godot/servers/physics/space_sw.cpp

/*************************************************************************/
/*  space_sw.cpp                                                         */
/*************************************************************************/
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/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
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#include "globals.h"
#include "space_sw.h"
#include "collision_solver_sw.h"
#include "physics_server_sw.h"


bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_user_mask) {


	ERR_FAIL_COND_V(space->locked,false);

	Vector3 begin,end;
	Vector3 normal;
	begin=p_from;
	end=p_to;
	normal=(end-begin).normalized();


	int amount = space->broadphase->cull_segment(begin,end,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);


	//todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision

	bool collided=false;
	Vector3 res_point,res_normal;
	int res_shape;
	const CollisionObjectSW *res_obj;
	real_t min_d=1e10;


	for(int i=0;i<amount;i++) {

		if (space->intersection_query_results[i]->get_type()==CollisionObjectSW::TYPE_AREA)
			continue; //ignore area

		if (p_exclude.has( space->intersection_query_results[i]->get_self()))
			continue;

		const CollisionObjectSW *col_obj=space->intersection_query_results[i];

		int shape_idx=space->intersection_query_subindex_results[i];
		Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();

		Vector3 local_from = inv_xform.xform(begin);
		Vector3 local_to = inv_xform.xform(end);

		const ShapeSW *shape = col_obj->get_shape(shape_idx);

		Vector3 shape_point,shape_normal;

		if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) {

			Transform xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
			shape_point=xform.xform(shape_point);

			real_t ld = normal.dot(shape_point);


			if (ld<min_d) {

				min_d=ld;
				res_point=shape_point;
				res_normal=inv_xform.basis.xform_inv(shape_normal).normalized();
				res_shape=shape_idx;
				res_obj=col_obj;
				collided=true;
			}
		}

	}

	if (!collided)
		return false;


	r_result.collider_id=res_obj->get_instance_id();
	if (r_result.collider_id!=0)
		r_result.collider=ObjectDB::get_instance(r_result.collider_id);
	r_result.normal=res_normal;
	r_result.position=res_point;
	r_result.rid=res_obj->get_self();
	r_result.shape=res_shape;

	return true;

}


int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_user_mask) {

	if (p_result_max<=0)
		return 0;

	ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
	ERR_FAIL_COND_V(!shape,0);

	AABB aabb = p_xform.xform(shape->get_aabb());

	int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);

	bool collided=false;
	int cc=0;

	//Transform ai = p_xform.affine_inverse();

	for(int i=0;i<amount;i++) {

		if (cc>=p_result_max)
			break;

		if (space->intersection_query_results[i]->get_type()==CollisionObjectSW::TYPE_AREA)
			continue; //ignore area

		if (p_exclude.has( space->intersection_query_results[i]->get_self()))
			continue;


		const CollisionObjectSW *col_obj=space->intersection_query_results[i];
		int shape_idx=space->intersection_query_subindex_results[i];

		if (!CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL,NULL,NULL))
			continue;

		r_results[cc].collider_id=col_obj->get_instance_id();
		if (r_results[cc].collider_id!=0)
			r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
		r_results[cc].rid=col_obj->get_self();
		r_results[cc].shape=shape_idx;

		cc++;

	}

	return cc;

}

PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() {


	space=NULL;
}


////////////////////////////////////////////////////////////////////////////////////////////////////////////










void* SpaceSW::_broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self) {

	CollisionObjectSW::Type type_A=A->get_type();
	CollisionObjectSW::Type type_B=B->get_type();
	if (type_A>type_B) {

		SWAP(A,B);
		SWAP(p_subindex_A,p_subindex_B);
		SWAP(type_A,type_B);
	}

	SpaceSW *self = (SpaceSW*)p_self;

	if (type_A==CollisionObjectSW::TYPE_AREA) {


		ERR_FAIL_COND_V(type_B!=CollisionObjectSW::TYPE_BODY,NULL);
		AreaSW *area=static_cast<AreaSW*>(A);
		BodySW *body=static_cast<BodySW*>(B);


