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/*************************************************************************/
/* 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<RID> &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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<RID> &p_exclude = Set<RID>(), 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<Body2DSW>::List active_list;
SelfList<Body2DSW>::List mass_properties_update_list;
SelfList<Body2DSW>::List state_query_list;
SelfList<Area2DSW>::List monitor_query_list;
SelfList<Area2DSW>::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<CollisionObject2DSW *> 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<Vector2> 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<Body2DSW>::List &get_active_body_list() const;
void body_add_to_active_list(SelfList<Body2DSW> *p_body);
void body_remove_from_active_list(SelfList<Body2DSW> *p_body);
void body_add_to_mass_properties_update_list(SelfList<Body2DSW> *p_body);
void body_remove_from_mass_properties_update_list(SelfList<Body2DSW> *p_body);
void area_add_to_moved_list(SelfList<Area2DSW> *p_area);
void area_remove_from_moved_list(SelfList<Area2DSW> *p_area);
const SelfList<Area2DSW>::List &get_moved_area_list() const;
void body_add_to_state_query_list(SelfList<Body2DSW> *p_body);
void body_remove_from_state_query_list(SelfList<Body2DSW> *p_body);
void area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area);
void area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area);
BroadPhase2DSW *get_broadphase();
void add_object(CollisionObject2DSW *p_object);
void remove_object(CollisionObject2DSW *p_object);
const Set<CollisionObject2DSW *> &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<RID> &p_exclude = Set<RID>());
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<Vector2> 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
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