {

		uint64_t total_time[SpaceSW::ELAPSED_TIME_MAX];
		static const char *time_name[SpaceSW::ELAPSED_TIME_MAX] = {
			"integrate_forces",
			"generate_islands",
			"setup_constraints",
			"solve_constraints",
			"integrate_velocities"
		};

		for (int i = 0; i < SpaceSW::ELAPSED_TIME_MAX; i++) {
			total_time[i] = 0;
		}

		for (Set<const SpaceSW *>::Element *E = active_spaces.front(); E; E = E->next()) {

			for (int i = 0; i < SpaceSW::ELAPSED_TIME_MAX; i++) {
				total_time[i] += E->get()->get_elapsed_time(SpaceSW::ElapsedTime(i));
			}
		}

		Array values;
		values.resize(SpaceSW::ELAPSED_TIME_MAX * 2);
		for (int i = 0; i < SpaceSW::ELAPSED_TIME_MAX; i++) {
			values[i * 2 + 0] = time_name[i];
			values[i * 2 + 1] = USEC_TO_SEC(total_time[i]);
		}
		values.push_back("flush_queries");
		values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg));

		ScriptDebugger::get_singleton()->add_profiling_frame_data("physics", values);
	}
};

void PhysicsServerSW::finish() {

	memdelete(stepper);
	memdelete(direct_state);
};

int PhysicsServerSW::get_process_info(ProcessInfo p_info) {

	switch (p_info) {

		case INFO_ACTIVE_OBJECTS: {

			return active_objects;
		} break;
		case INFO_COLLISION_PAIRS: {
			return collision_pairs;
		} break;
		case INFO_ISLAND_COUNT: {

			return island_count;
		} break;
	}

	return 0;
}

void PhysicsServerSW::_update_shapes() {

	while (pending_shape_update_list.first()) {
		pending_shape_update_list.first()->self()->_shape_changed();
		pending_shape_update_list.remove(pending_shape_update_list.first());
	}
}

void PhysicsServerSW::_shape_col_cbk(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {

	CollCbkData *cbk = (CollCbkData *)p_userdata;

	if (cbk->max == 0)
		return;

	if (cbk->amount == cbk->max) {
		//find least deep
		real_t min_depth = 1e20;
		int min_depth_idx = 0;
		for (int i = 0; i < cbk->amount; i++) {

			real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]);
			if (d < min_depth) {
				min_depth = d;
				min_depth_idx = i;
			}
		}

		real_t d = p_point_A.distance_squared_to(p_point_B);
		if (d < min_depth)
			return;
		cbk->ptr[min_depth_idx * 2 + 0] = p_point_A;
		cbk->ptr[min_depth_idx * 2 + 1] = p_point_B;

	} else {

		cbk->ptr[cbk->amount * 2 + 0] = p_point_A;
		cbk->ptr[cbk->amount * 2 + 1] = p_point_B;
		cbk->amount++;
	}
}

PhysicsServerSW *PhysicsServerSW::singleton = NULL;
PhysicsServerSW::PhysicsServerSW() {
	singleton = this;
	BroadPhaseSW::create_func = BroadPhaseOctree::_create;
	island_count = 0;
	active_objects = 0;
	collision_pairs = 0;

	active = true;
};

PhysicsServerSW::~PhysicsServerSW(){

};