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/*************************************************************************/
/* godot_space_3d.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 GODOT_SPACE_3D_H
#define GODOT_SPACE_3D_H
#include "godot_area_3d.h"
#include "godot_area_pair_3d.h"
#include "godot_body_3d.h"
#include "godot_body_pair_3d.h"
#include "godot_broad_phase_3d.h"
#include "godot_collision_object_3d.h"
#include "godot_soft_body_3d.h"
#include "core/config/project_settings.h"
#include "core/templates/hash_map.h"
#include "core/typedefs.h"
class GodotPhysicsDirectSpaceState3D : public PhysicsDirectSpaceState3D {
GDCLASS(GodotPhysicsDirectSpaceState3D, PhysicsDirectSpaceState3D);
public:
GodotSpace3D *space;
virtual int intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) override;
virtual bool intersect_ray(const RayParameters &p_parameters, RayResult &r_result) override;
virtual int intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) override;
virtual bool cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe, ShapeRestInfo *r_info = nullptr) override;
virtual bool collide_shape(const ShapeParameters &p_parameters, Vector3 *r_results, int p_result_max, int &r_result_count) override;
virtual bool rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) override;
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
GodotPhysicsDirectSpaceState3D();
};
class GodotSpace3D {
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:
uint64_t elapsed_time[ELAPSED_TIME_MAX] = {};
GodotPhysicsDirectSpaceState3D *direct_access;
RID self;
GodotBroadPhase3D *broadphase;
SelfList<GodotBody3D>::List active_list;
SelfList<GodotBody3D>::List mass_properties_update_list;
SelfList<GodotBody3D>::List state_query_list;
SelfList<GodotArea3D>::List monitor_query_list;
SelfList<GodotArea3D>::List area_moved_list;
SelfList<GodotSoftBody3D>::List active_soft_body_list;
static void *_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self);
static void _broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self);
Set<GodotCollisionObject3D *> objects;
GodotArea3D *area = nullptr;
real_t contact_recycle_radius = 0.01;
real_t contact_max_separation = 0.05;
real_t contact_max_allowed_penetration = 0.01;
real_t constraint_bias = 0.01;
enum {
INTERSECTION_QUERY_MAX = 2048
};
GodotCollisionObject3D *intersection_query_results[INTERSECTION_QUERY_MAX];
int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
real_t body_linear_velocity_sleep_threshold;
real_t body_angular_velocity_sleep_threshold;
real_t body_time_to_sleep;
real_t body_angular_velocity_damp_ratio;
bool locked = false;
real_t last_step = 0.001;
int island_count = 0;
int active_objects = 0;
int collision_pairs = 0;
RID static_global_body;
Vector<Vector3> contact_debug;
int contact_debug_count = 0;
friend class GodotPhysicsDirectSpaceState3D;
int _cull_aabb_for_body(GodotBody3D *p_body, const AABB &p_aabb);
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(GodotArea3D *p_area) { area = p_area; }
GodotArea3D *get_default_area() const { return area; }
const SelfList<GodotBody3D>::List &get_active_body_list() const;
void body_add_to_active_list(SelfList<GodotBody3D> *p_body);
void body_remove_from_active_list(SelfList<GodotBody3D> *p_body);
void body_add_to_mass_properties_update_list(SelfList<GodotBody3D> *p_body);
void body_remove_from_mass_properties_update_list(SelfList<GodotBody3D> *p_body);
void body_add_to_state_query_list(SelfList<GodotBody3D> *p_body);
void body_remove_from_state_query_list(SelfList<GodotBody3D> *p_body);
void area_add_to_monitor_query_list(SelfList<GodotArea3D> *p_area);
void area_remove_from_monitor_query_list(SelfList<GodotArea3D> *p_area);
void area_add_to_moved_list(SelfList<GodotArea3D> *p_area);
void area_remove_from_moved_list(SelfList<GodotArea3D> *p_area);
const SelfList<GodotArea3D>::List &get_moved_area_list() const;
const SelfList<GodotSoftBody3D>::List &get_active_soft_body_list() const;
void soft_body_add_to_active_list(SelfList<GodotSoftBody3D> *p_soft_body);
void soft_body_remove_from_active_list(SelfList<GodotSoftBody3D> *p_soft_body);
GodotBroadPhase3D *get_broadphase();
void add_object(GodotCollisionObject3D *p_object);
void remove_object(GodotCollisionObject3D *p_object);
const Set<GodotCollisionObject3D *> &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; }
_FORCE_INLINE_ real_t get_body_angular_velocity_damp_ratio() const { return body_angular_velocity_damp_ratio; }
void update();
void setup();
void call_queries();
bool is_locked() const;
void lock();
void unlock();
real_t get_last_step() const { return last_step; }
void set_last_step(real_t p_step) { last_step = p_step; }
void set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value);
real_t get_param(PhysicsServer3D::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; }
GodotPhysicsDirectSpaceState3D *get_direct_state();
void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); }
_FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) {
if (contact_debug_count < contact_debug.size()) {
contact_debug.write[contact_debug_count++] = p_contact;
}
}
_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contact_debug; }
_FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; }
void set_static_global_body(RID p_body) { static_global_body = p_body; }
RID get_static_global_body() { return static_global_body; }
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]; }
bool test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result);
GodotSpace3D();
~GodotSpace3D();
};
#endif // GODOT_SPACE_3D_H
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