		AreaPairSW *area_pair = memnew(AreaPairSW(body,p_subindex_B,area,p_subindex_A) );

		return area_pair;
	} else {


		BodyPairSW *b = memnew( BodyPairSW((BodySW*)A,p_subindex_A,(BodySW*)B,p_subindex_B) );
		return b;

	}

	return NULL;
}

void SpaceSW::_broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self) {



	SpaceSW *self = (SpaceSW*)p_self;
	ConstraintSW *c = (ConstraintSW*)p_data;
	memdelete(c);
}


const SelfList<BodySW>::List& SpaceSW::get_active_body_list() const {

	return active_list;
}
void SpaceSW::body_add_to_active_list(SelfList<BodySW>* p_body) {

	active_list.add(p_body);
}
void SpaceSW::body_remove_from_active_list(SelfList<BodySW>* p_body) {

	active_list.remove(p_body);

}

void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW>* p_body) {


	inertia_update_list.add(p_body);
}

void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW>* p_body) {

	inertia_update_list.remove(p_body);
}

BroadPhaseSW *SpaceSW::get_broadphase() {

	return broadphase;
}

void SpaceSW::add_object(CollisionObjectSW *p_object) {

	ERR_FAIL_COND( objects.has(p_object) );
	objects.insert(p_object);
}

void SpaceSW::remove_object(CollisionObjectSW *p_object) {

	ERR_FAIL_COND( !objects.has(p_object) );
	objects.erase(p_object);
}

const Set<CollisionObjectSW*> &SpaceSW::get_objects() const {

	return objects;
}

void SpaceSW::body_add_to_state_query_list(SelfList<BodySW>* p_body) {

	state_query_list.add(p_body);
}
void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW>* p_body) {

	state_query_list.remove(p_body);
}

void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW>* p_area) {

	monitor_query_list.add(p_area);
}
void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area) {

	monitor_query_list.remove(p_area);
}

void SpaceSW::area_add_to_moved_list(SelfList<AreaSW>* p_area) {

	area_moved_list.add(p_area);
}

void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW>* p_area) {

	area_moved_list.remove(p_area);
}

const SelfList<AreaSW>::List& SpaceSW::get_moved_area_list() const {

	return area_moved_list;
}




void SpaceSW::call_queries() {

	while(state_query_list.first()) {

		BodySW * b = state_query_list.first()->self();
		b->call_queries();
		state_query_list.remove(state_query_list.first());
	}

	while(monitor_query_list.first()) {

		AreaSW * a = monitor_query_list.first()->self();
		a->call_queries();
		monitor_query_list.remove(monitor_query_list.first());
	}

}

void SpaceSW::setup() {


	while(inertia_update_list.first()) {
		inertia_update_list.first()->self()->update_inertias();
		inertia_update_list.remove(inertia_update_list.first());
	}


}

void SpaceSW::update() {

	broadphase->update();

}


void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {

	switch(p_param) {

		case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
		case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
		case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
		case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_threshold=p_value; break;
		case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold=p_value; break;
		case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
		case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
		case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
	}
}

real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {

	switch(p_param) {

		case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
		case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
		case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
		case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_threshold;
		case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_threshold;
		case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
		case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
		case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
	}
	return 0;
}

void SpaceSW::lock() {

	locked=true;
}

void SpaceSW::unlock() {

	locked=false;
}

bool SpaceSW::is_locked() const {

	return locked;
}

PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() {

	return direct_access;
}

SpaceSW::SpaceSW() {


	locked=false;
	contact_recycle_radius=0.01;
	contact_max_separation=0.05;
	contact_max_allowed_penetration= 0.01;

	constraint_bias = 0.01;
	body_linear_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_linear",0.1);
	body_angular_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_angular", (8.0 / 180.0 * Math_PI) );
	body_time_to_sleep=0.5;
	body_angular_velocity_damp_ratio=10;


	broadphase = BroadPhaseSW::create_func();
	broadphase->set_pair_callback(_broadphase_pair,this);
	broadphase->set_unpair_callback(_broadphase_unpair,this);
	area=NULL;

	direct_access = memnew( PhysicsDirectSpaceStateSW );
	direct_access->space=this;
}

SpaceSW::~SpaceSW() {

	memdelete(broadphase);
	memdelete( direct_access );
}