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Rename Godot Physics classes from *SW to Godot*

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Also moved MT physics server wrappers to the main servers folder, since
they don't have to be implementation specific.
This commit is contained in:
PouleyKetchoupp 2021-10-18 12:24:30 -07:00
parent 5bb3dbbedd
commit cc39dca9f7
86 changed files with 5351 additions and 5390 deletions
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2
scene/register_scene_types.cpp
View File

@ -940,10 +940,8 @@ void register_scene_types() {
ClassDB::add_compatibility_class("Path", "Path3D");
ClassDB::add_compatibility_class("PathFollow", "PathFollow3D");
ClassDB::add_compatibility_class("PhysicalBone", "PhysicalBone3D");
ClassDB::add_compatibility_class("Physics2DDirectBodyStateSW", "PhysicsDirectBodyState2DSW");
ClassDB::add_compatibility_class("Physics2DDirectBodyState", "PhysicsDirectBodyState2D");
ClassDB::add_compatibility_class("Physics2DDirectSpaceState", "PhysicsDirectSpaceState2D");
ClassDB::add_compatibility_class("Physics2DServerSW", "PhysicsServer2DSW");
ClassDB::add_compatibility_class("Physics2DServer", "PhysicsServer2D");
ClassDB::add_compatibility_class("Physics2DShapeQueryParameters", "PhysicsShapeQueryParameters2D");
ClassDB::add_compatibility_class("Physics2DTestMotionResult", "PhysicsTestMotionResult2D");

42
servers/physics_2d/area_2d_sw.cpp → servers/physics_2d/godot_area_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* area_2d_sw.cpp */
/* godot_area_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,31 +28,31 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "area_2d_sw.h"
#include "body_2d_sw.h"
#include "space_2d_sw.h"
#include "godot_area_2d.h"
#include "godot_body_2d.h"
#include "godot_space_2d.h"
Area2DSW::BodyKey::BodyKey(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
GodotArea2D::BodyKey::BodyKey(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
rid = p_body->get_self();
instance_id = p_body->get_instance_id();
body_shape = p_body_shape;
area_shape = p_area_shape;
}
Area2DSW::BodyKey::BodyKey(Area2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
GodotArea2D::BodyKey::BodyKey(GodotArea2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
rid = p_body->get_self();
instance_id = p_body->get_instance_id();
body_shape = p_body_shape;
area_shape = p_area_shape;
}
void Area2DSW::_shapes_changed() {
void GodotArea2D::_shapes_changed() {
if (!moved_list.in_list() && get_space()) {
get_space()->area_add_to_moved_list(&moved_list);
}
}
void Area2DSW::set_transform(const Transform2D &p_transform) {
void GodotArea2D::set_transform(const Transform2D &p_transform) {
if (!moved_list.in_list() && get_space()) {
get_space()->area_add_to_moved_list(&moved_list);
}
@ -61,7 +61,7 @@ void Area2DSW::set_transform(const Transform2D &p_transform) {
_set_inv_transform(p_transform.affine_inverse());
}
void Area2DSW::set_space(Space2DSW *p_space) {
void GodotArea2D::set_space(GodotSpace2D *p_space) {
if (get_space()) {
if (monitor_query_list.in_list()) {
get_space()->area_remove_from_monitor_query_list(&monitor_query_list);
@ -77,7 +77,7 @@ void Area2DSW::set_space(Space2DSW *p_space) {
_set_space(p_space);
}
void Area2DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
void GodotArea2D::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
if (p_id == monitor_callback_id) {
monitor_callback_method = p_method;
return;
@ -98,7 +98,7 @@ void Area2DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
}
}
void Area2DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) {
void GodotArea2D::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) {
if (p_id == area_monitor_callback_id) {
area_monitor_callback_method = p_method;
return;
@ -119,7 +119,7 @@ void Area2DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_meth
}
}
void Area2DSW::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_mode) {
void GodotArea2D::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_mode) {
bool do_override = p_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED;
if (do_override == (space_override_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED)) {
return;
@ -129,7 +129,7 @@ void Area2DSW::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_
_shape_changed();
}
void Area2DSW::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value) {
void GodotArea2D::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value) {
switch (p_param) {
case PhysicsServer2D::AREA_PARAM_GRAVITY:
gravity = p_value;
@ -158,7 +158,7 @@ void Area2DSW::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &
}
}
Variant Area2DSW::get_param(PhysicsServer2D::AreaParameter p_param) const {
Variant GodotArea2D::get_param(PhysicsServer2D::AreaParameter p_param) const {
switch (p_param) {
case PhysicsServer2D::AREA_PARAM_GRAVITY:
return gravity;
@ -181,7 +181,7 @@ Variant Area2DSW::get_param(PhysicsServer2D::AreaParameter p_param) const {
return Variant();
}
void Area2DSW::_queue_monitor_update() {
void GodotArea2D::_queue_monitor_update() {
ERR_FAIL_COND(!get_space());
if (!monitor_query_list.in_list()) {
@ -189,7 +189,7 @@ void Area2DSW::_queue_monitor_update() {
}
}
void Area2DSW::set_monitorable(bool p_monitorable) {
void GodotArea2D::set_monitorable(bool p_monitorable) {
if (monitorable == p_monitorable) {
return;
}
@ -198,7 +198,7 @@ void Area2DSW::set_monitorable(bool p_monitorable) {
_set_static(!monitorable);
}
void Area2DSW::call_queries() {
void GodotArea2D::call_queries() {
if (monitor_callback_id.is_valid() && !monitored_bodies.is_empty()) {
Variant res[5];
Variant *resptr[5];
@ -274,7 +274,7 @@ void Area2DSW::call_queries() {
}
}
void Area2DSW::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const {
void GodotArea2D::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const {
if (is_gravity_point()) {
const real_t gravity_distance_scale = get_gravity_distance_scale();
Vector2 v = get_transform().xform(get_gravity_vector()) - p_position;
@ -294,12 +294,12 @@ void Area2DSW::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) co
}
}
Area2DSW::Area2DSW() :
CollisionObject2DSW(TYPE_AREA),
GodotArea2D::GodotArea2D() :
GodotCollisionObject2D(TYPE_AREA),
monitor_query_list(this),
moved_list(this) {
_set_static(true); //areas are not active by default
}
Area2DSW::~Area2DSW() {
GodotArea2D::~GodotArea2D() {
}

57
servers/physics_2d/area_2d_sw.h → servers/physics_2d/godot_area_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* area_2d_sw.h */
/* godot_area_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,18 +28,19 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef AREA_2D_SW_H
#define AREA_2D_SW_H
#ifndef GODOT_AREA_2D_H
#define GODOT_AREA_2D_H
#include "godot_collision_object_2d.h"
#include "collision_object_2d_sw.h"
#include "core/templates/self_list.h"
#include "servers/physics_server_2d.h"
class Space2DSW;
class Body2DSW;
class Constraint2DSW;
class GodotSpace2D;
class GodotBody2D;
class GodotConstraint2D;
class Area2DSW : public CollisionObject2DSW {
class GodotArea2D : public GodotCollisionObject2D {
PhysicsServer2D::AreaSpaceOverrideMode space_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED;
real_t gravity = 9.80665;
Vector2 gravity_vector = Vector2(0, -1);
@ -57,8 +58,8 @@ class Area2DSW : public CollisionObject2DSW {
ObjectID area_monitor_callback_id;
StringName area_monitor_callback_method;
SelfList<Area2DSW> monitor_query_list;
SelfList<Area2DSW> moved_list;
SelfList<GodotArea2D> monitor_query_list;
SelfList<GodotArea2D> moved_list;
struct BodyKey {
RID rid;
@ -79,8 +80,8 @@ class Area2DSW : public CollisionObject2DSW {
}
_FORCE_INLINE_ BodyKey() {}
BodyKey(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
BodyKey(Area2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
BodyKey(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
BodyKey(GodotArea2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
};
struct BodyState {
@ -92,7 +93,7 @@ class Area2DSW : public CollisionObject2DSW {
Map<BodyKey, BodyState> monitored_bodies;
Map<BodyKey, BodyState> monitored_areas;
Set<Constraint2DSW *> constraints;
Set<GodotConstraint2D *> constraints;
virtual void _shapes_changed();
void _queue_monitor_update();
@ -104,11 +105,11 @@ public:
void set_area_monitor_callback(ObjectID p_id, const StringName &p_method);
_FORCE_INLINE_ bool has_area_monitor_callback() const { return area_monitor_callback_id.is_valid(); }
_FORCE_INLINE_ void add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void add_body_to_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void remove_body_from_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
_FORCE_INLINE_ void remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
_FORCE_INLINE_ void add_area_to_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
_FORCE_INLINE_ void remove_area_from_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
void set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value);
Variant get_param(PhysicsServer2D::AreaParameter p_param) const;
@ -140,9 +141,9 @@ public:
_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
_FORCE_INLINE_ int get_priority() const { return priority; }
_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint) { constraints.insert(p_constraint); }
_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint) { constraints.erase(p_constraint); }
_FORCE_INLINE_ const Set<Constraint2DSW *> &get_constraints() const { return constraints; }
_FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint) { constraints.insert(p_constraint); }
_FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint) { constraints.erase(p_constraint); }
_FORCE_INLINE_ const Set<GodotConstraint2D *> &get_constraints() const { return constraints; }
_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
void set_monitorable(bool p_monitorable);
@ -150,17 +151,17 @@ public:
void set_transform(const Transform2D &p_transform);
void set_space(Space2DSW *p_space);
void set_space(GodotSpace2D *p_space);
void call_queries();
void compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const;
Area2DSW();
~Area2DSW();
GodotArea2D();
~GodotArea2D();
};
void Area2DSW::add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
void GodotArea2D::add_body_to_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
BodyKey bk(p_body, p_body_shape, p_area_shape);
monitored_bodies[bk].inc();
if (!monitor_query_list.in_list()) {
@ -168,7 +169,7 @@ void Area2DSW::add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32
}
}
void Area2DSW::remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
void GodotArea2D::remove_body_from_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
BodyKey bk(p_body, p_body_shape, p_area_shape);
monitored_bodies[bk].dec();
if (!monitor_query_list.in_list()) {
@ -176,7 +177,7 @@ void Area2DSW::remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, u
}
}
void Area2DSW::add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
void GodotArea2D::add_area_to_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
BodyKey bk(p_area, p_area_shape, p_self_shape);
monitored_areas[bk].inc();
if (!monitor_query_list.in_list()) {
@ -184,7 +185,7 @@ void Area2DSW::add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32
}
}
void Area2DSW::remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
void GodotArea2D::remove_area_from_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
BodyKey bk(p_area, p_area_shape, p_self_shape);
monitored_areas[bk].dec();
if (!monitor_query_list.in_list()) {
@ -192,4 +193,4 @@ void Area2DSW::remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, u
}
}
#endif // AREA_2D_SW_H
#endif // GODOT_AREA_2D_H

30
servers/physics_2d/area_pair_2d_sw.cpp → servers/physics_2d/godot_area_pair_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* area_pair_2d_sw.cpp */
/* godot_area_pair_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,12 +28,12 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "area_pair_2d_sw.h"
#include "collision_solver_2d_sw.h"
#include "godot_area_pair_2d.h"
#include "godot_collision_solver_2d.h"
bool AreaPair2DSW::setup(real_t p_step) {
bool GodotAreaPair2D::setup(real_t p_step) {
bool result = false;
if (area->collides_with(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
if (area->collides_with(body) && GodotCollisionSolver2D::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
result = true;
}
@ -51,7 +51,7 @@ bool AreaPair2DSW::setup(real_t p_step) {
return process_collision;
}
bool AreaPair2DSW::pre_solve(real_t p_step) {
bool GodotAreaPair2D::pre_solve(real_t p_step) {
if (!process_collision) {
return false;
}
@ -77,11 +77,11 @@ bool AreaPair2DSW::pre_solve(real_t p_step) {
return false; // Never do any post solving.
}
void AreaPair2DSW::solve(real_t p_step) {
void GodotAreaPair2D::solve(real_t p_step) {
// Nothing to do.
}
AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape) {
GodotAreaPair2D::GodotAreaPair2D(GodotBody2D *p_body, int p_body_shape, GodotArea2D *p_area, int p_area_shape) {
body = p_body;
area = p_area;
body_shape = p_body_shape;
@ -93,7 +93,7 @@ AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area,
}
}
AreaPair2DSW::~AreaPair2DSW() {
GodotAreaPair2D::~GodotAreaPair2D() {
if (colliding) {
if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
body->remove_area(area);
@ -108,10 +108,10 @@ AreaPair2DSW::~AreaPair2DSW() {
//////////////////////////////////
bool Area2Pair2DSW::setup(real_t p_step) {
bool GodotArea2Pair2D::setup(real_t p_step) {
bool result_a = area_a->collides_with(area_b);
bool result_b = area_b->collides_with(area_a);
if ((result_a || result_b) && !CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
if ((result_a || result_b) && !GodotCollisionSolver2D::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
result_a = false;
result_b = false;
}
@ -139,7 +139,7 @@ bool Area2Pair2DSW::setup(real_t p_step) {
return process_collision;
}
bool Area2Pair2DSW::pre_solve(real_t p_step) {
bool GodotArea2Pair2D::pre_solve(real_t p_step) {
if (process_collision_a) {
if (colliding_a) {
area_a->add_area_to_query(area_b, shape_b, shape_a);
@ -159,11 +159,11 @@ bool Area2Pair2DSW::pre_solve(real_t p_step) {
return false; // Never do any post solving.
}
void Area2Pair2DSW::solve(real_t p_step) {
void GodotArea2Pair2D::solve(real_t p_step) {
// Nothing to do.
}
Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b) {
GodotArea2Pair2D::GodotArea2Pair2D(GodotArea2D *p_area_a, int p_shape_a, GodotArea2D *p_area_b, int p_shape_b) {
area_a = p_area_a;
area_b = p_area_b;
shape_a = p_shape_a;
@ -172,7 +172,7 @@ Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area
area_b->add_constraint(this);
}
Area2Pair2DSW::~Area2Pair2DSW() {
GodotArea2Pair2D::~GodotArea2Pair2D() {
if (colliding_a) {
if (area_a->has_area_monitor_callback()) {
area_a->remove_area_from_query(area_b, shape_b, shape_a);

34
servers/physics_2d/area_pair_2d_sw.h → servers/physics_2d/godot_area_pair_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* area_pair_2d_sw.h */
/* godot_area_pair_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,16 +28,16 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef AREA_PAIR_2D_SW_H
#define AREA_PAIR_2D_SW_H
#ifndef GODOT_AREA_PAIR_2D_H
#define GODOT_AREA_PAIR_2D_H
#include "area_2d_sw.h"
#include "body_2d_sw.h"
#include "constraint_2d_sw.h"
#include "godot_area_2d.h"
#include "godot_body_2d.h"
#include "godot_constraint_2d.h"
class AreaPair2DSW : public Constraint2DSW {
Body2DSW *body = nullptr;
Area2DSW *area = nullptr;
class GodotAreaPair2D : public GodotConstraint2D {
GodotBody2D *body = nullptr;
GodotArea2D *area = nullptr;
int body_shape = 0;
int area_shape = 0;
bool colliding = false;
@ -48,13 +48,13 @@ public:
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape);
~AreaPair2DSW();
GodotAreaPair2D(GodotBody2D *p_body, int p_body_shape, GodotArea2D *p_area, int p_area_shape);
~GodotAreaPair2D();
};
class Area2Pair2DSW : public Constraint2DSW {
Area2DSW *area_a = nullptr;
Area2DSW *area_b = nullptr;
class GodotArea2Pair2D : public GodotConstraint2D {
GodotArea2D *area_a = nullptr;
GodotArea2D *area_b = nullptr;
int shape_a = 0;
int shape_b = 0;
bool colliding_a = false;
@ -67,8 +67,8 @@ public:
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b);
~Area2Pair2DSW();
GodotArea2Pair2D(GodotArea2D *p_area_a, int p_shape_a, GodotArea2D *p_area_b, int p_shape_b);
~GodotArea2Pair2D();
};
#endif // AREA_PAIR_2D_SW_H
#endif // GODOT_AREA_PAIR_2D_H

74
servers/physics_2d/body_2d_sw.cpp → servers/physics_2d/godot_body_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_2d_sw.cpp */
/* godot_body_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,19 +28,19 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "body_2d_sw.h"
#include "godot_body_2d.h"
#include "area_2d_sw.h"
#include "body_direct_state_2d_sw.h"
#include "space_2d_sw.h"
#include "godot_area_2d.h"
#include "godot_body_direct_state_2d.h"
#include "godot_space_2d.h"
void Body2DSW::_mass_properties_changed() {
void GodotBody2D::_mass_properties_changed() {
if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) {
get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list);
}
}
void Body2DSW::update_mass_properties() {
void GodotBody2D::update_mass_properties() {
//update shapes and motions
switch (mode) {
@ -83,7 +83,7 @@ void Body2DSW::update_mass_properties() {
continue;
}
const Shape2DSW *shape = get_shape(i);
const GodotShape2D *shape = get_shape(i);
real_t area = get_shape_aabb(i).get_area();
if (area == 0.0) {
@ -121,13 +121,13 @@ void Body2DSW::update_mass_properties() {
}
}
void Body2DSW::reset_mass_properties() {
void GodotBody2D::reset_mass_properties() {
calculate_inertia = true;
calculate_center_of_mass = true;
_mass_properties_changed();
}
void Body2DSW::set_active(bool p_active) {
void GodotBody2D::set_active(bool p_active) {
if (active == p_active) {
return;
}
@ -146,7 +146,7 @@ void Body2DSW::set_active(bool p_active) {
}
}
void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) {
void GodotBody2D::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) {
switch (p_param) {
case PhysicsServer2D::BODY_PARAM_BOUNCE: {
bounce = p_value;
@ -195,7 +195,7 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &
}
}
Variant Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
Variant GodotBody2D::get_param(PhysicsServer2D::BodyParameter p_param) const {
switch (p_param) {
case PhysicsServer2D::BODY_PARAM_BOUNCE: {
return bounce;
@ -228,7 +228,7 @@ Variant Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
return 0;
}
void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
void GodotBody2D::set_mode(PhysicsServer2D::BodyMode p_mode) {
PhysicsServer2D::BodyMode prev = mode;
mode = p_mode;
@ -267,16 +267,16 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
}
}
PhysicsServer2D::BodyMode Body2DSW::get_mode() const {
PhysicsServer2D::BodyMode GodotBody2D::get_mode() const {
return mode;
}
void Body2DSW::_shapes_changed() {
void GodotBody2D::_shapes_changed() {
_mass_properties_changed();
wakeup_neighbours();
}
void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) {
void GodotBody2D::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) {
switch (p_state) {
case PhysicsServer2D::BODY_STATE_TRANSFORM: {
if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
@ -344,7 +344,7 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va
}
}
Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
Variant GodotBody2D::get_state(PhysicsServer2D::BodyState p_state) const {
switch (p_state) {
case PhysicsServer2D::BODY_STATE_TRANSFORM: {
return get_transform();
@ -366,7 +366,7 @@ Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
return Variant();
}
void Body2DSW::set_space(Space2DSW *p_space) {
void GodotBody2D::set_space(GodotSpace2D *p_space) {
if (get_space()) {
wakeup_neighbours();
@ -391,7 +391,7 @@ void Body2DSW::set_space(Space2DSW *p_space) {
}
}
void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) {
void GodotBody2D::_compute_area_gravity_and_damping(const GodotArea2D *p_area) {
Vector2 area_gravity;
p_area->compute_gravity(get_transform().get_origin(), area_gravity);
gravity += area_gravity;
@ -400,13 +400,13 @@ void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) {
area_angular_damp += p_area->get_angular_damp();
}
void Body2DSW::integrate_forces(real_t p_step) {
void GodotBody2D::integrate_forces(real_t p_step) {
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
return;
}
Area2DSW *def_area = get_space()->get_default_area();
// Area2DSW *damp_area = def_area;
GodotArea2D *def_area = get_space()->get_default_area();
// GodotArea2D *damp_area = def_area;
ERR_FAIL_COND(!def_area);
int ac = areas.size();
@ -528,7 +528,7 @@ void Body2DSW::integrate_forces(real_t p_step) {
contact_count = 0;
}
void Body2DSW::integrate_velocities(real_t p_step) {
void GodotBody2D::integrate_velocities(real_t p_step) {
if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
return;
}
@ -570,17 +570,17 @@ void Body2DSW::integrate_velocities(real_t p_step) {
}
}
void Body2DSW::wakeup_neighbours() {
for (const Pair<Constraint2DSW *, int> &E : constraint_list) {
const Constraint2DSW *c = E.first;
Body2DSW **n = c->get_body_ptr();
void GodotBody2D::wakeup_neighbours() {
for (const Pair<GodotConstraint2D *, int> &E : constraint_list) {
const GodotConstraint2D *c = E.first;
GodotBody2D **n = c->get_body_ptr();
int bc = c->get_body_count();
for (int i = 0; i < bc; i++) {
if (i == E.second) {
continue;
}
Body2DSW *b = n[i];
GodotBody2D *b = n[i];
if (b->mode < PhysicsServer2D::BODY_MODE_DYNAMIC) {
continue;
}
@ -592,7 +592,7 @@ void Body2DSW::wakeup_neighbours() {
}
}
void Body2DSW::call_queries() {
void GodotBody2D::call_queries() {
if (fi_callback_data) {
if (!fi_callback_data->callable.get_object()) {
set_force_integration_callback(Callable());
@ -616,7 +616,7 @@ void Body2DSW::call_queries() {
}
}
bool Body2DSW::sleep_test(real_t p_step) {
bool GodotBody2D::sleep_test(real_t p_step) {
if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
return true;
} else if (!can_sleep) {
@ -633,12 +633,12 @@ bool Body2DSW::sleep_test(real_t p_step) {
}
}
void Body2DSW::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) {
void GodotBody2D::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) {
body_state_callback_instance = p_instance;
body_state_callback = p_callback;
}
void Body2DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
void GodotBody2D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
if (p_callable.get_object()) {
if (!fi_callback_data) {
fi_callback_data = memnew(ForceIntegrationCallbackData);
@ -651,23 +651,23 @@ void Body2DSW::set_force_integration_callback(const Callable &p_callable, const
}
}
PhysicsDirectBodyState2DSW *Body2DSW::get_direct_state() {
GodotPhysicsDirectBodyState2D *GodotBody2D::get_direct_state() {
if (!direct_state) {
direct_state = memnew(PhysicsDirectBodyState2DSW);
direct_state = memnew(GodotPhysicsDirectBodyState2D);
direct_state->body = this;
}
return direct_state;
}
Body2DSW::Body2DSW() :
CollisionObject2DSW(TYPE_BODY),
GodotBody2D::GodotBody2D() :
GodotCollisionObject2D(TYPE_BODY),
active_list(this),
mass_properties_update_list(this),
direct_state_query_list(this) {
_set_static(false);
}
Body2DSW::~Body2DSW() {
GodotBody2D::~GodotBody2D() {
if (fi_callback_data) {
memdelete(fi_callback_data);
}

57
servers/physics_2d/body_2d_sw.h → servers/physics_2d/godot_body_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_2d_sw.h */
/* godot_body_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,19 +28,20 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BODY_2D_SW_H
#define BODY_2D_SW_H
#ifndef GODOT_BODY_2D_H
#define GODOT_BODY_2D_H
#include "godot_area_2d.h"
#include "godot_collision_object_2d.h"
#include "area_2d_sw.h"
#include "collision_object_2d_sw.h"
#include "core/templates/list.h"
#include "core/templates/pair.h"
#include "core/templates/vset.h"
class Constraint2DSW;
class PhysicsDirectBodyState2DSW;
class GodotConstraint2D;
class GodotPhysicsDirectBodyState2D;
class Body2DSW : public CollisionObject2DSW {
class GodotBody2D : public GodotCollisionObject2D {
PhysicsServer2D::BodyMode mode = PhysicsServer2D::BODY_MODE_DYNAMIC;
Vector2 biased_linear_velocity;
@ -79,9 +80,9 @@ class Body2DSW : public CollisionObject2DSW {
Vector2 applied_force;
real_t applied_torque = 0.0;
SelfList<Body2DSW> active_list;
SelfList<Body2DSW> mass_properties_update_list;
SelfList<Body2DSW> direct_state_query_list;
SelfList<GodotBody2D> active_list;
SelfList<GodotBody2D> mass_properties_update_list;
SelfList<GodotBody2D> direct_state_query_list;
VSet<RID> exceptions;
PhysicsServer2D::CCDMode continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED;
@ -93,15 +94,15 @@ class Body2DSW : public CollisionObject2DSW {
virtual void _shapes_changed();
Transform2D new_transform;
List<Pair<Constraint2DSW *, int>> constraint_list;
List<Pair<GodotConstraint2D *, int>> constraint_list;
struct AreaCMP {
Area2DSW *area = nullptr;
GodotArea2D *area = nullptr;
int refCount = 0;
_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
_FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
_FORCE_INLINE_ AreaCMP() {}
_FORCE_INLINE_ AreaCMP(Area2DSW *p_area) {
_FORCE_INLINE_ AreaCMP(GodotArea2D *p_area) {
area = p_area;
refCount = 1;
}
@ -134,21 +135,21 @@ class Body2DSW : public CollisionObject2DSW {
ForceIntegrationCallbackData *fi_callback_data = nullptr;
PhysicsDirectBodyState2DSW *direct_state = nullptr;
GodotPhysicsDirectBodyState2D *direct_state = nullptr;
uint64_t island_step = 0;
_FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area2DSW *p_area);
_FORCE_INLINE_ void _compute_area_gravity_and_damping(const GodotArea2D *p_area);
friend class PhysicsDirectBodyState2DSW; // i give up, too many functions to expose
friend class GodotPhysicsDirectBodyState2D; // i give up, too many functions to expose
public:
void set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback);
void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
PhysicsDirectBodyState2DSW *get_direct_state();
GodotPhysicsDirectBodyState2D *get_direct_state();
_FORCE_INLINE_ void add_area(Area2DSW *p_area) {
_FORCE_INLINE_ void add_area(GodotArea2D *p_area) {
int index = areas.find(AreaCMP(p_area));
if (index > -1) {
areas.write[index].refCount += 1;
@ -157,7 +158,7 @@ public:
}
}
_FORCE_INLINE_ void remove_area(Area2DSW *p_area) {
_FORCE_INLINE_ void remove_area(GodotArea2D *p_area) {
int index = areas.find(AreaCMP(p_area));
if (index > -1) {
areas.write[index].refCount -= 1;
@ -188,9 +189,9 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); }
_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); }
const List<Pair<Constraint2DSW *, int>> &get_constraint_list() const { return constraint_list; }
_FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); }
_FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); }
const List<Pair<GodotConstraint2D *, int>> &get_constraint_list() const { return constraint_list; }
_FORCE_INLINE_ void clear_constraint_list() { constraint_list.clear(); }
_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
@ -267,7 +268,7 @@ public:
_FORCE_INLINE_ void set_continuous_collision_detection_mode(PhysicsServer2D::CCDMode p_mode) { continuous_cd_mode = p_mode; }
_FORCE_INLINE_ PhysicsServer2D::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; }
void set_space(Space2DSW *p_space);
void set_space(GodotSpace2D *p_space);
void update_mass_properties();
void reset_mass_properties();
@ -302,13 +303,13 @@ public:
bool sleep_test(real_t p_step);
Body2DSW();
~Body2DSW();
GodotBody2D();
~GodotBody2D();
};
//add contact inline
void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos) {
void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos) {
int c_max = contacts.size();
if (c_max == 0) {
@ -350,4 +351,4 @@ void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_no
c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
}
#endif // BODY_2D_SW_H
#endif // GODOT_BODY_2D_H

74
servers/physics_2d/body_direct_state_2d_sw.cpp → servers/physics_2d/godot_body_direct_state_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_direct_state_2d_sw.cpp */
/* godot_body_direct_state_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,151 +28,151 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "body_direct_state_2d_sw.h"
#include "godot_body_direct_state_2d.h"
#include "body_2d_sw.h"
#include "physics_server_2d_sw.h"
#include "space_2d_sw.h"
#include "godot_body_2d.h"
#include "godot_physics_server_2d.h"
#include "godot_space_2d.h"
Vector2 PhysicsDirectBodyState2DSW::get_total_gravity() const {
Vector2 GodotPhysicsDirectBodyState2D::get_total_gravity() const {
return body->gravity;
}
real_t PhysicsDirectBodyState2DSW::get_total_angular_damp() const {
real_t GodotPhysicsDirectBodyState2D::get_total_angular_damp() const {
return body->area_angular_damp;
}
real_t PhysicsDirectBodyState2DSW::get_total_linear_damp() const {
real_t GodotPhysicsDirectBodyState2D::get_total_linear_damp() const {
return body->area_linear_damp;
}
Vector2 PhysicsDirectBodyState2DSW::get_center_of_mass() const {
Vector2 GodotPhysicsDirectBodyState2D::get_center_of_mass() const {
return body->get_center_of_mass();
}
real_t PhysicsDirectBodyState2DSW::get_inverse_mass() const {
real_t GodotPhysicsDirectBodyState2D::get_inverse_mass() const {
return body->get_inv_mass();
}
real_t PhysicsDirectBodyState2DSW::get_inverse_inertia() const {
real_t GodotPhysicsDirectBodyState2D::get_inverse_inertia() const {
return body->get_inv_inertia();
}
void PhysicsDirectBodyState2DSW::set_linear_velocity(const Vector2 &p_velocity) {
void GodotPhysicsDirectBodyState2D::set_linear_velocity(const Vector2 &p_velocity) {
body->wakeup();
body->set_linear_velocity(p_velocity);
}
Vector2 PhysicsDirectBodyState2DSW::get_linear_velocity() const {
Vector2 GodotPhysicsDirectBodyState2D::get_linear_velocity() const {
return body->get_linear_velocity();
}
void PhysicsDirectBodyState2DSW::set_angular_velocity(real_t p_velocity) {
void GodotPhysicsDirectBodyState2D::set_angular_velocity(real_t p_velocity) {
body->wakeup();
body->set_angular_velocity(p_velocity);
}
real_t PhysicsDirectBodyState2DSW::get_angular_velocity() const {
real_t GodotPhysicsDirectBodyState2D::get_angular_velocity() const {
return body->get_angular_velocity();
}
void PhysicsDirectBodyState2DSW::set_transform(const Transform2D &p_transform) {
void GodotPhysicsDirectBodyState2D::set_transform(const Transform2D &p_transform) {
body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform);
}
Transform2D PhysicsDirectBodyState2DSW::get_transform() const {
Transform2D GodotPhysicsDirectBodyState2D::get_transform() const {
return body->get_transform();
}
Vector2 PhysicsDirectBodyState2DSW::get_velocity_at_local_position(const Vector2 &p_position) const {
Vector2 GodotPhysicsDirectBodyState2D::get_velocity_at_local_position(const Vector2 &p_position) const {
return body->get_velocity_in_local_point(p_position);
}
void PhysicsDirectBodyState2DSW::add_central_force(const Vector2 &p_force) {
void GodotPhysicsDirectBodyState2D::add_central_force(const Vector2 &p_force) {
body->wakeup();
body->add_central_force(p_force);
}
void PhysicsDirectBodyState2DSW::add_force(const Vector2 &p_force, const Vector2 &p_position) {
void GodotPhysicsDirectBodyState2D::add_force(const Vector2 &p_force, const Vector2 &p_position) {
body->wakeup();
body->add_force(p_force, p_position);
}
void PhysicsDirectBodyState2DSW::add_torque(real_t p_torque) {
void GodotPhysicsDirectBodyState2D::add_torque(real_t p_torque) {
body->wakeup();
body->add_torque(p_torque);
}
void PhysicsDirectBodyState2DSW::apply_central_impulse(const Vector2 &p_impulse) {
void GodotPhysicsDirectBodyState2D::apply_central_impulse(const Vector2 &p_impulse) {
body->wakeup();
body->apply_central_impulse(p_impulse);
}
void PhysicsDirectBodyState2DSW::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
void GodotPhysicsDirectBodyState2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
body->wakeup();
body->apply_impulse(p_impulse, p_position);
}
void PhysicsDirectBodyState2DSW::apply_torque_impulse(real_t p_torque) {
void GodotPhysicsDirectBodyState2D::apply_torque_impulse(real_t p_torque) {
body->wakeup();
body->apply_torque_impulse(p_torque);
}
void PhysicsDirectBodyState2DSW::set_sleep_state(bool p_enable) {
void GodotPhysicsDirectBodyState2D::set_sleep_state(bool p_enable) {
body->set_active(!p_enable);
}
bool PhysicsDirectBodyState2DSW::is_sleeping() const {
bool GodotPhysicsDirectBodyState2D::is_sleeping() const {
return !body->is_active();
}
int PhysicsDirectBodyState2DSW::get_contact_count() const {
int GodotPhysicsDirectBodyState2D::get_contact_count() const {
return body->contact_count;
}
Vector2 PhysicsDirectBodyState2DSW::get_contact_local_position(int p_contact_idx) const {
Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].local_pos;
}
Vector2 PhysicsDirectBodyState2DSW::get_contact_local_normal(int p_contact_idx) const {
Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_normal(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].local_normal;
}
int PhysicsDirectBodyState2DSW::get_contact_local_shape(int p_contact_idx) const {
int GodotPhysicsDirectBodyState2D::get_contact_local_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
return body->contacts[p_contact_idx].local_shape;
}
RID PhysicsDirectBodyState2DSW::get_contact_collider(int p_contact_idx) const {
RID GodotPhysicsDirectBodyState2D::get_contact_collider(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
return body->contacts[p_contact_idx].collider;
}
Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_position(int p_contact_idx) const {
Vector2 GodotPhysicsDirectBodyState2D::get_contact_collider_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].collider_pos;
}
ObjectID PhysicsDirectBodyState2DSW::get_contact_collider_id(int p_contact_idx) const {
ObjectID GodotPhysicsDirectBodyState2D::get_contact_collider_id(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID());
return body->contacts[p_contact_idx].collider_instance_id;
}
int PhysicsDirectBodyState2DSW::get_contact_collider_shape(int p_contact_idx) const {
int GodotPhysicsDirectBodyState2D::get_contact_collider_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
return body->contacts[p_contact_idx].collider_shape;
}
Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const {
Vector2 GodotPhysicsDirectBodyState2D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
return body->contacts[p_contact_idx].collider_velocity_at_pos;
}
PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() {
PhysicsDirectSpaceState2D *GodotPhysicsDirectBodyState2D::get_space_state() {
return body->get_space()->get_direct_state();
}
real_t PhysicsDirectBodyState2DSW::get_step() const {
real_t GodotPhysicsDirectBodyState2D::get_step() const {
return body->get_space()->get_last_step();
}

16
servers/physics_2d/body_direct_state_2d_sw.h → servers/physics_2d/godot_body_direct_state_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_direct_state_2d_sw.h */
/* godot_body_direct_state_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,18 +28,18 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BODY_DIRECT_STATE_2D_SW_H
#define BODY_DIRECT_STATE_2D_SW_H
#ifndef GODOT_BODY_DIRECT_STATE_2D_H
#define GODOT_BODY_DIRECT_STATE_2D_H
#include "servers/physics_server_2d.h"
class Body2DSW;
class GodotBody2D;
class PhysicsDirectBodyState2DSW : public PhysicsDirectBodyState2D {
GDCLASS(PhysicsDirectBodyState2DSW, PhysicsDirectBodyState2D);
class GodotPhysicsDirectBodyState2D : public PhysicsDirectBodyState2D {
GDCLASS(GodotPhysicsDirectBodyState2D, PhysicsDirectBodyState2D);
public:
Body2DSW *body = nullptr;
GodotBody2D *body = nullptr;
virtual Vector2 get_total_gravity() const override;
virtual real_t get_total_angular_damp() const override;
@ -88,4 +88,4 @@ public:
virtual real_t get_step() const override;
};
#endif // BODY_2D_SW_H
#endif // GODOT_BODY_DIRECT_STATE_2D_H

44
servers/physics_2d/body_pair_2d_sw.cpp → servers/physics_2d/godot_body_pair_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_pair_2d_sw.cpp */
/* godot_body_pair_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,20 +28,20 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "body_pair_2d_sw.h"
#include "collision_solver_2d_sw.h"
#include "space_2d_sw.h"
#include "godot_body_pair_2d.h"
#include "godot_collision_solver_2d.h"
#include "godot_space_2d.h"
#define POSITION_CORRECTION
#define ACCUMULATE_IMPULSES
void BodyPair2DSW::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
BodyPair2DSW *self = (BodyPair2DSW *)p_self;
void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
GodotBodyPair2D *self = (GodotBodyPair2D *)p_self;
self->_contact_added_callback(p_point_A, p_point_B);
}
void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) {
void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) {
// check if we already have the contact
Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A);
@ -121,7 +121,7 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto
}
}
void BodyPair2DSW::_validate_contacts() {
void GodotBodyPair2D::_validate_contacts() {
//make sure to erase contacts that are no longer valid
real_t max_separation = space->get_contact_max_separation();
@ -164,7 +164,7 @@ void BodyPair2DSW::_validate_contacts() {
}
}
bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) {
bool GodotBodyPair2D::_test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) {
Vector2 motion = p_A->get_linear_velocity() * p_step;
real_t mlen = motion.length();
if (mlen < CMP_EPSILON) {
@ -217,15 +217,15 @@ bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const
return true;
}
real_t combine_bounce(Body2DSW *A, Body2DSW *B) {
real_t combine_bounce(GodotBody2D *A, GodotBody2D *B) {
return CLAMP(A->get_bounce() + B->get_bounce(), 0, 1);
}
real_t combine_friction(Body2DSW *A, Body2DSW *B) {
real_t combine_friction(GodotBody2D *A, GodotBody2D *B) {
return ABS(MIN(A->get_friction(), B->get_friction()));
}
bool BodyPair2DSW::setup(real_t p_step) {
bool GodotBodyPair2D::setup(real_t p_step) {
if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false;
return false;
@ -257,8 +257,8 @@ bool BodyPair2DSW::setup(real_t p_step) {
xform_Bu.elements[2] -= offset_A;
Transform2D xform_B = xform_Bu * B->get_shape_transform(shape_B);
Shape2DSW *shape_A_ptr = A->get_shape(shape_A);
Shape2DSW *shape_B_ptr = B->get_shape(shape_B);
GodotShape2D *shape_A_ptr = A->get_shape(shape_A);
GodotShape2D *shape_B_ptr = B->get_shape(shape_B);
Vector2 motion_A, motion_B;
@ -271,7 +271,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
bool prev_collided = collided;
collided = CollisionSolver2DSW::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis);
collided = GodotCollisionSolver2D::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis);
if (!collided) {
//test ccd (currently just a raycast)
@ -344,7 +344,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
return true;
}
bool BodyPair2DSW::pre_solve(real_t p_step) {
bool GodotBodyPair2D::pre_solve(real_t p_step) {
if (!collided || oneway_disabled) {
return false;
}
@ -353,8 +353,8 @@ bool BodyPair2DSW::pre_solve(real_t p_step) {
real_t bias = 0.3;
Shape2DSW *shape_A_ptr = A->get_shape(shape_A);
Shape2DSW *shape_B_ptr = B->get_shape(shape_B);
GodotShape2D *shape_A_ptr = A->get_shape(shape_A);
GodotShape2D *shape_B_ptr = B->get_shape(shape_B);
if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
if (shape_A_ptr->get_custom_bias() == 0) {
@ -466,7 +466,7 @@ bool BodyPair2DSW::pre_solve(real_t p_step) {
return do_process;
}
void BodyPair2DSW::solve(real_t p_step) {
void GodotBodyPair2D::solve(real_t p_step) {
if (!collided || oneway_disabled) {
return;
}
@ -528,8 +528,8 @@ void BodyPair2DSW::solve(real_t p_step) {
}
}
BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B) :
Constraint2DSW(_arr, 2) {
GodotBodyPair2D::GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B) :
GodotConstraint2D(_arr, 2) {
A = p_A;
B = p_B;
shape_A = p_shape_A;
@ -539,7 +539,7 @@ BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_sh
B->add_constraint(this, 1);
}
BodyPair2DSW::~BodyPair2DSW() {
GodotBodyPair2D::~GodotBodyPair2D() {
A->remove_constraint(this, 0);
B->remove_constraint(this, 1);
}

