/*************************************************************************/ /* space_2d_sw.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef SPACE_2D_SW_H #define SPACE_2D_SW_H #include "area_2d_sw.h" #include "area_pair_2d_sw.h" #include "body_2d_sw.h" #include "body_pair_2d_sw.h" #include "broad_phase_2d_sw.h" #include "collision_object_2d_sw.h" #include "core/config/project_settings.h" #include "core/templates/hash_map.h" #include "core/typedefs.h" class PhysicsDirectSpaceState2DSW : public PhysicsDirectSpaceState2D { GDCLASS(PhysicsDirectSpaceState2DSW, PhysicsDirectSpaceState2D); int _intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas = false, ObjectID p_canvas_instance_id = ObjectID()); public: Space2DSW *space = nullptr; virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; virtual bool intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual int intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; PhysicsDirectSpaceState2DSW() {} }; class Space2DSW { public: enum ElapsedTime { ELAPSED_TIME_INTEGRATE_FORCES, ELAPSED_TIME_GENERATE_ISLANDS, ELAPSED_TIME_SETUP_CONSTRAINTS, ELAPSED_TIME_SOLVE_CONSTRAINTS, ELAPSED_TIME_INTEGRATE_VELOCITIES, ELAPSED_TIME_MAX }; private: struct ExcludedShapeSW { Shape2DSW *local_shape = nullptr; const CollisionObject2DSW *against_object = nullptr; int against_shape_index = 0; }; uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; PhysicsDirectSpaceState2DSW *direct_access = nullptr; RID self; BroadPhase2DSW *broadphase; SelfList::List active_list; SelfList::List mass_properties_update_list; SelfList::List state_query_list; SelfList::List monitor_query_list; SelfList::List area_moved_list; static void *_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self); static void _broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self); Set objects; Area2DSW *area = nullptr; real_t contact_recycle_radius = 1.0; real_t contact_max_separation = 1.5; real_t contact_max_allowed_penetration = 0.3; real_t constraint_bias = 0.2; real_t test_motion_min_contact_depth = 0.005; enum { INTERSECTION_QUERY_MAX = 2048 }; CollisionObject2DSW *intersection_query_results[INTERSECTION_QUERY_MAX]; int intersection_query_subindex_results[INTERSECTION_QUERY_MAX]; real_t body_linear_velocity_sleep_threshold = 0.0; real_t body_angular_velocity_sleep_threshold = 0.0; real_t body_time_to_sleep = 0.0; bool locked = false; real_t last_step = 0.001; int island_count = 0; int active_objects = 0; int collision_pairs = 0; int _cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb); Vector contact_debug; int contact_debug_count = 0; friend class PhysicsDirectSpaceState2DSW; 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(Area2DSW *p_area) { area = p_area; } Area2DSW *get_default_area() const { return area; } const SelfList::List &get_active_body_list() const; void body_add_to_active_list(SelfList *p_body); void body_remove_from_active_list(SelfList *p_body); void body_add_to_mass_properties_update_list(SelfList *p_body); void body_remove_from_mass_properties_update_list(SelfList *p_body); void area_add_to_moved_list(SelfList *p_area); void area_remove_from_moved_list(SelfList *p_area); const SelfList::List &get_moved_area_list() const; void body_add_to_state_query_list(SelfList *p_body); void body_remove_from_state_query_list(SelfList *p_body); void area_add_to_monitor_query_list(SelfList *p_area); void area_remove_from_monitor_query_list(SelfList *p_area); BroadPhase2DSW *get_broadphase(); void add_object(CollisionObject2DSW *p_object); void remove_object(CollisionObject2DSW *p_object); const Set &get_objects() const; _FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; } _FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; } _FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; } _FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; } _FORCE_INLINE_ real_t get_body_linear_velocity_sleep_threshold() const { return body_linear_velocity_sleep_threshold; } _FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() const { return body_angular_velocity_sleep_threshold; } _FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; } void update(); void setup(); void call_queries(); bool is_locked() const; void lock(); void unlock(); real_t get_last_step() const { return last_step; } void set_last_step(real_t p_step) { last_step = p_step; } void set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value); real_t get_param(PhysicsServer2D::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; } bool test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, PhysicsServer2D::MotionResult *r_result, bool p_collide_separation_ray = false, const Set &p_exclude = Set()); void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); } _FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); } _FORCE_INLINE_ void add_debug_contact(const Vector2 &p_contact) { if (contact_debug_count < contact_debug.size()) { contact_debug.write[contact_debug_count++] = p_contact; } } _FORCE_INLINE_ Vector get_debug_contacts() { return contact_debug; } _FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; } PhysicsDirectSpaceState2DSW *get_direct_state(); void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; } uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; } Space2DSW(); ~Space2DSW(); }; #endif // SPACE_2D_SW_H