1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
|
/*************************************************************************/
/* space_3d_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_SW_H
#define SPACE_SW_H
#include "area_3d_sw.h"
#include "area_pair_3d_sw.h"
#include "body_3d_sw.h"
#include "body_pair_3d_sw.h"
#include "broad_phase_3d_sw.h"
#include "collision_object_3d_sw.h"
#include "core/config/project_settings.h"
#include "core/templates/hash_map.h"
#include "core/typedefs.h"
#include "soft_body_3d_sw.h"
class PhysicsDirectSpaceState3DSW : public PhysicsDirectSpaceState3D {
GDCLASS(PhysicsDirectSpaceState3DSW, PhysicsDirectSpaceState3D);
public:
Space3DSW *space;
virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
virtual int intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &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 = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr) override;
virtual bool collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
PhysicsDirectSpaceState3DSW();
};
class Space3DSW {
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];
PhysicsDirectSpaceState3DSW *direct_access;
RID self;
BroadPhase3DSW *broadphase;
SelfList<Body3DSW>::List active_list;
SelfList<Body3DSW>::List inertia_update_list;
SelfList<Body3DSW>::List state_query_list;
SelfList<Area3DSW>::List monitor_query_list;
SelfList<Area3DSW>::List area_moved_list;
SelfList<SoftBody3DSW>::List active_soft_body_list;
static void *_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self);
static void _broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self);
Set<CollisionObject3DSW *> objects;
Area3DSW *area;
real_t contact_recycle_radius;
real_t contact_max_separation;
real_t contact_max_allowed_penetration;
real_t constraint_bias;
real_t test_motion_min_contact_depth;
enum {
INTERSECTION_QUERY_MAX = 2048
};
CollisionObject3DSW *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;
real_t last_step = 0.001;
int island_count;
int active_objects;
int collision_pairs;
RID static_global_body;
Vector<Vector3> contact_debug;
int contact_debug_count;
friend class PhysicsDirectSpaceState3DSW;
int _cull_aabb_for_body(Body3DSW *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(Area3DSW *p_area) { area = p_area; }
Area3DSW *get_default_area() const { return area; }
const SelfList<Body3DSW>::List &get_active_body_list() const;
void body_add_to_active_list(SelfList<Body3DSW> *p_body);
void body_remove_from_active_list(SelfList<Body3DSW> *p_body);
void body_add_to_inertia_update_list(SelfList<Body3DSW> *p_body);
void body_remove_from_inertia_update_list(SelfList<Body3DSW> *p_body);
void body_add_to_state_query_list(SelfList<Body3DSW> *p_body);
void body_remove_from_state_query_list(SelfList<Body3DSW> *p_body);
void area_add_to_monitor_query_list(SelfList<Area3DSW> *p_area);
void area_remove_from_monitor_query_list(SelfList<Area3DSW> *p_area);
void area_add_to_moved_list(SelfList<Area3DSW> *p_area);
void area_remove_from_moved_list(SelfList<Area3DSW> *p_area);
const SelfList<Area3DSW>::List &get_moved_area_list() const;
const SelfList<SoftBody3DSW>::List &get_active_soft_body_list() const;
void soft_body_add_to_active_list(SelfList<SoftBody3DSW> *p_soft_body);
void soft_body_remove_from_active_list(SelfList<SoftBody3DSW> *p_soft_body);
BroadPhase3DSW *get_broadphase();
void add_object(CollisionObject3DSW *p_object);
void remove_object(CollisionObject3DSW *p_object);
const Set<CollisionObject3DSW *> &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; }
PhysicsDirectSpaceState3DSW *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(Body3DSW *p_body, const Transform3D &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer3D::MotionResult *r_result, const Set<RID> &p_exclude = Set<RID>());
Space3DSW();
~Space3DSW();
};
#endif // SPACE__SW_H
|