28
servers/physics_2d/body_pair_2d_sw.h → servers/physics_2d/godot_body_pair_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_pair_2d_sw.h */
/* godot_body_pair_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,23 +28,23 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BODY_PAIR_2D_SW_H
#define BODY_PAIR_2D_SW_H
#ifndef GODOT_BODY_PAIR_2D_H
#define GODOT_BODY_PAIR_2D_H
#include "body_2d_sw.h"
#include "constraint_2d_sw.h"
#include "godot_body_2d.h"
#include "godot_constraint_2d.h"
class BodyPair2DSW : public Constraint2DSW {
class GodotBodyPair2D : public GodotConstraint2D {
enum {
MAX_CONTACTS = 2
};
union {
struct {
Body2DSW *A;
Body2DSW *B;
GodotBody2D *A;
GodotBody2D *B;
};
Body2DSW *_arr[2] = { nullptr, nullptr };
GodotBody2D *_arr[2] = { nullptr, nullptr };
};
int shape_A = 0;
@ -53,7 +53,7 @@ class BodyPair2DSW : public Constraint2DSW {
bool collide_A = false;
bool collide_B = false;
Space2DSW *space = nullptr;
GodotSpace2D *space = nullptr;
struct Contact {
Vector2 position;
@ -81,7 +81,7 @@ class BodyPair2DSW : public Constraint2DSW {
bool oneway_disabled = false;
bool report_contacts_only = false;
bool _test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false);
bool _test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false);
void _validate_contacts();
static void _add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self);
_FORCE_INLINE_ void _contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B);
@ -91,8 +91,8 @@ public:
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B);
~BodyPair2DSW();
GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B);
~GodotBodyPair2D();
};
#endif // BODY_PAIR_2D_SW_H
#endif // GODOT_BODY_PAIR_2D_H

8
servers/physics_2d/broad_phase_2d_sw.cpp → servers/physics_2d/godot_broad_phase_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* broad_phase_2d_sw.cpp */
/* godot_broad_phase_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,9 +28,9 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "broad_phase_2d_sw.h"
#include "godot_broad_phase_2d.h"
BroadPhase2DSW::CreateFunction BroadPhase2DSW::create_func = nullptr;
GodotBroadPhase2D::CreateFunction GodotBroadPhase2D::create_func = nullptr;
BroadPhase2DSW::~BroadPhase2DSW() {
GodotBroadPhase2D::~GodotBroadPhase2D() {
}

28
servers/physics_2d/broad_phase_2d_sw.h → servers/physics_2d/godot_broad_phase_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* broad_phase_2d_sw.h */
/* godot_broad_phase_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,44 +28,44 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BROAD_PHASE_2D_SW_H
#define BROAD_PHASE_2D_SW_H
#ifndef GODOT_BROAD_PHASE_2D_H
#define GODOT_BROAD_PHASE_2D_H
#include "core/math/math_funcs.h"
#include "core/math/rect2.h"
class CollisionObject2DSW;
class GodotCollisionObject2D;
class BroadPhase2DSW {
class GodotBroadPhase2D {
public:
typedef BroadPhase2DSW *(*CreateFunction)();
typedef GodotBroadPhase2D *(*CreateFunction)();
static CreateFunction create_func;
typedef uint32_t ID;
typedef void *(*PairCallback)(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_userdata);
typedef void (*UnpairCallback)(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_userdata);
typedef void *(*PairCallback)(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_userdata);
typedef void (*UnpairCallback)(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_userdata);
// 0 is an invalid ID
virtual ID create(CollisionObject2DSW *p_object_, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false) = 0;
virtual ID create(GodotCollisionObject2D *p_object_, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false) = 0;
virtual void move(ID p_id, const Rect2 &p_aabb) = 0;
virtual void set_static(ID p_id, bool p_static) = 0;
virtual void remove(ID p_id) = 0;
virtual CollisionObject2DSW *get_object(ID p_id) const = 0;
virtual GodotCollisionObject2D *get_object(ID p_id) const = 0;
virtual bool is_static(ID p_id) const = 0;
virtual int get_subindex(ID p_id) const = 0;
virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual int cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) = 0;
virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) = 0;
virtual void update() = 0;
virtual ~BroadPhase2DSW();
virtual ~GodotBroadPhase2D();
};
#endif // BROAD_PHASE_2D_SW_H
#endif // GODOT_BROAD_PHASE_2D_H

48
servers/physics_2d/broad_phase_2d_bvh.cpp → servers/physics_2d/godot_broad_phase_2d_bvh.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* broad_phase_2d_bvh.cpp */
/* godot_broad_phase_2d_bvh.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,51 +28,51 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "broad_phase_2d_bvh.h"
#include "collision_object_2d_sw.h"
#include "godot_broad_phase_2d_bvh.h"
#include "godot_collision_object_2d.h"
BroadPhase2DSW::ID BroadPhase2DBVH::create(CollisionObject2DSW *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) {
GodotBroadPhase2D::ID GodotBroadPhase2DBVH::create(GodotCollisionObject2D *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) {
ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
return oid + 1;
}
void BroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) {
void GodotBroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) {
bvh.move(p_id - 1, p_aabb);
}
void BroadPhase2DBVH::set_static(ID p_id, bool p_static) {
CollisionObject2DSW *it = bvh.get(p_id - 1);
void GodotBroadPhase2DBVH::set_static(ID p_id, bool p_static) {
GodotCollisionObject2D *it = bvh.get(p_id - 1);
bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
}
void BroadPhase2DBVH::remove(ID p_id) {
void GodotBroadPhase2DBVH::remove(ID p_id) {
bvh.erase(p_id - 1);
}
CollisionObject2DSW *BroadPhase2DBVH::get_object(ID p_id) const {
CollisionObject2DSW *it = bvh.get(p_id - 1);
GodotCollisionObject2D *GodotBroadPhase2DBVH::get_object(ID p_id) const {
GodotCollisionObject2D *it = bvh.get(p_id - 1);
ERR_FAIL_COND_V(!it, nullptr);
return it;
}
bool BroadPhase2DBVH::is_static(ID p_id) const {
bool GodotBroadPhase2DBVH::is_static(ID p_id) const {
return !bvh.is_pairable(p_id - 1);
}
int BroadPhase2DBVH::get_subindex(ID p_id) const {
int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
return bvh.get_subindex(p_id - 1);
}
int BroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) {
int GodotBroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
}
int BroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) {
int GodotBroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
}
void *BroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject2DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject2DSW *p_object_B, int subindex_B) {
BroadPhase2DBVH *bpo = (BroadPhase2DBVH *)(self);
void *GodotBroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B) {
GodotBroadPhase2DBVH *bpo = (GodotBroadPhase2DBVH *)(self);
if (!bpo->pair_callback) {
return nullptr;
}
@ -80,8 +80,8 @@ void *BroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject2
return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata);
}
void BroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject2DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject2DSW *p_object_B, int subindex_B, void *pairdata) {
BroadPhase2DBVH *bpo = (BroadPhase2DBVH *)(self);
void GodotBroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B, void *pairdata) {
GodotBroadPhase2DBVH *bpo = (GodotBroadPhase2DBVH *)(self);
if (!bpo->unpair_callback) {
return;
}
@ -89,25 +89,25 @@ void BroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject
bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata);
}
void BroadPhase2DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
void GodotBroadPhase2DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
pair_callback = p_pair_callback;
pair_userdata = p_userdata;
}
void BroadPhase2DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
void GodotBroadPhase2DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
unpair_callback = p_unpair_callback;
unpair_userdata = p_userdata;
}
void BroadPhase2DBVH::update() {
void GodotBroadPhase2DBVH::update() {
bvh.update();
}
BroadPhase2DSW *BroadPhase2DBVH::_create() {
return memnew(BroadPhase2DBVH);
GodotBroadPhase2D *GodotBroadPhase2DBVH::_create() {
return memnew(GodotBroadPhase2DBVH);
}
BroadPhase2DBVH::BroadPhase2DBVH() {
GodotBroadPhase2DBVH::GodotBroadPhase2DBVH() {
bvh.set_pair_callback(_pair_callback, this);
bvh.set_unpair_callback(_unpair_callback, this);
}

31
servers/physics_2d/broad_phase_2d_bvh.h → servers/physics_2d/godot_broad_phase_2d_bvh.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* broad_phase_2d_bvh.h */
/* godot_broad_phase_2d_bvh.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,19 +28,20 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BROAD_PHASE_2D_BVH_H
#define BROAD_PHASE_2D_BVH_H
#ifndef GODOT_BROAD_PHASE_2D_BVH_H
#define GODOT_BROAD_PHASE_2D_BVH_H
#include "godot_broad_phase_2d.h"
#include "broad_phase_2d_sw.h"
#include "core/math/bvh.h"
#include "core/math/rect2.h"
#include "core/math/vector2.h"
class BroadPhase2DBVH : public BroadPhase2DSW {
BVH_Manager<CollisionObject2DSW, true, 128, Rect2, Vector2> bvh;
class GodotBroadPhase2DBVH : public GodotBroadPhase2D {
BVH_Manager<GodotCollisionObject2D, true, 128, Rect2, Vector2> bvh;
static void *_pair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int);
static void _unpair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int, void *);
static void *_pair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int);
static void _unpair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int, void *);
PairCallback pair_callback = nullptr;
void *pair_userdata = nullptr;
@ -49,25 +50,25 @@ class BroadPhase2DBVH : public BroadPhase2DSW {
public:
// 0 is an invalid ID
virtual ID create(CollisionObject2DSW *p_object, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false);
virtual ID create(GodotCollisionObject2D *p_object, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false);
virtual void move(ID p_id, const Rect2 &p_aabb);
virtual void set_static(ID p_id, bool p_static);
virtual void remove(ID p_id);
virtual CollisionObject2DSW *get_object(ID p_id) const;
virtual GodotCollisionObject2D *get_object(ID p_id) const;
virtual bool is_static(ID p_id) const;
virtual int get_subindex(ID p_id) const;
virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual int cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata);
virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata);
virtual void update();
static BroadPhase2DSW *_create();
BroadPhase2DBVH();
static GodotBroadPhase2D *_create();
GodotBroadPhase2DBVH();
};
#endif // BROAD_PHASE_2D_BVH_H
#endif // GODOT_BROAD_PHASE_2D_BVH_H

48
servers/physics_2d/collision_object_2d_sw.cpp → servers/physics_2d/godot_collision_object_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_object_2d_sw.cpp */
/* godot_collision_object_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,11 +28,11 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "collision_object_2d_sw.h"
#include "servers/physics_2d/physics_server_2d_sw.h"
#include "space_2d_sw.h"
#include "godot_collision_object_2d.h"
#include "godot_physics_server_2d.h"
#include "godot_space_2d.h"
void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_transform, bool p_disabled) {
void GodotCollisionObject2D::add_shape(GodotShape2D *p_shape, const Transform2D &p_transform, bool p_disabled) {
Shape s;
s.shape = p_shape;
s.xform = p_transform;
@ -45,11 +45,11 @@ void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_tra
p_shape->add_owner(this);
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) {
void GodotCollisionObject2D::set_shape(int p_index, GodotShape2D *p_shape) {
ERR_FAIL_INDEX(p_index, shapes.size());
shapes[p_index].shape->remove_owner(this);
shapes.write[p_index].shape = p_shape;
@ -57,25 +57,25 @@ void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) {
p_shape->add_owner(this);
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
void CollisionObject2DSW::set_shape_transform(int p_index, const Transform2D &p_transform) {
void GodotCollisionObject2D::set_shape_transform(int p_index, const Transform2D &p_transform) {
ERR_FAIL_INDEX(p_index, shapes.size());
shapes.write[p_index].xform = p_transform;
shapes.write[p_index].xform_inv = p_transform.affine_inverse();
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
void CollisionObject2DSW::set_shape_disabled(int p_idx, bool p_disabled) {
void GodotCollisionObject2D::set_shape_disabled(int p_idx, bool p_disabled) {
ERR_FAIL_INDEX(p_idx, shapes.size());
CollisionObject2DSW::Shape &shape = shapes.write[p_idx];
GodotCollisionObject2D::Shape &shape = shapes.write[p_idx];
if (shape.disabled == p_disabled) {
return;
}
@ -90,16 +90,16 @@ void CollisionObject2DSW::set_shape_disabled(int p_idx, bool p_disabled) {
space->get_broadphase()->remove(shape.bpid);
shape.bpid = 0;
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
} else if (!p_disabled && shape.bpid == 0) {
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
}
void CollisionObject2DSW::remove_shape(Shape2DSW *p_shape) {
void GodotCollisionObject2D::remove_shape(GodotShape2D *p_shape) {
//remove a shape, all the times it appears
for (int i = 0; i < shapes.size(); i++) {
if (shapes[i].shape == p_shape) {
@ -109,7 +109,7 @@ void CollisionObject2DSW::remove_shape(Shape2DSW *p_shape) {
}
}
void CollisionObject2DSW::remove_shape(int p_index) {
void GodotCollisionObject2D::remove_shape(int p_index) {
//remove anything from shape to be erased to end, so subindices don't change
ERR_FAIL_INDEX(p_index, shapes.size());
for (int i = p_index; i < shapes.size(); i++) {
@ -124,13 +124,13 @@ void CollisionObject2DSW::remove_shape(int p_index) {
shapes.remove(p_index);
if (!pending_shape_update_list.in_list()) {
PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
// _update_shapes();
// _shapes_changed();
}
void CollisionObject2DSW::_set_static(bool p_static) {
void GodotCollisionObject2D::_set_static(bool p_static) {
if (_static == p_static) {
return;
}
@ -147,7 +147,7 @@ void CollisionObject2DSW::_set_static(bool p_static) {
}
}
void CollisionObject2DSW::_unregister_shapes() {
void GodotCollisionObject2D::_unregister_shapes() {
for (int i = 0; i < shapes.size(); i++) {
Shape &s = shapes.write[i];
if (s.bpid > 0) {
@ -157,7 +157,7 @@ void CollisionObject2DSW::_unregister_shapes() {
}
}
void CollisionObject2DSW::_update_shapes() {
void GodotCollisionObject2D::_update_shapes() {
if (!space) {
return;
}
@ -184,7 +184,7 @@ void CollisionObject2DSW::_update_shapes() {
}
}
void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) {
void GodotCollisionObject2D::_update_shapes_with_motion(const Vector2 &p_motion) {
if (!space) {
return;
}
@ -211,7 +211,7 @@ void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) {
}
}
void CollisionObject2DSW::_set_space(Space2DSW *p_space) {
void GodotCollisionObject2D::_set_space(GodotSpace2D *p_space) {
if (space) {
space->remove_object(this);
@ -232,12 +232,12 @@ void CollisionObject2DSW::_set_space(Space2DSW *p_space) {
}
}
void CollisionObject2DSW::_shape_changed() {
void GodotCollisionObject2D::_shape_changed() {
_update_shapes();
_shapes_changed();
}
CollisionObject2DSW::CollisionObject2DSW(Type p_type) :
GodotCollisionObject2D::GodotCollisionObject2D(Type p_type) :
pending_shape_update_list(this) {
type = p_type;
}

47
servers/physics_2d/collision_object_2d_sw.h → servers/physics_2d/godot_collision_object_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_object_2d_sw.h */
/* godot_collision_object_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,17 +28,18 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef COLLISION_OBJECT_2D_SW_H
#define COLLISION_OBJECT_2D_SW_H
#ifndef GODOT_COLLISION_OBJECT_2D_H
#define GODOT_COLLISION_OBJECT_2D_H
#include "godot_broad_phase_2d.h"
#include "godot_shape_2d.h"
#include "broad_phase_2d_sw.h"
#include "core/templates/self_list.h"
#include "servers/physics_server_2d.h"
#include "shape_2d_sw.h"
class Space2DSW;
class GodotSpace2D;
class CollisionObject2DSW : public ShapeOwner2DSW {
class GodotCollisionObject2D : public GodotShapeOwner2D {
public:
enum Type {
TYPE_AREA,
@ -55,23 +56,23 @@ private:
struct Shape {
Transform2D xform;
Transform2D xform_inv;
BroadPhase2DSW::ID bpid = 0;
GodotBroadPhase2D::ID bpid = 0;
Rect2 aabb_cache; //for rayqueries
Shape2DSW *shape = nullptr;
GodotShape2D *shape = nullptr;
bool disabled = false;
bool one_way_collision = false;
real_t one_way_collision_margin = 0.0;
};
Vector<Shape> shapes;
Space2DSW *space = nullptr;
GodotSpace2D *space = nullptr;
Transform2D transform;
Transform2D inv_transform;
uint32_t collision_mask = 1;
uint32_t collision_layer = 1;
bool _static = true;
SelfList<CollisionObject2DSW> pending_shape_update_list;
SelfList<GodotCollisionObject2D> pending_shape_update_list;
void _update_shapes();
@ -89,9 +90,9 @@ protected:
void _set_static(bool p_static);
virtual void _shapes_changed() = 0;
void _set_space(Space2DSW *p_space);
void _set_space(GodotSpace2D *p_space);
CollisionObject2DSW(Type p_type);
GodotCollisionObject2D(Type p_type);
public:
_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
@ -106,12 +107,12 @@ public:
void _shape_changed();
_FORCE_INLINE_ Type get_type() const { return type; }
void add_shape(Shape2DSW *p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false);
void set_shape(int p_index, Shape2DSW *p_shape);
void add_shape(GodotShape2D *p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false);
void set_shape(int p_index, GodotShape2D *p_shape);
void set_shape_transform(int p_index, const Transform2D &p_transform);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
_FORCE_INLINE_ Shape2DSW *get_shape(int p_index) const {
_FORCE_INLINE_ GodotShape2D *get_shape(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].shape;
}
@ -130,7 +131,7 @@ public:
_FORCE_INLINE_ const Transform2D &get_transform() const { return transform; }
_FORCE_INLINE_ const Transform2D &get_inv_transform() const { return inv_transform; }
_FORCE_INLINE_ Space2DSW *get_space() const { return space; }
_FORCE_INLINE_ GodotSpace2D *get_space() const { return space; }
void set_shape_disabled(int p_idx, bool p_disabled);
_FORCE_INLINE_ bool is_shape_disabled(int p_idx) const {
@ -165,25 +166,25 @@ public:
}
_FORCE_INLINE_ uint32_t get_collision_layer() const { return collision_layer; }
void remove_shape(Shape2DSW *p_shape);
void remove_shape(GodotShape2D *p_shape);
void remove_shape(int p_index);
virtual void set_space(Space2DSW *p_space) = 0;
virtual void set_space(GodotSpace2D *p_space) = 0;
_FORCE_INLINE_ bool is_static() const { return _static; }
void set_pickable(bool p_pickable) { pickable = p_pickable; }
_FORCE_INLINE_ bool is_pickable() const { return pickable; }
_FORCE_INLINE_ bool collides_with(CollisionObject2DSW *p_other) const {
_FORCE_INLINE_ bool collides_with(GodotCollisionObject2D *p_other) const {
return p_other->collision_layer & collision_mask;
}
_FORCE_INLINE_ bool interacts_with(CollisionObject2DSW *p_other) const {
_FORCE_INLINE_ bool interacts_with(GodotCollisionObject2D *p_other) const {
return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
}
virtual ~CollisionObject2DSW() {}
virtual ~GodotCollisionObject2D() {}
};
#endif // COLLISION_OBJECT_2D_SW_H
#endif // GODOT_COLLISION_OBJECT_2D_H

26
servers/physics_2d/collision_solver_2d_sw.cpp → servers/physics_2d/godot_collision_solver_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_solver_2d_sw.cpp */
/* godot_collision_solver_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,14 +28,14 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "collision_solver_2d_sw.h"
#include "collision_solver_2d_sat.h"
#include "godot_collision_solver_2d.h"
#include "godot_collision_solver_2d_sat.h"
#define collision_solver sat_2d_calculate_penetration
//#define collision_solver gjk_epa_calculate_penetration
bool CollisionSolver2DSW::solve_static_world_boundary(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
const WorldBoundaryShape2DSW *world_boundary = static_cast<const WorldBoundaryShape2DSW *>(p_shape_A);
bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
const GodotWorldBoundaryShape2D *world_boundary = static_cast<const GodotWorldBoundaryShape2D *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) {
return false;
}
@ -73,8 +73,8 @@ bool CollisionSolver2DSW::solve_static_world_boundary(const Shape2DSW *p_shape_A
return found;
}
bool CollisionSolver2DSW::solve_separation_ray(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin) {
const SeparationRayShape2DSW *ray = static_cast<const SeparationRayShape2DSW *>(p_shape_A);
bool GodotCollisionSolver2D::solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin) {
const GodotSeparationRayShape2D *ray = static_cast<const GodotSeparationRayShape2D *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY) {
return false;
}
@ -134,13 +134,13 @@ bool CollisionSolver2DSW::solve_separation_ray(const Shape2DSW *p_shape_A, const
struct _ConcaveCollisionInfo2D {
const Transform2D *transform_A = nullptr;
const Shape2DSW *shape_A = nullptr;
const GodotShape2D *shape_A = nullptr;
const Transform2D *transform_B = nullptr;
Vector2 motion_A;
Vector2 motion_B;
real_t margin_A = 0.0;
real_t margin_B = 0.0;
CollisionSolver2DSW::CallbackResult result_callback;
GodotCollisionSolver2D::CallbackResult result_callback;
void *userdata = nullptr;
bool swap_result = false;
bool collided = false;
@ -149,7 +149,7 @@ struct _ConcaveCollisionInfo2D {
Vector2 *sep_axis = nullptr;
};
bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) {
bool GodotCollisionSolver2D::concave_callback(void *p_userdata, GodotShape2D *p_convex) {
_ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D *)(p_userdata);
cinfo.aabb_tests++;
@ -165,8 +165,8 @@ bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex
return !cinfo.result_callback;
}
bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
const ConcaveShape2DSW *concave_B = static_cast<const ConcaveShape2DSW *>(p_shape_B);
bool GodotCollisionSolver2D::solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
const GodotConcaveShape2D *concave_B = static_cast<const GodotConcaveShape2D *>(p_shape_B);
_ConcaveCollisionInfo2D cinfo;
cinfo.transform_A = &p_transform_A;
@ -209,7 +209,7 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transf
return cinfo.collided;
}
bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
bool GodotCollisionSolver2D::solve(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
PhysicsServer2D::ShapeType type_A = p_shape_A->get_type();
PhysicsServer2D::ShapeType type_B = p_shape_B->get_type();
bool concave_A = p_shape_A->is_concave();

22
servers/physics_2d/collision_solver_2d_sw.h → servers/physics_2d/godot_collision_solver_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_solver_2d_sw.h */
/* godot_collision_solver_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,23 +28,23 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef COLLISION_SOLVER_2D_SW_H
#define COLLISION_SOLVER_2D_SW_H
#ifndef GODOT_COLLISION_SOLVER_2D_H
#define GODOT_COLLISION_SOLVER_2D_H
#include "shape_2d_sw.h"
#include "godot_shape_2d.h"
class CollisionSolver2DSW {
class GodotCollisionSolver2D {
public:
typedef void (*CallbackResult)(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata);
private:
static bool solve_static_world_boundary(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool concave_callback(void *p_userdata, Shape2DSW *p_convex);
static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool solve_separation_ray(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0);
static bool solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool concave_callback(void *p_userdata, GodotShape2D *p_convex);
static bool solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0);
public:
static bool solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool solve(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
};
#endif // COLLISION_SOLVER_2D_SW_H
#endif // GODOT_COLLISION_SOLVER_2D_H

134
servers/physics_2d/collision_solver_2d_sat.cpp → servers/physics_2d/godot_collision_solver_2d_sat.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_solver_2d_sat.cpp */
/* godot_collision_solver_2d_sat.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,12 +28,12 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "collision_solver_2d_sat.h"
#include "godot_collision_solver_2d_sat.h"
#include "core/math/geometry_2d.h"
struct _CollectorCallback2D {
CollisionSolver2DSW::CallbackResult callback;
GodotCollisionSolver2D::CallbackResult callback;
void *userdata = nullptr;
bool swap = false;
bool collided = false;
@ -384,14 +384,14 @@ public:
(castB && !separator.test_axis(((m_a) - ((m_b) + p_motion_b)).normalized())) || \
(castA && castB && !separator.test_axis(((m_a) + p_motion_a - ((m_b) + p_motion_b)).normalized())))
typedef void (*CollisionFunc)(const Shape2DSW *, const Transform2D &, const Shape2DSW *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t);
typedef void (*CollisionFunc)(const GodotShape2D *, const Transform2D &, const GodotShape2D *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t);
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
const SegmentShape2DSW *segment_B = static_cast<const SegmentShape2DSW *>(p_b);
static void _collision_segment_segment(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
const GodotSegmentShape2D *segment_B = static_cast<const GodotSegmentShape2D *>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW, SegmentShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, segment_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotSegmentShape2D, GodotSegmentShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, segment_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -430,11 +430,11 @@ static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &
}
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW *>(p_b);
static void _collision_segment_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
const GodotCircleShape2D *circle_B = static_cast<const GodotCircleShape2D *>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW, CircleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotSegmentShape2D, GodotCircleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -463,11 +463,11 @@ static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p
}
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
static void _collision_segment_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotSegmentShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -534,11 +534,11 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D
}
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
static void _collision_segment_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotSegmentShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -575,11 +575,11 @@ static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &
}
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
static void _collision_segment_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotSegmentShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -614,11 +614,11 @@ static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transf
/////////
template <bool castA, bool castB, bool withMargin>
static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW *>(p_b);
static void _collision_circle_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a);
const GodotCircleShape2D *circle_B = static_cast<const GodotCircleShape2D *>(p_b);
SeparatorAxisTest2D<CircleShape2DSW, CircleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotCircleShape2D, GodotCircleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -636,11 +636,11 @@ static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_
}
template <bool castA, bool castB, bool withMargin>
static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
static void _collision_circle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a);
const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b);
SeparatorAxisTest2D<CircleShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotCircleShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -694,11 +694,11 @@ static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D
}
template <bool castA, bool castB, bool withMargin>
static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
static void _collision_circle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a);
const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b);
SeparatorAxisTest2D<CircleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotCircleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -727,11 +727,11 @@ static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p
}
template <bool castA, bool castB, bool withMargin>
static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
static void _collision_circle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a);
const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
SeparatorAxisTest2D<CircleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotCircleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -758,11 +758,11 @@ static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transfo
/////////
template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
static void _collision_rectangle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a);
const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b);
SeparatorAxisTest2D<RectangleShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotRectangleShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -832,11 +832,11 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform
}
template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
static void _collision_rectangle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a);
const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b);
SeparatorAxisTest2D<RectangleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotRectangleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -910,11 +910,11 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D
}
template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
static void _collision_rectangle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a);
const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
SeparatorAxisTest2D<RectangleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotRectangleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -972,11 +972,11 @@ static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Tran
/////////
template <bool castA, bool castB, bool withMargin>
static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW *>(p_a);
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
static void _collision_capsule_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotCapsuleShape2D *capsule_A = static_cast<const GodotCapsuleShape2D *>(p_a);
const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b);
SeparatorAxisTest2D<CapsuleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotCapsuleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -1020,11 +1020,11 @@ static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &
}
template <bool castA, bool castB, bool withMargin>
static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW *>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
static void _collision_capsule_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotCapsuleShape2D *capsule_A = static_cast<const GodotCapsuleShape2D *>(p_a);
const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
SeparatorAxisTest2D<CapsuleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(capsule_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotCapsuleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(capsule_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -1066,11 +1066,11 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf
/////////
template <bool castA, bool castB, bool withMargin>
static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const ConvexPolygonShape2DSW *convex_A = static_cast<const ConvexPolygonShape2DSW *>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
static void _collision_convex_polygon_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
const GodotConvexPolygonShape2D *convex_A = static_cast<const GodotConvexPolygonShape2D *>(p_a);
const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
SeparatorAxisTest2D<ConvexPolygonShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(convex_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
SeparatorAxisTest2D<GodotConvexPolygonShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(convex_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
if (!separator.test_previous_axis()) {
return;
@ -1107,7 +1107,7 @@ static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const
////////
bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
PhysicsServer2D::ShapeType type_A = p_shape_A->get_type();
ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_WORLD_BOUNDARY, false);
@ -1359,8 +1359,8 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D
callback.collided = false;
callback.sep_axis = sep_axis;
const Shape2DSW *A = p_shape_A;
const Shape2DSW *B = p_shape_B;
const GodotShape2D *A = p_shape_A;
const GodotShape2D *B = p_shape_B;
const Transform2D *transform_A = &p_transform_A;
const Transform2D *transform_B = &p_transform_B;
const Vector2 *motion_A = &p_motion_A;

12
servers/physics_2d/collision_solver_2d_sat.h → servers/physics_2d/godot_collision_solver_2d_sat.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_solver_2d_sat.h */
/* godot_collision_solver_2d_sat.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,11 +28,11 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef COLLISION_SOLVER_2D_SAT_H
#define COLLISION_SOLVER_2D_SAT_H
#ifndef GODOT_COLLISION_SOLVER_2D_SAT_H
#define GODOT_COLLISION_SOLVER_2D_SAT_H
#include "collision_solver_2d_sw.h"
#include "godot_collision_solver_2d.h"
bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
#endif // COLLISION_SOLVER_2D_SAT_H
#endif // GODOT_COLLISION_SOLVER_2D_SAT_H

20
servers/physics_2d/constraint_2d_sw.h → servers/physics_2d/godot_constraint_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* constraint_2d_sw.h */
/* godot_constraint_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,13 +28,13 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef CONSTRAINT_2D_SW_H
#define CONSTRAINT_2D_SW_H
#ifndef GODOT_CONSTRAINT_2D_H
#define GODOT_CONSTRAINT_2D_H
#include "body_2d_sw.h"
#include "godot_body_2d.h"
class Constraint2DSW {
Body2DSW **_body_ptr;
class GodotConstraint2D {
GodotBody2D **_body_ptr;
int _body_count;
uint64_t island_step = 0;
bool disabled_collisions_between_bodies = true;
@ -42,7 +42,7 @@ class Constraint2DSW {
RID self;
protected:
Constraint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) {
GodotConstraint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) {
_body_ptr = p_body_ptr;
_body_count = p_body_count;
}
@ -54,7 +54,7 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ Body2DSW **get_body_ptr() const { return _body_ptr; }
_FORCE_INLINE_ GodotBody2D **get_body_ptr() const { return _body_ptr; }
_FORCE_INLINE_ int get_body_count() const { return _body_count; }
_FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; }
@ -64,7 +64,7 @@ public:
virtual bool pre_solve(real_t p_step) = 0;
virtual void solve(real_t p_step) = 0;
virtual ~Constraint2DSW() {}
virtual ~GodotConstraint2D() {}
};
#endif // CONSTRAINT_2D_SW_H
#endif // GODOT_CONSTRAINT_2D_H

58
servers/physics_2d/joints_2d_sw.cpp → servers/physics_2d/godot_joints_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* joints_2d_sw.cpp */
/* godot_joints_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,9 +28,9 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "joints_2d_sw.h"
#include "godot_joints_2d.h"
#include "space_2d_sw.h"
#include "godot_space_2d.h"
//based on chipmunk joint constraints
@ -55,7 +55,7 @@
* SOFTWARE.
*/
void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) {
void GodotJoint2D::copy_settings_from(GodotJoint2D *p_joint) {
set_self(p_joint->get_self());
set_max_force(p_joint->get_max_force());
set_bias(p_joint->get_bias());
@ -63,7 +63,7 @@ void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) {
disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
}
static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) {
static inline real_t k_scalar(GodotBody2D *a, GodotBody2D *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) {
real_t value = 0.0;
{
@ -82,7 +82,7 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const
}
static inline Vector2
relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) {
relative_velocity(GodotBody2D *a, GodotBody2D *b, Vector2 rA, Vector2 rB) {
Vector2 sum = a->get_linear_velocity() - (rA - a->get_center_of_mass()).orthogonal() * a->get_angular_velocity();
if (b) {
return (b->get_linear_velocity() - (rB - b->get_center_of_mass()).orthogonal() * b->get_angular_velocity()) - sum;
@ -92,11 +92,11 @@ relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) {
}
static inline real_t
normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vector2 n) {
normal_relative_velocity(GodotBody2D *a, GodotBody2D *b, Vector2 rA, Vector2 rB, Vector2 n) {
return relative_velocity(a, b, rA, rB).dot(n);
}
bool PinJoint2DSW::setup(real_t p_step) {
bool GodotPinJoint2D::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
@ -104,7 +104,7 @@ bool PinJoint2DSW::setup(real_t p_step) {
return false;
}
Space2DSW *space = A->get_space();
GodotSpace2D *space = A->get_space();
ERR_FAIL_COND_V(!space, false);
rA = A->get_transform().basis_xform(anchor_A);
@ -158,7 +158,7 @@ inline Vector2 custom_cross(const Vector2 &p_vec, real_t p_other) {
return Vector2(p_other * p_vec.y, -p_other * p_vec.x);
}
bool PinJoint2DSW::pre_solve(real_t p_step) {
bool GodotPinJoint2D::pre_solve(real_t p_step) {
// Apply accumulated impulse.
if (dynamic_A) {
A->apply_impulse(-P, rA);
@ -170,7 +170,7 @@ bool PinJoint2DSW::pre_solve(real_t p_step) {
return true;
}
void PinJoint2DSW::solve(real_t p_step) {
void GodotPinJoint2D::solve(real_t p_step) {
// compute relative velocity
Vector2 vA = A->get_linear_velocity() - custom_cross(rA - A->get_center_of_mass(), A->get_angular_velocity());
@ -193,21 +193,21 @@ void PinJoint2DSW::solve(real_t p_step) {
P += impulse;
}
void PinJoint2DSW::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) {
void GodotPinJoint2D::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) {
if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) {
softness = p_value;
}
}
real_t PinJoint2DSW::get_param(PhysicsServer2D::PinJointParam p_param) const {
real_t GodotPinJoint2D::get_param(PhysicsServer2D::PinJointParam p_param) const {
if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) {
return softness;
}
ERR_FAIL_V(0);
}
PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b) :
Joint2DSW(_arr, p_body_b ? 2 : 1) {
GodotPinJoint2D::GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b) :
GodotJoint2D(_arr, p_body_b ? 2 : 1) {
A = p_body_a;
B = p_body_b;
anchor_A = p_body_a->get_inv_transform().xform(p_pos);
@ -224,7 +224,7 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p
//////////////////////////////////////////////
static inline void
k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) {
k_tensor(GodotBody2D *a, GodotBody2D *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) {
// calculate mass matrix
// If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
real_t k11, k12, k21, k22;
@ -273,7 +273,7 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) {
return Vector2(vr.dot(k1), vr.dot(k2));
}
bool GrooveJoint2DSW::setup(real_t p_step) {
bool GodotGrooveJoint2D::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
@ -281,7 +281,7 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
return false;
}
Space2DSW *space = A->get_space();
GodotSpace2D *space = A->get_space();
ERR_FAIL_COND_V(!space, false);
// calculate endpoints in worldspace
@ -329,7 +329,7 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
return true;
}
bool GrooveJoint2DSW::pre_solve(real_t p_step) {
bool GodotGrooveJoint2D::pre_solve(real_t p_step) {
// Apply accumulated impulse.
if (dynamic_A) {
A->apply_impulse(-jn_acc, rA);
@ -341,7 +341,7 @@ bool GrooveJoint2DSW::pre_solve(real_t p_step) {
return true;
}
void GrooveJoint2DSW::solve(real_t p_step) {
void GodotGrooveJoint2D::solve(real_t p_step) {
// compute impulse
Vector2 vr = relative_velocity(A, B, rA, rB);
@ -361,8 +361,8 @@ void GrooveJoint2DSW::solve(real_t p_step) {
}
}
GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) :
Joint2DSW(_arr, 2) {
GodotGrooveJoint2D::GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b) :
GodotJoint2D(_arr, 2) {
A = p_body_a;
B = p_body_b;
@ -379,7 +379,7 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_
//////////////////////////////////////////////
//////////////////////////////////////////////
bool DampedSpringJoint2DSW::setup(real_t p_step) {
bool GodotDampedSpringJoint2D::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
@ -412,7 +412,7 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) {
return true;
}
bool DampedSpringJoint2DSW::pre_solve(real_t p_step) {
bool GodotDampedSpringJoint2D::pre_solve(real_t p_step) {
// Apply spring force.
if (dynamic_A) {
A->apply_impulse(-j, rA);
@ -424,7 +424,7 @@ bool DampedSpringJoint2DSW::pre_solve(real_t p_step) {
return true;
}
void DampedSpringJoint2DSW::solve(real_t p_step) {
void GodotDampedSpringJoint2D::solve(real_t p_step) {
// compute relative velocity
real_t vrn = normal_relative_velocity(A, B, rA, rB, n) - target_vrn;
@ -442,7 +442,7 @@ void DampedSpringJoint2DSW::solve(real_t p_step) {
}
}
void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
void GodotDampedSpringJoint2D::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: {
rest_length = p_value;
@ -456,7 +456,7 @@ void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param
}
}
real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_param) const {
real_t GodotDampedSpringJoint2D::get_param(PhysicsServer2D::DampedSpringParam p_param) const {
switch (p_param) {
case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: {
return rest_length;
@ -472,8 +472,8 @@ real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_par
ERR_FAIL_V(0);
}
DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b) :
Joint2DSW(_arr, 2) {
GodotDampedSpringJoint2D::GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b) :
GodotJoint2D(_arr, 2) {
A = p_body_a;
B = p_body_b;
anchor_A = A->get_inv_transform().xform(p_anchor_a);

54
servers/physics_2d/joints_2d_sw.h → servers/physics_2d/godot_joints_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* joints_2d_sw.h */
/* godot_joints_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,13 +28,13 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef JOINTS_2D_SW_H
#define JOINTS_2D_SW_H
#ifndef GODOT_JOINTS_2D_H
#define GODOT_JOINTS_2D_H
#include "body_2d_sw.h"
#include "constraint_2d_sw.h"
#include "godot_body_2d.h"
#include "godot_constraint_2d.h"
class Joint2DSW : public Constraint2DSW {
class GodotJoint2D : public GodotConstraint2D {
real_t bias = 0;
real_t max_bias = 3.40282e+38;
real_t max_force = 3.40282e+38;
@ -57,15 +57,15 @@ public:
virtual bool pre_solve(real_t p_step) override { return false; }
virtual void solve(real_t p_step) override {}
void copy_settings_from(Joint2DSW *p_joint);
void copy_settings_from(GodotJoint2D *p_joint);
virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_MAX; }
Joint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) :
Constraint2DSW(p_body_ptr, p_body_count) {}
GodotJoint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) :
GodotConstraint2D(p_body_ptr, p_body_count) {}
virtual ~Joint2DSW() {
virtual ~GodotJoint2D() {
for (int i = 0; i < get_body_count(); i++) {
Body2DSW *body = get_body_ptr()[i];
GodotBody2D *body = get_body_ptr()[i];
if (body) {
body->remove_constraint(this, i);
}
@ -73,14 +73,14 @@ public:
};
};
class PinJoint2DSW : public Joint2DSW {
class GodotPinJoint2D : public GodotJoint2D {
union {
struct {
Body2DSW *A;
Body2DSW *B;
GodotBody2D *A;
GodotBody2D *B;
};
Body2DSW *_arr[2] = { nullptr, nullptr };
GodotBody2D *_arr[2] = { nullptr, nullptr };
};
Transform2D M;
@ -101,17 +101,17 @@ public:
void set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value);
real_t get_param(PhysicsServer2D::PinJointParam p_param) const;
PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b = nullptr);
GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b = nullptr);
};
class GrooveJoint2DSW : public Joint2DSW {
class GodotGrooveJoint2D : public GodotJoint2D {
union {
struct {
Body2DSW *A;
Body2DSW *B;
GodotBody2D *A;
GodotBody2D *B;
};
Body2DSW *_arr[2] = { nullptr, nullptr };
GodotBody2D *_arr[2] = { nullptr, nullptr };
};
Vector2 A_groove_1;
@ -135,17 +135,17 @@ public:
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b);
GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b);
};
class DampedSpringJoint2DSW : public Joint2DSW {
class GodotDampedSpringJoint2D : public GodotJoint2D {
union {
struct {
Body2DSW *A;
Body2DSW *B;
GodotBody2D *A;
GodotBody2D *B;
};
Body2DSW *_arr[2] = { nullptr, nullptr };
GodotBody2D *_arr[2] = { nullptr, nullptr };
};
Vector2 anchor_A;
@ -172,7 +172,7 @@ public:
void set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value);
real_t get_param(PhysicsServer2D::DampedSpringParam p_param) const;
DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b);
GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b);
};
#endif // JOINTS_2D_SW_H
#endif // GODOT_JOINTS_2D_H

