godot/servers/physics/space_sw.h

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/*  space_sw.h                                                           */
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur.                 */
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#ifndef SPACE_SW_H
#define SPACE_SW_H

#include "area_pair_sw.h"
#include "area_sw.h"
#include "body_pair_sw.h"
#include "body_sw.h"
#include "broad_phase_sw.h"
#include "collision_object_sw.h"
#include "core/hash_map.h"
#include "core/project_settings.h"
#include "core/typedefs.h"

class PhysicsDirectSpaceStateSW : public PhysicsDirectSpaceState {

	GDCLASS(PhysicsDirectSpaceStateSW, PhysicsDirectSpaceState);

public:
	SpaceSW *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);
	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);
	virtual int intersect_shape(const RID &p_shape, const Transform &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);
	virtual bool cast_motion(const RID &p_shape, const Transform &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 = NULL);
	virtual bool collide_shape(RID p_shape, const Transform &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);
	virtual bool rest_info(RID p_shape, const Transform &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);
	virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const;

	PhysicsDirectSpaceStateSW();
};

class SpaceSW : public RID_Data {

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];

	PhysicsDirectSpaceStateSW *direct_access;
	RID self;

	BroadPhaseSW *broadphase;
	SelfList<BodySW>::List active_list;
	SelfList<BodySW>::List inertia_update_list;
	SelfList<BodySW>::List state_query_list;
	SelfList<AreaSW>::List monitor_query_list;
	SelfList<AreaSW>::List area_moved_list;

	static void *_broadphase_pair(CollisionObjectSW *A, int p_subindex_A, CollisionObjectSW *B, int p_subindex_B, void *p_self);
	static void _broadphase_unpair(CollisionObjectSW *A, int p_subindex_A, CollisionObjectSW *B, int p_subindex_B, void *p_data, void *p_self);

	Set<CollisionObjectSW *> objects;

	AreaSW *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
	};

	CollisionObjectSW *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;

	int island_count;
	int active_objects;
	int collision_pairs;

	RID static_global_body;

	Vector<Vector3> contact_debug;
	int contact_debug_count;

	friend class PhysicsDirectSpaceStateSW;

	int _cull_aabb_for_body(BodySW *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(AreaSW *p_area) { area = p_area; }
	AreaSW *get_default_area() const { return area; }

	const SelfList<BodySW>::List &get_active_body_list() const;
	void body_add_to_active_list(SelfList<BodySW> *p_body);
	void body_remove_from_active_list(SelfList<BodySW> *p_body);
	void body_add_to_inertia_update_list(SelfList<BodySW> *p_body);
	void body_remove_from_inertia_update_list(SelfList<BodySW> *p_body);

	void body_add_to_state_query_list(SelfList<BodySW> *p_body);
	void body_remove_from_state_query_list(SelfList<BodySW> *p_body);

	void area_add_to_monitor_query_list(SelfList<AreaSW> *p_area);
	void area_remove_from_monitor_query_list(SelfList<AreaSW> *p_area);
	void area_add_to_moved_list(SelfList<AreaSW> *p_area);
	void area_remove_from_moved_list(SelfList<AreaSW> *p_area);
	const SelfList<AreaSW>::List &get_moved_area_list() const;

	BroadPhaseSW *get_broadphase();

	void add_object(CollisionObjectSW *p_object);
	void remove_object(CollisionObjectSW *p_object);
	const Set<CollisionObjectSW *> &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();

	void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value);
	real_t get_param(PhysicsServer::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; }

	PhysicsDirectSpaceStateSW *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.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]; }

	int test_body_ray_separation(BodySW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, real_t p_margin);
	bool test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes);

	SpaceSW();
	~SpaceSW();
};

#endif // SPACE__SW_H