1350
servers/physics_2d/godot_physics_server_2d.cpp Normal file
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File diff suppressed because it is too large Load Diff

50
servers/physics_2d/physics_server_2d_sw.h → servers/physics_2d/godot_physics_server_2d.h
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@ -1,5 +1,5 @@
/*************************************************************************/
/* physics_server_2d_sw.h */
/* godot_physics_server_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,21 +28,22 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS_2D_SERVER_SW
#define PHYSICS_2D_SERVER_SW
#ifndef GODOT_PHYSICS_SERVER_2D_H
#define GODOT_PHYSICS_SERVER_2D_H
#include "godot_joints_2d.h"
#include "godot_shape_2d.h"
#include "godot_space_2d.h"
#include "godot_step_2d.h"
#include "core/templates/rid_owner.h"
#include "joints_2d_sw.h"
#include "servers/physics_server_2d.h"
#include "shape_2d_sw.h"
#include "space_2d_sw.h"
#include "step_2d_sw.h"
class PhysicsServer2DSW : public PhysicsServer2D {
GDCLASS(PhysicsServer2DSW, PhysicsServer2D);
class GodotPhysicsServer2D : public PhysicsServer2D {
GDCLASS(GodotPhysicsServer2D, PhysicsServer2D);
friend class PhysicsDirectSpaceState2DSW;
friend class PhysicsDirectBodyState2DSW;
friend class GodotPhysicsDirectSpaceState2D;
friend class GodotPhysicsDirectBodyState2D;
bool active = true;
int iterations = 0;
bool doing_sync = false;
@ -55,20 +56,19 @@ class PhysicsServer2DSW : public PhysicsServer2D {
bool flushing_queries = false;
Step2DSW *stepper = nullptr;
Set<const Space2DSW *> active_spaces;
GodotStep2D *stepper = nullptr;
Set<const GodotSpace2D *> active_spaces;
mutable RID_PtrOwner<Shape2DSW, true> shape_owner;
mutable RID_PtrOwner<Space2DSW, true> space_owner;
mutable RID_PtrOwner<Area2DSW, true> area_owner;
mutable RID_PtrOwner<Body2DSW, true> body_owner;
mutable RID_PtrOwner<Joint2DSW, true> joint_owner;
mutable RID_PtrOwner<GodotShape2D, true> shape_owner;
mutable RID_PtrOwner<GodotSpace2D, true> space_owner;
mutable RID_PtrOwner<GodotArea2D, true> area_owner;
mutable RID_PtrOwner<GodotBody2D, true> body_owner;
mutable RID_PtrOwner<GodotJoint2D, true> joint_owner;
static PhysicsServer2DSW *singletonsw;
static GodotPhysicsServer2D *godot_singleton;
//void _clear_query(Query2DSW *p_query);
friend class CollisionObject2DSW;
SelfList<CollisionObject2DSW>::List pending_shape_update_list;
friend class GodotCollisionObject2D;
SelfList<GodotCollisionObject2D>::List pending_shape_update_list;
void _update_shapes();
RID _shape_create(ShapeType p_shape);
@ -292,8 +292,8 @@ public:
int get_process_info(ProcessInfo p_info) override;
PhysicsServer2DSW(bool p_using_threads = false);
~PhysicsServer2DSW() {}
GodotPhysicsServer2D(bool p_using_threads = false);
~GodotPhysicsServer2D() {}
};
#endif
#endif // GODOT_PHYSICS_SERVER_2D_H

128
servers/physics_2d/shape_2d_sw.cpp → servers/physics_2d/godot_shape_2d.cpp
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@ -1,5 +1,5 @@
/*************************************************************************/
/* shape_2d_sw.cpp */
/* godot_shape_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,29 +28,29 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "shape_2d_sw.h"
#include "godot_shape_2d.h"
#include "core/math/geometry_2d.h"
#include "core/templates/sort_array.h"
void Shape2DSW::configure(const Rect2 &p_aabb) {
void GodotShape2D::configure(const Rect2 &p_aabb) {
aabb = p_aabb;
configured = true;
for (const KeyValue<ShapeOwner2DSW *, int> &E : owners) {
ShapeOwner2DSW *co = (ShapeOwner2DSW *)E.key;
for (const KeyValue<GodotShapeOwner2D *, int> &E : owners) {
GodotShapeOwner2D *co = (GodotShapeOwner2D *)E.key;
co->_shape_changed();
}
}
Vector2 Shape2DSW::get_support(const Vector2 &p_normal) const {
Vector2 GodotShape2D::get_support(const Vector2 &p_normal) const {
Vector2 res[2];
int amnt;
get_supports(p_normal, res, amnt);
return res[0];
}
void Shape2DSW::add_owner(ShapeOwner2DSW *p_owner) {
Map<ShapeOwner2DSW *, int>::Element *E = owners.find(p_owner);
void GodotShape2D::add_owner(GodotShapeOwner2D *p_owner) {
Map<GodotShapeOwner2D *, int>::Element *E = owners.find(p_owner);
if (E) {
E->get()++;
} else {
@ -58,8 +58,8 @@ void Shape2DSW::add_owner(ShapeOwner2DSW *p_owner) {
}
}
void Shape2DSW::remove_owner(ShapeOwner2DSW *p_owner) {
Map<ShapeOwner2DSW *, int>::Element *E = owners.find(p_owner);
void GodotShape2D::remove_owner(GodotShapeOwner2D *p_owner) {
Map<GodotShapeOwner2D *, int>::Element *E = owners.find(p_owner);
ERR_FAIL_COND(!E);
E->get()--;
if (E->get() == 0) {
@ -67,15 +67,15 @@ void Shape2DSW::remove_owner(ShapeOwner2DSW *p_owner) {
}
}
bool Shape2DSW::is_owner(ShapeOwner2DSW *p_owner) const {
bool GodotShape2D::is_owner(GodotShapeOwner2D *p_owner) const {
return owners.has(p_owner);
}
const Map<ShapeOwner2DSW *, int> &Shape2DSW::get_owners() const {
const Map<GodotShapeOwner2D *, int> &GodotShape2D::get_owners() const {
return owners;
}
Shape2DSW::~Shape2DSW() {
GodotShape2D::~GodotShape2D() {
ERR_FAIL_COND(owners.size());
}
@ -83,15 +83,15 @@ Shape2DSW::~Shape2DSW() {
/*********************************************************/
/*********************************************************/
void WorldBoundaryShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
void GodotWorldBoundaryShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
r_amount = 0;
}
bool WorldBoundaryShape2DSW::contains_point(const Vector2 &p_point) const {
bool GodotWorldBoundaryShape2D::contains_point(const Vector2 &p_point) const {
return normal.dot(p_point) < d;
}
bool WorldBoundaryShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
bool GodotWorldBoundaryShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
Vector2 segment = p_begin - p_end;
real_t den = normal.dot(segment);
@ -113,11 +113,11 @@ bool WorldBoundaryShape2DSW::intersect_segment(const Vector2 &p_begin, const Vec
return true;
}
real_t WorldBoundaryShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
real_t GodotWorldBoundaryShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
return 0;
}
void WorldBoundaryShape2DSW::set_data(const Variant &p_data) {
void GodotWorldBoundaryShape2D::set_data(const Variant &p_data) {
ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY);
Array arr = p_data;
ERR_FAIL_COND(arr.size() != 2);
@ -126,7 +126,7 @@ void WorldBoundaryShape2DSW::set_data(const Variant &p_data) {
configure(Rect2(Vector2(-1e4, -1e4), Vector2(1e4 * 2, 1e4 * 2)));
}
Variant WorldBoundaryShape2DSW::get_data() const {
Variant GodotWorldBoundaryShape2D::get_data() const {
Array arr;
arr.resize(2);
arr[0] = normal;
@ -138,7 +138,7 @@ Variant WorldBoundaryShape2DSW::get_data() const {
/*********************************************************/
/*********************************************************/
void SeparationRayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
void GodotSeparationRayShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
r_amount = 1;
if (p_normal.y > 0) {
@ -148,26 +148,26 @@ void SeparationRayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_su
}
}
bool SeparationRayShape2DSW::contains_point(const Vector2 &p_point) const {
bool GodotSeparationRayShape2D::contains_point(const Vector2 &p_point) const {
return false;
}
bool SeparationRayShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
bool GodotSeparationRayShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
return false; //rays can't be intersected
}
real_t SeparationRayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
real_t GodotSeparationRayShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
return 0; //rays are mass-less
}
void SeparationRayShape2DSW::set_data(const Variant &p_data) {
void GodotSeparationRayShape2D::set_data(const Variant &p_data) {
Dictionary d = p_data;
length = d["length"];
slide_on_slope = d["slide_on_slope"];
configure(Rect2(0, 0, 0.001, length));
}
Variant SeparationRayShape2DSW::get_data() const {
Variant GodotSeparationRayShape2D::get_data() const {
Dictionary d;
d["length"] = length;
d["slide_on_slope"] = slide_on_slope;
@ -178,7 +178,7 @@ Variant SeparationRayShape2DSW::get_data() const {
/*********************************************************/
/*********************************************************/
void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
void GodotSegmentShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
if (Math::abs(p_normal.dot(n)) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) {
r_supports[0] = a;
r_supports[1] = b;
@ -195,11 +195,11 @@ void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports
r_amount = 1;
}
bool SegmentShape2DSW::contains_point(const Vector2 &p_point) const {
bool GodotSegmentShape2D::contains_point(const Vector2 &p_point) const {
return false;
}
bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
bool GodotSegmentShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
if (!Geometry2D::segment_intersects_segment(p_begin, p_end, a, b, &r_point)) {
return false;
}
@ -213,11 +213,11 @@ bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &
return true;
}
real_t SegmentShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
real_t GodotSegmentShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
return p_mass * ((a * p_scale).distance_squared_to(b * p_scale)) / 12;
}
void SegmentShape2DSW::set_data(const Variant &p_data) {
void GodotSegmentShape2D::set_data(const Variant &p_data) {
ERR_FAIL_COND(p_data.get_type() != Variant::RECT2);
Rect2 r = p_data;
@ -237,7 +237,7 @@ void SegmentShape2DSW::set_data(const Variant &p_data) {
configure(aabb);
}
Variant SegmentShape2DSW::get_data() const {
Variant GodotSegmentShape2D::get_data() const {
Rect2 r;
r.position = a;
r.size = b;
@ -248,16 +248,16 @@ Variant SegmentShape2DSW::get_data() const {
/*********************************************************/
/*********************************************************/
void CircleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
void GodotCircleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
r_amount = 1;
*r_supports = p_normal * radius;
}
bool CircleShape2DSW::contains_point(const Vector2 &p_point) const {
bool GodotCircleShape2D::contains_point(const Vector2 &p_point) const {
return p_point.length_squared() < radius * radius;
}
bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
bool GodotCircleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
Vector2 line_vec = p_end - p_begin;
real_t a, b, c;
@ -283,19 +283,19 @@ bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p
return true;
}
real_t CircleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
real_t GodotCircleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
real_t a = radius * p_scale.x;
real_t b = radius * p_scale.y;
return p_mass * (a * a + b * b) / 4;
}
void CircleShape2DSW::set_data(const Variant &p_data) {
void GodotCircleShape2D::set_data(const Variant &p_data) {
ERR_FAIL_COND(!p_data.is_num());
radius = p_data;
configure(Rect2(-radius, -radius, radius * 2, radius * 2));
}
Variant CircleShape2DSW::get_data() const {
Variant GodotCircleShape2D::get_data() const {
return radius;
}
@ -303,7 +303,7 @@ Variant CircleShape2DSW::get_data() const {
/*********************************************************/
/*********************************************************/
void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
void GodotRectangleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
for (int i = 0; i < 2; i++) {
Vector2 ag;
ag[i] = 1.0;
@ -333,7 +333,7 @@ void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_suppor
(p_normal.y < 0) ? -half_extents.y : half_extents.y);
}
bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const {
bool GodotRectangleShape2D::contains_point(const Vector2 &p_point) const {
real_t x = p_point.x;
real_t y = p_point.y;
real_t edge_x = half_extents.x;
@ -341,23 +341,23 @@ bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const {
return (x >= -edge_x) && (x < edge_x) && (y >= -edge_y) && (y < edge_y);
}
bool RectangleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
bool GodotRectangleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
return get_aabb().intersects_segment(p_begin, p_end, &r_point, &r_normal);
}
real_t RectangleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
real_t GodotRectangleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
Vector2 he2 = half_extents * 2 * p_scale;
return p_mass * he2.dot(he2) / 12.0;
}
void RectangleShape2DSW::set_data(const Variant &p_data) {
void GodotRectangleShape2D::set_data(const Variant &p_data) {
ERR_FAIL_COND(p_data.get_type() != Variant::VECTOR2);
half_extents = p_data;
configure(Rect2(-half_extents, half_extents * 2.0));
}
Variant RectangleShape2DSW::get_data() const {
Variant GodotRectangleShape2D::get_data() const {
return half_extents;
}
@ -365,7 +365,7 @@ Variant RectangleShape2DSW::get_data() const {
/*********************************************************/
/*********************************************************/
void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
void GodotCapsuleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
Vector2 n = p_normal;
real_t d = n.y;
@ -392,7 +392,7 @@ void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports
}
}
bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const {
bool GodotCapsuleShape2D::contains_point(const Vector2 &p_point) const {
Vector2 p = p_point;
p.y = Math::abs(p.y);
p.y -= height * 0.5 - radius;
@ -403,7 +403,7 @@ bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const {
return p.length_squared() < radius * radius;
}
bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
bool GodotCapsuleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
real_t d = 1e10;
Vector2 n = (p_end - p_begin).normalized();
bool collided = false;
@ -463,12 +463,12 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &
return collided; //todo
}
real_t CapsuleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
real_t GodotCapsuleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
Vector2 he2 = Vector2(radius * 2, height) * p_scale;
return p_mass * he2.dot(he2) / 12.0;
}
void CapsuleShape2DSW::set_data(const Variant &p_data) {
void GodotCapsuleShape2D::set_data(const Variant &p_data) {
ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY && p_data.get_type() != Variant::VECTOR2);
if (p_data.get_type() == Variant::ARRAY) {
@ -486,7 +486,7 @@ void CapsuleShape2DSW::set_data(const Variant &p_data) {
configure(Rect2(-he, he * 2));
}
Variant CapsuleShape2DSW::get_data() const {
Variant GodotCapsuleShape2D::get_data() const {
return Point2(height, radius);
}
@ -494,7 +494,7 @@ Variant CapsuleShape2DSW::get_data() const {
/*********************************************************/
/*********************************************************/
void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
void GodotConvexPolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
int support_idx = -1;
real_t d = -1e10;
r_amount = 0;
@ -522,7 +522,7 @@ void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_su
r_supports[0] = points[support_idx].pos;
}
bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const {
bool GodotConvexPolygonShape2D::contains_point(const Vector2 &p_point) const {
bool out = false;
bool in = false;
@ -538,7 +538,7 @@ bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const {
return in != out;
}
bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
bool GodotConvexPolygonShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
Vector2 n = (p_end - p_begin).normalized();
real_t d = 1e10;
bool inters = false;
@ -568,7 +568,7 @@ bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vec
return inters;
}
real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
real_t GodotConvexPolygonShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
ERR_FAIL_COND_V_MSG(point_count == 0, 0, "Convex polygon shape has no points.");
Rect2 aabb;
aabb.position = points[0].pos * p_scale;
@ -579,7 +579,7 @@ real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2
return p_mass * aabb.size.dot(aabb.size) / 12.0;
}
void ConvexPolygonShape2DSW::set_data(const Variant &p_data) {
void GodotConvexPolygonShape2D::set_data(const Variant &p_data) {
#ifdef REAL_T_IS_DOUBLE
ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY);
#else
@ -635,7 +635,7 @@ void ConvexPolygonShape2DSW::set_data(const Variant &p_data) {
configure(aabb);
}
Variant ConvexPolygonShape2DSW::get_data() const {
Variant GodotConvexPolygonShape2D::get_data() const {
Vector<Vector2> dvr;
dvr.resize(point_count);
@ -647,7 +647,7 @@ Variant ConvexPolygonShape2DSW::get_data() const {
return dvr;
}
ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() {
GodotConvexPolygonShape2D::~GodotConvexPolygonShape2D() {
if (points) {
memdelete_arr(points);
}
@ -655,7 +655,7 @@ ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() {
//////////////////////////////////////////////////
void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
void GodotConcavePolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
real_t d = -1e10;
int idx = -1;
for (int i = 0; i < points.size(); i++) {
@ -671,11 +671,11 @@ void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_s
*r_supports = points[idx];
}
bool ConcavePolygonShape2DSW::contains_point(const Vector2 &p_point) const {
bool GodotConcavePolygonShape2D::contains_point(const Vector2 &p_point) const {
return false; //sorry
}
bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
bool GodotConcavePolygonShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
if (segments.size() == 0 || points.size() == 0) {
return false;
}
@ -783,7 +783,7 @@ bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Ve
return inters;
}
int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) {
int GodotConcavePolygonShape2D::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) {
if (p_len == 1) {
bvh_depth = MAX(p_depth, bvh_depth);
bvh.push_back(*p_bvh);
@ -821,7 +821,7 @@ int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) {
return node_idx;
}
void ConcavePolygonShape2DSW::set_data(const Variant &p_data) {
void GodotConcavePolygonShape2D::set_data(const Variant &p_data) {
#ifdef REAL_T_IS_DOUBLE
ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY);
#else
@ -898,7 +898,7 @@ void ConcavePolygonShape2DSW::set_data(const Variant &p_data) {
configure(aabb);
}
Variant ConcavePolygonShape2DSW::get_data() const {
Variant GodotConcavePolygonShape2D::get_data() const {
Vector<Vector2> rsegments;
int len = segments.size();
rsegments.resize(len * 2);
@ -911,7 +911,7 @@ Variant ConcavePolygonShape2DSW::get_data() const {
return rsegments;
}
void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
void GodotConcavePolygonShape2D::cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
uint32_t *stack = (uint32_t *)alloca(sizeof(int) * bvh_depth);
enum {
@ -957,7 +957,7 @@ void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, QueryCallback p_ca
Vector2 a = pointptr[s.points[0]];
Vector2 b = pointptr[s.points[1]];
SegmentShape2DSW ss(a, b, (b - a).orthogonal().normalized());
GodotSegmentShape2D ss(a, b, (b - a).orthogonal().normalized());
if (p_callback(p_userdata, &ss)) {
return;

70
servers/physics_2d/shape_2d_sw.h → servers/physics_2d/godot_shape_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* shape_2d_sw.h */
/* godot_shape_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,29 +28,29 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SHAPE_2D_2DSW_H
#define SHAPE_2D_2DSW_H
#ifndef GODOT_SHAPE_2D_H
#define GODOT_SHAPE_2D_H
#include "servers/physics_server_2d.h"
#define _SEGMENT_IS_VALID_SUPPORT_THRESHOLD 0.99998
class Shape2DSW;
class GodotShape2D;
class ShapeOwner2DSW {
class GodotShapeOwner2D {
public:
virtual void _shape_changed() = 0;
virtual void remove_shape(Shape2DSW *p_shape) = 0;
virtual void remove_shape(GodotShape2D *p_shape) = 0;
virtual ~ShapeOwner2DSW() {}
virtual ~GodotShapeOwner2D() {}
};
class Shape2DSW {
class GodotShape2D {
RID self;
Rect2 aabb;
bool configured = false;
real_t custom_bias = 0.0;
Map<ShapeOwner2DSW *, int> owners;
Map<GodotShapeOwner2D *, int> owners;
protected:
void configure(const Rect2 &p_aabb);
@ -83,10 +83,10 @@ public:
_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
void add_owner(ShapeOwner2DSW *p_owner);
void remove_owner(ShapeOwner2DSW *p_owner);
bool is_owner(ShapeOwner2DSW *p_owner) const;
const Map<ShapeOwner2DSW *, int> &get_owners() const;
void add_owner(GodotShapeOwner2D *p_owner);
void remove_owner(GodotShapeOwner2D *p_owner);
bool is_owner(GodotShapeOwner2D *p_owner) const;
const Map<GodotShapeOwner2D *, int> &get_owners() const;
_FORCE_INLINE_ void get_supports_transformed_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_xform, Vector2 *r_supports, int &r_amount) const {
get_supports(p_xform.basis_xform_inv(p_normal).normalized(), r_supports, r_amount);
@ -121,8 +121,8 @@ public:
}
}
}
Shape2DSW() {}
virtual ~Shape2DSW();
GodotShape2D() {}
virtual ~GodotShape2D();
};
//let the optimizer do the magic
@ -141,7 +141,7 @@ public:
r_max = MAX(maxa, maxb); \
}
class WorldBoundaryShape2DSW : public Shape2DSW {
class GodotWorldBoundaryShape2D : public GodotShape2D {
Vector2 normal;
real_t d = 0.0;
@ -178,7 +178,7 @@ public:
}
};
class SeparationRayShape2DSW : public Shape2DSW {
class GodotSeparationRayShape2D : public GodotShape2D {
real_t length = 0.0;
bool slide_on_slope = false;
@ -211,11 +211,11 @@ public:
DEFAULT_PROJECT_RANGE_CAST
_FORCE_INLINE_ SeparationRayShape2DSW() {}
_FORCE_INLINE_ SeparationRayShape2DSW(real_t p_length) { length = p_length; }
_FORCE_INLINE_ GodotSeparationRayShape2D() {}
_FORCE_INLINE_ GodotSeparationRayShape2D(real_t p_length) { length = p_length; }
};
class SegmentShape2DSW : public Shape2DSW {
class GodotSegmentShape2D : public GodotShape2D {
Vector2 a;
Vector2 b;
Vector2 n;
@ -251,15 +251,15 @@ public:
DEFAULT_PROJECT_RANGE_CAST
_FORCE_INLINE_ SegmentShape2DSW() {}
_FORCE_INLINE_ SegmentShape2DSW(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) {
_FORCE_INLINE_ GodotSegmentShape2D() {}
_FORCE_INLINE_ GodotSegmentShape2D(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) {
a = p_a;
b = p_b;
n = p_n;
}
};
class CircleShape2DSW : public Shape2DSW {
class GodotCircleShape2D : public GodotShape2D {
real_t radius;
public:
@ -292,7 +292,7 @@ public:
DEFAULT_PROJECT_RANGE_CAST
};
class RectangleShape2DSW : public Shape2DSW {
class GodotRectangleShape2D : public GodotShape2D {
Vector2 half_extents;
public:
@ -336,7 +336,7 @@ public:
return (p_xform.xform(he) - p_circle).normalized();
}
_FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const RectangleShape2DSW *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const {
_FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const GodotRectangleShape2D *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const {
Vector2 a, b;
{
@ -364,7 +364,7 @@ public:
DEFAULT_PROJECT_RANGE_CAST
};
class CapsuleShape2DSW : public Shape2DSW {
class GodotCapsuleShape2D : public GodotShape2D {
real_t radius = 0.0;
real_t height = 0.0;
@ -405,7 +405,7 @@ public:
DEFAULT_PROJECT_RANGE_CAST
};
class ConvexPolygonShape2DSW : public Shape2DSW {
class GodotConvexPolygonShape2D : public GodotShape2D {
struct Point {
Vector2 pos;
Vector2 normal; //normal to next segment
@ -457,21 +457,21 @@ public:
DEFAULT_PROJECT_RANGE_CAST
ConvexPolygonShape2DSW() {}
~ConvexPolygonShape2DSW();
GodotConvexPolygonShape2D() {}
~GodotConvexPolygonShape2D();
};
class ConcaveShape2DSW : public Shape2DSW {
class GodotConcaveShape2D : public GodotShape2D {
public:
virtual bool is_concave() const override { return true; }
// Returns true to stop the query.
typedef bool (*QueryCallback)(void *p_userdata, Shape2DSW *p_convex);
typedef bool (*QueryCallback)(void *p_userdata, GodotShape2D *p_convex);
virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
};
class ConcavePolygonShape2DSW : public ConcaveShape2DSW {
class GodotConcavePolygonShape2D : public GodotConcaveShape2D {
struct Segment {
int points[2] = {};
};
@ -507,13 +507,13 @@ public:
virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override {
r_min = 0;
r_max = 0;
ERR_FAIL_MSG("Unsupported call to project_rangev in ConcavePolygonShape2DSW");
ERR_FAIL_MSG("Unsupported call to project_rangev in GodotConcavePolygonShape2D");
}
void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
r_min = 0;
r_max = 0;
ERR_FAIL_MSG("Unsupported call to project_range in ConcavePolygonShape2DSW");
ERR_FAIL_MSG("Unsupported call to project_range in GodotConcavePolygonShape2D");
}
virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
@ -533,4 +533,4 @@ public:
#undef DEFAULT_PROJECT_RANGE_CAST
#endif // SHAPE_2D_2DSW_H
#endif // GODOT_SHAPE_2D_H

247
servers/physics_2d/space_2d_sw.cpp → servers/physics_2d/godot_space_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* space_2d_sw.cpp */
/* godot_space_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,32 +28,33 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "space_2d_sw.h"
#include "godot_space_2d.h"
#include "godot_collision_solver_2d.h"
#include "godot_physics_server_2d.h"
#include "collision_solver_2d_sw.h"
#include "core/os/os.h"
#include "core/templates/pair.h"
#include "physics_server_2d_sw.h"
#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject2D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (!(p_object->get_collision_layer() & p_collision_mask)) {
return false;
}
if (p_object->get_type() == CollisionObject2DSW::TYPE_AREA && !p_collide_with_areas) {
if (p_object->get_type() == GodotCollisionObject2D::TYPE_AREA && !p_collide_with_areas) {
return false;
}
if (p_object->get_type() == CollisionObject2DSW::TYPE_BODY && !p_collide_with_bodies) {
if (p_object->get_type() == GodotCollisionObject2D::TYPE_BODY && !p_collide_with_bodies) {
return false;
}
return true;
}
int PhysicsDirectSpaceState2DSW::_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, ObjectID p_canvas_instance_id) {
int GodotPhysicsDirectSpaceState2D::_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, ObjectID p_canvas_instance_id) {
if (p_result_max <= 0) {
return 0;
}
@ -62,7 +63,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
aabb.position = p_point - Vector2(0.00001, 0.00001);
aabb.size = Vector2(0.00002, 0.00002);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int cc = 0;
@ -75,7 +76,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
continue;
}
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
if (p_pick_point && !col_obj->is_pickable()) {
continue;
@ -87,7 +88,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
int shape_idx = space->intersection_query_subindex_results[i];
Shape2DSW *shape = col_obj->get_shape(shape_idx);
GodotShape2D *shape = col_obj->get_shape(shape_idx);
Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point);
@ -112,15 +113,15 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
return cc;
}
int PhysicsDirectSpaceState2DSW::intersect_point(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) {
int GodotPhysicsDirectSpaceState2D::intersect_point(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) {
return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point);
}
int PhysicsDirectSpaceState2DSW::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
int GodotPhysicsDirectSpaceState2D::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point, true, p_canvas_instance_id);
}
bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
bool GodotPhysicsDirectSpaceState2D::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
ERR_FAIL_COND_V(space->locked, false);
Vector2 begin, end;
@ -129,14 +130,14 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec
end = p_to;
normal = (end - begin).normalized();
int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
//todo, create another array that references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
bool collided = false;
Vector2 res_point, res_normal;
int res_shape;
const CollisionObject2DSW *res_obj;
const GodotCollisionObject2D *res_obj;
real_t min_d = 1e10;
for (int i = 0; i < amount; i++) {
@ -148,7 +149,7 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec
continue;
}
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
@ -162,7 +163,7 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec
local_to = col_obj->get_inv_transform().xform(end);
local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/
const Shape2DSW *shape = col_obj->get_shape(shape_idx);
const GodotShape2D *shape = col_obj->get_shape(shape_idx);
Vector2 shape_point, shape_normal;
@ -199,18 +200,18 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec
return true;
}
int PhysicsDirectSpaceState2DSW::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
int GodotPhysicsDirectSpaceState2D::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0) {
return 0;
}
Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape);
GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, 0);
Rect2 aabb = p_xform.xform(shape->get_aabb());
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int cc = 0;
@ -227,10 +228,10 @@ int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Trans
continue;
}
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) {
if (!GodotCollisionSolver2D::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) {
continue;
}
@ -247,15 +248,15 @@ int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Trans
return cc;
}
bool PhysicsDirectSpaceState2DSW::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape);
bool GodotPhysicsDirectSpaceState2D::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, false);
Rect2 aabb = p_xform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
real_t best_safe = 1;
real_t best_unsafe = 1;
@ -269,17 +270,17 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
continue; //ignore excluded
}
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
if (!GodotCollisionSolver2D::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
continue;
}
//test initial overlap, ignore objects it's inside of.
if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
if (GodotCollisionSolver2D::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
continue;
}
@ -293,7 +294,7 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = mnormal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
bool collided = GodotCollisionSolver2D::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
if (collided) {
hi = fraction;
@ -330,38 +331,38 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
return true;
}
bool PhysicsDirectSpaceState2DSW::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
bool GodotPhysicsDirectSpaceState2D::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0) {
return false;
}
Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape);
GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, 0);
Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
bool collided = false;
r_result_count = 0;
PhysicsServer2DSW::CollCbkData cbk;
GodotPhysicsServer2D::CollCbkData cbk;
cbk.max = p_result_max;
cbk.amount = 0;
cbk.passed = 0;
cbk.ptr = r_results;
CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk;
GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk;
PhysicsServer2DSW::CollCbkData *cbkptr = &cbk;
GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) {
continue;
}
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
if (p_exclude.has(col_obj->get_self())) {
continue;
@ -372,7 +373,7 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
if (CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, nullptr, p_margin)) {
if (GodotCollisionSolver2D::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, nullptr, p_margin)) {
collided = cbk.amount > 0;
}
}
@ -383,8 +384,8 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &
}
struct _RestCallbackData2D {
const CollisionObject2DSW *object = nullptr;
const CollisionObject2DSW *best_object = nullptr;
const GodotCollisionObject2D *object = nullptr;
const GodotCollisionObject2D *best_object = nullptr;
int local_shape = 0;
int best_local_shape = 0;
int shape = 0;
@ -431,8 +432,8 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B,
rd->best_local_shape = rd->local_shape;
}
bool PhysicsDirectSpaceState2DSW::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape);
bool GodotPhysicsDirectSpaceState2D::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, 0);
real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
@ -441,7 +442,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
_RestCallbackData2D rcd;
rcd.best_len = 0;
@ -454,7 +455,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
continue;
}
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
if (p_exclude.has(col_obj->get_self())) {
continue;
@ -466,7 +467,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = 0;
bool sc = CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, p_margin);
bool sc = GodotCollisionSolver2D::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, p_margin);
if (!sc) {
continue;
}
@ -481,8 +482,8 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
r_info->normal = rcd.best_normal;
r_info->point = rcd.best_contact;
r_info->rid = rcd.best_object->get_self();
if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
if (rcd.best_object->get_type() == GodotCollisionObject2D::TYPE_BODY) {
const GodotBody2D *body = static_cast<const GodotBody2D *>(rcd.best_object);
Vector2 rel_vec = r_info->point - (body->get_transform().get_origin() + body->get_center_of_mass());
r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
@ -495,7 +496,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
////////////////////////////////////////////////////////////////////////////////////////////////////////////
int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
int GodotSpace2D::_cull_aabb_for_body(GodotBody2D *p_body, const Rect2 &p_aabb) {
int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results);
for (int i = 0; i < amount; i++) {
@ -503,11 +504,11 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
if (intersection_query_results[i] == p_body) {
keep = false;
} else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA) {
} else if (intersection_query_results[i]->get_type() == GodotCollisionObject2D::TYPE_AREA) {
keep = false;
} else if (!p_body->collides_with(static_cast<Body2DSW *>(intersection_query_results[i]))) {
} else if (!p_body->collides_with(static_cast<GodotBody2D *>(intersection_query_results[i]))) {
keep = false;
} else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
} else if (static_cast<GodotBody2D *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
keep = false;
}
@ -525,7 +526,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
return amount;
}
bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) {
bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@ -587,7 +588,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
Vector2 sr[max_results * 2];
do {
PhysicsServer2DSW::CollCbkData cbk;
GodotPhysicsServer2D::CollCbkData cbk;
cbk.max = max_results;
cbk.amount = 0;
cbk.passed = 0;
@ -595,8 +596,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
cbk.invalid_by_dir = 0;
excluded_shape_pair_count = 0; //last step is the one valid
PhysicsServer2DSW::CollCbkData *cbkptr = &cbk;
CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk;
GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk;
GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk;
bool collided = false;
@ -607,11 +608,11 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
continue;
}
Shape2DSW *body_shape = p_body->get_shape(j);
GodotShape2D *body_shape = p_body->get_shape(j);
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
const GodotCollisionObject2D *col_obj = intersection_query_results[i];
if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
@ -630,8 +631,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
cbk.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
cbk.invalid_by_dir = 0;
if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj);
if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) {
//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
Vector2 lv = b->get_linear_velocity();
@ -651,8 +652,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
int current_passed = cbk.passed; //save how many points passed collision
bool did_collide = false;
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) {
GodotShape2D *against_shape = col_obj->get_shape(shape_idx);
if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) {
did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
}
@ -727,13 +728,13 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
continue;
}
Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
GodotShape2D *body_shape = p_body->get_shape(body_shape_idx);
// Colliding separation rays allows to properly snap to the ground,
// otherwise it's not needed in regular motion.
if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY)) {
// When slide on slope is on, separation ray shape acts like a regular shape.
if (!static_cast<SeparationRayShape2DSW *>(body_shape)->get_slide_on_slope()) {
if (!static_cast<GodotSeparationRayShape2D *>(body_shape)->get_slide_on_slope()) {
continue;
}
}
@ -746,7 +747,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
real_t best_unsafe = 1;
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
const GodotCollisionObject2D *col_obj = intersection_query_results[i];
if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
@ -755,7 +756,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
}
int col_shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
GodotShape2D *against_shape = col_obj->get_shape(col_shape_idx);
bool excluded = false;
@ -772,12 +773,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx);
//test initial overlap, does it collide if going all the way?
if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
if (!GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
continue;
}
//test initial overlap
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
Vector2 direction = col_obj_shape_xform.get_axis(1).normalized();
if (motion_normal.dot(direction) < 0) {
@ -797,7 +798,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
real_t fraction = low + (hi - low) * fraction_coeff;
Vector2 sep = motion_normal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
if (collided) {
hi = fraction;
@ -824,7 +825,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
Vector2 cd[2];
PhysicsServer2DSW::CollCbkData cbk;
GodotPhysicsServer2D::CollCbkData cbk;
cbk.max = 1;
cbk.amount = 0;
cbk.passed = 0;
@ -834,7 +835,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
cbk.valid_depth = 10e20;
Vector2 sep = motion_normal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), PhysicsServer2DSW::_shape_col_cbk, &cbk, &sep, 0);
bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), GodotPhysicsServer2D::_shape_col_cbk, &cbk, &sep, 0);
if (!collided || cbk.amount == 0) {
continue;
}
@ -891,14 +892,14 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
}
Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape2DSW *body_shape = p_body->get_shape(j);
GodotShape2D *body_shape = p_body->get_shape(j);
body_aabb.position += p_parameters.motion * unsafe;
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
const GodotCollisionObject2D *col_obj = intersection_query_results[i];
if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
@ -908,7 +909,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
int shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
GodotShape2D *against_shape = col_obj->get_shape(shape_idx);
bool excluded = false;
for (int k = 0; k < excluded_shape_pair_count; k++) {
@ -929,8 +930,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
rcd.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj);
if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) {
//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
Vector2 lv = b->get_linear_velocity();
@ -949,7 +950,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = j;
bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
if (!sc) {
continue;
}
@ -968,7 +969,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
r_result->collision_safe_fraction = safe;
r_result->collision_unsafe_fraction = unsafe;
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
const GodotBody2D *body = static_cast<const GodotBody2D *>(rcd.best_object);
Vector2 rel_vec = r_result->collision_point - (body->get_transform().get_origin() + body->get_center_of_mass());
r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
@ -990,134 +991,134 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
return collided;
}
void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) {
void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self) {
if (!A->interacts_with(B)) {
return nullptr;
}
CollisionObject2DSW::Type type_A = A->get_type();
CollisionObject2DSW::Type type_B = B->get_type();
GodotCollisionObject2D::Type type_A = A->get_type();
GodotCollisionObject2D::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);
}
Space2DSW *self = (Space2DSW *)p_self;
GodotSpace2D *self = (GodotSpace2D *)p_self;
self->collision_pairs++;
if (type_A == CollisionObject2DSW::TYPE_AREA) {
Area2DSW *area = static_cast<Area2DSW *>(A);
if (type_B == CollisionObject2DSW::TYPE_AREA) {
Area2DSW *area_b = static_cast<Area2DSW *>(B);
Area2Pair2DSW *area2_pair = memnew(Area2Pair2DSW(area_b, p_subindex_B, area, p_subindex_A));
if (type_A == GodotCollisionObject2D::TYPE_AREA) {
GodotArea2D *area = static_cast<GodotArea2D *>(A);
if (type_B == GodotCollisionObject2D::TYPE_AREA) {
GodotArea2D *area_b = static_cast<GodotArea2D *>(B);
GodotArea2Pair2D *area2_pair = memnew(GodotArea2Pair2D(area_b, p_subindex_B, area, p_subindex_A));
return area2_pair;
} else {
Body2DSW *body = static_cast<Body2DSW *>(B);
AreaPair2DSW *area_pair = memnew(AreaPair2DSW(body, p_subindex_B, area, p_subindex_A));
GodotBody2D *body = static_cast<GodotBody2D *>(B);
GodotAreaPair2D *area_pair = memnew(GodotAreaPair2D(body, p_subindex_B, area, p_subindex_A));
return area_pair;
}
} else {
BodyPair2DSW *b = memnew(BodyPair2DSW((Body2DSW *)A, p_subindex_A, (Body2DSW *)B, p_subindex_B));
GodotBodyPair2D *b = memnew(GodotBodyPair2D((GodotBody2D *)A, p_subindex_A, (GodotBody2D *)B, p_subindex_B));
return b;
}
return nullptr;
}
void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self) {
void GodotSpace2D::_broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self) {
if (!p_data) {
return;
}
Space2DSW *self = (Space2DSW *)p_self;
GodotSpace2D *self = (GodotSpace2D *)p_self;
self->collision_pairs--;
Constraint2DSW *c = (Constraint2DSW *)p_data;
GodotConstraint2D *c = (GodotConstraint2D *)p_data;
memdelete(c);
}
const SelfList<Body2DSW>::List &Space2DSW::get_active_body_list() const {
const SelfList<GodotBody2D>::List &GodotSpace2D::get_active_body_list() const {
return active_list;
}
void Space2DSW::body_add_to_active_list(SelfList<Body2DSW> *p_body) {
void GodotSpace2D::body_add_to_active_list(SelfList<GodotBody2D> *p_body) {
active_list.add(p_body);
}
void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) {
void GodotSpace2D::body_remove_from_active_list(SelfList<GodotBody2D> *p_body) {
active_list.remove(p_body);
}
void Space2DSW::body_add_to_mass_properties_update_list(SelfList<Body2DSW> *p_body) {
void GodotSpace2D::body_add_to_mass_properties_update_list(SelfList<GodotBody2D> *p_body) {
mass_properties_update_list.add(p_body);
}
void Space2DSW::body_remove_from_mass_properties_update_list(SelfList<Body2DSW> *p_body) {
void GodotSpace2D::body_remove_from_mass_properties_update_list(SelfList<GodotBody2D> *p_body) {
mass_properties_update_list.remove(p_body);
}
BroadPhase2DSW *Space2DSW::get_broadphase() {
GodotBroadPhase2D *GodotSpace2D::get_broadphase() {
return broadphase;
}
void Space2DSW::add_object(CollisionObject2DSW *p_object) {
void GodotSpace2D::add_object(GodotCollisionObject2D *p_object) {
ERR_FAIL_COND(objects.has(p_object));
objects.insert(p_object);
}
void Space2DSW::remove_object(CollisionObject2DSW *p_object) {
void GodotSpace2D::remove_object(GodotCollisionObject2D *p_object) {
ERR_FAIL_COND(!objects.has(p_object));
objects.erase(p_object);
}
const Set<CollisionObject2DSW *> &Space2DSW::get_objects() const {
const Set<GodotCollisionObject2D *> &GodotSpace2D::get_objects() const {
return objects;
}
void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW> *p_body) {
void GodotSpace2D::body_add_to_state_query_list(SelfList<GodotBody2D> *p_body) {
state_query_list.add(p_body);
}
void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW> *p_body) {
void GodotSpace2D::body_remove_from_state_query_list(SelfList<GodotBody2D> *p_body) {
state_query_list.remove(p_body);
}
void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area) {
void GodotSpace2D::area_add_to_monitor_query_list(SelfList<GodotArea2D> *p_area) {
monitor_query_list.add(p_area);
}
void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area) {
void GodotSpace2D::area_remove_from_monitor_query_list(SelfList<GodotArea2D> *p_area) {
monitor_query_list.remove(p_area);
}
void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW> *p_area) {
void GodotSpace2D::area_add_to_moved_list(SelfList<GodotArea2D> *p_area) {
area_moved_list.add(p_area);
}
void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW> *p_area) {
void GodotSpace2D::area_remove_from_moved_list(SelfList<GodotArea2D> *p_area) {
area_moved_list.remove(p_area);
}
const SelfList<Area2DSW>::List &Space2DSW::get_moved_area_list() const {
const SelfList<GodotArea2D>::List &GodotSpace2D::get_moved_area_list() const {
return area_moved_list;
}
void Space2DSW::call_queries() {
void GodotSpace2D::call_queries() {
while (state_query_list.first()) {
Body2DSW *b = state_query_list.first()->self();
GodotBody2D *b = state_query_list.first()->self();
state_query_list.remove(state_query_list.first());
b->call_queries();
}
while (monitor_query_list.first()) {
Area2DSW *a = monitor_query_list.first()->self();
GodotArea2D *a = monitor_query_list.first()->self();
monitor_query_list.remove(monitor_query_list.first());
a->call_queries();
}
}
void Space2DSW::setup() {
void GodotSpace2D::setup() {
contact_debug_count = 0;
while (mass_properties_update_list.first()) {
@ -1126,11 +1127,11 @@ void Space2DSW::setup() {
}
}
void Space2DSW::update() {
void GodotSpace2D::update() {
broadphase->update();
}
void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value) {
void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
contact_recycle_radius = p_value;
@ -1156,7 +1157,7 @@ void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_valu
}
}
real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const {
real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const {
switch (p_param) {
case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
return contact_recycle_radius;
@ -1176,37 +1177,37 @@ real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const {
return 0;
}
void Space2DSW::lock() {
void GodotSpace2D::lock() {
locked = true;
}
void Space2DSW::unlock() {
void GodotSpace2D::unlock() {
locked = false;
}
bool Space2DSW::is_locked() const {
bool GodotSpace2D::is_locked() const {
return locked;
}
PhysicsDirectSpaceState2DSW *Space2DSW::get_direct_state() {
GodotPhysicsDirectSpaceState2D *GodotSpace2D::get_direct_state() {
return direct_access;
}
Space2DSW::Space2DSW() {
GodotSpace2D::GodotSpace2D() {
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg2rad(8.0));
body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
broadphase = BroadPhase2DSW::create_func();
broadphase = GodotBroadPhase2D::create_func();
broadphase->set_pair_callback(_broadphase_pair, this);
broadphase->set_unpair_callback(_broadphase_unpair, this);
direct_access = memnew(PhysicsDirectSpaceState2DSW);
direct_access = memnew(GodotPhysicsDirectSpaceState2D);
direct_access->space = this;
}
Space2DSW::~Space2DSW() {
GodotSpace2D::~GodotSpace2D() {
memdelete(broadphase);
memdelete(direct_access);
}

107
servers/physics_2d/space_2d_sw.h → servers/physics_2d/godot_space_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* space_2d_sw.h */
/* godot_space_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,26 +28,27 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SPACE_2D_SW_H
#define SPACE_2D_SW_H
#ifndef GODOT_SPACE_2D_H
#define GODOT_SPACE_2D_H
#include "godot_area_2d.h"
#include "godot_area_pair_2d.h"
#include "godot_body_2d.h"
#include "godot_body_pair_2d.h"
#include "godot_broad_phase_2d.h"
#include "godot_collision_object_2d.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);
class GodotPhysicsDirectSpaceState2D : public PhysicsDirectSpaceState2D {
GDCLASS(GodotPhysicsDirectSpaceState2D, 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;
GodotSpace2D *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;
@ -57,10 +58,10 @@ public:
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() {}
GodotPhysicsDirectSpaceState2D() {}
};
class Space2DSW {
class GodotSpace2D {
public:
enum ElapsedTime {
ELAPSED_TIME_INTEGRATE_FORCES,
@ -74,29 +75,29 @@ public:
private:
struct ExcludedShapeSW {
Shape2DSW *local_shape = nullptr;
const CollisionObject2DSW *against_object = nullptr;
GodotShape2D *local_shape = nullptr;
const GodotCollisionObject2D *against_object = nullptr;
int against_shape_index = 0;
};
uint64_t elapsed_time[ELAPSED_TIME_MAX] = {};
PhysicsDirectSpaceState2DSW *direct_access = nullptr;
GodotPhysicsDirectSpaceState2D *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;
GodotBroadPhase2D *broadphase;
SelfList<GodotBody2D>::List active_list;
SelfList<GodotBody2D>::List mass_properties_update_list;
SelfList<GodotBody2D>::List state_query_list;
SelfList<GodotArea2D>::List monitor_query_list;
SelfList<GodotArea2D>::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);
static void *_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self);
static void _broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self);
Set<CollisionObject2DSW *> objects;
Set<GodotCollisionObject2D *> objects;
Area2DSW *area = nullptr;
GodotArea2D *area = nullptr;
real_t contact_recycle_radius = 1.0;
real_t contact_max_separation = 1.5;
@ -107,7 +108,7 @@ private:
INTERSECTION_QUERY_MAX = 2048
};
CollisionObject2DSW *intersection_query_results[INTERSECTION_QUERY_MAX];
GodotCollisionObject2D *intersection_query_results[INTERSECTION_QUERY_MAX];
int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
real_t body_linear_velocity_sleep_threshold = 0.0;
@ -122,40 +123,40 @@ private:
int active_objects = 0;
int collision_pairs = 0;
int _cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb);
int _cull_aabb_for_body(GodotBody2D *p_body, const Rect2 &p_aabb);
Vector<Vector2> contact_debug;
int contact_debug_count = 0;
friend class PhysicsDirectSpaceState2DSW;
friend class GodotPhysicsDirectSpaceState2D;
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; }
void set_default_area(GodotArea2D *p_area) { area = p_area; }
GodotArea2D *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;
const SelfList<GodotBody2D>::List &get_active_body_list() const;
void body_add_to_active_list(SelfList<GodotBody2D> *p_body);
void body_remove_from_active_list(SelfList<GodotBody2D> *p_body);
void body_add_to_mass_properties_update_list(SelfList<GodotBody2D> *p_body);
void body_remove_from_mass_properties_update_list(SelfList<GodotBody2D> *p_body);
void area_add_to_moved_list(SelfList<GodotArea2D> *p_area);
void area_remove_from_moved_list(SelfList<GodotArea2D> *p_area);
const SelfList<GodotArea2D>::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 body_add_to_state_query_list(SelfList<GodotBody2D> *p_body);
void body_remove_from_state_query_list(SelfList<GodotBody2D> *p_body);
void area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area);
void area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area);
void area_add_to_monitor_query_list(SelfList<GodotArea2D> *p_area);
void area_remove_from_monitor_query_list(SelfList<GodotArea2D> *p_area);
BroadPhase2DSW *get_broadphase();
GodotBroadPhase2D *get_broadphase();
void add_object(CollisionObject2DSW *p_object);
void remove_object(CollisionObject2DSW *p_object);
const Set<CollisionObject2DSW *> &get_objects() const;
void add_object(GodotCollisionObject2D *p_object);
void remove_object(GodotCollisionObject2D *p_object);
const Set<GodotCollisionObject2D *> &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; }
@ -187,7 +188,7 @@ public:
int get_collision_pairs() const { return collision_pairs; }
bool test_body_motion(Body2DSW *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result);
bool test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result);
void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); }
@ -199,13 +200,13 @@ public:
_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();
GodotPhysicsDirectSpaceState2D *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();
GodotSpace2D();
~GodotSpace2D();
};
#endif // SPACE_2D_SW_H
#endif // GODOT_SPACE_2D_H

72
servers/physics_2d/step_2d_sw.cpp → servers/physics_2d/godot_step_2d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* step_2d_sw.cpp */
/* godot_step_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,7 +28,7 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "step_2d_sw.h"
#include "godot_step_2d.h"
#include "core/os/os.h"
@ -38,7 +38,7 @@
#define ISLAND_SIZE_RESERVE 512
#define CONSTRAINT_COUNT_RESERVE 1024
void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island) {
void GodotStep2D::_populate_island(GodotBody2D *p_body, LocalVector<GodotBody2D *> &p_body_island, LocalVector<GodotConstraint2D *> &p_constraint_island) {
p_body->set_island_step(_step);
if (p_body->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) {
@ -46,8 +46,8 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_bod
p_body_island.push_back(p_body);
}
for (const Pair<Constraint2DSW *, int> &E : p_body->get_constraint_list()) {
Constraint2DSW *constraint = (Constraint2DSW *)E.first;
for (const Pair<GodotConstraint2D *, int> &E : p_body->get_constraint_list()) {
GodotConstraint2D *constraint = (GodotConstraint2D *)E.first;
if (constraint->get_island_step() == _step) {
continue; // Already processed.
}
@ -59,7 +59,7 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_bod
if (i == E.second) {
continue;
}
Body2DSW *other_body = constraint->get_body_ptr()[i];
GodotBody2D *other_body = constraint->get_body_ptr()[i];
if (other_body->get_island_step() == _step) {
continue; // Already processed.
}
@ -71,16 +71,16 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_bod
}
}
void Step2DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
Constraint2DSW *constraint = all_constraints[p_constraint_index];
void GodotStep2D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
GodotConstraint2D *constraint = all_constraints[p_constraint_index];
constraint->setup(delta);
}
void Step2DSW::_pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island) const {
void GodotStep2D::_pre_solve_island(LocalVector<GodotConstraint2D *> &p_constraint_island) const {
uint32_t constraint_count = p_constraint_island.size();
uint32_t valid_constraint_count = 0;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint2DSW *constraint = p_constraint_island[constraint_index];
GodotConstraint2D *constraint = p_constraint_island[constraint_index];
if (p_constraint_island[constraint_index]->pre_solve(delta)) {
// Keep this constraint for solving.
p_constraint_island[valid_constraint_count++] = constraint;
@ -89,8 +89,8 @@ void Step2DSW::_pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_isl
p_constraint_island.resize(valid_constraint_count);
}
void Step2DSW::_solve_island(uint32_t p_island_index, void *p_userdata) const {
const LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[p_island_index];
void GodotStep2D::_solve_island(uint32_t p_island_index, void *p_userdata) const {
const LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[p_island_index];
for (int i = 0; i < iterations; i++) {
uint32_t constraint_count = constraint_island.size();
@ -100,12 +100,12 @@ void Step2DSW::_solve_island(uint32_t p_island_index, void *p_userdata) const {
}
}
void Step2DSW::_check_suspend(LocalVector<Body2DSW *> &p_body_island) const {
void GodotStep2D::_check_suspend(LocalVector<GodotBody2D *> &p_body_island) const {
bool can_sleep = true;
uint32_t body_count = p_body_island.size();
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body2DSW *body = p_body_island[body_index];
GodotBody2D *body = p_body_island[body_index];
if (!body->sleep_test(delta)) {
can_sleep = false;
@ -114,7 +114,7 @@ void Step2DSW::_check_suspend(LocalVector<Body2DSW *> &p_body_island) const {
// Put all to sleep or wake up everyone.
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body2DSW *body = p_body_island[body_index];
GodotBody2D *body = p_body_island[body_index];
bool active = body->is_active();
@ -124,7 +124,7 @@ void Step2DSW::_check_suspend(LocalVector<Body2DSW *> &p_body_island) const {
}
}
void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
void GodotStep2D::step(GodotSpace2D *p_space, real_t p_delta, int p_iterations) {
p_space->lock(); // can't access space during this
p_space->setup(); //update inertias, etc
@ -134,7 +134,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
iterations = p_iterations;
delta = p_delta;
const SelfList<Body2DSW>::List *body_list = &p_space->get_active_body_list();
const SelfList<GodotBody2D>::List *body_list = &p_space->get_active_body_list();
/* INTEGRATE FORCES */
@ -143,7 +143,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
int active_count = 0;
const SelfList<Body2DSW> *b = body_list->first();
const SelfList<GodotBody2D> *b = body_list->first();
while (b) {
b->self()->integrate_forces(p_delta);
b = b->next();
@ -154,7 +154,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
@ -162,11 +162,11 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
uint32_t island_count = 0;
const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list();
const SelfList<GodotArea2D>::List &aml = p_space->get_moved_area_list();
while (aml.first()) {
for (const Set<Constraint2DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
Constraint2DSW *constraint = E->get();
for (const Set<GodotConstraint2D *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
GodotConstraint2D *constraint = E->get();
if (constraint->get_island_step() == _step) {
continue;
}
@ -177,13 +177,13 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
all_constraints.push_back(constraint);
constraint_island.push_back(constraint);
}
p_space->area_remove_from_moved_list((SelfList<Area2DSW> *)aml.first()); //faster to remove here
p_space->area_remove_from_moved_list((SelfList<GodotArea2D> *)aml.first()); //faster to remove here
}
/* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */
@ -193,14 +193,14 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
uint32_t body_island_count = 0;
while (b) {
Body2DSW *body = b->self();
GodotBody2D *body = b->self();
if (body->get_island_step() != _step) {
++body_island_count;
if (body_islands.size() < body_island_count) {
body_islands.resize(body_island_count);
}
LocalVector<Body2DSW *> &body_island = body_islands[body_island_count - 1];
LocalVector<GodotBody2D *> &body_island = body_islands[body_island_count - 1];
body_island.clear();
body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
@ -208,7 +208,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.reserve(ISLAND_SIZE_RESERVE);
@ -229,18 +229,18 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
/* SETUP CONSTRAINTS / PROCESS COLLISIONS */
uint32_t total_contraint_count = all_constraints.size();
work_pool.do_work(total_contraint_count, this, &Step2DSW::_setup_contraint, nullptr);
work_pool.do_work(total_contraint_count, this, &GodotStep2D::_setup_contraint, nullptr);
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
@ -256,14 +256,14 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
// Warning: _solve_island modifies the constraint islands for optimization purpose,
// their content is not reliable after these calls and shouldn't be used anymore.
if (island_count > 1) {
work_pool.do_work(island_count, this, &Step2DSW::_solve_island, nullptr);
work_pool.do_work(island_count, this, &GodotStep2D::_solve_island, nullptr);
} else if (island_count > 0) {
_solve_island(0);
}
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
@ -271,7 +271,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
b = body_list->first();
while (b) {
const SelfList<Body2DSW> *n = b->next();
const SelfList<GodotBody2D> *n = b->next();
b->self()->integrate_velocities(p_delta);
b = n; // in case it shuts itself down
}
@ -284,7 +284,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
//profile_begtime=profile_endtime;
}
@ -295,7 +295,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
_step++;
}
Step2DSW::Step2DSW() {
GodotStep2D::GodotStep2D() {
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
@ -303,6 +303,6 @@ Step2DSW::Step2DSW() {
work_pool.init();
}
Step2DSW::~Step2DSW() {
GodotStep2D::~GodotStep2D() {
work_pool.finish();
}

30
servers/physics_2d/step_2d_sw.h → servers/physics_2d/godot_step_2d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* step_2d_sw.h */
/* godot_step_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,15 +28,15 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef STEP_2D_SW_H
#define STEP_2D_SW_H
#ifndef GODOT_STEP_2D_H
#define GODOT_STEP_2D_H
#include "space_2d_sw.h"
#include "godot_space_2d.h"
#include "core/templates/local_vector.h"
#include "core/templates/thread_work_pool.h"
class Step2DSW {
class GodotStep2D {
uint64_t _step = 1;
int iterations = 0;
@ -44,20 +44,20 @@ class Step2DSW {
ThreadWorkPool work_pool;
LocalVector<LocalVector<Body2DSW *>> body_islands;
LocalVector<LocalVector<Constraint2DSW *>> constraint_islands;
LocalVector<Constraint2DSW *> all_constraints;
LocalVector<LocalVector<GodotBody2D *>> body_islands;
LocalVector<LocalVector<GodotConstraint2D *>> constraint_islands;
LocalVector<GodotConstraint2D *> all_constraints;
void _populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island);
void _populate_island(GodotBody2D *p_body, LocalVector<GodotBody2D *> &p_body_island, LocalVector<GodotConstraint2D *> &p_constraint_island);
void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
void _pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island) const;
void _pre_solve_island(LocalVector<GodotConstraint2D *> &p_constraint_island) const;
void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr) const;
void _check_suspend(LocalVector<Body2DSW *> &p_body_island) const;
void _check_suspend(LocalVector<GodotBody2D *> &p_body_island) const;
public:
void step(Space2DSW *p_space, real_t p_delta, int p_iterations);
Step2DSW();
~Step2DSW();
void step(GodotSpace2D *p_space, real_t p_delta, int p_iterations);
GodotStep2D();
~GodotStep2D();
};
#endif // STEP_2D_SW_H
#endif // GODOT_STEP_2D_H

1349
servers/physics_2d/physics_server_2d_sw.cpp
View File

File diff suppressed because it is too large Load Diff

28
servers/physics_3d/gjk_epa.cpp
View File

@ -105,7 +105,7 @@ typedef unsigned char U1;
// MinkowskiDiff
struct MinkowskiDiff {
const Shape3DSW* m_shapes[2];
const GodotShape3D* m_shapes[2];
Transform3D transform_A;
Transform3D transform_B;
@ -113,10 +113,10 @@ struct MinkowskiDiff {
real_t margin_A = 0.0;
real_t margin_B = 0.0;
Vector3 (*get_support)(const Shape3DSW*, const Vector3&, real_t);
Vector3 (*get_support)(const GodotShape3D*, const Vector3&, real_t);
void Initialize(const Shape3DSW* shape0, const Transform3D& wtrs0, const real_t margin0,
const Shape3DSW* shape1, const Transform3D& wtrs1, const real_t margin1) {
void Initialize(const GodotShape3D* shape0, const Transform3D& wtrs0, const real_t margin0,
const GodotShape3D* shape1, const Transform3D& wtrs1, const real_t margin1) {
m_shapes[0] = shape0;
m_shapes[1] = shape1;
transform_A = wtrs0;
@ -131,11 +131,11 @@ struct MinkowskiDiff {
}
}
static Vector3 get_support_without_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) {
static Vector3 get_support_without_margin(const GodotShape3D* p_shape, const Vector3& p_dir, real_t p_margin) {
return p_shape->get_support(p_dir.normalized());
}
static Vector3 get_support_with_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) {
static Vector3 get_support_with_margin(const GodotShape3D* p_shape, const Vector3& p_dir, real_t p_margin) {
Vector3 local_dir_norm = p_dir;
if (local_dir_norm.length_squared() < CMP_EPSILON2) {
local_dir_norm = Vector3(-1.0, -1.0, -1.0);
@ -862,8 +862,8 @@ struct GJK
};
//
static void Initialize( const Shape3DSW* shape0, const Transform3D& wtrs0, real_t margin0,
const Shape3DSW* shape1, const Transform3D& wtrs1, real_t margin1,
static void Initialize( const GodotShape3D* shape0, const Transform3D& wtrs0, real_t margin0,
const GodotShape3D* shape1, const Transform3D& wtrs1, real_t margin1,
sResults& results,
tShape& shape)
{
@ -884,10 +884,10 @@ struct GJK
//
//
bool Distance( const Shape3DSW* shape0,
bool Distance( const GodotShape3D* shape0,
const Transform3D& wtrs0,
real_t margin0,
const Shape3DSW* shape1,
const GodotShape3D* shape1,
const Transform3D& wtrs1,
real_t margin1,
const Vector3& guess,
@ -925,10 +925,10 @@ bool Distance( const Shape3DSW* shape0,
//
bool Penetration( const Shape3DSW* shape0,
bool Penetration( const GodotShape3D* shape0,
const Transform3D& wtrs0,
real_t margin0,
const Shape3DSW* shape1,
const GodotShape3D* shape1,
const Transform3D& wtrs1,
real_t margin1,
const Vector3& guess,
@ -993,7 +993,7 @@ bool Penetration( const Shape3DSW* shape0,
/* clang-format on */
bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) {
bool gjk_epa_calculate_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) {
GjkEpa2::sResults res;
if (GjkEpa2::Distance(p_shape_A, p_transform_A, 0.0, p_shape_B, p_transform_B, 0.0, p_transform_B.origin - p_transform_A.origin, res)) {
@ -1005,7 +1005,7 @@ bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p
return false;
}
bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) {
bool gjk_epa_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) {
GjkEpa2::sResults res;
if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_margin_A, p_shape_B, p_transform_B, p_margin_B, p_transform_B.origin - p_transform_A.origin, res)) {

8
servers/physics_3d/gjk_epa.h
View File

@ -31,10 +31,10 @@
#ifndef GJK_EPA_H
#define GJK_EPA_H
#include "collision_solver_3d_sw.h"
#include "shape_3d_sw.h"
#include "godot_collision_solver_3d.h"
#include "godot_shape_3d.h"
bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, real_t p_margin_A = 0.0, real_t p_margin_B = 0.0);
bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B);
bool gjk_epa_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, real_t p_margin_A = 0.0, real_t p_margin_B = 0.0);
bool gjk_epa_calculate_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B);
#endif

47
servers/physics_3d/area_3d_sw.cpp → servers/physics_3d/godot_area_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* area_3d_sw.cpp */
/* godot_area_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,39 +28,40 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "area_3d_sw.h"
#include "body_3d_sw.h"
#include "soft_body_3d_sw.h"
#include "space_3d_sw.h"
#include "godot_area_3d.h"
Area3DSW::BodyKey::BodyKey(SoftBody3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
#include "godot_body_3d.h"
#include "godot_soft_body_3d.h"
#include "godot_space_3d.h"
GodotArea3D::BodyKey::BodyKey(GodotSoftBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
rid = p_body->get_self();
instance_id = p_body->get_instance_id();
body_shape = p_body_shape;
area_shape = p_area_shape;
}
Area3DSW::BodyKey::BodyKey(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
GodotArea3D::BodyKey::BodyKey(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
rid = p_body->get_self();
instance_id = p_body->get_instance_id();
body_shape = p_body_shape;
area_shape = p_area_shape;
}
Area3DSW::BodyKey::BodyKey(Area3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
GodotArea3D::BodyKey::BodyKey(GodotArea3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
rid = p_body->get_self();
instance_id = p_body->get_instance_id();
body_shape = p_body_shape;
area_shape = p_area_shape;
}
void Area3DSW::_shapes_changed() {
void GodotArea3D::_shapes_changed() {
if (!moved_list.in_list() && get_space()) {
get_space()->area_add_to_moved_list(&moved_list);
}
}
void Area3DSW::set_transform(const Transform3D &p_transform) {
void GodotArea3D::set_transform(const Transform3D &p_transform) {
if (!moved_list.in_list() && get_space()) {
get_space()->area_add_to_moved_list(&moved_list);
}
@ -69,7 +70,7 @@ void Area3DSW::set_transform(const Transform3D &p_transform) {
_set_inv_transform(p_transform.affine_inverse());
}
void Area3DSW::set_space(Space3DSW *p_space) {
void GodotArea3D::set_space(GodotSpace3D *p_space) {
if (get_space()) {
if (monitor_query_list.in_list()) {
get_space()->area_remove_from_monitor_query_list(&monitor_query_list);
@ -85,7 +86,7 @@ void Area3DSW::set_space(Space3DSW *p_space) {
_set_space(p_space);
}
void Area3DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
void GodotArea3D::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
if (p_id == monitor_callback_id) {
monitor_callback_method = p_method;
return;
@ -106,7 +107,7 @@ void Area3DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
}
}
void Area3DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) {
void GodotArea3D::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) {
if (p_id == area_monitor_callback_id) {
area_monitor_callback_method = p_method;
return;
@ -127,7 +128,7 @@ void Area3DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_meth
}
}
void Area3DSW::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_mode) {
void GodotArea3D::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_mode) {
bool do_override = p_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
if (do_override == (space_override_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED)) {
return;
@ -137,7 +138,7 @@ void Area3DSW::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_
_shape_changed();
}
void Area3DSW::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) {
void GodotArea3D::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) {
switch (p_param) {
case PhysicsServer3D::AREA_PARAM_GRAVITY:
gravity = p_value;
@ -180,7 +181,7 @@ void Area3DSW::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &
}
}
Variant Area3DSW::get_param(PhysicsServer3D::AreaParameter p_param) const {
Variant GodotArea3D::get_param(PhysicsServer3D::AreaParameter p_param) const {
switch (p_param) {
case PhysicsServer3D::AREA_PARAM_GRAVITY:
return gravity;
@ -211,7 +212,7 @@ Variant Area3DSW::get_param(PhysicsServer3D::AreaParameter p_param) const {
return Variant();
}
void Area3DSW::_queue_monitor_update() {
void GodotArea3D::_queue_monitor_update() {
ERR_FAIL_COND(!get_space());
if (!monitor_query_list.in_list()) {
@ -219,7 +220,7 @@ void Area3DSW::_queue_monitor_update() {
}
}
void Area3DSW::set_monitorable(bool p_monitorable) {
void GodotArea3D::set_monitorable(bool p_monitorable) {
if (monitorable == p_monitorable) {
return;
}
@ -228,7 +229,7 @@ void Area3DSW::set_monitorable(bool p_monitorable) {
_set_static(!monitorable);
}
void Area3DSW::call_queries() {
void GodotArea3D::call_queries() {
if (monitor_callback_id.is_valid() && !monitored_bodies.is_empty()) {
Variant res[5];
Variant *resptr[5];
@ -304,7 +305,7 @@ void Area3DSW::call_queries() {
}
}
void Area3DSW::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const {
void GodotArea3D::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const {
if (is_gravity_point()) {
const real_t gravity_distance_scale = get_gravity_distance_scale();
Vector3 v = get_transform().xform(get_gravity_vector()) - p_position;
@ -324,13 +325,13 @@ void Area3DSW::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) co
}
}
Area3DSW::Area3DSW() :
CollisionObject3DSW(TYPE_AREA),
GodotArea3D::GodotArea3D() :
GodotCollisionObject3D(TYPE_AREA),
monitor_query_list(this),
moved_list(this) {
_set_static(true); //areas are never active
set_ray_pickable(false);
}
Area3DSW::~Area3DSW() {
GodotArea3D::~GodotArea3D() {
}

73
servers/physics_3d/area_3d_sw.h → servers/physics_3d/godot_area_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* area_3d_sw.h */
/* godot_area_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,19 +28,20 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef AREA_SW_H
#define AREA_SW_H
#ifndef GODOT_AREA_3D_H
#define GODOT_AREA_3D_H
#include "godot_collision_object_3d.h"
#include "collision_object_3d_sw.h"
#include "core/templates/self_list.h"
#include "servers/physics_server_3d.h"
class Space3DSW;
class Body3DSW;
class SoftBody3DSW;
class Constraint3DSW;
class GodotSpace3D;
class GodotBody3D;
class GodotSoftBody3D;
class GodotConstraint3D;
class Area3DSW : public CollisionObject3DSW {
class GodotArea3D : public GodotCollisionObject3D {
PhysicsServer3D::AreaSpaceOverrideMode space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
real_t gravity = 9.80665;
Vector3 gravity_vector = Vector3(0, -1, 0);
@ -62,8 +63,8 @@ class Area3DSW : public CollisionObject3DSW {
ObjectID area_monitor_callback_id;
StringName area_monitor_callback_method;
SelfList<Area3DSW> monitor_query_list;
SelfList<Area3DSW> moved_list;
SelfList<GodotArea3D> monitor_query_list;
SelfList<GodotArea3D> moved_list;
struct BodyKey {
RID rid;
@ -84,9 +85,9 @@ class Area3DSW : public CollisionObject3DSW {
}
_FORCE_INLINE_ BodyKey() {}
BodyKey(SoftBody3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
BodyKey(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
BodyKey(Area3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
BodyKey(GodotSoftBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
BodyKey(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
BodyKey(GodotArea3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
};
struct BodyState {
@ -99,7 +100,7 @@ class Area3DSW : public CollisionObject3DSW {
Map<BodyKey, BodyState> monitored_bodies;
Map<BodyKey, BodyState> monitored_areas;
Set<Constraint3DSW *> constraints;
Set<GodotConstraint3D *> constraints;
virtual void _shapes_changed();
void _queue_monitor_update();
@ -111,14 +112,14 @@ public:
void set_area_monitor_callback(ObjectID p_id, const StringName &p_method);
_FORCE_INLINE_ bool has_area_monitor_callback() const { return area_monitor_callback_id.is_valid(); }
_FORCE_INLINE_ void add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void add_body_to_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void remove_body_from_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void add_soft_body_to_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void remove_soft_body_from_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape);
_FORCE_INLINE_ void add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
_FORCE_INLINE_ void remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
_FORCE_INLINE_ void add_area_to_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
_FORCE_INLINE_ void remove_area_from_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
void set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value);
Variant get_param(PhysicsServer3D::AreaParameter p_param) const;
@ -162,9 +163,9 @@ public:
_FORCE_INLINE_ void set_wind_direction(const Vector3 &p_wind_direction) { wind_direction = p_wind_direction; }
_FORCE_INLINE_ const Vector3 &get_wind_direction() const { return wind_direction; }
_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); }
_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); }
_FORCE_INLINE_ const Set<Constraint3DSW *> &get_constraints() const { return constraints; }
_FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint) { constraints.insert(p_constraint); }
_FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraints.erase(p_constraint); }
_FORCE_INLINE_ const Set<GodotConstraint3D *> &get_constraints() const { return constraints; }
_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
void set_monitorable(bool p_monitorable);
@ -172,17 +173,17 @@ public:
void set_transform(const Transform3D &p_transform);
void set_space(Space3DSW *p_space);
void set_space(GodotSpace3D *p_space);
void call_queries();
void compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const;
Area3DSW();
~Area3DSW();
GodotArea3D();
~GodotArea3D();
};
void Area3DSW::add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) {
void GodotArea3D::add_soft_body_to_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) {
BodyKey bk(p_soft_body, p_soft_body_shape, p_area_shape);
monitored_soft_bodies[bk].inc();
if (!monitor_query_list.in_list()) {
@ -190,7 +191,7 @@ void Area3DSW::add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft
}
}
void Area3DSW::remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) {
void GodotArea3D::remove_soft_body_from_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) {
BodyKey bk(p_soft_body, p_soft_body_shape, p_area_shape);
monitored_soft_bodies[bk].dec();
if (!monitor_query_list.in_list()) {
@ -198,7 +199,7 @@ void Area3DSW::remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p
}
}
void Area3DSW::add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
void GodotArea3D::add_body_to_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
BodyKey bk(p_body, p_body_shape, p_area_shape);
monitored_bodies[bk].inc();
if (!monitor_query_list.in_list()) {
@ -206,7 +207,7 @@ void Area3DSW::add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32
}
}
void Area3DSW::remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
void GodotArea3D::remove_body_from_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
BodyKey bk(p_body, p_body_shape, p_area_shape);
monitored_bodies[bk].dec();
if (!monitor_query_list.in_list()) {
@ -214,7 +215,7 @@ void Area3DSW::remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, u
}
}
void Area3DSW::add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
void GodotArea3D::add_area_to_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
BodyKey bk(p_area, p_area_shape, p_self_shape);
monitored_areas[bk].inc();
if (!monitor_query_list.in_list()) {
@ -222,7 +223,7 @@ void Area3DSW::add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32
}
}
void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
void GodotArea3D::remove_area_from_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
BodyKey bk(p_area, p_area_shape, p_self_shape);
monitored_areas[bk].dec();
if (!monitor_query_list.in_list()) {
@ -231,15 +232,15 @@ void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, u
}
struct AreaCMP {
Area3DSW *area = nullptr;
GodotArea3D *area = nullptr;
int refCount = 0;
_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
_FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
_FORCE_INLINE_ AreaCMP() {}
_FORCE_INLINE_ AreaCMP(Area3DSW *p_area) {
_FORCE_INLINE_ AreaCMP(GodotArea3D *p_area) {
area = p_area;
refCount = 1;
}
};
#endif // AREA__SW_H
#endif // GODOT_AREA_3D_H

43
servers/physics_3d/area_pair_3d_sw.cpp → servers/physics_3d/godot_area_pair_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* area_pair_3d_sw.cpp */
/* godot_area_pair_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,12 +28,13 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "area_pair_3d_sw.h"
#include "collision_solver_3d_sw.h"
#include "godot_area_pair_3d.h"
bool AreaPair3DSW::setup(real_t p_step) {
#include "godot_collision_solver_3d.h"
bool GodotAreaPair3D::setup(real_t p_step) {
bool result = false;
if (area->collides_with(body) && CollisionSolver3DSW::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) {
if (area->collides_with(body) && GodotCollisionSolver3D::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) {
result = true;
}
@ -51,7 +52,7 @@ bool AreaPair3DSW::setup(real_t p_step) {
return process_collision;
}
bool AreaPair3DSW::pre_solve(real_t p_step) {
bool GodotAreaPair3D::pre_solve(real_t p_step) {
if (!process_collision) {
return false;
}
@ -77,11 +78,11 @@ bool AreaPair3DSW::pre_solve(real_t p_step) {
return false; // Never do any post solving.
}
void AreaPair3DSW::solve(real_t p_step) {
void GodotAreaPair3D::solve(real_t p_step) {
// Nothing to do.
}
AreaPair3DSW::AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, int p_area_shape) {
GodotAreaPair3D::GodotAreaPair3D(GodotBody3D *p_body, int p_body_shape, GodotArea3D *p_area, int p_area_shape) {
body = p_body;
area = p_area;
body_shape = p_body_shape;
@ -93,7 +94,7 @@ AreaPair3DSW::AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area,
}
}
AreaPair3DSW::~AreaPair3DSW() {
GodotAreaPair3D::~GodotAreaPair3D() {
if (colliding) {
if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
body->remove_area(area);
@ -108,10 +109,10 @@ AreaPair3DSW::~AreaPair3DSW() {
////////////////////////////////////////////////////
bool Area2Pair3DSW::setup(real_t p_step) {
bool GodotArea2Pair3D::setup(real_t p_step) {
bool result_a = area_a->collides_with(area_b);
bool result_b = area_b->collides_with(area_a);
if ((result_a || result_b) && !CollisionSolver3DSW::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) {
if ((result_a || result_b) && !GodotCollisionSolver3D::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) {
result_a = false;
result_b = false;
}
@ -139,7 +140,7 @@ bool Area2Pair3DSW::setup(real_t p_step) {
return process_collision;
}
bool Area2Pair3DSW::pre_solve(real_t p_step) {
bool GodotArea2Pair3D::pre_solve(real_t p_step) {
if (process_collision_a) {
if (colliding_a) {
area_a->add_area_to_query(area_b, shape_b, shape_a);
@ -159,11 +160,11 @@ bool Area2Pair3DSW::pre_solve(real_t p_step) {
return false; // Never do any post solving.
}
void Area2Pair3DSW::solve(real_t p_step) {
void GodotArea2Pair3D::solve(real_t p_step) {
// Nothing to do.
}
Area2Pair3DSW::Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area_b, int p_shape_b) {
GodotArea2Pair3D::GodotArea2Pair3D(GodotArea3D *p_area_a, int p_shape_a, GodotArea3D *p_area_b, int p_shape_b) {
area_a = p_area_a;
area_b = p_area_b;
shape_a = p_shape_a;
@ -172,7 +173,7 @@ Area2Pair3DSW::Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area
area_b->add_constraint(this);
}
Area2Pair3DSW::~Area2Pair3DSW() {
GodotArea2Pair3D::~GodotArea2Pair3D() {
if (colliding_a) {
if (area_a->has_area_monitor_callback()) {
area_a->remove_area_from_query(area_b, shape_b, shape_a);
@ -191,11 +192,11 @@ Area2Pair3DSW::~Area2Pair3DSW() {
////////////////////////////////////////////////////
bool AreaSoftBodyPair3DSW::setup(real_t p_step) {
bool GodotAreaSoftBodyPair3D::setup(real_t p_step) {
bool result = false;
if (
area->collides_with(soft_body) &&
CollisionSolver3DSW::solve_static(
GodotCollisionSolver3D::solve_static(
soft_body->get_shape(soft_body_shape),
soft_body->get_transform() * soft_body->get_shape_transform(soft_body_shape),
area->get_shape(area_shape),
@ -219,7 +220,7 @@ bool AreaSoftBodyPair3DSW::setup(real_t p_step) {
return process_collision;
}
bool AreaSoftBodyPair3DSW::pre_solve(real_t p_step) {
bool GodotAreaSoftBodyPair3D::pre_solve(real_t p_step) {
if (!process_collision) {
return false;
}
@ -245,11 +246,11 @@ bool AreaSoftBodyPair3DSW::pre_solve(real_t p_step) {
return false; // Never do any post solving.
}
void AreaSoftBodyPair3DSW::solve(real_t p_step) {
void GodotAreaSoftBodyPair3D::solve(real_t p_step) {
// Nothing to do.
}
AreaSoftBodyPair3DSW::AreaSoftBodyPair3DSW(SoftBody3DSW *p_soft_body, int p_soft_body_shape, Area3DSW *p_area, int p_area_shape) {
GodotAreaSoftBodyPair3D::GodotAreaSoftBodyPair3D(GodotSoftBody3D *p_soft_body, int p_soft_body_shape, GodotArea3D *p_area, int p_area_shape) {
soft_body = p_soft_body;
area = p_area;
soft_body_shape = p_soft_body_shape;
@ -258,7 +259,7 @@ AreaSoftBodyPair3DSW::AreaSoftBodyPair3DSW(SoftBody3DSW *p_soft_body, int p_soft
area->add_constraint(this);
}
AreaSoftBodyPair3DSW::~AreaSoftBodyPair3DSW() {
GodotAreaSoftBodyPair3D::~GodotAreaSoftBodyPair3D() {
if (colliding) {
if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
soft_body->remove_area(area);

46
servers/physics_3d/area_pair_3d_sw.h → servers/physics_3d/godot_area_pair_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* area_pair_3d_sw.h */
/* godot_area_pair_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,17 +28,17 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef AREA_PAIR_SW_H
#define AREA_PAIR_SW_H
#ifndef GODOT_AREA_PAIR_3D_H
#define GODOT_AREA_PAIR_3D_H
#include "area_3d_sw.h"
#include "body_3d_sw.h"
#include "constraint_3d_sw.h"
#include "soft_body_3d_sw.h"
#include "godot_area_3d.h"
#include "godot_body_3d.h"
#include "godot_constraint_3d.h"
#include "godot_soft_body_3d.h"
class AreaPair3DSW : public Constraint3DSW {
Body3DSW *body;
Area3DSW *area;
class GodotAreaPair3D : public GodotConstraint3D {
GodotBody3D *body;
GodotArea3D *area;
int body_shape;
int area_shape;
bool colliding = false;
@ -49,13 +49,13 @@ public:
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, int p_area_shape);
~AreaPair3DSW();
GodotAreaPair3D(GodotBody3D *p_body, int p_body_shape, GodotArea3D *p_area, int p_area_shape);
~GodotAreaPair3D();
};
class Area2Pair3DSW : public Constraint3DSW {
Area3DSW *area_a;
Area3DSW *area_b;
class GodotArea2Pair3D : public GodotConstraint3D {
GodotArea3D *area_a;
GodotArea3D *area_b;
int shape_a;
int shape_b;
bool colliding_a = false;
@ -68,13 +68,13 @@ public:
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area_b, int p_shape_b);
~Area2Pair3DSW();
GodotArea2Pair3D(GodotArea3D *p_area_a, int p_shape_a, GodotArea3D *p_area_b, int p_shape_b);
~GodotArea2Pair3D();
};
class AreaSoftBodyPair3DSW : public Constraint3DSW {
SoftBody3DSW *soft_body;
Area3DSW *area;
class GodotAreaSoftBodyPair3D : public GodotConstraint3D {
GodotSoftBody3D *soft_body;
GodotArea3D *area;
int soft_body_shape;
int area_shape;
bool colliding = false;
@ -85,8 +85,8 @@ public:
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
AreaSoftBodyPair3DSW(SoftBody3DSW *p_sof_body, int p_soft_body_shape, Area3DSW *p_area, int p_area_shape);
~AreaSoftBodyPair3DSW();
GodotAreaSoftBodyPair3D(GodotSoftBody3D *p_sof_body, int p_soft_body_shape, GodotArea3D *p_area, int p_area_shape);
~GodotAreaSoftBodyPair3D();
};
#endif // AREA_PAIR__SW_H
#endif // GODOT_AREA_PAIR_3D_H

111
servers/physics_3d/body_3d_sw.cpp → servers/physics_3d/godot_body_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_3d_sw.cpp */
/* godot_body_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,19 +28,19 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "body_3d_sw.h"
#include "godot_body_3d.h"
#include "area_3d_sw.h"
#include "body_direct_state_3d_sw.h"
#include "space_3d_sw.h"
#include "godot_area_3d.h"
#include "godot_body_direct_state_3d.h"
#include "godot_space_3d.h"
void Body3DSW::_mass_properties_changed() {
void GodotBody3D::_mass_properties_changed() {
if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) {
get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list);
}
}
void Body3DSW::_update_transform_dependant() {
void GodotBody3D::_update_transform_dependant() {
center_of_mass = get_transform().basis.xform(center_of_mass_local);
principal_inertia_axes = get_transform().basis * principal_inertia_axes_local;
@ -52,7 +52,7 @@ void Body3DSW::_update_transform_dependant() {
_inv_inertia_tensor = tb * diag * tbt;
}
void Body3DSW::update_mass_properties() {
void GodotBody3D::update_mass_properties() {
// Update shapes and motions.
switch (mode) {
@ -106,7 +106,7 @@ void Body3DSW::update_mass_properties() {
inertia_set = true;
const Shape3DSW *shape = get_shape(i);
const GodotShape3D *shape = get_shape(i);
real_t mass = area * this->mass / total_area;
@ -164,13 +164,13 @@ void Body3DSW::update_mass_properties() {
_update_transform_dependant();
}
void Body3DSW::reset_mass_properties() {
void GodotBody3D::reset_mass_properties() {
calculate_inertia = true;
calculate_center_of_mass = true;
_mass_properties_changed();
}
void Body3DSW::set_active(bool p_active) {
void GodotBody3D::set_active(bool p_active) {
if (active == p_active) {
return;
}
@ -189,7 +189,7 @@ void Body3DSW::set_active(bool p_active) {
}
}
void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value) {
void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value) {
switch (p_param) {
case PhysicsServer3D::BODY_PARAM_BOUNCE: {
bounce = p_value;
@ -240,7 +240,7 @@ void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &
}
}
Variant Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const {
Variant GodotBody3D::get_param(PhysicsServer3D::BodyParameter p_param) const {
switch (p_param) {
case PhysicsServer3D::BODY_PARAM_BOUNCE: {
return bounce;
@ -278,7 +278,7 @@ Variant Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const {
return 0;
}
void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) {
void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
PhysicsServer3D::BodyMode prev = mode;
mode = p_mode;
@ -321,15 +321,15 @@ void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) {
}
}
PhysicsServer3D::BodyMode Body3DSW::get_mode() const {
PhysicsServer3D::BodyMode GodotBody3D::get_mode() const {
return mode;
}
void Body3DSW::_shapes_changed() {
void GodotBody3D::_shapes_changed() {
_mass_properties_changed();
}
void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
void GodotBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
switch (p_state) {
case PhysicsServer3D::BODY_STATE_TRANSFORM: {
if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
@ -395,7 +395,7 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
}
}
Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
Variant GodotBody3D::get_state(PhysicsServer3D::BodyState p_state) const {
switch (p_state) {
case PhysicsServer3D::BODY_STATE_TRANSFORM: {
return get_transform();
@ -417,7 +417,7 @@ Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
return Variant();
}
void Body3DSW::set_space(Space3DSW *p_space) {
void GodotBody3D::set_space(GodotSpace3D *p_space) {
if (get_space()) {
if (mass_properties_update_list.in_list()) {
get_space()->body_remove_from_mass_properties_update_list(&mass_properties_update_list);
@ -440,7 +440,7 @@ void Body3DSW::set_space(Space3DSW *p_space) {
}
}
void Body3DSW::_compute_area_gravity_and_damping(const Area3DSW *p_area) {
void GodotBody3D::_compute_area_gravity_and_damping(const GodotArea3D *p_area) {
Vector3 area_gravity;
p_area->compute_gravity(get_transform().get_origin(), area_gravity);
gravity += area_gravity;
@ -449,7 +449,7 @@ void Body3DSW::_compute_area_gravity_and_damping(const Area3DSW *p_area) {
area_angular_damp += p_area->get_angular_damp();
}
void Body3DSW::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
void GodotBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
if (lock) {
locked_axis |= p_axis;
} else {
@ -457,17 +457,16 @@ void Body3DSW::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
}
}
bool Body3DSW::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
bool GodotBody3D::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
return locked_axis & p_axis;
}
void Body3DSW::integrate_forces(real_t p_step) {
void GodotBody3D::integrate_forces(real_t p_step) {
if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
return;
}
Area3DSW *def_area = get_space()->get_default_area();
// AreaSW *damp_area = def_area;
GodotArea3D *def_area = get_space()->get_default_area();
ERR_FAIL_COND(!def_area);
@ -591,7 +590,7 @@ void Body3DSW::integrate_forces(real_t p_step) {
contact_count = 0;
}
void Body3DSW::integrate_velocities(real_t p_step) {
void GodotBody3D::integrate_velocities(real_t p_step) {
if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
return;
}
@ -655,49 +654,17 @@ void Body3DSW::integrate_velocities(real_t p_step) {
_update_transform_dependant();
}
/*
void BodySW::simulate_motion(const Transform3D& p_xform,real_t p_step) {
Transform3D inv_xform = p_xform.affine_inverse();
if (!get_space()) {
_set_transform(p_xform);
_set_inv_transform(inv_xform);
return;
}
//compute a FAKE linear velocity - this is easy
linear_velocity=(p_xform.origin - get_transform().origin)/p_step;
//compute a FAKE angular velocity, not so easy
Basis rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
Vector3 axis;
real_t angle;
rot.get_axis_angle(axis,angle);
axis.normalize();
angular_velocity=axis.normalized() * (angle/p_step);
linear_velocity = (p_xform.origin - get_transform().origin)/p_step;
if (!direct_state_query_list.in_list())// - callalways, so lv and av are cleared && (state_query || direct_state_query))
get_space()->body_add_to_state_query_list(&direct_state_query_list);
simulated_motion=true;
_set_transform(p_xform);
}
*/
void Body3DSW::wakeup_neighbours() {
for (const KeyValue<Constraint3DSW *, int> &E : constraint_map) {
const Constraint3DSW *c = E.key;
Body3DSW **n = c->get_body_ptr();
void GodotBody3D::wakeup_neighbours() {
for (const KeyValue<GodotConstraint3D *, int> &E : constraint_map) {
const GodotConstraint3D *c = E.key;
GodotBody3D **n = c->get_body_ptr();
int bc = c->get_body_count();
for (int i = 0; i < bc; i++) {
if (i == E.value) {
continue;
}
Body3DSW *b = n[i];
GodotBody3D *b = n[i];
if (b->mode < PhysicsServer3D::BODY_MODE_DYNAMIC) {
continue;
}
@ -709,7 +676,7 @@ void Body3DSW::wakeup_neighbours() {
}
}
void Body3DSW::call_queries() {
void GodotBody3D::call_queries() {
if (fi_callback_data) {
if (!fi_callback_data->callable.get_object()) {
set_force_integration_callback(Callable());
@ -729,7 +696,7 @@ void Body3DSW::call_queries() {
}
}
bool Body3DSW::sleep_test(real_t p_step) {
bool GodotBody3D::sleep_test(real_t p_step) {
if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
return true;
} else if (!can_sleep) {
@ -746,12 +713,12 @@ bool Body3DSW::sleep_test(real_t p_step) {
}
}
void Body3DSW::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) {
void GodotBody3D::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) {
body_state_callback_instance = p_instance;
body_state_callback = p_callback;
}
void Body3DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
void GodotBody3D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
if (p_callable.get_object()) {
if (!fi_callback_data) {
fi_callback_data = memnew(ForceIntegrationCallbackData);
@ -764,23 +731,23 @@ void Body3DSW::set_force_integration_callback(const Callable &p_callable, const
}
}
PhysicsDirectBodyState3DSW *Body3DSW::get_direct_state() {
GodotPhysicsDirectBodyState3D *GodotBody3D::get_direct_state() {
if (!direct_state) {
direct_state = memnew(PhysicsDirectBodyState3DSW);
direct_state = memnew(GodotPhysicsDirectBodyState3D);
direct_state->body = this;
}
return direct_state;
}
Body3DSW::Body3DSW() :
CollisionObject3DSW(TYPE_BODY),
GodotBody3D::GodotBody3D() :
GodotCollisionObject3D(TYPE_BODY),
active_list(this),
mass_properties_update_list(this),
direct_state_query_list(this) {
_set_static(false);
}
Body3DSW::~Body3DSW() {
GodotBody3D::~GodotBody3D() {
if (fi_callback_data) {
memdelete(fi_callback_data);
}

53
servers/physics_3d/body_3d_sw.h → servers/physics_3d/godot_body_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_3d_sw.h */
/* godot_body_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,17 +28,18 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BODY_3D_SW_H
#define BODY_3D_SW_H
#ifndef GODOT_BODY_3D_H
#define GODOT_BODY_3D_H
#include "godot_area_3d.h"
#include "godot_collision_object_3d.h"
#include "area_3d_sw.h"
#include "collision_object_3d_sw.h"
#include "core/templates/vset.h"
class Constraint3DSW;
class PhysicsDirectBodyState3DSW;
class GodotConstraint3D;
class GodotPhysicsDirectBodyState3D;
class Body3DSW : public CollisionObject3DSW {
class GodotBody3D : public GodotCollisionObject3D {
PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
Vector3 linear_velocity;
@ -85,9 +86,9 @@ class Body3DSW : public CollisionObject3DSW {
real_t area_angular_damp = 0.0;
real_t area_linear_damp = 0.0;
SelfList<Body3DSW> active_list;
SelfList<Body3DSW> mass_properties_update_list;
SelfList<Body3DSW> direct_state_query_list;
SelfList<GodotBody3D> active_list;
SelfList<GodotBody3D> mass_properties_update_list;
SelfList<GodotBody3D> direct_state_query_list;
VSet<RID> exceptions;
bool omit_force_integration = false;
@ -101,7 +102,7 @@ class Body3DSW : public CollisionObject3DSW {
virtual void _shapes_changed();
Transform3D new_transform;
Map<Constraint3DSW *, int> constraint_map;
Map<GodotConstraint3D *, int> constraint_map;
Vector<AreaCMP> areas;
@ -130,23 +131,23 @@ class Body3DSW : public CollisionObject3DSW {
ForceIntegrationCallbackData *fi_callback_data = nullptr;
PhysicsDirectBodyState3DSW *direct_state = nullptr;
GodotPhysicsDirectBodyState3D *direct_state = nullptr;
uint64_t island_step = 0;
_FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area3DSW *p_area);
_FORCE_INLINE_ void _compute_area_gravity_and_damping(const GodotArea3D *p_area);
_FORCE_INLINE_ void _update_transform_dependant();
friend class PhysicsDirectBodyState3DSW; // i give up, too many functions to expose
friend class GodotPhysicsDirectBodyState3D; // i give up, too many functions to expose
public:
void set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback);
void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
PhysicsDirectBodyState3DSW *get_direct_state();
GodotPhysicsDirectBodyState3D *get_direct_state();
_FORCE_INLINE_ void add_area(Area3DSW *p_area) {
_FORCE_INLINE_ void add_area(GodotArea3D *p_area) {
int index = areas.find(AreaCMP(p_area));
if (index > -1) {
areas.write[index].refCount += 1;
@ -155,7 +156,7 @@ public:
}
}
_FORCE_INLINE_ void remove_area(Area3DSW *p_area) {
_FORCE_INLINE_ void remove_area(GodotArea3D *p_area) {
int index = areas.find(AreaCMP(p_area));
if (index > -1) {
areas.write[index].refCount -= 1;
@ -185,9 +186,9 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraint_map.erase(p_constraint); }
const Map<Constraint3DSW *, int> &get_constraint_map() const { return constraint_map; }
_FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
_FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraint_map.erase(p_constraint); }
const Map<GodotConstraint3D *, int> &get_constraint_map() const { return constraint_map; }
_FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); }
_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
@ -275,7 +276,7 @@ public:
_FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; }
_FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; }
void set_space(Space3DSW *p_space);
void set_space(GodotSpace3D *p_space);
void update_mass_properties();
void reset_mass_properties();
@ -317,13 +318,13 @@ public:
bool sleep_test(real_t p_step);
Body3DSW();
~Body3DSW();
GodotBody3D();
~GodotBody3D();
};
//add contact inline
void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) {
void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) {
int c_max = contacts.size();
if (c_max == 0) {
@ -365,4 +366,4 @@ void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_no
c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
}
#endif // BODY_3D_SW_H
#endif // GODOT_BODY_3D_H

78
servers/physics_3d/body_direct_state_3d_sw.cpp → servers/physics_3d/godot_body_direct_state_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_direct_state_3d_sw.cpp */
/* godot_body_direct_state_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,163 +28,163 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "body_direct_state_3d_sw.h"
#include "godot_body_direct_state_3d.h"
#include "body_3d_sw.h"
#include "space_3d_sw.h"
#include "godot_body_3d.h"
#include "godot_space_3d.h"
Vector3 PhysicsDirectBodyState3DSW::get_total_gravity() const {
Vector3 GodotPhysicsDirectBodyState3D::get_total_gravity() const {
return body->gravity;
}
real_t PhysicsDirectBodyState3DSW::get_total_angular_damp() const {
real_t GodotPhysicsDirectBodyState3D::get_total_angular_damp() const {
return body->area_angular_damp;
}
real_t PhysicsDirectBodyState3DSW::get_total_linear_damp() const {
real_t GodotPhysicsDirectBodyState3D::get_total_linear_damp() const {
return body->area_linear_damp;
}
Vector3 PhysicsDirectBodyState3DSW::get_center_of_mass() const {
Vector3 GodotPhysicsDirectBodyState3D::get_center_of_mass() const {
return body->get_center_of_mass();
}
Basis PhysicsDirectBodyState3DSW::get_principal_inertia_axes() const {
Basis GodotPhysicsDirectBodyState3D::get_principal_inertia_axes() const {
return body->get_principal_inertia_axes();
}
real_t PhysicsDirectBodyState3DSW::get_inverse_mass() const {
real_t GodotPhysicsDirectBodyState3D::get_inverse_mass() const {
return body->get_inv_mass();
}
Vector3 PhysicsDirectBodyState3DSW::get_inverse_inertia() const {
Vector3 GodotPhysicsDirectBodyState3D::get_inverse_inertia() const {
return body->get_inv_inertia();
}
Basis PhysicsDirectBodyState3DSW::get_inverse_inertia_tensor() const {
Basis GodotPhysicsDirectBodyState3D::get_inverse_inertia_tensor() const {
return body->get_inv_inertia_tensor();
}
void PhysicsDirectBodyState3DSW::set_linear_velocity(const Vector3 &p_velocity) {
void GodotPhysicsDirectBodyState3D::set_linear_velocity(const Vector3 &p_velocity) {
body->wakeup();
body->set_linear_velocity(p_velocity);
}
Vector3 PhysicsDirectBodyState3DSW::get_linear_velocity() const {
Vector3 GodotPhysicsDirectBodyState3D::get_linear_velocity() const {
return body->get_linear_velocity();
}
void PhysicsDirectBodyState3DSW::set_angular_velocity(const Vector3 &p_velocity) {
void GodotPhysicsDirectBodyState3D::set_angular_velocity(const Vector3 &p_velocity) {
body->wakeup();
body->set_angular_velocity(p_velocity);
}
Vector3 PhysicsDirectBodyState3DSW::get_angular_velocity() const {
Vector3 GodotPhysicsDirectBodyState3D::get_angular_velocity() const {
return body->get_angular_velocity();
}
void PhysicsDirectBodyState3DSW::set_transform(const Transform3D &p_transform) {
void GodotPhysicsDirectBodyState3D::set_transform(const Transform3D &p_transform) {
body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform);
}
Transform3D PhysicsDirectBodyState3DSW::get_transform() const {
Transform3D GodotPhysicsDirectBodyState3D::get_transform() const {
return body->get_transform();
}
Vector3 PhysicsDirectBodyState3DSW::get_velocity_at_local_position(const Vector3 &p_position) const {
Vector3 GodotPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const {
return body->get_velocity_in_local_point(p_position);
}
void PhysicsDirectBodyState3DSW::add_central_force(const Vector3 &p_force) {
void GodotPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
body->wakeup();
body->add_central_force(p_force);
}
void PhysicsDirectBodyState3DSW::add_force(const Vector3 &p_force, const Vector3 &p_position) {
void GodotPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
body->wakeup();
body->add_force(p_force, p_position);
}
void PhysicsDirectBodyState3DSW::add_torque(const Vector3 &p_torque) {
void GodotPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) {
body->wakeup();
body->add_torque(p_torque);
}
void PhysicsDirectBodyState3DSW::apply_central_impulse(const Vector3 &p_impulse) {
void GodotPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) {
body->wakeup();
body->apply_central_impulse(p_impulse);
}
void PhysicsDirectBodyState3DSW::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
void GodotPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
body->wakeup();
body->apply_impulse(p_impulse, p_position);
}
void PhysicsDirectBodyState3DSW::apply_torque_impulse(const Vector3 &p_impulse) {
void GodotPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) {
body->wakeup();
body->apply_torque_impulse(p_impulse);
}
void PhysicsDirectBodyState3DSW::set_sleep_state(bool p_sleep) {
void GodotPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) {
body->set_active(!p_sleep);
}
bool PhysicsDirectBodyState3DSW::is_sleeping() const {
bool GodotPhysicsDirectBodyState3D::is_sleeping() const {
return !body->is_active();
}
int PhysicsDirectBodyState3DSW::get_contact_count() const {
int GodotPhysicsDirectBodyState3D::get_contact_count() const {
return body->contact_count;
}
Vector3 PhysicsDirectBodyState3DSW::get_contact_local_position(int p_contact_idx) const {
Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_pos;
}
Vector3 PhysicsDirectBodyState3DSW::get_contact_local_normal(int p_contact_idx) const {
Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].local_normal;
}
real_t PhysicsDirectBodyState3DSW::get_contact_impulse(int p_contact_idx) const {
real_t GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
return 0.0f; // Only implemented for bullet
}
int PhysicsDirectBodyState3DSW::get_contact_local_shape(int p_contact_idx) const {
int GodotPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
return body->contacts[p_contact_idx].local_shape;
}
RID PhysicsDirectBodyState3DSW::get_contact_collider(int p_contact_idx) const {
RID GodotPhysicsDirectBodyState3D::get_contact_collider(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
return body->contacts[p_contact_idx].collider;
}
Vector3 PhysicsDirectBodyState3DSW::get_contact_collider_position(int p_contact_idx) const {
Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].collider_pos;
}
ObjectID PhysicsDirectBodyState3DSW::get_contact_collider_id(int p_contact_idx) const {
ObjectID GodotPhysicsDirectBodyState3D::get_contact_collider_id(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID());
return body->contacts[p_contact_idx].collider_instance_id;
}
int PhysicsDirectBodyState3DSW::get_contact_collider_shape(int p_contact_idx) const {
int GodotPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
return body->contacts[p_contact_idx].collider_shape;
}
Vector3 PhysicsDirectBodyState3DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const {
Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
return body->contacts[p_contact_idx].collider_velocity_at_pos;
}
PhysicsDirectSpaceState3D *PhysicsDirectBodyState3DSW::get_space_state() {
PhysicsDirectSpaceState3D *GodotPhysicsDirectBodyState3D::get_space_state() {
return body->get_space()->get_direct_state();
}
real_t PhysicsDirectBodyState3DSW::get_step() const {
real_t GodotPhysicsDirectBodyState3D::get_step() const {
return body->get_space()->get_last_step();
}

16
servers/physics_3d/body_direct_state_3d_sw.h → servers/physics_3d/godot_body_direct_state_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_direct_state_3d_sw.h */
/* godot_body_direct_state_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,18 +28,18 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BODY_DIRECT_STATE_3D_SW_H
#define BODY_DIRECT_STATE_3D_SW_H
#ifndef GODOT_BODY_DIRECT_STATE_3D_H
#define GODOT_BODY_DIRECT_STATE_3D_H
#include "servers/physics_server_3d.h"
class Body3DSW;
class GodotBody3D;
class PhysicsDirectBodyState3DSW : public PhysicsDirectBodyState3D {
GDCLASS(PhysicsDirectBodyState3DSW, PhysicsDirectBodyState3D);
class GodotPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
GDCLASS(GodotPhysicsDirectBodyState3D, PhysicsDirectBodyState3D);
public:
Body3DSW *body = nullptr;
GodotBody3D *body = nullptr;
virtual Vector3 get_total_gravity() const override;
virtual real_t get_total_angular_damp() const override;
@ -91,4 +91,4 @@ public:
virtual real_t get_step() const override;
};
#endif // BODY_DIRECT_STATE_3D_SW_H
#endif // GODOT_BODY_DIRECT_STATE_3D_H

73
servers/physics_3d/body_pair_3d_sw.cpp → servers/physics_3d/godot_body_pair_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_pair_3d_sw.cpp */
/* godot_body_pair_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,11 +28,12 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "body_pair_3d_sw.h"
#include "godot_body_pair_3d.h"
#include "godot_collision_solver_3d.h"
#include "godot_space_3d.h"
#include "collision_solver_3d_sw.h"
#include "core/os/os.h"
#include "space_3d_sw.h"
/*
#define NO_ACCUMULATE_IMPULSES
@ -49,12 +50,12 @@
#define MIN_VELOCITY 0.0001
#define MAX_BIAS_ROTATION (Math_PI / 8)
void BodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
BodyPair3DSW *pair = (BodyPair3DSW *)p_userdata;
void GodotBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
GodotBodyPair3D *pair = (GodotBodyPair3D *)p_userdata;
pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B);
}
void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
// check if we already have the contact
//Vector3 local_A = A->get_inv_transform().xform(p_point_A);
@ -135,7 +136,7 @@ void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_
}
}
void BodyPair3DSW::validate_contacts() {
void GodotBodyPair3D::validate_contacts() {
//make sure to erase contacts that are no longer valid
real_t contact_max_separation = space->get_contact_max_separation();
@ -161,7 +162,7 @@ void BodyPair3DSW::validate_contacts() {
}
}
bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform3D &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform3D &p_xform_B) {
bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_B) {
Vector3 motion = p_A->get_linear_velocity() * p_step;
real_t mlen = motion.length();
if (mlen < CMP_EPSILON) {
@ -203,15 +204,15 @@ bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const
return true;
}
real_t combine_bounce(Body3DSW *A, Body3DSW *B) {
real_t combine_bounce(GodotBody3D *A, GodotBody3D *B) {
return CLAMP(A->get_bounce() + B->get_bounce(), 0, 1);
}
real_t combine_friction(Body3DSW *A, Body3DSW *B) {
real_t combine_friction(GodotBody3D *A, GodotBody3D *B) {
return ABS(MIN(A->get_friction(), B->get_friction()));
}
bool BodyPair3DSW::setup(real_t p_step) {
bool GodotBodyPair3D::setup(real_t p_step) {
if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
collided = false;
return false;
@ -242,10 +243,10 @@ bool BodyPair3DSW::setup(real_t p_step) {
xform_Bu.origin -= offset_A;
Transform3D xform_B = xform_Bu * B->get_shape_transform(shape_B);
Shape3DSW *shape_A_ptr = A->get_shape(shape_A);
Shape3DSW *shape_B_ptr = B->get_shape(shape_B);
GodotShape3D *shape_A_ptr = A->get_shape(shape_A);
GodotShape3D *shape_B_ptr = B->get_shape(shape_B);
collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
collided = GodotCollisionSolver3D::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
if (!collided) {
//test ccd (currently just a raycast)
@ -264,7 +265,7 @@ bool BodyPair3DSW::setup(real_t p_step) {
return true;
}
bool BodyPair3DSW::pre_solve(real_t p_step) {
bool GodotBodyPair3D::pre_solve(real_t p_step) {
if (!collided) {
return false;
}
@ -273,8 +274,8 @@ bool BodyPair3DSW::pre_solve(real_t p_step) {
real_t bias = (real_t)0.3;
Shape3DSW *shape_A_ptr = A->get_shape(shape_A);
Shape3DSW *shape_B_ptr = B->get_shape(shape_B);
GodotShape3D *shape_A_ptr = A->get_shape(shape_A);
GodotShape3D *shape_B_ptr = B->get_shape(shape_B);
if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
if (shape_A_ptr->get_custom_bias() == 0) {
@ -380,7 +381,7 @@ bool BodyPair3DSW::pre_solve(real_t p_step) {
return do_process;
}
void BodyPair3DSW::solve(real_t p_step) {
void GodotBodyPair3D::solve(real_t p_step) {
if (!collided) {
return;
}
@ -523,8 +524,8 @@ void BodyPair3DSW::solve(real_t p_step) {
}
}
BodyPair3DSW::BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B) :
BodyContact3DSW(_arr, 2) {
GodotBodyPair3D::GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B) :
GodotBodyContact3D(_arr, 2) {
A = p_A;
B = p_B;
shape_A = p_shape_A;
@ -534,17 +535,17 @@ BodyPair3DSW::BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_sh
B->add_constraint(this, 1);
}
BodyPair3DSW::~BodyPair3DSW() {
GodotBodyPair3D::~GodotBodyPair3D() {
A->remove_constraint(this);
B->remove_constraint(this);
}
void BodySoftBodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
BodySoftBodyPair3DSW *pair = (BodySoftBodyPair3DSW *)p_userdata;
void GodotBodySoftBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
GodotBodySoftBodyPair3D *pair = (GodotBodySoftBodyPair3D *)p_userdata;
pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B);
}
void BodySoftBodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
Vector3 local_A = body->get_inv_transform().xform(p_point_A);
Vector3 local_B = p_point_B - soft_body->get_node_position(p_index_B);
@ -582,7 +583,7 @@ void BodySoftBodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int
contacts.push_back(contact);
}
void BodySoftBodyPair3DSW::validate_contacts() {
void GodotBodySoftBodyPair3D::validate_contacts() {
// Make sure to erase contacts that are no longer valid.
const Transform3D &transform_A = body->get_transform();
@ -612,7 +613,7 @@ void BodySoftBodyPair3DSW::validate_contacts() {
contacts.resize(contact_count);
}
bool BodySoftBodyPair3DSW::setup(real_t p_step) {
bool GodotBodySoftBodyPair3D::setup(real_t p_step) {
if (!body->interacts_with(soft_body) || body->has_exception(soft_body->get_self()) || soft_body->has_exception(body->get_self())) {
collided = false;
return false;
@ -638,15 +639,15 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
validate_contacts();
Shape3DSW *shape_A_ptr = body->get_shape(body_shape);
Shape3DSW *shape_B_ptr = soft_body->get_shape(0);
GodotShape3D *shape_A_ptr = body->get_shape(body_shape);
GodotShape3D *shape_B_ptr = soft_body->get_shape(0);
collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
collided = GodotCollisionSolver3D::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
return collided;
}
bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) {
bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
if (!collided) {
return false;
}
@ -655,7 +656,7 @@ bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) {
real_t bias = (real_t)0.3;
Shape3DSW *shape_A_ptr = body->get_shape(body_shape);
GodotShape3D *shape_A_ptr = body->get_shape(body_shape);
if (shape_A_ptr->get_custom_bias()) {
bias = shape_A_ptr->get_custom_bias();
@ -753,7 +754,7 @@ bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) {
return do_process;
}
void BodySoftBodyPair3DSW::solve(real_t p_step) {
void GodotBodySoftBodyPair3D::solve(real_t p_step) {
if (!collided) {
return;
}
@ -891,8 +892,8 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
}
}
BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B) :
BodyContact3DSW(&body, 1) {
GodotBodySoftBodyPair3D::GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B) :
GodotBodyContact3D(&body, 1) {
body = p_A;
soft_body = p_B;
body_shape = p_shape_A;
@ -901,7 +902,7 @@ BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBod
soft_body->add_constraint(this);
}
BodySoftBodyPair3DSW::~BodySoftBodyPair3DSW() {
GodotBodySoftBodyPair3D::~GodotBodySoftBodyPair3D() {
body->remove_constraint(this);
soft_body->remove_constraint(this);
}

49
servers/physics_3d/body_pair_3d_sw.h → servers/physics_3d/godot_body_pair_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* body_pair_3d_sw.h */
/* godot_body_pair_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,15 +28,16 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BODY_PAIR_3D_SW_H
#define BODY_PAIR_3D_SW_H
#ifndef GODOT_BODY_PAIR_3D_H
#define GODOT_BODY_PAIR_3D_H
#include "godot_body_3d.h"
#include "godot_constraint_3d.h"
#include "godot_soft_body_3d.h"
#include "body_3d_sw.h"
#include "constraint_3d_sw.h"
#include "core/templates/local_vector.h"
#include "soft_body_3d_sw.h"
class BodyContact3DSW : public Constraint3DSW {
class GodotBodyContact3D : public GodotConstraint3D {
protected:
struct Contact {
Vector3 position;
@ -59,25 +60,25 @@ protected:
Vector3 sep_axis;
bool collided = false;
Space3DSW *space = nullptr;
GodotSpace3D *space = nullptr;
BodyContact3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) :
Constraint3DSW(p_body_ptr, p_body_count) {
GodotBodyContact3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
GodotConstraint3D(p_body_ptr, p_body_count) {
}
};
class BodyPair3DSW : public BodyContact3DSW {
class GodotBodyPair3D : public GodotBodyContact3D {
enum {
MAX_CONTACTS = 4
};
union {
struct {
Body3DSW *A;
Body3DSW *B;
GodotBody3D *A;
GodotBody3D *B;
};
Body3DSW *_arr[2] = { nullptr, nullptr };
GodotBody3D *_arr[2] = { nullptr, nullptr };
};
int shape_A = 0;
@ -98,20 +99,20 @@ class BodyPair3DSW : public BodyContact3DSW {
void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B);
void validate_contacts();
bool _test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform3D &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform3D &p_xform_B);
bool _test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_B);
public:
virtual bool setup(real_t p_step) override;
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B);
~BodyPair3DSW();
GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B);
~GodotBodyPair3D();
};
class BodySoftBodyPair3DSW : public BodyContact3DSW {
Body3DSW *body = nullptr;
SoftBody3DSW *soft_body = nullptr;
class GodotBodySoftBodyPair3D : public GodotBodyContact3D {
GodotBody3D *body = nullptr;
GodotSoftBody3D *soft_body = nullptr;
int body_shape = 0;
@ -133,11 +134,11 @@ public:
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const override { return soft_body; }
virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const override { return soft_body; }
virtual int get_soft_body_count() const override { return 1; }
BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B);
~BodySoftBodyPair3DSW();
GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B);
~GodotBodySoftBodyPair3D();
};
#endif // BODY_PAIR_3D_SW_H
#endif // GODOT_BODY_PAIR_3D_H

8
servers/physics_3d/broad_phase_3d_sw.cpp → servers/physics_3d/godot_broad_phase_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* broad_phase_3d_sw.cpp */
/* godot_broad_phase_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,9 +28,9 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "broad_phase_3d_sw.h"
#include "godot_broad_phase_3d.h"
BroadPhase3DSW::CreateFunction BroadPhase3DSW::create_func = nullptr;
GodotBroadPhase3D::CreateFunction GodotBroadPhase3D::create_func = nullptr;
BroadPhase3DSW::~BroadPhase3DSW() {
GodotBroadPhase3D::~GodotBroadPhase3D() {
}

30
servers/physics_3d/broad_phase_3d_sw.h → servers/physics_3d/godot_broad_phase_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* broad_phase_3d_sw.h */
/* godot_broad_phase_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,45 +28,45 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BROAD_PHASE_SW_H
#define BROAD_PHASE_SW_H
#ifndef GODOT_BROAD_PHASE_3D_H
#define GODOT_BROAD_PHASE_3D_H
#include "core/math/aabb.h"
#include "core/math/math_funcs.h"
class CollisionObject3DSW;
class GodotCollisionObject3D;
class BroadPhase3DSW {
class GodotBroadPhase3D {
public:
typedef BroadPhase3DSW *(*CreateFunction)();
typedef GodotBroadPhase3D *(*CreateFunction)();
static CreateFunction create_func;
typedef uint32_t ID;
typedef void *(*PairCallback)(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_userdata);
typedef void (*UnpairCallback)(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_userdata);
typedef void *(*PairCallback)(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_userdata);
typedef void (*UnpairCallback)(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_userdata);
// 0 is an invalid ID
virtual ID create(CollisionObject3DSW *p_object_, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false) = 0;
virtual ID create(GodotCollisionObject3D *p_object_, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false) = 0;
virtual void move(ID p_id, const AABB &p_aabb) = 0;
virtual void set_static(ID p_id, bool p_static) = 0;
virtual void remove(ID p_id) = 0;
virtual CollisionObject3DSW *get_object(ID p_id) const = 0;
virtual GodotCollisionObject3D *get_object(ID p_id) const = 0;
virtual bool is_static(ID p_id) const = 0;
virtual int get_subindex(ID p_id) const = 0;
virtual int cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual int cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual int cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual int cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) = 0;
virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) = 0;
virtual void update() = 0;
virtual ~BroadPhase3DSW();
virtual ~GodotBroadPhase3D();
};
#endif // BROAD_PHASE__SW_H
#endif // GODOT_BROAD_PHASE_3D_H

51
servers/physics_3d/broad_phase_3d_bvh.cpp → servers/physics_3d/godot_broad_phase_3d_bvh.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* broad_phase_3d_bvh.cpp */
/* godot_broad_phase_3d_bvh.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,55 +28,56 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "broad_phase_3d_bvh.h"
#include "collision_object_3d_sw.h"
#include "godot_broad_phase_3d_bvh.h"
BroadPhase3DBVH::ID BroadPhase3DBVH::create(CollisionObject3DSW *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
#include "godot_collision_object_3d.h"
GodotBroadPhase3DBVH::ID GodotBroadPhase3DBVH::create(GodotCollisionObject3D *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
return oid + 1;
}
void BroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
void GodotBroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
bvh.move(p_id - 1, p_aabb);
}
void BroadPhase3DBVH::set_static(ID p_id, bool p_static) {
CollisionObject3DSW *it = bvh.get(p_id - 1);
void GodotBroadPhase3DBVH::set_static(ID p_id, bool p_static) {
GodotCollisionObject3D *it = bvh.get(p_id - 1);
bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
}
void BroadPhase3DBVH::remove(ID p_id) {
void GodotBroadPhase3DBVH::remove(ID p_id) {
bvh.erase(p_id - 1);
}
CollisionObject3DSW *BroadPhase3DBVH::get_object(ID p_id) const {
CollisionObject3DSW *it = bvh.get(p_id - 1);
GodotCollisionObject3D *GodotBroadPhase3DBVH::get_object(ID p_id) const {
GodotCollisionObject3D *it = bvh.get(p_id - 1);
ERR_FAIL_COND_V(!it, nullptr);
return it;
}
bool BroadPhase3DBVH::is_static(ID p_id) const {
bool GodotBroadPhase3DBVH::is_static(ID p_id) const {
return !bvh.is_pairable(p_id - 1);
}
int BroadPhase3DBVH::get_subindex(ID p_id) const {
int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
return bvh.get_subindex(p_id - 1);
}
int BroadPhase3DBVH::cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
int GodotBroadPhase3DBVH::cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices);
}
int BroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
int GodotBroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
}
int BroadPhase3DBVH::cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
int GodotBroadPhase3DBVH::cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
}
void *BroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject3DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject3DSW *p_object_B, int subindex_B) {
BroadPhase3DBVH *bpo = (BroadPhase3DBVH *)(self);
void *GodotBroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B) {
GodotBroadPhase3DBVH *bpo = (GodotBroadPhase3DBVH *)(self);
if (!bpo->pair_callback) {
return nullptr;
}
@ -84,8 +85,8 @@ void *BroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject3
return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata);
}
void BroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject3DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject3DSW *p_object_B, int subindex_B, void *pairdata) {
BroadPhase3DBVH *bpo = (BroadPhase3DBVH *)(self);
void GodotBroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B, void *pairdata) {
GodotBroadPhase3DBVH *bpo = (GodotBroadPhase3DBVH *)(self);
if (!bpo->unpair_callback) {
return;
}
@ -93,25 +94,25 @@ void BroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject
bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata);
}
void BroadPhase3DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
void GodotBroadPhase3DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
pair_callback = p_pair_callback;
pair_userdata = p_userdata;
}
void BroadPhase3DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
void GodotBroadPhase3DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
unpair_callback = p_unpair_callback;
unpair_userdata = p_userdata;
}
void BroadPhase3DBVH::update() {
void GodotBroadPhase3DBVH::update() {
bvh.update();
}
BroadPhase3DSW *BroadPhase3DBVH::_create() {
return memnew(BroadPhase3DBVH);
GodotBroadPhase3D *GodotBroadPhase3DBVH::_create() {
return memnew(GodotBroadPhase3DBVH);
}
BroadPhase3DBVH::BroadPhase3DBVH() {
GodotBroadPhase3DBVH::GodotBroadPhase3DBVH() {
bvh.set_pair_callback(_pair_callback, this);
bvh.set_unpair_callback(_unpair_callback, this);
}

33
servers/physics_3d/broad_phase_3d_bvh.h → servers/physics_3d/godot_broad_phase_3d_bvh.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* broad_phase_3d_bvh.h */
/* godot_broad_phase_3d_bvh.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,17 +28,18 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BROAD_PHASE_3D_BVH_H
#define BROAD_PHASE_3D_BVH_H
#ifndef GODOT_BROAD_PHASE_3D_BVH_H
#define GODOT_BROAD_PHASE_3D_BVH_H
#include "godot_broad_phase_3d.h"
#include "broad_phase_3d_sw.h"
#include "core/math/bvh.h"
class BroadPhase3DBVH : public BroadPhase3DSW {
BVH_Manager<CollisionObject3DSW, true, 128> bvh;
class GodotBroadPhase3DBVH : public GodotBroadPhase3D {
BVH_Manager<GodotCollisionObject3D, true, 128> bvh;
static void *_pair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int);
static void _unpair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int, void *);
static void *_pair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int);
static void _unpair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int, void *);
PairCallback pair_callback = nullptr;
void *pair_userdata = nullptr;
@ -47,26 +48,26 @@ class BroadPhase3DBVH : public BroadPhase3DSW {
public:
// 0 is an invalid ID
virtual ID create(CollisionObject3DSW *p_object, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false);
virtual ID create(GodotCollisionObject3D *p_object, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false);
virtual void move(ID p_id, const AABB &p_aabb);
virtual void set_static(ID p_id, bool p_static);
virtual void remove(ID p_id);
virtual CollisionObject3DSW *get_object(ID p_id) const;
virtual GodotCollisionObject3D *get_object(ID p_id) const;
virtual bool is_static(ID p_id) const;
virtual int get_subindex(ID p_id) const;
virtual int cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual int cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual int cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual int cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr);
virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata);
virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata);
virtual void update();
static BroadPhase3DSW *_create();
BroadPhase3DBVH();
static GodotBroadPhase3D *_create();
GodotBroadPhase3DBVH();
};
#endif // BROAD_PHASE_3D_BVH_H
#endif // GODOT_BROAD_PHASE_3D_BVH_H

49
servers/physics_3d/collision_object_3d_sw.cpp → servers/physics_3d/godot_collision_object_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_object_3d_sw.cpp */
/* godot_collision_object_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,11 +28,12 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "collision_object_3d_sw.h"
#include "servers/physics_3d/physics_server_3d_sw.h"
#include "space_3d_sw.h"
#include "godot_collision_object_3d.h"
void CollisionObject3DSW::add_shape(Shape3DSW *p_shape, const Transform3D &p_transform, bool p_disabled) {
#include "godot_physics_server_3d.h"
#include "godot_space_3d.h"
void GodotCollisionObject3D::add_shape(GodotShape3D *p_shape, const Transform3D &p_transform, bool p_disabled) {
Shape s;
s.shape = p_shape;
s.xform = p_transform;
@ -43,35 +44,35 @@ void CollisionObject3DSW::add_shape(Shape3DSW *p_shape, const Transform3D &p_tra
p_shape->add_owner(this);
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
void CollisionObject3DSW::set_shape(int p_index, Shape3DSW *p_shape) {
void GodotCollisionObject3D::set_shape(int p_index, GodotShape3D *p_shape) {
ERR_FAIL_INDEX(p_index, shapes.size());
shapes[p_index].shape->remove_owner(this);
shapes.write[p_index].shape = p_shape;
p_shape->add_owner(this);
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
void CollisionObject3DSW::set_shape_transform(int p_index, const Transform3D &p_transform) {
void GodotCollisionObject3D::set_shape_transform(int p_index, const Transform3D &p_transform) {
ERR_FAIL_INDEX(p_index, shapes.size());
shapes.write[p_index].xform = p_transform;
shapes.write[p_index].xform_inv = p_transform.affine_inverse();
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
void CollisionObject3DSW::set_shape_disabled(int p_idx, bool p_disabled) {
void GodotCollisionObject3D::set_shape_disabled(int p_idx, bool p_disabled) {
ERR_FAIL_INDEX(p_idx, shapes.size());
CollisionObject3DSW::Shape &shape = shapes.write[p_idx];
GodotCollisionObject3D::Shape &shape = shapes.write[p_idx];
if (shape.disabled == p_disabled) {
return;
}
@ -86,16 +87,16 @@ void CollisionObject3DSW::set_shape_disabled(int p_idx, bool p_disabled) {
space->get_broadphase()->remove(shape.bpid);
shape.bpid = 0;
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
} else if (!p_disabled && shape.bpid == 0) {
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
}
void CollisionObject3DSW::remove_shape(Shape3DSW *p_shape) {
void GodotCollisionObject3D::remove_shape(GodotShape3D *p_shape) {
//remove a shape, all the times it appears
for (int i = 0; i < shapes.size(); i++) {
if (shapes[i].shape == p_shape) {
@ -105,7 +106,7 @@ void CollisionObject3DSW::remove_shape(Shape3DSW *p_shape) {
}
}
void CollisionObject3DSW::remove_shape(int p_index) {
void GodotCollisionObject3D::remove_shape(int p_index) {
//remove anything from shape to be erased to end, so subindices don't change
ERR_FAIL_INDEX(p_index, shapes.size());
for (int i = p_index; i < shapes.size(); i++) {
@ -120,11 +121,11 @@ void CollisionObject3DSW::remove_shape(int p_index) {
shapes.remove(p_index);
if (!pending_shape_update_list.in_list()) {
PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
}
}
void CollisionObject3DSW::_set_static(bool p_static) {
void GodotCollisionObject3D::_set_static(bool p_static) {
if (_static == p_static) {
return;
}
@ -141,7 +142,7 @@ void CollisionObject3DSW::_set_static(bool p_static) {
}
}
void CollisionObject3DSW::_unregister_shapes() {
void GodotCollisionObject3D::_unregister_shapes() {
for (int i = 0; i < shapes.size(); i++) {
Shape &s = shapes.write[i];
if (s.bpid > 0) {
@ -151,7 +152,7 @@ void CollisionObject3DSW::_unregister_shapes() {
}
}
void CollisionObject3DSW::_update_shapes() {
void GodotCollisionObject3D::_update_shapes() {
if (!space) {
return;
}
@ -181,7 +182,7 @@ void CollisionObject3DSW::_update_shapes() {
}
}
void CollisionObject3DSW::_update_shapes_with_motion(const Vector3 &p_motion) {
void GodotCollisionObject3D::_update_shapes_with_motion(const Vector3 &p_motion) {
if (!space) {
return;
}
@ -208,7 +209,7 @@ void CollisionObject3DSW::_update_shapes_with_motion(const Vector3 &p_motion) {
}
}
void CollisionObject3DSW::_set_space(Space3DSW *p_space) {
void GodotCollisionObject3D::_set_space(GodotSpace3D *p_space) {
if (space) {
space->remove_object(this);
@ -229,12 +230,12 @@ void CollisionObject3DSW::_set_space(Space3DSW *p_space) {
}
}
void CollisionObject3DSW::_shape_changed() {
void GodotCollisionObject3D::_shape_changed() {
_update_shapes();
_shapes_changed();
}
CollisionObject3DSW::CollisionObject3DSW(Type p_type) :
GodotCollisionObject3D::GodotCollisionObject3D(Type p_type) :
pending_shape_update_list(this) {
type = p_type;
}

47
servers/physics_3d/collision_object_3d_sw.h → servers/physics_3d/godot_collision_object_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_object_3d_sw.h */
/* godot_collision_object_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,13 +28,14 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef COLLISION_OBJECT_SW_H
#define COLLISION_OBJECT_SW_H
#ifndef GODOT_COLLISION_OBJECT_3D_H
#define GODOT_COLLISION_OBJECT_3D_H
#include "godot_broad_phase_3d.h"
#include "godot_shape_3d.h"
#include "broad_phase_3d_sw.h"
#include "core/templates/self_list.h"
#include "servers/physics_server_3d.h"
#include "shape_3d_sw.h"
#ifdef DEBUG_ENABLED
#define MAX_OBJECT_DISTANCE 3.1622776601683791e+18
@ -42,9 +43,9 @@
#define MAX_OBJECT_DISTANCE_X2 (MAX_OBJECT_DISTANCE * MAX_OBJECT_DISTANCE)
#endif
class Space3DSW;
class GodotSpace3D;
class CollisionObject3DSW : public ShapeOwner3DSW {
class GodotCollisionObject3D : public GodotShapeOwner3D {
public:
enum Type {
TYPE_AREA,
@ -62,20 +63,20 @@ private:
struct Shape {
Transform3D xform;
Transform3D xform_inv;
BroadPhase3DSW::ID bpid;
GodotBroadPhase3D::ID bpid;
AABB aabb_cache; //for rayqueries
real_t area_cache = 0.0;
Shape3DSW *shape = nullptr;
GodotShape3D *shape = nullptr;
bool disabled = false;
};
Vector<Shape> shapes;
Space3DSW *space = nullptr;
GodotSpace3D *space = nullptr;
Transform3D transform;
Transform3D inv_transform;
bool _static = true;
SelfList<CollisionObject3DSW> pending_shape_update_list;
SelfList<GodotCollisionObject3D> pending_shape_update_list;
void _update_shapes();
@ -98,11 +99,11 @@ protected:
void _set_static(bool p_static);
virtual void _shapes_changed() = 0;
void _set_space(Space3DSW *p_space);
void _set_space(GodotSpace3D *p_space);
bool ray_pickable = true;
CollisionObject3DSW(Type p_type);
GodotCollisionObject3D(Type p_type);
public:
_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
@ -114,11 +115,11 @@ public:
void _shape_changed();
_FORCE_INLINE_ Type get_type() const { return type; }
void add_shape(Shape3DSW *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false);
void set_shape(int p_index, Shape3DSW *p_shape);
void add_shape(GodotShape3D *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false);
void set_shape(int p_index, GodotShape3D *p_shape);
void set_shape_transform(int p_index, const Transform3D &p_transform);
_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
_FORCE_INLINE_ Shape3DSW *get_shape(int p_index) const {
_FORCE_INLINE_ GodotShape3D *get_shape(int p_index) const {
CRASH_BAD_INDEX(p_index, shapes.size());
return shapes[p_index].shape;
}
@ -141,7 +142,7 @@ public:
_FORCE_INLINE_ const Transform3D &get_transform() const { return transform; }
_FORCE_INLINE_ const Transform3D &get_inv_transform() const { return inv_transform; }
_FORCE_INLINE_ Space3DSW *get_space() const { return space; }
_FORCE_INLINE_ GodotSpace3D *get_space() const { return space; }
_FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; }
_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
@ -164,22 +165,22 @@ public:
}
_FORCE_INLINE_ uint32_t get_collision_mask() const { return collision_mask; }
_FORCE_INLINE_ bool collides_with(CollisionObject3DSW *p_other) const {
_FORCE_INLINE_ bool collides_with(GodotCollisionObject3D *p_other) const {
return p_other->collision_layer & collision_mask;
}
_FORCE_INLINE_ bool interacts_with(CollisionObject3DSW *p_other) const {
_FORCE_INLINE_ bool interacts_with(GodotCollisionObject3D *p_other) const {
return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
}
void remove_shape(Shape3DSW *p_shape);
void remove_shape(GodotShape3D *p_shape);
void remove_shape(int p_index);
virtual void set_space(Space3DSW *p_space) = 0;
virtual void set_space(GodotSpace3D *p_space) = 0;
_FORCE_INLINE_ bool is_static() const { return _static; }
virtual ~CollisionObject3DSW() {}
virtual ~GodotCollisionObject3D() {}
};
#endif // COLLISION_OBJECT_SW_H
#endif // GODOT_COLLISION_OBJECT_3D_H

70
servers/physics_3d/collision_solver_3d_sw.cpp → servers/physics_3d/godot_collision_solver_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_solver_3d_sw.cpp */
/* godot_collision_solver_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,17 +28,17 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "collision_solver_3d_sw.h"
#include "collision_solver_3d_sat.h"
#include "soft_body_3d_sw.h"
#include "godot_collision_solver_3d.h"
#include "godot_collision_solver_3d_sat.h"
#include "godot_soft_body_3d.h"
#include "gjk_epa.h"
#define collision_solver sat_calculate_penetration
//#define collision_solver gjk_epa_calculate_penetration
bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
const WorldBoundaryShape3DSW *world_boundary = static_cast<const WorldBoundaryShape3DSW *>(p_shape_A);
bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
const GodotWorldBoundaryShape3D *world_boundary = static_cast<const GodotWorldBoundaryShape3D *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
return false;
}
@ -47,10 +47,10 @@ bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A
static const int max_supports = 16;
Vector3 supports[max_supports];
int support_count;
Shape3DSW::FeatureType support_type;
GodotShape3D::FeatureType support_type;
p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
if (support_type == Shape3DSW::FEATURE_CIRCLE) {
if (support_type == GodotShape3D::FEATURE_CIRCLE) {
ERR_FAIL_COND_V(support_count != 3, false);
Vector3 circle_pos = supports[0];
@ -89,8 +89,8 @@ bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A
return found;
}
bool CollisionSolver3DSW::solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
const SeparationRayShape3DSW *ray = static_cast<const SeparationRayShape3DSW *>(p_shape_A);
bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
const GodotSeparationRayShape3D *ray = static_cast<const GodotSeparationRayShape3D *>(p_shape_A);
Vector3 from = p_transform_A.origin;
Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin);
@ -134,13 +134,13 @@ bool CollisionSolver3DSW::solve_separation_ray(const Shape3DSW *p_shape_A, const
struct _SoftBodyContactCollisionInfo {
int node_index = 0;
CollisionSolver3DSW::CallbackResult result_callback = nullptr;
GodotCollisionSolver3D::CallbackResult result_callback = nullptr;
void *userdata = nullptr;
bool swap_result = false;
int contact_count = 0;
};
void CollisionSolver3DSW::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
void GodotCollisionSolver3D::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
_SoftBodyContactCollisionInfo &cinfo = *(_SoftBodyContactCollisionInfo *)(p_userdata);
++cinfo.contact_count;
@ -157,9 +157,9 @@ void CollisionSolver3DSW::soft_body_contact_callback(const Vector3 &p_point_A, i
}
struct _SoftBodyQueryInfo {
SoftBody3DSW *soft_body = nullptr;
const Shape3DSW *shape_A = nullptr;
const Shape3DSW *shape_B = nullptr;
GodotSoftBody3D *soft_body = nullptr;
const GodotShape3D *shape_A = nullptr;
const GodotShape3D *shape_B = nullptr;
Transform3D transform_A;
Transform3D node_transform;
_SoftBodyContactCollisionInfo contact_info;
@ -169,7 +169,7 @@ struct _SoftBodyQueryInfo {
#endif
};
bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) {
bool GodotCollisionSolver3D::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) {
_SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata);
Vector3 node_position = query_cinfo.soft_body->get_node_position(p_node_index);
@ -188,7 +188,7 @@ bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void *
return (collided && !query_cinfo.contact_info.result_callback);
}
bool CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex) {
bool GodotCollisionSolver3D::soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex) {
_SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata);
query_cinfo.shape_A = p_convex;
@ -220,15 +220,15 @@ bool CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW
return (collided && !query_cinfo.contact_info.result_callback);
}
bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
const SoftBodyShape3DSW *soft_body_shape_B = static_cast<const SoftBodyShape3DSW *>(p_shape_B);
bool GodotCollisionSolver3D::solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
const GodotSoftBodyShape3D *soft_body_shape_B = static_cast<const GodotSoftBodyShape3D *>(p_shape_B);
SoftBody3DSW *soft_body = soft_body_shape_B->get_soft_body();
GodotSoftBody3D *soft_body = soft_body_shape_B->get_soft_body();
const Transform3D &world_to_local = soft_body->get_inv_transform();
const real_t collision_margin = soft_body->get_collision_margin();
SphereShape3DSW sphere_shape;
GodotSphereShape3D sphere_shape;
sphere_shape.set_data(collision_margin);
_SoftBodyQueryInfo query_cinfo;
@ -243,7 +243,7 @@ bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Tran
if (p_shape_A->is_concave()) {
// In case of concave shape, query convex shapes first.
const ConcaveShape3DSW *concave_shape_A = static_cast<const ConcaveShape3DSW *>(p_shape_A);
const GodotConcaveShape3D *concave_shape_A = static_cast<const GodotConcaveShape3D *>(p_shape_A);
AABB soft_body_aabb = soft_body->get_bounds();
soft_body_aabb.grow_by(collision_margin);
@ -277,9 +277,9 @@ bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Tran
struct _ConcaveCollisionInfo {
const Transform3D *transform_A;
const Shape3DSW *shape_A;
const GodotShape3D *shape_A;
const Transform3D *transform_B;
CollisionSolver3DSW::CallbackResult result_callback;
GodotCollisionSolver3D::CallbackResult result_callback;
void *userdata;
bool swap_result;
bool collided;
@ -291,7 +291,7 @@ struct _ConcaveCollisionInfo {
Vector3 close_A, close_B;
};
bool CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex) {
bool GodotCollisionSolver3D::concave_callback(void *p_userdata, GodotShape3D *p_convex) {
_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
cinfo.aabb_tests++;
@ -307,8 +307,8 @@ bool CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex
return !cinfo.result_callback;
}
bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
const ConcaveShape3DSW *concave_B = static_cast<const ConcaveShape3DSW *>(p_shape_B);
bool GodotCollisionSolver3D::solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
const GodotConcaveShape3D *concave_B = static_cast<const GodotConcaveShape3D *>(p_shape_B);
_ConcaveCollisionInfo cinfo;
cinfo.transform_A = &p_transform_A;
@ -351,7 +351,7 @@ bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transf
return cinfo.collided;
}
bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
bool GodotCollisionSolver3D::solve_static(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
PhysicsServer3D::ShapeType type_B = p_shape_B->get_type();
bool concave_A = p_shape_A->is_concave();
@ -421,7 +421,7 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
}
}
bool CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW *p_convex) {
bool GodotCollisionSolver3D::concave_distance_callback(void *p_userdata, GodotShape3D *p_convex) {
_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
cinfo.aabb_tests++;
@ -443,8 +443,8 @@ bool CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW
return false;
}
bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
const WorldBoundaryShape3DSW *world_boundary = static_cast<const WorldBoundaryShape3DSW *>(p_shape_A);
bool GodotCollisionSolver3D::solve_distance_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
const GodotWorldBoundaryShape3D *world_boundary = static_cast<const GodotWorldBoundaryShape3D *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
return false;
}
@ -453,11 +453,11 @@ bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape
static const int max_supports = 16;
Vector3 supports[max_supports];
int support_count;
Shape3DSW::FeatureType support_type;
GodotShape3D::FeatureType support_type;
p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
if (support_type == Shape3DSW::FEATURE_CIRCLE) {
if (support_type == GodotShape3D::FEATURE_CIRCLE) {
ERR_FAIL_COND_V(support_count != 3, false);
Vector3 circle_pos = supports[0];
@ -495,7 +495,7 @@ bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape
return collided;
}
bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
bool GodotCollisionSolver3D::solve_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
if (p_shape_A->is_concave()) {
return false;
}
@ -512,7 +512,7 @@ bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Trans
return false;
}
const ConcaveShape3DSW *concave_B = static_cast<const ConcaveShape3DSW *>(p_shape_B);
const GodotConcaveShape3D *concave_B = static_cast<const GodotConcaveShape3D *>(p_shape_B);
_ConcaveCollisionInfo cinfo;
cinfo.transform_A = &p_transform_A;

32
servers/physics_3d/collision_solver_3d_sw.h → servers/physics_3d/godot_collision_solver_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_solver_3d_sw.h */
/* godot_collision_solver_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,30 +28,30 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef COLLISION_SOLVER_SW_H
#define COLLISION_SOLVER_SW_H
#ifndef GODOT_COLLISION_SOLVER_3D_H
#define GODOT_COLLISION_SOLVER_3D_H
#include "shape_3d_sw.h"
#include "godot_shape_3d.h"
class CollisionSolver3DSW {
class GodotCollisionSolver3D {
public:
typedef void (*CallbackResult)(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
private:
static bool soft_body_query_callback(uint32_t p_node_index, void *p_userdata);
static void soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
static bool soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex);
static bool concave_callback(void *p_userdata, Shape3DSW *p_convex);
static bool solve_static_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool concave_distance_callback(void *p_userdata, Shape3DSW *p_convex);
static bool solve_distance_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B);
static bool soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex);
static bool concave_callback(void *p_userdata, GodotShape3D *p_convex);
static bool solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool concave_distance_callback(void *p_userdata, GodotShape3D *p_convex);
static bool solve_distance_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B);
public:
static bool solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool solve_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = nullptr);
static bool solve_static(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool solve_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = nullptr);
};
#endif // COLLISION_SOLVER__SW_H
#endif // GODOT_COLLISION_SOLVER_3D_H

189
servers/physics_3d/collision_solver_3d_sat.cpp → servers/physics_3d/godot_collision_solver_3d_sat.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_solver_3d_sat.cpp */
/* godot_collision_solver_3d_sat.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,11 +28,12 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "collision_solver_3d_sat.h"
#include "core/math/geometry_3d.h"
#include "godot_collision_solver_3d_sat.h"
#include "gjk_epa.h"
#include "core/math/geometry_3d.h"
#define fallback_collision_solver gjk_epa_calculate_penetration
// Cylinder SAT analytic methods and face-circle contact points for cylinder-trimesh and cylinder-box collision are based on ODE colliders.
@ -65,7 +66,7 @@
*************************************************************************/
struct _CollectorCallback {
CollisionSolver3DSW::CallbackResult callback;
GodotCollisionSolver3D::CallbackResult callback;
void *userdata = nullptr;
bool swap = false;
bool collided = false;
@ -539,7 +540,7 @@ static void _generate_contacts_circle_circle(const Vector3 *p_points_A, int p_po
}
}
static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_point_count_A, Shape3DSW::FeatureType p_feature_type_A, const Vector3 *p_points_B, int p_point_count_B, Shape3DSW::FeatureType p_feature_type_B, _CollectorCallback *p_callback) {
static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_point_count_A, GodotShape3D::FeatureType p_feature_type_A, const Vector3 *p_points_B, int p_point_count_B, GodotShape3D::FeatureType p_feature_type_B, _CollectorCallback *p_callback) {
#ifdef DEBUG_ENABLED
ERR_FAIL_COND(p_point_count_A < 1);
ERR_FAIL_COND(p_point_count_B < 1);
@ -713,7 +714,7 @@ public:
Vector3 supports_A[max_supports];
int support_count_A;
Shape3DSW::FeatureType support_type_A;
GodotShape3D::FeatureType support_type_A;
shape_A->get_supports(transform_A->basis.xform_inv(-best_axis).normalized(), max_supports, supports_A, support_count_A, support_type_A);
for (int i = 0; i < support_count_A; i++) {
supports_A[i] = transform_A->xform(supports_A[i]);
@ -727,7 +728,7 @@ public:
Vector3 supports_B[max_supports];
int support_count_B;
Shape3DSW::FeatureType support_type_B;
GodotShape3D::FeatureType support_type_B;
shape_B->get_supports(transform_B->basis.xform_inv(best_axis).normalized(), max_supports, supports_B, support_count_B, support_type_B);
for (int i = 0; i < support_count_B; i++) {
supports_B[i] = transform_B->xform(supports_B[i]);
@ -761,14 +762,14 @@ public:
/****** SAT TESTS *******/
typedef void (*CollisionFunc)(const Shape3DSW *, const Transform3D &, const Shape3DSW *, const Transform3D &, _CollectorCallback *p_callback, real_t, real_t);
typedef void (*CollisionFunc)(const GodotShape3D *, const Transform3D &, const GodotShape3D *, const Transform3D &, _CollectorCallback *p_callback, real_t, real_t);
template <bool withMargin>
static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const SphereShape3DSW *sphere_B = static_cast<const SphereShape3DSW *>(p_b);
static void _collision_sphere_sphere(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
const GodotSphereShape3D *sphere_B = static_cast<const GodotSphereShape3D *>(p_b);
SeparatorAxisTest<SphereShape3DSW, SphereShape3DSW, withMargin> separator(sphere_A, p_transform_a, sphere_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotSphereShape3D, GodotSphereShape3D, withMargin> separator(sphere_A, p_transform_a, sphere_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
// previous axis
@ -784,11 +785,11 @@ static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform3D &p_
}
template <bool withMargin>
static void _collision_sphere_box(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const BoxShape3DSW *box_B = static_cast<const BoxShape3DSW *>(p_b);
static void _collision_sphere_box(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
const GodotBoxShape3D *box_B = static_cast<const GodotBoxShape3D *>(p_b);
SeparatorAxisTest<SphereShape3DSW, BoxShape3DSW, withMargin> separator(sphere_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotSphereShape3D, GodotBoxShape3D, withMargin> separator(sphere_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -835,11 +836,11 @@ static void _collision_sphere_box(const Shape3DSW *p_a, const Transform3D &p_tra
}
template <bool withMargin>
static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
static void _collision_sphere_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
const GodotCapsuleShape3D *capsule_B = static_cast<const GodotCapsuleShape3D *>(p_b);
SeparatorAxisTest<SphereShape3DSW, CapsuleShape3DSW, withMargin> separator(sphere_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotSphereShape3D, GodotCapsuleShape3D, withMargin> separator(sphere_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -877,11 +878,11 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p
}
template <bool withMargin>
static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
static void _collision_sphere_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
SeparatorAxisTest<SphereShape3DSW, CylinderShape3DSW, withMargin> separator(sphere_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotSphereShape3D, GodotCylinderShape3D, withMargin> separator(sphere_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -936,11 +937,11 @@ static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform3D &
}
template <bool withMargin>
static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
static void _collision_sphere_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
SeparatorAxisTest<SphereShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(sphere_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotSphereShape3D, GodotConvexPolygonShape3D, withMargin> separator(sphere_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -999,11 +1000,11 @@ static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transfo
}
template <bool withMargin>
static void _collision_sphere_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
static void _collision_sphere_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
SeparatorAxisTest<SphereShape3DSW, FaceShape3DSW, withMargin> separator(sphere_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotSphereShape3D, GodotFaceShape3D, withMargin> separator(sphere_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
Vector3 vertex[3] = {
p_transform_b.xform(face_B->vertex[0]),
@ -1044,11 +1045,11 @@ static void _collision_sphere_face(const Shape3DSW *p_a, const Transform3D &p_tr
}
template <bool withMargin>
static void _collision_box_box(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const BoxShape3DSW *box_B = static_cast<const BoxShape3DSW *>(p_b);
static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
const GodotBoxShape3D *box_B = static_cast<const GodotBoxShape3D *>(p_b);
SeparatorAxisTest<BoxShape3DSW, BoxShape3DSW, withMargin> separator(box_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotBoxShape3D, GodotBoxShape3D, withMargin> separator(box_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -1142,11 +1143,11 @@ static void _collision_box_box(const Shape3DSW *p_a, const Transform3D &p_transf
}
template <bool withMargin>
static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
const GodotCapsuleShape3D *capsule_B = static_cast<const GodotCapsuleShape3D *>(p_b);
SeparatorAxisTest<BoxShape3DSW, CapsuleShape3DSW, withMargin> separator(box_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotBoxShape3D, GodotCapsuleShape3D, withMargin> separator(box_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -1240,11 +1241,11 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_tr
}
template <bool withMargin>
static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
SeparatorAxisTest<BoxShape3DSW, CylinderShape3DSW, withMargin> separator(box_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotBoxShape3D, GodotCylinderShape3D, withMargin> separator(box_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -1353,11 +1354,11 @@ static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform3D &p_t
}
template <bool withMargin>
static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
SeparatorAxisTest<BoxShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(box_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotBoxShape3D, GodotConvexPolygonShape3D, withMargin> separator(box_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -1471,11 +1472,11 @@ static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform3
}
template <bool withMargin>
static void _collision_box_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
SeparatorAxisTest<BoxShape3DSW, FaceShape3DSW, withMargin> separator(box_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotBoxShape3D, GodotFaceShape3D, withMargin> separator(box_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
Vector3 vertex[3] = {
p_transform_b.xform(face_B->vertex[0]),
@ -1594,11 +1595,11 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform3D &p_trans
}
template <bool withMargin>
static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
static void _collision_capsule_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
const GodotCapsuleShape3D *capsule_B = static_cast<const GodotCapsuleShape3D *>(p_b);
SeparatorAxisTest<CapsuleShape3DSW, CapsuleShape3DSW, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotCapsuleShape3D, GodotCapsuleShape3D, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -1658,11 +1659,11 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D &
}
template <bool withMargin>
static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
static void _collision_capsule_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotCapsuleShape3D, GodotCylinderShape3D, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -1709,7 +1710,7 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D
return;
}
CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points;
GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest<GodotCapsuleShape3D, GodotCylinderShape3D, withMargin>::test_contact_points;
// Fallback to generic algorithm to find the best separating axis.
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
@ -1720,11 +1721,11 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D
}
template <bool withMargin>
static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
SeparatorAxisTest<CapsuleShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(capsule_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotCapsuleShape3D, GodotConvexPolygonShape3D, withMargin> separator(capsule_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -1787,11 +1788,11 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf
}
template <bool withMargin>
static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
SeparatorAxisTest<CapsuleShape3DSW, FaceShape3DSW, withMargin> separator(capsule_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotCapsuleShape3D, GodotFaceShape3D, withMargin> separator(capsule_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
Vector3 vertex[3] = {
p_transform_b.xform(face_B->vertex[0]),
@ -1861,11 +1862,11 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_t
}
template <bool withMargin>
static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
static void _collision_cylinder_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotCylinderShape3D *cylinder_A = static_cast<const GodotCylinderShape3D *>(p_a);
const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
SeparatorAxisTest<CylinderShape3DSW, CylinderShape3DSW, withMargin> separator(cylinder_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotCylinderShape3D, GodotCylinderShape3D, withMargin> separator(cylinder_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
Vector3 cylinder_A_axis = p_transform_a.basis.get_axis(1);
Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1);
@ -1904,7 +1905,7 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D
return;
}
CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CylinderShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points;
GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest<GodotCylinderShape3D, GodotCylinderShape3D, withMargin>::test_contact_points;
// Fallback to generic algorithm to find the best separating axis.
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
@ -1915,13 +1916,13 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D
}
template <bool withMargin>
static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
static void _collision_cylinder_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotCylinderShape3D *cylinder_A = static_cast<const GodotCylinderShape3D *>(p_a);
const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
SeparatorAxisTest<CylinderShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(cylinder_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotCylinderShape3D, GodotConvexPolygonShape3D, withMargin> separator(cylinder_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CylinderShape3DSW, ConvexPolygonShape3DSW, withMargin>::test_contact_points;
GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest<GodotCylinderShape3D, GodotConvexPolygonShape3D, withMargin>::test_contact_points;
// Fallback to generic algorithm to find the best separating axis.
if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
@ -1932,11 +1933,11 @@ static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Trans
}
template <bool withMargin>
static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotCylinderShape3D *cylinder_A = static_cast<const GodotCylinderShape3D *>(p_a);
const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
SeparatorAxisTest<CylinderShape3DSW, FaceShape3DSW, withMargin> separator(cylinder_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotCylinderShape3D, GodotFaceShape3D, withMargin> separator(cylinder_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -2037,11 +2038,11 @@ static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform3D &p_
}
template <bool withMargin>
static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const ConvexPolygonShape3DSW *convex_polygon_A = static_cast<const ConvexPolygonShape3DSW *>(p_a);
const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
static void _collision_convex_polygon_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotConvexPolygonShape3D *convex_polygon_A = static_cast<const GodotConvexPolygonShape3D *>(p_a);
const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
SeparatorAxisTest<ConvexPolygonShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(convex_polygon_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotConvexPolygonShape3D, GodotConvexPolygonShape3D, withMargin> separator(convex_polygon_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
if (!separator.test_previous_axis()) {
return;
@ -2150,11 +2151,11 @@ static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const
}
template <bool withMargin>
static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const ConvexPolygonShape3DSW *convex_polygon_A = static_cast<const ConvexPolygonShape3DSW *>(p_a);
const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
const GodotConvexPolygonShape3D *convex_polygon_A = static_cast<const GodotConvexPolygonShape3D *>(p_a);
const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
SeparatorAxisTest<ConvexPolygonShape3DSW, FaceShape3DSW, withMargin> separator(convex_polygon_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
SeparatorAxisTest<GodotConvexPolygonShape3D, GodotFaceShape3D, withMargin> separator(convex_polygon_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
const Geometry3D::MeshData &mesh = convex_polygon_A->get_mesh();
@ -2268,7 +2269,7 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform
separator.generate_contacts();
}
bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) {
bool sat_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) {
PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_WORLD_BOUNDARY, false);
@ -2366,8 +2367,8 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_
callback.collided = false;
callback.prev_axis = r_prev_axis;
const Shape3DSW *A = p_shape_A;
const Shape3DSW *B = p_shape_B;
const GodotShape3D *A = p_shape_A;
const GodotShape3D *B = p_shape_B;
const Transform3D *transform_A = &p_transform_A;
const Transform3D *transform_B = &p_transform_B;
real_t margin_A = p_margin_a;

12
servers/physics_3d/collision_solver_3d_sat.h → servers/physics_3d/godot_collision_solver_3d_sat.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* collision_solver_3d_sat.h */
/* godot_collision_solver_3d_sat.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,11 +28,11 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef COLLISION_SOLVER_SAT_H
#define COLLISION_SOLVER_SAT_H
#ifndef GODOT_COLLISION_SOLVER_SAT_H
#define GODOT_COLLISION_SOLVER_SAT_H
#include "collision_solver_3d_sw.h"
#include "godot_collision_solver_3d.h"
bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector3 *r_prev_axis = nullptr, real_t p_margin_a = 0, real_t p_margin_b = 0);
bool sat_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector3 *r_prev_axis = nullptr, real_t p_margin_a = 0, real_t p_margin_b = 0);
#endif // COLLISION_SOLVER_SAT_H
#endif // GODOT_COLLISION_SOLVER_SAT_H

24
servers/physics_3d/constraint_3d_sw.h → servers/physics_3d/godot_constraint_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* constraint_3d_sw.h */
/* godot_constraint_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,14 +28,14 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef CONSTRAINT_SW_H
#define CONSTRAINT_SW_H
#ifndef GODOT_CONSTRAINT_3D_H
#define GODOT_CONSTRAINT_3D_H
class Body3DSW;
class SoftBody3DSW;
class GodotBody3D;
class GodotSoftBody3D;
class Constraint3DSW {
Body3DSW **_body_ptr;
class GodotConstraint3D {
GodotBody3D **_body_ptr;
int _body_count;
uint64_t island_step;
int priority;
@ -44,7 +44,7 @@ class Constraint3DSW {
RID self;
protected:
Constraint3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) {
GodotConstraint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) {
_body_ptr = p_body_ptr;
_body_count = p_body_count;
island_step = 0;
@ -59,10 +59,10 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ Body3DSW **get_body_ptr() const { return _body_ptr; }
_FORCE_INLINE_ GodotBody3D **get_body_ptr() const { return _body_ptr; }
_FORCE_INLINE_ int get_body_count() const { return _body_count; }
virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const { return nullptr; }
virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const { return nullptr; }
virtual int get_soft_body_count() const { return 0; }
_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
@ -75,7 +75,7 @@ public:
virtual bool pre_solve(real_t p_step) = 0;
virtual void solve(real_t p_step) = 0;
virtual ~Constraint3DSW() {}
virtual ~GodotConstraint3D() {}
};
#endif // CONSTRAINT__SW_H
#endif // GODOT_CONSTRAINT_3D_H

24
servers/physics_3d/joints_3d_sw.h → servers/physics_3d/godot_joint_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* joints_3d_sw.h */
/* godot_joint_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,13 +28,13 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef JOINTS_SW_H
#define JOINTS_SW_H
#ifndef GODOT_JOINT_3D_H
#define GODOT_JOINT_3D_H
#include "body_3d_sw.h"
#include "constraint_3d_sw.h"
#include "godot_body_3d.h"
#include "godot_constraint_3d.h"
class Joint3DSW : public Constraint3DSW {
class GodotJoint3D : public GodotConstraint3D {
protected:
bool dynamic_A = false;
bool dynamic_B = false;
@ -44,20 +44,20 @@ public:
virtual bool pre_solve(real_t p_step) override { return true; }
virtual void solve(real_t p_step) override {}
void copy_settings_from(Joint3DSW *p_joint) {
void copy_settings_from(GodotJoint3D *p_joint) {
set_self(p_joint->get_self());
set_priority(p_joint->get_priority());
disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
}
virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
_FORCE_INLINE_ Joint3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) :
Constraint3DSW(p_body_ptr, p_body_count) {
_FORCE_INLINE_ GodotJoint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
GodotConstraint3D(p_body_ptr, p_body_count) {
}
virtual ~Joint3DSW() {
virtual ~GodotJoint3D() {
for (int i = 0; i < get_body_count(); i++) {
Body3DSW *body = get_body_ptr()[i];
GodotBody3D *body = get_body_ptr()[i];
if (body) {
body->remove_constraint(this);
}
@ -65,4 +65,4 @@ public:
}
};
#endif // JOINTS_SW_H
#endif // GODOT_JOINT_3D_H

1749
servers/physics_3d/godot_physics_server_3d.cpp Normal file
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File diff suppressed because it is too large Load Diff

49
servers/physics_3d/physics_server_3d_sw.h → servers/physics_3d/godot_physics_server_3d.h
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@ -1,5 +1,5 @@
/*************************************************************************/
/* physics_server_3d_sw.h */
/* godot_physics_server_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,20 +28,21 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS_SERVER_SW
#define PHYSICS_SERVER_SW
#ifndef GODOT_PHYSICS_SERVER_3D_H
#define GODOT_PHYSICS_SERVER_3D_H
#include "godot_joint_3d.h"
#include "godot_shape_3d.h"
#include "godot_space_3d.h"
#include "godot_step_3d.h"
#include "core/templates/rid_owner.h"
#include "joints_3d_sw.h"
#include "servers/physics_server_3d.h"
#include "shape_3d_sw.h"
#include "space_3d_sw.h"
#include "step_3d_sw.h"
class PhysicsServer3DSW : public PhysicsServer3D {
GDCLASS(PhysicsServer3DSW, PhysicsServer3D);
class GodotPhysicsServer3D : public PhysicsServer3D {
GDCLASS(GodotPhysicsServer3D, PhysicsServer3D);
friend class PhysicsDirectSpaceState3DSW;
friend class GodotPhysicsDirectSpaceState3D;
bool active = true;
int iterations = 0;
@ -53,22 +54,22 @@ class PhysicsServer3DSW : public PhysicsServer3D {
bool doing_sync = false;
bool flushing_queries = false;
Step3DSW *stepper = nullptr;
Set<const Space3DSW *> active_spaces;
GodotStep3D *stepper = nullptr;
Set<const GodotSpace3D *> active_spaces;
mutable RID_PtrOwner<Shape3DSW, true> shape_owner;
mutable RID_PtrOwner<Space3DSW, true> space_owner;
mutable RID_PtrOwner<Area3DSW, true> area_owner;
mutable RID_PtrOwner<Body3DSW, true> body_owner;
mutable RID_PtrOwner<SoftBody3DSW, true> soft_body_owner;
mutable RID_PtrOwner<Joint3DSW, true> joint_owner;
mutable RID_PtrOwner<GodotShape3D, true> shape_owner;
mutable RID_PtrOwner<GodotSpace3D, true> space_owner;
mutable RID_PtrOwner<GodotArea3D, true> area_owner;
mutable RID_PtrOwner<GodotBody3D, true> body_owner;
mutable RID_PtrOwner<GodotSoftBody3D, true> soft_body_owner;
mutable RID_PtrOwner<GodotJoint3D, true> joint_owner;
//void _clear_query(QuerySW *p_query);
friend class CollisionObject3DSW;
SelfList<CollisionObject3DSW>::List pending_shape_update_list;
friend class GodotCollisionObject3D;
SelfList<GodotCollisionObject3D>::List pending_shape_update_list;
void _update_shapes();
static PhysicsServer3DSW *singletonsw;
static GodotPhysicsServer3D *godot_singleton;
public:
struct CollCbkData {
@ -372,8 +373,8 @@ public:
int get_process_info(ProcessInfo p_info) override;
PhysicsServer3DSW(bool p_using_threads = false);
~PhysicsServer3DSW() {}
GodotPhysicsServer3D(bool p_using_threads = false);
~GodotPhysicsServer3D() {}
};
#endif
#endif // GODOT_PHYSICS_SERVER_3D_H

332
servers/physics_3d/shape_3d_sw.cpp → servers/physics_3d/godot_shape_3d.cpp
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File diff suppressed because it is too large Load Diff

94
servers/physics_3d/shape_3d_sw.h → servers/physics_3d/godot_shape_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* shape_3d_sw.h */
/* godot_shape_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,30 +28,30 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SHAPE_SW_H
#define SHAPE_SW_H
#ifndef GODOT_SHAPE_3D_H
#define GODOT_SHAPE_3D_H
#include "core/math/geometry_3d.h"
#include "core/templates/local_vector.h"
#include "servers/physics_server_3d.h"
class Shape3DSW;
class GodotShape3D;
class ShapeOwner3DSW {
class GodotShapeOwner3D {
public:
virtual void _shape_changed() = 0;
virtual void remove_shape(Shape3DSW *p_shape) = 0;
virtual void remove_shape(GodotShape3D *p_shape) = 0;
virtual ~ShapeOwner3DSW() {}
virtual ~GodotShapeOwner3D() {}
};
class Shape3DSW {
class GodotShape3D {
RID self;
AABB aabb;
bool configured = false;
real_t custom_bias = 0.0;
Map<ShapeOwner3DSW *, int> owners;
Map<GodotShapeOwner3D *, int> owners;
protected:
void configure(const AABB &p_aabb);
@ -90,29 +90,29 @@ public:
_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
void add_owner(ShapeOwner3DSW *p_owner);
void remove_owner(ShapeOwner3DSW *p_owner);
bool is_owner(ShapeOwner3DSW *p_owner) const;
const Map<ShapeOwner3DSW *, int> &get_owners() const;
void add_owner(GodotShapeOwner3D *p_owner);
void remove_owner(GodotShapeOwner3D *p_owner);
bool is_owner(GodotShapeOwner3D *p_owner) const;
const Map<GodotShapeOwner3D *, int> &get_owners() const;
Shape3DSW() {}
virtual ~Shape3DSW();
GodotShape3D() {}
virtual ~GodotShape3D();
};
class ConcaveShape3DSW : public Shape3DSW {
class GodotConcaveShape3D : public GodotShape3D {
public:
virtual bool is_concave() const override { return true; }
virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
// Returns true to stop the query.
typedef bool (*QueryCallback)(void *p_userdata, Shape3DSW *p_convex);
typedef bool (*QueryCallback)(void *p_userdata, GodotShape3D *p_convex);
virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
ConcaveShape3DSW() {}
GodotConcaveShape3D() {}
};
class WorldBoundaryShape3DSW : public Shape3DSW {
class GodotWorldBoundaryShape3D : public GodotShape3D {
Plane plane;
void _setup(const Plane &p_plane);
@ -134,10 +134,10 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
WorldBoundaryShape3DSW();
GodotWorldBoundaryShape3D();
};
class SeparationRayShape3DSW : public Shape3DSW {
class GodotSeparationRayShape3D : public GodotShape3D {
real_t length = 1.0;
bool slide_on_slope = false;
@ -162,10 +162,10 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
SeparationRayShape3DSW();
GodotSeparationRayShape3D();
};
class SphereShape3DSW : public Shape3DSW {
class GodotSphereShape3D : public GodotShape3D {
real_t radius = 0.0;
void _setup(real_t p_radius);
@ -189,10 +189,10 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
SphereShape3DSW();
GodotSphereShape3D();
};
class BoxShape3DSW : public Shape3DSW {
class GodotBoxShape3D : public GodotShape3D {
Vector3 half_extents;
void _setup(const Vector3 &p_half_extents);
@ -214,10 +214,10 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
BoxShape3DSW();
GodotBoxShape3D();
};
class CapsuleShape3DSW : public Shape3DSW {
class GodotCapsuleShape3D : public GodotShape3D {
real_t height = 0.0;
real_t radius = 0.0;
@ -243,10 +243,10 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
CapsuleShape3DSW();
GodotCapsuleShape3D();
};
class CylinderShape3DSW : public Shape3DSW {
class GodotCylinderShape3D : public GodotShape3D {
real_t height = 0.0;
real_t radius = 0.0;
@ -272,10 +272,10 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
CylinderShape3DSW();
GodotCylinderShape3D();
};
struct ConvexPolygonShape3DSW : public Shape3DSW {
struct GodotConvexPolygonShape3D : public GodotShape3D {
Geometry3D::MeshData mesh;
void _setup(const Vector<Vector3> &p_vertices);
@ -297,13 +297,13 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
ConvexPolygonShape3DSW();
GodotConvexPolygonShape3D();
};
struct _VolumeSW_BVH;
struct FaceShape3DSW;
struct _Volume_BVH;
struct GodotFaceShape3D;
struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
struct GodotConcavePolygonShape3D : public GodotConcaveShape3D {
// always a trimesh
struct Face {
@ -331,7 +331,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
const Face *faces = nullptr;
const Vector3 *vertices = nullptr;
const BVH *bvh = nullptr;
FaceShape3DSW *face = nullptr;
GodotFaceShape3D *face = nullptr;
};
struct _SegmentCullParams {
@ -341,7 +341,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
const Face *faces = nullptr;
const Vector3 *vertices = nullptr;
const BVH *bvh = nullptr;
FaceShape3DSW *face = nullptr;
GodotFaceShape3D *face = nullptr;
Vector3 result;
Vector3 normal;
@ -354,7 +354,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
bool _cull(int p_idx, _CullParams *p_params) const;
void _fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
void _fill_bvh(_Volume_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
void _setup(const Vector<Vector3> &p_faces, bool p_backface_collision);
@ -377,10 +377,10 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
ConcavePolygonShape3DSW();
GodotConcavePolygonShape3D();
};
struct HeightMapShape3DSW : public ConcaveShape3DSW {
struct GodotHeightMapShape3D : public GodotConcaveShape3D {
Vector<real_t> heights;
int width = 0;
int depth = 0;
@ -440,11 +440,11 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
HeightMapShape3DSW();
GodotHeightMapShape3D();
};
//used internally
struct FaceShape3DSW : public Shape3DSW {
struct GodotFaceShape3D : public GodotShape3D {
Vector3 normal; //cache
Vector3 vertex[3];
bool backface_collision = false;
@ -465,11 +465,11 @@ struct FaceShape3DSW : public Shape3DSW {
virtual void set_data(const Variant &p_data) override {}
virtual Variant get_data() const override { return Variant(); }
FaceShape3DSW();
GodotFaceShape3D();
};
struct MotionShape3DSW : public Shape3DSW {
Shape3DSW *shape = nullptr;
struct GodotMotionShape3D : public GodotShape3D {
GodotShape3D *shape = nullptr;
Vector3 motion;
virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
@ -504,7 +504,7 @@ struct MotionShape3DSW : public Shape3DSW {
virtual void set_data(const Variant &p_data) override {}
virtual Variant get_data() const override { return Variant(); }
MotionShape3DSW() { configure(AABB()); }
GodotMotionShape3D() { configure(AABB()); }
};
#endif // SHAPE_SW_H
#endif // GODOT_SHAPE_3D_H

149
servers/physics_3d/soft_body_3d_sw.cpp → servers/physics_3d/godot_soft_body_3d.cpp
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@ -1,5 +1,5 @@
/*************************************************************************/
/* soft_body_3d_sw.cpp */
/* godot_soft_body_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,8 +28,9 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "soft_body_3d_sw.h"
#include "space_3d_sw.h"
#include "godot_soft_body_3d.h"
#include "godot_space_3d.h"
#include "core/math/geometry_3d.h"
#include "core/templates/map.h"
@ -53,16 +54,16 @@ subject to the following restrictions:
*/
///btSoftBody implementation by Nathanael Presson
SoftBody3DSW::SoftBody3DSW() :
CollisionObject3DSW(TYPE_SOFT_BODY),
GodotSoftBody3D::GodotSoftBody3D() :
GodotCollisionObject3D(TYPE_SOFT_BODY),
active_list(this) {
_set_static(false);
}
void SoftBody3DSW::_shapes_changed() {
void GodotSoftBody3D::_shapes_changed() {
}
void SoftBody3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
void GodotSoftBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
switch (p_state) {
case PhysicsServer3D::BODY_STATE_TRANSFORM: {
_set_transform(p_variant);
@ -87,7 +88,7 @@ void SoftBody3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &
}
}
Variant SoftBody3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
Variant GodotSoftBody3D::get_state(PhysicsServer3D::BodyState p_state) const {
switch (p_state) {
case PhysicsServer3D::BODY_STATE_TRANSFORM: {
return get_transform();
@ -110,7 +111,7 @@ Variant SoftBody3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
return Variant();
}
void SoftBody3DSW::set_space(Space3DSW *p_space) {
void GodotSoftBody3D::set_space(GodotSpace3D *p_space) {
if (get_space()) {
get_space()->soft_body_remove_from_active_list(&active_list);
@ -128,7 +129,7 @@ void SoftBody3DSW::set_space(Space3DSW *p_space) {
}
}
void SoftBody3DSW::set_mesh(RID p_mesh) {
void GodotSoftBody3D::set_mesh(RID p_mesh) {
destroy();
soft_mesh = p_mesh;
@ -145,7 +146,7 @@ void SoftBody3DSW::set_mesh(RID p_mesh) {
}
}
void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
void GodotSoftBody3D::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
if (soft_mesh.is_null()) {
return;
}
@ -164,7 +165,7 @@ void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_s
p_rendering_server_handler->set_aabb(bounds);
}
void SoftBody3DSW::update_normals_and_centroids() {
void GodotSoftBody3D::update_normals_and_centroids() {
uint32_t i, ni;
for (i = 0, ni = nodes.size(); i < ni; ++i) {
@ -191,7 +192,7 @@ void SoftBody3DSW::update_normals_and_centroids() {
}
}
void SoftBody3DSW::update_bounds() {
void GodotSoftBody3D::update_bounds() {
AABB prev_bounds = bounds;
prev_bounds.grow_by(collision_margin);
@ -223,13 +224,13 @@ void SoftBody3DSW::update_bounds() {
}
}
void SoftBody3DSW::update_constants() {
void GodotSoftBody3D::update_constants() {
reset_link_rest_lengths();
update_link_constants();
update_area();
}
void SoftBody3DSW::update_area() {
void GodotSoftBody3D::update_area() {
int i, ni;
// Face area.
@ -275,7 +276,7 @@ void SoftBody3DSW::update_area() {
}
}
void SoftBody3DSW::reset_link_rest_lengths() {
void GodotSoftBody3D::reset_link_rest_lengths() {
for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
Link &link = links[i];
link.rl = (link.n[0]->x - link.n[1]->x).length();
@ -283,7 +284,7 @@ void SoftBody3DSW::reset_link_rest_lengths() {
}
}
void SoftBody3DSW::update_link_constants() {
void GodotSoftBody3D::update_link_constants() {
real_t inv_linear_stiffness = 1.0 / linear_stiffness;
for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
Link &link = links[i];
@ -291,7 +292,7 @@ void SoftBody3DSW::update_link_constants() {
}
}
void SoftBody3DSW::apply_nodes_transform(const Transform3D &p_transform) {
void GodotSoftBody3D::apply_nodes_transform(const Transform3D &p_transform) {
if (soft_mesh.is_null()) {
return;
}
@ -317,7 +318,7 @@ void SoftBody3DSW::apply_nodes_transform(const Transform3D &p_transform) {
update_constants();
}
Vector3 SoftBody3DSW::get_vertex_position(int p_index) const {
Vector3 GodotSoftBody3D::get_vertex_position(int p_index) const {
ERR_FAIL_COND_V(p_index < 0, Vector3());
if (soft_mesh.is_null()) {
@ -331,7 +332,7 @@ Vector3 SoftBody3DSW::get_vertex_position(int p_index) const {
return nodes[node_index].x;
}
void SoftBody3DSW::set_vertex_position(int p_index, const Vector3 &p_position) {
void GodotSoftBody3D::set_vertex_position(int p_index, const Vector3 &p_position) {
ERR_FAIL_COND(p_index < 0);
if (soft_mesh.is_null()) {
@ -347,7 +348,7 @@ void SoftBody3DSW::set_vertex_position(int p_index, const Vector3 &p_position) {
node.x = p_position;
}
void SoftBody3DSW::pin_vertex(int p_index) {
void GodotSoftBody3D::pin_vertex(int p_index) {
ERR_FAIL_COND(p_index < 0);
if (is_vertex_pinned(p_index)) {
@ -366,7 +367,7 @@ void SoftBody3DSW::pin_vertex(int p_index) {
}
}
void SoftBody3DSW::unpin_vertex(int p_index) {
void GodotSoftBody3D::unpin_vertex(int p_index) {
ERR_FAIL_COND(p_index < 0);
uint32_t pinned_count = pinned_vertices.size();
@ -390,7 +391,7 @@ void SoftBody3DSW::unpin_vertex(int p_index) {
}
}
void SoftBody3DSW::unpin_all_vertices() {
void GodotSoftBody3D::unpin_all_vertices() {
if (!soft_mesh.is_null()) {
real_t inv_node_mass = nodes.size() * inv_total_mass;
uint32_t pinned_count = pinned_vertices.size();
@ -409,7 +410,7 @@ void SoftBody3DSW::unpin_all_vertices() {
pinned_vertices.clear();
}
bool SoftBody3DSW::is_vertex_pinned(int p_index) const {
bool GodotSoftBody3D::is_vertex_pinned(int p_index) const {
ERR_FAIL_COND_V(p_index < 0, false);
uint32_t pinned_count = pinned_vertices.size();
@ -422,47 +423,47 @@ bool SoftBody3DSW::is_vertex_pinned(int p_index) const {
return false;
}
uint32_t SoftBody3DSW::get_node_count() const {
uint32_t GodotSoftBody3D::get_node_count() const {
return nodes.size();
}
real_t SoftBody3DSW::get_node_inv_mass(uint32_t p_node_index) const {
real_t GodotSoftBody3D::get_node_inv_mass(uint32_t p_node_index) const {
ERR_FAIL_COND_V(p_node_index >= nodes.size(), 0.0);
return nodes[p_node_index].im;
}
Vector3 SoftBody3DSW::get_node_position(uint32_t p_node_index) const {
Vector3 GodotSoftBody3D::get_node_position(uint32_t p_node_index) const {
ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
return nodes[p_node_index].x;
}
Vector3 SoftBody3DSW::get_node_velocity(uint32_t p_node_index) const {
Vector3 GodotSoftBody3D::get_node_velocity(uint32_t p_node_index) const {
ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
return nodes[p_node_index].v;
}
Vector3 SoftBody3DSW::get_node_biased_velocity(uint32_t p_node_index) const {
Vector3 GodotSoftBody3D::get_node_biased_velocity(uint32_t p_node_index) const {
ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
return nodes[p_node_index].bv;
}
void SoftBody3DSW::apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
void GodotSoftBody3D::apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
ERR_FAIL_COND(p_node_index >= nodes.size());
Node &node = nodes[p_node_index];
node.v += p_impulse * node.im;
}
void SoftBody3DSW::apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
void GodotSoftBody3D::apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
ERR_FAIL_COND(p_node_index >= nodes.size());
Node &node = nodes[p_node_index];
node.bv += p_impulse * node.im;
}
uint32_t SoftBody3DSW::get_face_count() const {
uint32_t GodotSoftBody3D::get_face_count() const {
return faces.size();
}
void SoftBody3DSW::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const {
void GodotSoftBody3D::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const {
ERR_FAIL_COND(p_face_index >= faces.size());
const Face &face = faces[p_face_index];
r_point_1 = face.n[0]->x;
@ -470,12 +471,12 @@ void SoftBody3DSW::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Ve
r_point_3 = face.n[2]->x;
}
Vector3 SoftBody3DSW::get_face_normal(uint32_t p_face_index) const {
Vector3 GodotSoftBody3D::get_face_normal(uint32_t p_face_index) const {
ERR_FAIL_COND_V(p_face_index >= faces.size(), Vector3());
return faces[p_face_index].normal;
}
bool SoftBody3DSW::create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices) {
bool GodotSoftBody3D::create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices) {
ERR_FAIL_COND_V(p_indices.is_empty(), false);
ERR_FAIL_COND_V(p_vertices.is_empty(), false);
@ -595,7 +596,7 @@ bool SoftBody3DSW::create_from_trimesh(const Vector<int> &p_indices, const Vecto
return true;
}
void SoftBody3DSW::generate_bending_constraints(int p_distance) {
void GodotSoftBody3D::generate_bending_constraints(int p_distance) {
uint32_t i, j;
if (p_distance > 1) {
@ -714,7 +715,7 @@ public:
};
typedef LinkDeps *LinkDepsPtr;
void SoftBody3DSW::reoptimize_link_order() {
void GodotSoftBody3D::reoptimize_link_order() {
const int reop_not_dependent = -1;
const int reop_node_complete = -2;
@ -823,7 +824,7 @@ void SoftBody3DSW::reoptimize_link_order() {
memdelete_arr(link_buffer);
}
void SoftBody3DSW::append_link(uint32_t p_node1, uint32_t p_node2) {
void GodotSoftBody3D::append_link(uint32_t p_node1, uint32_t p_node2) {
if (p_node1 == p_node2) {
return;
}
@ -839,7 +840,7 @@ void SoftBody3DSW::append_link(uint32_t p_node1, uint32_t p_node2) {
links.push_back(link);
}
void SoftBody3DSW::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3) {
void GodotSoftBody3D::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3) {
if (p_node1 == p_node2) {
return;
}
@ -864,11 +865,11 @@ void SoftBody3DSW::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_no
faces.push_back(face);
}
void SoftBody3DSW::set_iteration_count(int p_val) {
void GodotSoftBody3D::set_iteration_count(int p_val) {
iteration_count = p_val;
}
void SoftBody3DSW::set_total_mass(real_t p_val) {
void GodotSoftBody3D::set_total_mass(real_t p_val) {
ERR_FAIL_COND(p_val < 0.0);
inv_total_mass = 1.0 / p_val;
@ -884,27 +885,27 @@ void SoftBody3DSW::set_total_mass(real_t p_val) {
update_constants();
}
void SoftBody3DSW::set_collision_margin(real_t p_val) {
void GodotSoftBody3D::set_collision_margin(real_t p_val) {
collision_margin = p_val;
}
void SoftBody3DSW::set_linear_stiffness(real_t p_val) {
void GodotSoftBody3D::set_linear_stiffness(real_t p_val) {
linear_stiffness = p_val;
}
void SoftBody3DSW::set_pressure_coefficient(real_t p_val) {
void GodotSoftBody3D::set_pressure_coefficient(real_t p_val) {
pressure_coefficient = p_val;
}
void SoftBody3DSW::set_damping_coefficient(real_t p_val) {
void GodotSoftBody3D::set_damping_coefficient(real_t p_val) {
damping_coefficient = p_val;
}
void SoftBody3DSW::set_drag_coefficient(real_t p_val) {
void GodotSoftBody3D::set_drag_coefficient(real_t p_val) {
drag_coefficient = p_val;
}
void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) {
void GodotSoftBody3D::add_velocity(const Vector3 &p_velocity) {
for (uint32_t i = 0, ni = nodes.size(); i < ni; ++i) {
Node &node = nodes[i];
if (node.im > 0) {
@ -913,7 +914,7 @@ void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) {
}
}
void SoftBody3DSW::apply_forces(bool p_has_wind_forces) {
void GodotSoftBody3D::apply_forces(bool p_has_wind_forces) {
int ac = areas.size();
if (nodes.is_empty()) {
@ -977,13 +978,13 @@ void SoftBody3DSW::apply_forces(bool p_has_wind_forces) {
}
}
void SoftBody3DSW::_compute_area_gravity(const Area3DSW *p_area) {
void GodotSoftBody3D::_compute_area_gravity(const GodotArea3D *p_area) {
Vector3 area_gravity;
p_area->compute_gravity(get_transform().get_origin(), area_gravity);
gravity += area_gravity;
}
Vector3 SoftBody3DSW::_compute_area_windforce(const Area3DSW *p_area, const Face *p_face) {
Vector3 GodotSoftBody3D::_compute_area_windforce(const GodotArea3D *p_area, const Face *p_face) {
real_t wfm = p_area->get_wind_force_magnitude();
real_t waf = p_area->get_wind_attenuation_factor();
const Vector3 &wd = p_area->get_wind_direction();
@ -995,12 +996,12 @@ Vector3 SoftBody3DSW::_compute_area_windforce(const Area3DSW *p_area, const Face
return nodal_force_magnitude * p_face->normal;
}
void SoftBody3DSW::predict_motion(real_t p_delta) {
void GodotSoftBody3D::predict_motion(real_t p_delta) {
const real_t inv_delta = 1.0 / p_delta;
ERR_FAIL_COND(!get_space());
Area3DSW *def_area = get_space()->get_default_area();
GodotArea3D *def_area = get_space()->get_default_area();
ERR_FAIL_COND(!def_area);
gravity = def_area->get_gravity_vector() * def_area->get_gravity();
@ -1083,7 +1084,7 @@ void SoftBody3DSW::predict_motion(real_t p_delta) {
face_tree.optimize_incremental(1);
}
void SoftBody3DSW::solve_constraints(real_t p_delta) {
void GodotSoftBody3D::solve_constraints(real_t p_delta) {
const real_t inv_delta = 1.0 / p_delta;
uint32_t i, ni;
@ -1120,7 +1121,7 @@ void SoftBody3DSW::solve_constraints(real_t p_delta) {
update_normals_and_centroids();
}
void SoftBody3DSW::solve_links(real_t kst, real_t ti) {
void GodotSoftBody3D::solve_links(real_t kst, real_t ti) {
for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
Link &link = links[i];
if (link.c0 > 0) {
@ -1138,16 +1139,16 @@ void SoftBody3DSW::solve_links(real_t kst, real_t ti) {
}
struct AABBQueryResult {
const SoftBody3DSW *soft_body = nullptr;
const GodotSoftBody3D *soft_body = nullptr;
void *userdata = nullptr;
SoftBody3DSW::QueryResultCallback result_callback = nullptr;
GodotSoftBody3D::QueryResultCallback result_callback = nullptr;
_FORCE_INLINE_ bool operator()(void *p_data) {
return result_callback(soft_body->get_node_index(p_data), userdata);
};
};
void SoftBody3DSW::query_aabb(const AABB &p_aabb, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) {
void GodotSoftBody3D::query_aabb(const AABB &p_aabb, GodotSoftBody3D::QueryResultCallback p_result_callback, void *p_userdata) {
AABBQueryResult query_result;
query_result.soft_body = this;
query_result.result_callback = p_result_callback;
@ -1157,16 +1158,16 @@ void SoftBody3DSW::query_aabb(const AABB &p_aabb, SoftBody3DSW::QueryResultCallb
}
struct RayQueryResult {
const SoftBody3DSW *soft_body = nullptr;
const GodotSoftBody3D *soft_body = nullptr;
void *userdata = nullptr;
SoftBody3DSW::QueryResultCallback result_callback = nullptr;
GodotSoftBody3D::QueryResultCallback result_callback = nullptr;
_FORCE_INLINE_ bool operator()(void *p_data) {
return result_callback(soft_body->get_face_index(p_data), userdata);
};
};
void SoftBody3DSW::query_ray(const Vector3 &p_from, const Vector3 &p_to, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) {
void GodotSoftBody3D::query_ray(const Vector3 &p_from, const Vector3 &p_to, GodotSoftBody3D::QueryResultCallback p_result_callback, void *p_userdata) {
if (face_tree.is_empty()) {
initialize_face_tree();
}
@ -1179,7 +1180,7 @@ void SoftBody3DSW::query_ray(const Vector3 &p_from, const Vector3 &p_to, SoftBod
face_tree.ray_query(p_from, p_to, query_result);
}
void SoftBody3DSW::initialize_face_tree() {
void GodotSoftBody3D::initialize_face_tree() {
face_tree.clear();
for (uint32_t i = 0; i < faces.size(); ++i) {
Face &face = faces[i];
@ -1196,7 +1197,7 @@ void SoftBody3DSW::initialize_face_tree() {
}
}
void SoftBody3DSW::update_face_tree(real_t p_delta) {
void GodotSoftBody3D::update_face_tree(real_t p_delta) {
for (uint32_t i = 0; i < faces.size(); ++i) {
const Face &face = faces[i];
@ -1220,25 +1221,25 @@ void SoftBody3DSW::update_face_tree(real_t p_delta) {
}
}
void SoftBody3DSW::initialize_shape(bool p_force_move) {
void GodotSoftBody3D::initialize_shape(bool p_force_move) {
if (get_shape_count() == 0) {
SoftBodyShape3DSW *soft_body_shape = memnew(SoftBodyShape3DSW(this));
GodotSoftBodyShape3D *soft_body_shape = memnew(GodotSoftBodyShape3D(this));
add_shape(soft_body_shape);
} else if (p_force_move) {
SoftBodyShape3DSW *soft_body_shape = static_cast<SoftBodyShape3DSW *>(get_shape(0));
GodotSoftBodyShape3D *soft_body_shape = static_cast<GodotSoftBodyShape3D *>(get_shape(0));
soft_body_shape->update_bounds();
}
}
void SoftBody3DSW::deinitialize_shape() {
void GodotSoftBody3D::deinitialize_shape() {
if (get_shape_count() > 0) {
Shape3DSW *shape = get_shape(0);
GodotShape3D *shape = get_shape(0);
remove_shape(shape);
memdelete(shape);
}
}
void SoftBody3DSW::destroy() {
void GodotSoftBody3D::destroy() {
soft_mesh = RID();
map_visual_to_physics.clear();
@ -1254,7 +1255,7 @@ void SoftBody3DSW::destroy() {
deinitialize_shape();
}
void SoftBodyShape3DSW::update_bounds() {
void GodotSoftBodyShape3D::update_bounds() {
ERR_FAIL_COND(!soft_body);
AABB collision_aabb = soft_body->get_bounds();
@ -1262,13 +1263,13 @@ void SoftBodyShape3DSW::update_bounds() {
configure(collision_aabb);
}
SoftBodyShape3DSW::SoftBodyShape3DSW(SoftBody3DSW *p_soft_body) {
GodotSoftBodyShape3D::GodotSoftBodyShape3D(GodotSoftBody3D *p_soft_body) {
soft_body = p_soft_body;
update_bounds();
}
struct _SoftBodyIntersectSegmentInfo {
const SoftBody3DSW *soft_body = nullptr;
const GodotSoftBody3D *soft_body = nullptr;
Vector3 from;
Vector3 dir;
Vector3 hit_position;
@ -1296,7 +1297,7 @@ struct _SoftBodyIntersectSegmentInfo {
}
};
bool SoftBodyShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const {
bool GodotSoftBodyShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const {
_SoftBodyIntersectSegmentInfo query_info;
query_info.soft_body = soft_body;
query_info.from = p_begin;
@ -1313,10 +1314,10 @@ bool SoftBodyShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3
return false;
}
bool SoftBodyShape3DSW::intersect_point(const Vector3 &p_point) const {
bool GodotSoftBodyShape3D::intersect_point(const Vector3 &p_point) const {
return false;
}
Vector3 SoftBodyShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
Vector3 GodotSoftBodyShape3D::get_closest_point_to(const Vector3 &p_point) const {
ERR_FAIL_V_MSG(Vector3(), "Get closest point is not supported for soft bodies.");
}

48
servers/physics_3d/soft_body_3d_sw.h → servers/physics_3d/godot_soft_body_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* soft_body_3d_sw.h */
/* godot_soft_body_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,11 +28,11 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SOFT_BODY_3D_SW_H
#define SOFT_BODY_3D_SW_H
#ifndef GODOT_SOFT_BODY_3D_H
#define GODOT_SOFT_BODY_3D_H
#include "area_3d_sw.h"
#include "collision_object_3d_sw.h"
#include "godot_area_3d.h"
#include "godot_collision_object_3d.h"
#include "core/math/aabb.h"
#include "core/math/dynamic_bvh.h"
@ -41,9 +41,9 @@
#include "core/templates/set.h"
#include "core/templates/vset.h"
class Constraint3DSW;
class GodotConstraint3D;
class SoftBody3DSW : public CollisionObject3DSW {
class GodotSoftBody3D : public GodotCollisionObject3D {
RID soft_mesh;
struct Node {
@ -103,9 +103,9 @@ class SoftBody3DSW : public CollisionObject3DSW {
Vector3 gravity;
SelfList<SoftBody3DSW> active_list;
SelfList<GodotSoftBody3D> active_list;
Set<Constraint3DSW *> constraints;
Set<GodotConstraint3D *> constraints;
Vector<AreaCMP> areas;
@ -113,20 +113,20 @@ class SoftBody3DSW : public CollisionObject3DSW {
uint64_t island_step = 0;
_FORCE_INLINE_ void _compute_area_gravity(const Area3DSW *p_area);
_FORCE_INLINE_ Vector3 _compute_area_windforce(const Area3DSW *p_area, const Face *p_face);
_FORCE_INLINE_ void _compute_area_gravity(const GodotArea3D *p_area);
_FORCE_INLINE_ Vector3 _compute_area_windforce(const GodotArea3D *p_area, const Face *p_face);
public:
SoftBody3DSW();
GodotSoftBody3D();
const AABB &get_bounds() const { return bounds; }
void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
Variant get_state(PhysicsServer3D::BodyState p_state) const;
_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); }
_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); }
_FORCE_INLINE_ const Set<Constraint3DSW *> &get_constraints() const { return constraints; }
_FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint) { constraints.insert(p_constraint); }
_FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraints.erase(p_constraint); }
_FORCE_INLINE_ const Set<GodotConstraint3D *> &get_constraints() const { return constraints; }
_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
@ -137,7 +137,7 @@ public:
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
_FORCE_INLINE_ void add_area(Area3DSW *p_area) {
_FORCE_INLINE_ void add_area(GodotArea3D *p_area) {
int index = areas.find(AreaCMP(p_area));
if (index > -1) {
areas.write[index].refCount += 1;
@ -146,7 +146,7 @@ public:
}
}
_FORCE_INLINE_ void remove_area(Area3DSW *p_area) {
_FORCE_INLINE_ void remove_area(GodotArea3D *p_area) {
int index = areas.find(AreaCMP(p_area));
if (index > -1) {
areas.write[index].refCount -= 1;
@ -156,7 +156,7 @@ public:
}
}
virtual void set_space(Space3DSW *p_space);
virtual void set_space(GodotSpace3D *p_space);
void set_mesh(RID p_mesh);
@ -251,11 +251,11 @@ private:
void destroy();
};
class SoftBodyShape3DSW : public Shape3DSW {
SoftBody3DSW *soft_body = nullptr;
class GodotSoftBodyShape3D : public GodotShape3D {
GodotSoftBody3D *soft_body = nullptr;
public:
SoftBody3DSW *get_soft_body() const { return soft_body; }
GodotSoftBody3D *get_soft_body() const { return soft_body; }
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SOFT_BODY; }
virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { r_min = r_max = 0.0; }
@ -272,8 +272,8 @@ public:
void update_bounds();
SoftBodyShape3DSW(SoftBody3DSW *p_soft_body);
~SoftBodyShape3DSW() {}
GodotSoftBodyShape3D(GodotSoftBody3D *p_soft_body);
~GodotSoftBodyShape3D() {}
};
#endif // SOFT_BODY_3D_SW_H
#endif // GODOT_SOFT_BODY_3D_H

263
servers/physics_3d/space_3d_sw.cpp → servers/physics_3d/godot_space_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* space_3d_sw.cpp */
/* godot_space_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,37 +28,38 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "space_3d_sw.h"
#include "godot_space_3d.h"
#include "godot_collision_solver_3d.h"
#include "godot_physics_server_3d.h"
#include "collision_solver_3d_sw.h"
#include "core/config/project_settings.h"
#include "physics_server_3d_sw.h"
#define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
_FORCE_INLINE_ static bool _can_collide_with(CollisionObject3DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject3D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (!(p_object->get_collision_layer() & p_collision_mask)) {
return false;
}
if (p_object->get_type() == CollisionObject3DSW::TYPE_AREA && !p_collide_with_areas) {
if (p_object->get_type() == GodotCollisionObject3D::TYPE_AREA && !p_collide_with_areas) {
return false;
}
if (p_object->get_type() == CollisionObject3DSW::TYPE_BODY && !p_collide_with_bodies) {
if (p_object->get_type() == GodotCollisionObject3D::TYPE_BODY && !p_collide_with_bodies) {
return false;
}
if (p_object->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY && !p_collide_with_bodies) {
if (p_object->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY && !p_collide_with_bodies) {
return false;
}
return true;
}
int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &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) {
int GodotPhysicsDirectSpaceState3D::intersect_point(const Vector3 &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) {
ERR_FAIL_COND_V(space->locked, false);
int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int cc = 0;
//Transform3D ai = p_xform.affine_inverse();
@ -78,7 +79,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe
continue;
}
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
Transform3D inv_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
@ -103,7 +104,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe
return cc;
}
bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
bool GodotPhysicsDirectSpaceState3D::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
ERR_FAIL_COND_V(space->locked, false);
Vector3 begin, end;
@ -112,14 +113,14 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
end = p_to;
normal = (end - begin).normalized();
int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
//todo, create another array that 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 CollisionObject3DSW *res_obj;
const GodotCollisionObject3D *res_obj;
real_t min_d = 1e10;
for (int i = 0; i < amount; i++) {
@ -135,7 +136,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
continue;
}
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
Transform3D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
@ -143,7 +144,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
Vector3 local_from = inv_xform.xform(begin);
Vector3 local_to = inv_xform.xform(end);
const Shape3DSW *shape = col_obj->get_shape(shape_idx);
const GodotShape3D *shape = col_obj->get_shape(shape_idx);
Vector3 shape_point, shape_normal;
@ -182,17 +183,17 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
return true;
}
int PhysicsDirectSpaceState3DSW::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
int GodotPhysicsDirectSpaceState3D::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0) {
return 0;
}
Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape);
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(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, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int cc = 0;
@ -213,10 +214,10 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
continue;
}
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (!CollisionSolver3DSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) {
if (!GodotCollisionSolver3D::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) {
continue;
}
@ -237,21 +238,21 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
return cc;
}
bool PhysicsDirectSpaceState3DSW::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape);
bool GodotPhysicsDirectSpaceState3D::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, false);
AABB aabb = p_xform.xform(shape->get_aabb());
aabb = aabb.merge(AABB(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
real_t best_safe = 1;
real_t best_unsafe = 1;
Transform3D xform_inv = p_xform.affine_inverse();
MotionShape3DSW mshape;
GodotMotionShape3D mshape;
mshape.shape = shape;
mshape.motion = xform_inv.basis.xform(p_motion);
@ -270,7 +271,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
continue; //ignore excluded
}
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
Vector3 point_A, point_B;
@ -278,14 +279,14 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
Transform3D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (CollisionSolver3DSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
if (GodotCollisionSolver3D::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
continue;
}
//test initial overlap, ignore objects it's inside of.
sep_axis = motion_normal;
if (!CollisionSolver3DSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
if (!GodotCollisionSolver3D::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
continue;
}
@ -300,7 +301,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
Vector3 lA, lB;
Vector3 sep = motion_normal; //important optimization for this to work fast enough
bool collided = !CollisionSolver3DSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
if (collided) {
hi = fraction;
@ -342,8 +343,8 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
r_info->point = closest_B;
r_info->normal = (closest_A - closest_B).normalized();
best_first = false;
if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
const Body3DSW *body = static_cast<const Body3DSW *>(col_obj);
if (col_obj->get_type() == GodotCollisionObject3D::TYPE_BODY) {
const GodotBody3D *body = static_cast<const GodotBody3D *>(col_obj);
Vector3 rel_vec = closest_B - (body->get_transform().origin + body->get_center_of_mass());
r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
}
@ -356,36 +357,36 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
return true;
}
bool PhysicsDirectSpaceState3DSW::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
bool GodotPhysicsDirectSpaceState3D::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, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0) {
return false;
}
Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape);
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, 0);
AABB aabb = p_shape_xform.xform(shape->get_aabb());
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
bool collided = false;
r_result_count = 0;
PhysicsServer3DSW::CollCbkData cbk;
GodotPhysicsServer3D::CollCbkData cbk;
cbk.max = p_result_max;
cbk.amount = 0;
cbk.ptr = r_results;
CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk;
GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk;
PhysicsServer3DSW::CollCbkData *cbkptr = &cbk;
GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) {
continue;
}
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
if (p_exclude.has(col_obj->get_self())) {
continue;
@ -393,7 +394,7 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &
int shape_idx = space->intersection_query_subindex_results[i];
if (CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
if (GodotCollisionSolver3D::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
collided = true;
}
}
@ -404,7 +405,7 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &
}
struct _RestResultData {
const CollisionObject3DSW *object = nullptr;
const GodotCollisionObject3D *object = nullptr;
int local_shape = 0;
int shape = 0;
Vector3 contact;
@ -413,7 +414,7 @@ struct _RestResultData {
};
struct _RestCallbackData {
const CollisionObject3DSW *object = nullptr;
const GodotCollisionObject3D *object = nullptr;
int local_shape = 0;
int shape = 0;
@ -486,8 +487,8 @@ static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vect
rd->best_result.local_shape = rd->local_shape;
}
bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape);
bool GodotPhysicsDirectSpaceState3D::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape);
ERR_FAIL_COND_V(!shape, 0);
real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
@ -495,7 +496,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
AABB aabb = p_shape_xform.xform(shape->get_aabb());
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
_RestCallbackData rcd;
rcd.min_allowed_depth = min_contact_depth;
@ -505,7 +506,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
continue;
}
const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
if (p_exclude.has(col_obj->get_self())) {
continue;
@ -515,7 +516,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_margin);
bool sc = GodotCollisionSolver3D::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_margin);
if (!sc) {
continue;
}
@ -530,8 +531,8 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
r_info->normal = rcd.best_result.normal;
r_info->point = rcd.best_result.contact;
r_info->rid = rcd.best_result.object->get_self();
if (rcd.best_result.object->get_type() == CollisionObject3DSW::TYPE_BODY) {
const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_result.object);
if (rcd.best_result.object->get_type() == GodotCollisionObject3D::TYPE_BODY) {
const GodotBody3D *body = static_cast<const GodotBody3D *>(rcd.best_result.object);
Vector3 rel_vec = rcd.best_result.contact - (body->get_transform().origin + body->get_center_of_mass());
r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
@ -542,10 +543,10 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
return true;
}
Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
CollisionObject3DSW *obj = PhysicsServer3DSW::singletonsw->area_owner.get_or_null(p_object);
Vector3 GodotPhysicsDirectSpaceState3D::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
GodotCollisionObject3D *obj = GodotPhysicsServer3D::godot_singleton->area_owner.get_or_null(p_object);
if (!obj) {
obj = PhysicsServer3DSW::singletonsw->body_owner.get_or_null(p_object);
obj = GodotPhysicsServer3D::godot_singleton->body_owner.get_or_null(p_object);
}
ERR_FAIL_COND_V(!obj, Vector3());
@ -562,7 +563,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
}
Transform3D shape_xform = obj->get_transform() * obj->get_shape_transform(i);
Shape3DSW *shape = obj->get_shape(i);
GodotShape3D *shape = obj->get_shape(i);
Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point));
point = shape_xform.xform(point);
@ -582,13 +583,13 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
}
}
PhysicsDirectSpaceState3DSW::PhysicsDirectSpaceState3DSW() {
GodotPhysicsDirectSpaceState3D::GodotPhysicsDirectSpaceState3D() {
space = nullptr;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////
int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
int GodotSpace3D::_cull_aabb_for_body(GodotBody3D *p_body, const AABB &p_aabb) {
int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results);
for (int i = 0; i < amount; i++) {
@ -596,13 +597,13 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
if (intersection_query_results[i] == p_body) {
keep = false;
} else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_AREA) {
} else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_AREA) {
keep = false;
} else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY) {
} else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY) {
keep = false;
} else if (!p_body->collides_with(static_cast<Body3DSW *>(intersection_query_results[i]))) {
} else if (!p_body->collides_with(static_cast<GodotBody3D *>(intersection_query_results[i]))) {
keep = false;
} else if (static_cast<Body3DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
} else if (static_cast<GodotBody3D *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
keep = false;
}
@ -620,7 +621,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
return amount;
}
bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) {
bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
@ -679,13 +680,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
Vector3 sr[max_results * 2];
do {
PhysicsServer3DSW::CollCbkData cbk;
GodotPhysicsServer3D::CollCbkData cbk;
cbk.max = max_results;
cbk.amount = 0;
cbk.ptr = sr;
PhysicsServer3DSW::CollCbkData *cbkptr = &cbk;
CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk;
GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk;
GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk;
bool collided = false;
@ -697,10 +698,10 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
}
Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
GodotShape3D *body_shape = p_body->get_shape(j);
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
const GodotCollisionObject3D *col_obj = intersection_query_results[i];
if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
@ -710,7 +711,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
int shape_idx = intersection_query_subindex_results[i];
if (CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) {
if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) {
collided = cbk.amount > 0;
}
}
@ -770,13 +771,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
continue;
}
Shape3DSW *body_shape = p_body->get_shape(j);
GodotShape3D *body_shape = p_body->get_shape(j);
// Colliding separation rays allows to properly snap to the ground,
// otherwise it's not needed in regular motion.
if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) {
// When slide on slope is on, separation ray shape acts like a regular shape.
if (!static_cast<SeparationRayShape3DSW *>(body_shape)->get_slide_on_slope()) {
if (!static_cast<GodotSeparationRayShape3D *>(body_shape)->get_slide_on_slope()) {
continue;
}
}
@ -784,7 +785,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse();
MotionShape3DSW mshape;
GodotMotionShape3D mshape;
mshape.shape = body_shape;
mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion);
@ -794,7 +795,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
real_t best_unsafe = 1;
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
const GodotCollisionObject3D *col_obj = intersection_query_results[i];
if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
@ -810,12 +811,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
Transform3D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
if (GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
continue;
}
sep_axis = motion_normal;
if (!CollisionSolver3DSW::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
if (!GodotCollisionSolver3D::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
stuck = true;
break;
}
@ -831,7 +832,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
Vector3 lA, lB;
Vector3 sep = motion_normal; //important optimization for this to work fast enough
bool collided = !CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep);
bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep);
if (collided) {
hi = fraction;
@ -911,14 +912,14 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
}
Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape3DSW *body_shape = p_body->get_shape(j);
GodotShape3D *body_shape = p_body->get_shape(j);
body_aabb.position += p_parameters.motion * unsafe;
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int i = 0; i < amount; i++) {
const CollisionObject3DSW *col_obj = intersection_query_results[i];
const GodotCollisionObject3D *col_obj = intersection_query_results[i];
if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
continue;
}
@ -930,7 +931,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
rcd.object = col_obj;
rcd.shape = shape_idx;
bool sc = CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
bool sc = GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
if (!sc) {
continue;
}
@ -952,7 +953,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
collision.position = result.contact;
collision.depth = result.len;
const Body3DSW *body = static_cast<const Body3DSW *>(result.object);
const GodotBody3D *body = static_cast<const GodotBody3D *>(result.object);
Vector3 rel_vec = result.contact - (body->get_transform().origin + body->get_center_of_mass());
collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
@ -984,44 +985,44 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
return collided;
}
void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self) {
void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) {
if (!A->interacts_with(B)) {
return nullptr;
}
CollisionObject3DSW::Type type_A = A->get_type();
CollisionObject3DSW::Type type_B = B->get_type();
GodotCollisionObject3D::Type type_A = A->get_type();
GodotCollisionObject3D::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);
}
Space3DSW *self = (Space3DSW *)p_self;
GodotSpace3D *self = (GodotSpace3D *)p_self;
self->collision_pairs++;
if (type_A == CollisionObject3DSW::TYPE_AREA) {
Area3DSW *area = static_cast<Area3DSW *>(A);
if (type_B == CollisionObject3DSW::TYPE_AREA) {
Area3DSW *area_b = static_cast<Area3DSW *>(B);
Area2Pair3DSW *area2_pair = memnew(Area2Pair3DSW(area_b, p_subindex_B, area, p_subindex_A));
if (type_A == GodotCollisionObject3D::TYPE_AREA) {
GodotArea3D *area = static_cast<GodotArea3D *>(A);
if (type_B == GodotCollisionObject3D::TYPE_AREA) {
GodotArea3D *area_b = static_cast<GodotArea3D *>(B);
GodotArea2Pair3D *area2_pair = memnew(GodotArea2Pair3D(area_b, p_subindex_B, area, p_subindex_A));
return area2_pair;
} else if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) {
SoftBody3DSW *softbody = static_cast<SoftBody3DSW *>(B);
AreaSoftBodyPair3DSW *soft_area_pair = memnew(AreaSoftBodyPair3DSW(softbody, p_subindex_B, area, p_subindex_A));
} else if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) {
GodotSoftBody3D *softbody = static_cast<GodotSoftBody3D *>(B);
GodotAreaSoftBodyPair3D *soft_area_pair = memnew(GodotAreaSoftBodyPair3D(softbody, p_subindex_B, area, p_subindex_A));
return soft_area_pair;
} else {
Body3DSW *body = static_cast<Body3DSW *>(B);
AreaPair3DSW *area_pair = memnew(AreaPair3DSW(body, p_subindex_B, area, p_subindex_A));
GodotBody3D *body = static_cast<GodotBody3D *>(B);
GodotAreaPair3D *area_pair = memnew(GodotAreaPair3D(body, p_subindex_B, area, p_subindex_A));
return area_pair;
}
} else if (type_A == CollisionObject3DSW::TYPE_BODY) {
if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) {
BodySoftBodyPair3DSW *soft_pair = memnew(BodySoftBodyPair3DSW((Body3DSW *)A, p_subindex_A, (SoftBody3DSW *)B));
} else if (type_A == GodotCollisionObject3D::TYPE_BODY) {
if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) {
GodotBodySoftBodyPair3D *soft_pair = memnew(GodotBodySoftBodyPair3D((GodotBody3D *)A, p_subindex_A, (GodotSoftBody3D *)B));
return soft_pair;
} else {
BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B));
GodotBodyPair3D *b = memnew(GodotBodyPair3D((GodotBody3D *)A, p_subindex_A, (GodotBody3D *)B, p_subindex_B));
return b;
}
} else {
@ -1031,110 +1032,110 @@ void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, Coll
return nullptr;
}
void Space3DSW::_broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self) {
void GodotSpace3D::_broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self) {
if (!p_data) {
return;
}
Space3DSW *self = (Space3DSW *)p_self;
GodotSpace3D *self = (GodotSpace3D *)p_self;
self->collision_pairs--;
Constraint3DSW *c = (Constraint3DSW *)p_data;
GodotConstraint3D *c = (GodotConstraint3D *)p_data;
memdelete(c);
}
const SelfList<Body3DSW>::List &Space3DSW::get_active_body_list() const {
const SelfList<GodotBody3D>::List &GodotSpace3D::get_active_body_list() const {
return active_list;
}
void Space3DSW::body_add_to_active_list(SelfList<Body3DSW> *p_body) {
void GodotSpace3D::body_add_to_active_list(SelfList<GodotBody3D> *p_body) {
active_list.add(p_body);
}
void Space3DSW::body_remove_from_active_list(SelfList<Body3DSW> *p_body) {
void GodotSpace3D::body_remove_from_active_list(SelfList<GodotBody3D> *p_body) {
active_list.remove(p_body);
}
void Space3DSW::body_add_to_mass_properties_update_list(SelfList<Body3DSW> *p_body) {
void GodotSpace3D::body_add_to_mass_properties_update_list(SelfList<GodotBody3D> *p_body) {
mass_properties_update_list.add(p_body);
}
void Space3DSW::body_remove_from_mass_properties_update_list(SelfList<Body3DSW> *p_body) {
void GodotSpace3D::body_remove_from_mass_properties_update_list(SelfList<GodotBody3D> *p_body) {
mass_properties_update_list.remove(p_body);
}
BroadPhase3DSW *Space3DSW::get_broadphase() {
GodotBroadPhase3D *GodotSpace3D::get_broadphase() {
return broadphase;
}
void Space3DSW::add_object(CollisionObject3DSW *p_object) {
void GodotSpace3D::add_object(GodotCollisionObject3D *p_object) {
ERR_FAIL_COND(objects.has(p_object));
objects.insert(p_object);
}
void Space3DSW::remove_object(CollisionObject3DSW *p_object) {
void GodotSpace3D::remove_object(GodotCollisionObject3D *p_object) {
ERR_FAIL_COND(!objects.has(p_object));
objects.erase(p_object);
}
const Set<CollisionObject3DSW *> &Space3DSW::get_objects() const {
const Set<GodotCollisionObject3D *> &GodotSpace3D::get_objects() const {
return objects;
}
void Space3DSW::body_add_to_state_query_list(SelfList<Body3DSW> *p_body) {
void GodotSpace3D::body_add_to_state_query_list(SelfList<GodotBody3D> *p_body) {
state_query_list.add(p_body);
}
void Space3DSW::body_remove_from_state_query_list(SelfList<Body3DSW> *p_body) {
void GodotSpace3D::body_remove_from_state_query_list(SelfList<GodotBody3D> *p_body) {
state_query_list.remove(p_body);
}
void Space3DSW::area_add_to_monitor_query_list(SelfList<Area3DSW> *p_area) {
void GodotSpace3D::area_add_to_monitor_query_list(SelfList<GodotArea3D> *p_area) {
monitor_query_list.add(p_area);
}
void Space3DSW::area_remove_from_monitor_query_list(SelfList<Area3DSW> *p_area) {
void GodotSpace3D::area_remove_from_monitor_query_list(SelfList<GodotArea3D> *p_area) {
monitor_query_list.remove(p_area);
}
void Space3DSW::area_add_to_moved_list(SelfList<Area3DSW> *p_area) {
void GodotSpace3D::area_add_to_moved_list(SelfList<GodotArea3D> *p_area) {
area_moved_list.add(p_area);
}
void Space3DSW::area_remove_from_moved_list(SelfList<Area3DSW> *p_area) {
void GodotSpace3D::area_remove_from_moved_list(SelfList<GodotArea3D> *p_area) {
area_moved_list.remove(p_area);
}
const SelfList<Area3DSW>::List &Space3DSW::get_moved_area_list() const {
const SelfList<GodotArea3D>::List &GodotSpace3D::get_moved_area_list() const {
return area_moved_list;
}
const SelfList<SoftBody3DSW>::List &Space3DSW::get_active_soft_body_list() const {
const SelfList<GodotSoftBody3D>::List &GodotSpace3D::get_active_soft_body_list() const {
return active_soft_body_list;
}
void Space3DSW::soft_body_add_to_active_list(SelfList<SoftBody3DSW> *p_soft_body) {
void GodotSpace3D::soft_body_add_to_active_list(SelfList<GodotSoftBody3D> *p_soft_body) {
active_soft_body_list.add(p_soft_body);
}
void Space3DSW::soft_body_remove_from_active_list(SelfList<SoftBody3DSW> *p_soft_body) {
void GodotSpace3D::soft_body_remove_from_active_list(SelfList<GodotSoftBody3D> *p_soft_body) {
active_soft_body_list.remove(p_soft_body);
}
void Space3DSW::call_queries() {
void GodotSpace3D::call_queries() {
while (state_query_list.first()) {
Body3DSW *b = state_query_list.first()->self();
GodotBody3D *b = state_query_list.first()->self();
state_query_list.remove(state_query_list.first());
b->call_queries();
}
while (monitor_query_list.first()) {
Area3DSW *a = monitor_query_list.first()->self();
GodotArea3D *a = monitor_query_list.first()->self();
monitor_query_list.remove(monitor_query_list.first());
a->call_queries();
}
}
void Space3DSW::setup() {
void GodotSpace3D::setup() {
contact_debug_count = 0;
while (mass_properties_update_list.first()) {
mass_properties_update_list.first()->self()->update_mass_properties();
@ -1142,11 +1143,11 @@ void Space3DSW::setup() {
}
}
void Space3DSW::update() {
void GodotSpace3D::update() {
broadphase->update();
}
void Space3DSW::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) {
void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
contact_recycle_radius = p_value;
@ -1175,7 +1176,7 @@ void Space3DSW::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_valu
}
}
real_t Space3DSW::get_param(PhysicsServer3D::SpaceParameter p_param) const {
real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const {
switch (p_param) {
case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
return contact_recycle_radius;
@ -1197,38 +1198,38 @@ real_t Space3DSW::get_param(PhysicsServer3D::SpaceParameter p_param) const {
return 0;
}
void Space3DSW::lock() {
void GodotSpace3D::lock() {
locked = true;
}
void Space3DSW::unlock() {
void GodotSpace3D::unlock() {
locked = false;
}
bool Space3DSW::is_locked() const {
bool GodotSpace3D::is_locked() const {
return locked;
}
PhysicsDirectSpaceState3DSW *Space3DSW::get_direct_state() {
GodotPhysicsDirectSpaceState3D *GodotSpace3D::get_direct_state() {
return direct_access;
}
Space3DSW::Space3DSW() {
GodotSpace3D::GodotSpace3D() {
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0));
body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
body_angular_velocity_damp_ratio = 10;
broadphase = BroadPhase3DSW::create_func();
broadphase = GodotBroadPhase3D::create_func();
broadphase->set_pair_callback(_broadphase_pair, this);
broadphase->set_unpair_callback(_broadphase_unpair, this);
direct_access = memnew(PhysicsDirectSpaceState3DSW);
direct_access = memnew(GodotPhysicsDirectSpaceState3D);
direct_access->space = this;
}
Space3DSW::~Space3DSW() {
GodotSpace3D::~GodotSpace3D() {
memdelete(broadphase);
memdelete(direct_access);
}

113
servers/physics_3d/space_3d_sw.h → servers/physics_3d/godot_space_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* space_3d_sw.h */
/* godot_space_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,25 +28,26 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SPACE_SW_H
#define SPACE_SW_H
#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 "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);
class GodotPhysicsDirectSpaceState3D : public PhysicsDirectSpaceState3D {
GDCLASS(GodotPhysicsDirectSpaceState3D, PhysicsDirectSpaceState3D);
public:
Space3DSW *space;
GodotSpace3D *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 = UINT32_MAX, 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 = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
@ -56,10 +57,10 @@ public:
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 = UINT32_MAX, 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();
GodotPhysicsDirectSpaceState3D();
};
class Space3DSW {
class GodotSpace3D {
public:
enum ElapsedTime {
ELAPSED_TIME_INTEGRATE_FORCES,
@ -74,23 +75,23 @@ public:
private:
uint64_t elapsed_time[ELAPSED_TIME_MAX] = {};
PhysicsDirectSpaceState3DSW *direct_access;
GodotPhysicsDirectSpaceState3D *direct_access;
RID self;
BroadPhase3DSW *broadphase;
SelfList<Body3DSW>::List active_list;
SelfList<Body3DSW>::List mass_properties_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;
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(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);
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<CollisionObject3DSW *> objects;
Set<GodotCollisionObject3D *> objects;
Area3DSW *area = nullptr;
GodotArea3D *area = nullptr;
real_t contact_recycle_radius = 0.01;
real_t contact_max_separation = 0.05;
@ -101,7 +102,7 @@ private:
INTERSECTION_QUERY_MAX = 2048
};
CollisionObject3DSW *intersection_query_results[INTERSECTION_QUERY_MAX];
GodotCollisionObject3D *intersection_query_results[INTERSECTION_QUERY_MAX];
int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
real_t body_linear_velocity_sleep_threshold;
@ -122,41 +123,41 @@ private:
Vector<Vector3> contact_debug;
int contact_debug_count = 0;
friend class PhysicsDirectSpaceState3DSW;
friend class GodotPhysicsDirectSpaceState3D;
int _cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb);
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(Area3DSW *p_area) { area = p_area; }
Area3DSW *get_default_area() const { return area; }
void set_default_area(GodotArea3D *p_area) { area = p_area; }
GodotArea3D *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_mass_properties_update_list(SelfList<Body3DSW> *p_body);
void body_remove_from_mass_properties_update_list(SelfList<Body3DSW> *p_body);
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<Body3DSW> *p_body);
void body_remove_from_state_query_list(SelfList<Body3DSW> *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<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;
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<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);
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);
BroadPhase3DSW *get_broadphase();
GodotBroadPhase3D *get_broadphase();
void add_object(CollisionObject3DSW *p_object);
void remove_object(CollisionObject3DSW *p_object);
const Set<CollisionObject3DSW *> &get_objects() const;
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; }
@ -189,7 +190,7 @@ public:
int get_collision_pairs() const { return collision_pairs; }
PhysicsDirectSpaceState3DSW *get_direct_state();
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(); }
@ -207,10 +208,10 @@ public:
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 PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result);
bool test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result);
Space3DSW();
~Space3DSW();
GodotSpace3D();
~GodotSpace3D();
};
#endif // SPACE__SW_H
#endif // GODOT_SPACE_3D_H

97
servers/physics_3d/step_3d_sw.cpp → servers/physics_3d/godot_step_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* step_3d_sw.cpp */
/* godot_step_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,8 +28,9 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "step_3d_sw.h"
#include "joints_3d_sw.h"
#include "godot_step_3d.h"
#include "godot_joint_3d.h"
#include "core/os/os.h"
@ -39,7 +40,7 @@
#define ISLAND_SIZE_RESERVE 512
#define CONSTRAINT_COUNT_RESERVE 1024
void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
void GodotStep3D::_populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island) {
p_body->set_island_step(_step);
if (p_body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) {
@ -47,8 +48,8 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_bod
p_body_island.push_back(p_body);
}
for (const KeyValue<Constraint3DSW *, int> &E : p_body->get_constraint_map()) {
Constraint3DSW *constraint = (Constraint3DSW *)E.key;
for (const KeyValue<GodotConstraint3D *, int> &E : p_body->get_constraint_map()) {
GodotConstraint3D *constraint = (GodotConstraint3D *)E.key;
if (constraint->get_island_step() == _step) {
continue; // Already processed.
}
@ -62,7 +63,7 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_bod
if (i == E.value) {
continue;
}
Body3DSW *other_body = constraint->get_body_ptr()[i];
GodotBody3D *other_body = constraint->get_body_ptr()[i];
if (other_body->get_island_step() == _step) {
continue; // Already processed.
}
@ -74,7 +75,7 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_bod
// Find connected soft bodies.
for (int i = 0; i < constraint->get_soft_body_count(); i++) {
SoftBody3DSW *soft_body = constraint->get_soft_body_ptr(i);
GodotSoftBody3D *soft_body = constraint->get_soft_body_ptr(i);
if (soft_body->get_island_step() == _step) {
continue; // Already processed.
}
@ -83,11 +84,11 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_bod
}
}
void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
void GodotStep3D::_populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island) {
p_soft_body->set_island_step(_step);
for (Set<Constraint3DSW *>::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) {
Constraint3DSW *constraint = (Constraint3DSW *)E->get();
for (Set<GodotConstraint3D *>::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) {
GodotConstraint3D *constraint = (GodotConstraint3D *)E->get();
if (constraint->get_island_step() == _step) {
continue; // Already processed.
}
@ -98,7 +99,7 @@ void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector
// Find connected rigid bodies.
for (int i = 0; i < constraint->get_body_count(); i++) {
Body3DSW *body = constraint->get_body_ptr()[i];
GodotBody3D *body = constraint->get_body_ptr()[i];
if (body->get_island_step() == _step) {
continue; // Already processed.
}
@ -110,16 +111,16 @@ void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector
}
}
void Step3DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
Constraint3DSW *constraint = all_constraints[p_constraint_index];
void GodotStep3D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
GodotConstraint3D *constraint = all_constraints[p_constraint_index];
constraint->setup(delta);
}
void Step3DSW::_pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island) const {
void GodotStep3D::_pre_solve_island(LocalVector<GodotConstraint3D *> &p_constraint_island) const {
uint32_t constraint_count = p_constraint_island.size();
uint32_t valid_constraint_count = 0;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint3DSW *constraint = p_constraint_island[constraint_index];
GodotConstraint3D *constraint = p_constraint_island[constraint_index];
if (p_constraint_island[constraint_index]->pre_solve(delta)) {
// Keep this constraint for solving.
p_constraint_island[valid_constraint_count++] = constraint;
@ -128,8 +129,8 @@ void Step3DSW::_pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_isl
p_constraint_island.resize(valid_constraint_count);
}
void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[p_island_index];
void GodotStep3D::_solve_island(uint32_t p_island_index, void *p_userdata) {
LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[p_island_index];
int current_priority = 1;
@ -146,7 +147,7 @@ void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
uint32_t priority_constraint_count = 0;
++current_priority;
for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
Constraint3DSW *constraint = constraint_island[constraint_index];
GodotConstraint3D *constraint = constraint_island[constraint_index];
if (constraint->get_priority() >= current_priority) {
// Keep this constraint for the next iteration.
constraint_island[priority_constraint_count++] = constraint;
@ -156,12 +157,12 @@ void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
}
}
void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island) const {
void GodotStep3D::_check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const {
bool can_sleep = true;
uint32_t body_count = p_body_island.size();
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body3DSW *body = p_body_island[body_index];
GodotBody3D *body = p_body_island[body_index];
if (!body->sleep_test(delta)) {
can_sleep = false;
@ -170,7 +171,7 @@ void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island) cons
// Put all to sleep or wake up everyone.
for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
Body3DSW *body = p_body_island[body_index];
GodotBody3D *body = p_body_island[body_index];
bool active = body->is_active();
@ -180,7 +181,7 @@ void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island) cons
}
}
void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta, int p_iterations) {
p_space->lock(); // can't access space during this
p_space->setup(); //update inertias, etc
@ -190,9 +191,9 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
iterations = p_iterations;
delta = p_delta;
const SelfList<Body3DSW>::List *body_list = &p_space->get_active_body_list();
const SelfList<GodotBody3D>::List *body_list = &p_space->get_active_body_list();
const SelfList<SoftBody3DSW>::List *soft_body_list = &p_space->get_active_soft_body_list();
const SelfList<GodotSoftBody3D>::List *soft_body_list = &p_space->get_active_soft_body_list();
/* INTEGRATE FORCES */
@ -201,7 +202,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
int active_count = 0;
const SelfList<Body3DSW> *b = body_list->first();
const SelfList<GodotBody3D> *b = body_list->first();
while (b) {
b->self()->integrate_forces(p_delta);
b = b->next();
@ -210,7 +211,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
/* UPDATE SOFT BODY MOTION */
const SelfList<SoftBody3DSW> *sb = soft_body_list->first();
const SelfList<GodotSoftBody3D> *sb = soft_body_list->first();
while (sb) {
sb->self()->predict_motion(p_delta);
sb = sb->next();
@ -221,7 +222,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
@ -229,11 +230,11 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
uint32_t island_count = 0;
const SelfList<Area3DSW>::List &aml = p_space->get_moved_area_list();
const SelfList<GodotArea3D>::List &aml = p_space->get_moved_area_list();
while (aml.first()) {
for (const Set<Constraint3DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
Constraint3DSW *constraint = E->get();
for (const Set<GodotConstraint3D *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
GodotConstraint3D *constraint = E->get();
if (constraint->get_island_step() == _step) {
continue;
}
@ -244,13 +245,13 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
all_constraints.push_back(constraint);
constraint_island.push_back(constraint);
}
p_space->area_remove_from_moved_list((SelfList<Area3DSW> *)aml.first()); //faster to remove here
p_space->area_remove_from_moved_list((SelfList<GodotArea3D> *)aml.first()); //faster to remove here
}
/* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */
@ -260,14 +261,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
uint32_t body_island_count = 0;
while (b) {
Body3DSW *body = b->self();
GodotBody3D *body = b->self();
if (body->get_island_step() != _step) {
++body_island_count;
if (body_islands.size() < body_island_count) {
body_islands.resize(body_island_count);
}
LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
LocalVector<GodotBody3D *> &body_island = body_islands[body_island_count - 1];
body_island.clear();
body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
@ -275,7 +276,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.reserve(ISLAND_SIZE_RESERVE);
@ -296,14 +297,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
sb = soft_body_list->first();
while (sb) {
SoftBody3DSW *soft_body = sb->self();
GodotSoftBody3D *soft_body = sb->self();
if (soft_body->get_island_step() != _step) {
++body_island_count;
if (body_islands.size() < body_island_count) {
body_islands.resize(body_island_count);
}
LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
LocalVector<GodotBody3D *> &body_island = body_islands[body_island_count - 1];
body_island.clear();
body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
@ -311,7 +312,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
if (constraint_islands.size() < island_count) {
constraint_islands.resize(island_count);
}
LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[island_count - 1];
constraint_island.clear();
constraint_island.reserve(ISLAND_SIZE_RESERVE);
@ -332,18 +333,18 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
/* SETUP CONSTRAINTS / PROCESS COLLISIONS */
uint32_t total_contraint_count = all_constraints.size();
work_pool.do_work(total_contraint_count, this, &Step3DSW::_setup_contraint, nullptr);
work_pool.do_work(total_contraint_count, this, &GodotStep3D::_setup_contraint, nullptr);
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
@ -359,14 +360,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
// Warning: _solve_island modifies the constraint islands for optimization purpose,
// their content is not reliable after these calls and shouldn't be used anymore.
if (island_count > 1) {
work_pool.do_work(island_count, this, &Step3DSW::_solve_island, nullptr);
work_pool.do_work(island_count, this, &GodotStep3D::_solve_island, nullptr);
} else if (island_count > 0) {
_solve_island(0);
}
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
@ -374,7 +375,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
b = body_list->first();
while (b) {
const SelfList<Body3DSW> *n = b->next();
const SelfList<GodotBody3D> *n = b->next();
b->self()->integrate_velocities(p_delta);
b = n;
}
@ -395,7 +396,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
{ //profile
profile_endtime = OS::get_singleton()->get_ticks_usec();
p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
profile_begtime = profile_endtime;
}
@ -406,7 +407,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
_step++;
}
Step3DSW::Step3DSW() {
GodotStep3D::GodotStep3D() {
body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
constraint_islands.reserve(ISLAND_COUNT_RESERVE);
all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
@ -414,6 +415,6 @@ Step3DSW::Step3DSW() {
work_pool.init();
}
Step3DSW::~Step3DSW() {
GodotStep3D::~GodotStep3D() {
work_pool.finish();
}

32
servers/physics_3d/step_3d_sw.h → servers/physics_3d/godot_step_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* step_3d_sw.h */
/* godot_step_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -28,15 +28,15 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef STEP_SW_H
#define STEP_SW_H
#ifndef GODOT_STEP_3D_H
#define GODOT_STEP_3D_H
#include "space_3d_sw.h"
#include "godot_space_3d.h"
#include "core/templates/local_vector.h"
#include "core/templates/thread_work_pool.h"
class Step3DSW {
class GodotStep3D {
uint64_t _step = 1;
int iterations = 0;
@ -44,21 +44,21 @@ class Step3DSW {
ThreadWorkPool work_pool;
LocalVector<LocalVector<Body3DSW *>> body_islands;
LocalVector<LocalVector<Constraint3DSW *>> constraint_islands;
LocalVector<Constraint3DSW *> all_constraints;
LocalVector<LocalVector<GodotBody3D *>> body_islands;
LocalVector<LocalVector<GodotConstraint3D *>> constraint_islands;
LocalVector<GodotConstraint3D *> all_constraints;
void _populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
void _populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
void _populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
void _populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
void _pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island) const;
void _pre_solve_island(LocalVector<GodotConstraint3D *> &p_constraint_island) const;
void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr);
void _check_suspend(const LocalVector<Body3DSW *> &p_body_island) const;
void _check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const;
public:
void step(Space3DSW *p_space, real_t p_delta, int p_iterations);
Step3DSW();
~Step3DSW();
void step(GodotSpace3D *p_space, real_t p_delta, int p_iterations);
GodotStep3D();
~GodotStep3D();
};
#endif // STEP__SW_H
#endif // GODOT_STEP_3D_H

18
servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp → servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* cone_twist_joint_3d_sw.cpp */
/* godot_cone_twist_joint_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -49,7 +49,7 @@ subject to the following restrictions:
Written by: Marcus Hennix
*/
#include "cone_twist_joint_3d_sw.h"
#include "godot_cone_twist_joint_3d.h"
static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
if (Math::abs(n.z) > Math_SQRT12) {
@ -84,8 +84,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
return (y < 0.0f) ? -angle : angle;
}
ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
Joint3DSW(_arr, 2) {
GodotConeTwistJoint3D::GodotConeTwistJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
GodotJoint3D(_arr, 2) {
A = rbA;
B = rbB;
@ -96,7 +96,7 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans
B->add_constraint(this, 1);
}
bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
bool GodotConeTwistJoint3D::setup(real_t p_timestep) {
dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
@ -129,7 +129,7 @@ bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
plane_space(normal[0], normal[1], normal[2]);
for (int i = 0; i < 3; i++) {
memnew_placement(&m_jac[i], JacobianEntry3DSW(
memnew_placement(&m_jac[i], GodotJacobianEntry3D(
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@ -230,7 +230,7 @@ bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
return true;
}
void ConeTwistJoint3DSW::solve(real_t p_timestep) {
void GodotConeTwistJoint3D::solve(real_t p_timestep) {
Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
@ -312,7 +312,7 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) {
}
}
void ConeTwistJoint3DSW::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
void GodotConeTwistJoint3D::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: {
m_swingSpan1 = p_value;
@ -335,7 +335,7 @@ void ConeTwistJoint3DSW::set_param(PhysicsServer3D::ConeTwistJointParam p_param,
}
}
real_t ConeTwistJoint3DSW::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
real_t GodotConeTwistJoint3D::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
switch (p_param) {
case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: {
return m_swingSpan1;

28
servers/physics_3d/joints/cone_twist_joint_3d_sw.h → servers/physics_3d/joints/godot_cone_twist_joint_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* cone_twist_joint_3d_sw.h */
/* godot_cone_twist_joint_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library.
/*
Bullet Continuous Collision Detection and Physics Library
ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios
GodotConeTwistJoint3D is Copyright (c) 2007 Starbreeze Studios
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
@ -49,28 +49,28 @@ subject to the following restrictions:
Written by: Marcus Hennix
*/
#ifndef CONE_TWIST_JOINT_SW_H
#define CONE_TWIST_JOINT_SW_H
#ifndef GODOT_CONE_TWIST_JOINT_3D_H
#define GODOT_CONE_TWIST_JOINT_3D_H
#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
#include "servers/physics_3d/joints_3d_sw.h"
#include "servers/physics_3d/godot_joint_3d.h"
#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
class ConeTwistJoint3DSW : public Joint3DSW {
// GodotConeTwistJoint3D can be used to simulate ragdoll joints (upper arm, leg etc).
class GodotConeTwistJoint3D : public GodotJoint3D {
#ifdef IN_PARALLELL_SOLVER
public:
#endif
union {
struct {
Body3DSW *A;
Body3DSW *B;
GodotBody3D *A;
GodotBody3D *B;
};
Body3DSW *_arr[2] = { nullptr, nullptr };
GodotBody3D *_arr[2] = { nullptr, nullptr };
};
JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints
real_t m_appliedImpulse = 0.0;
Transform3D m_rbAFrame;
@ -107,7 +107,7 @@ public:
virtual bool setup(real_t p_step) override;
virtual void solve(real_t p_step) override;
ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame);
GodotConeTwistJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame);
void setAngularOnly(bool angularOnly) {
m_angularOnly = angularOnly;
@ -139,4 +139,4 @@ public:
real_t get_param(PhysicsServer3D::ConeTwistJointParam p_param) const;
};
#endif // CONE_TWIST_JOINT_SW_H
#endif // GODOT_CONE_TWIST_JOINT_3D_H

69
servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp → servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* generic_6dof_joint_3d_sw.cpp */
/* godot_generic_6dof_joint_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -49,18 +49,18 @@ subject to the following restrictions:
/*
2007-09-09
Generic6DOFJointSW Refactored by Francisco Le?n
GodotGeneric6DOFJoint3D Refactored by Francisco Le?n
email: projectileman@yahoo.com
http://gimpact.sf.net
*/
#include "generic_6dof_joint_3d_sw.h"
#include "godot_generic_6dof_joint_3d.h"
#define GENERIC_D6_DISABLE_WARMSTARTING 1
//////////////////////////// G6DOFRotationalLimitMotorSW ////////////////////////////////////
//////////////////////////// GodotG6DOFRotationalLimitMotor3D ////////////////////////////////////
int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) {
int GodotG6DOFRotationalLimitMotor3D::testLimitValue(real_t test_value) {
if (m_loLimit > m_hiLimit) {
m_currentLimit = 0; //Free from violation
return 0;
@ -80,9 +80,9 @@ int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) {
return 0;
}
real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
real_t GodotG6DOFRotationalLimitMotor3D::solveAngularLimits(
real_t timeStep, Vector3 &axis, real_t jacDiagABInv,
Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic) {
GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic) {
if (!needApplyTorques()) {
return 0.0f;
}
@ -148,14 +148,13 @@ real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
return clippedMotorImpulse;
}
//////////////////////////// End G6DOFRotationalLimitMotorSW ////////////////////////////////////
//////////////////////////// GodotG6DOFTranslationalLimitMotor3D ////////////////////////////////////
//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
real_t GodotG6DOFTranslationalLimitMotor3D::solveLinearAxis(
real_t timeStep,
real_t jacDiagABInv,
Body3DSW *body1, const Vector3 &pointInA,
Body3DSW *body2, const Vector3 &pointInB,
GodotBody3D *body1, const Vector3 &pointInA,
GodotBody3D *body2, const Vector3 &pointInB,
bool p_body1_dynamic, bool p_body2_dynamic,
int limit_index,
const Vector3 &axis_normal_on_a,
@ -217,10 +216,10 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
return normalImpulse;
}
//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
//////////////////////////// GodotGeneric6DOFJoint3D ////////////////////////////////////
Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) :
Joint3DSW(_arr, 2),
GodotGeneric6DOFJoint3D::GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) :
GodotJoint3D(_arr, 2),
m_frameInA(frameInA),
m_frameInB(frameInB),
m_useLinearReferenceFrameA(useLinearReferenceFrameA) {
@ -230,7 +229,7 @@ Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const T
B->add_constraint(this, 1);
}
void Generic6DOFJoint3DSW::calculateAngleInfo() {
void GodotGeneric6DOFJoint3D::calculateAngleInfo() {
Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis;
m_calculatedAxisAngleDiff = relative_frame.get_euler_xyz();
@ -270,17 +269,17 @@ void Generic6DOFJoint3DSW::calculateAngleInfo() {
*/
}
void Generic6DOFJoint3DSW::calculateTransforms() {
void GodotGeneric6DOFJoint3D::calculateTransforms() {
m_calculatedTransformA = A->get_transform() * m_frameInA;
m_calculatedTransformB = B->get_transform() * m_frameInB;
calculateAngleInfo();
}
void Generic6DOFJoint3DSW::buildLinearJacobian(
JacobianEntry3DSW &jacLinear, const Vector3 &normalWorld,
void GodotGeneric6DOFJoint3D::buildLinearJacobian(
GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld,
const Vector3 &pivotAInW, const Vector3 &pivotBInW) {
memnew_placement(&jacLinear, JacobianEntry3DSW(
memnew_placement(&jacLinear, GodotJacobianEntry3D(
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@ -292,16 +291,16 @@ void Generic6DOFJoint3DSW::buildLinearJacobian(
B->get_inv_mass()));
}
void Generic6DOFJoint3DSW::buildAngularJacobian(
JacobianEntry3DSW &jacAngular, const Vector3 &jointAxisW) {
memnew_placement(&jacAngular, JacobianEntry3DSW(jointAxisW,
void GodotGeneric6DOFJoint3D::buildAngularJacobian(
GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW) {
memnew_placement(&jacAngular, GodotJacobianEntry3D(jointAxisW,
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
B->get_inv_inertia()));
}
bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) {
bool GodotGeneric6DOFJoint3D::testAngularLimitMotor(int axis_index) {
real_t angle = m_calculatedAxisAngleDiff[axis_index];
//test limits
@ -309,7 +308,7 @@ bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) {
return m_angularLimits[axis_index].needApplyTorques();
}
bool Generic6DOFJoint3DSW::setup(real_t p_timestep) {
bool GodotGeneric6DOFJoint3D::setup(real_t p_timestep) {
dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
@ -365,7 +364,7 @@ bool Generic6DOFJoint3DSW::setup(real_t p_timestep) {
return true;
}
void Generic6DOFJoint3DSW::solve(real_t p_timestep) {
void GodotGeneric6DOFJoint3D::solve(real_t p_timestep) {
m_timeStep = p_timestep;
//calculateTransforms();
@ -414,19 +413,19 @@ void Generic6DOFJoint3DSW::solve(real_t p_timestep) {
}
}
void Generic6DOFJoint3DSW::updateRHS(real_t timeStep) {
void GodotGeneric6DOFJoint3D::updateRHS(real_t timeStep) {
(void)timeStep;
}
Vector3 Generic6DOFJoint3DSW::getAxis(int axis_index) const {
Vector3 GodotGeneric6DOFJoint3D::getAxis(int axis_index) const {
return m_calculatedAxis[axis_index];
}
real_t Generic6DOFJoint3DSW::getAngle(int axis_index) const {
real_t GodotGeneric6DOFJoint3D::getAngle(int axis_index) const {
return m_calculatedAxisAngleDiff[axis_index];
}
void Generic6DOFJoint3DSW::calcAnchorPos() {
void GodotGeneric6DOFJoint3D::calcAnchorPos() {
real_t imA = A->get_inv_mass();
real_t imB = B->get_inv_mass();
real_t weight;
@ -438,9 +437,9 @@ void Generic6DOFJoint3DSW::calcAnchorPos() {
const Vector3 &pA = m_calculatedTransformA.origin;
const Vector3 &pB = m_calculatedTransformB.origin;
m_AnchorPos = pA * weight + pB * (real_t(1.0) - weight);
} // Generic6DOFJointSW::calcAnchorPos()
}
void Generic6DOFJoint3DSW::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
void GodotGeneric6DOFJoint3D::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
ERR_FAIL_INDEX(p_axis, 3);
switch (p_param) {
case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
@ -527,7 +526,7 @@ void Generic6DOFJoint3DSW::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DO
}
}
real_t Generic6DOFJoint3DSW::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
real_t GodotGeneric6DOFJoint3D::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
ERR_FAIL_INDEX_V(p_axis, 3, 0);
switch (p_param) {
case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
@ -615,7 +614,7 @@ real_t Generic6DOFJoint3DSW::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6
return 0;
}
void Generic6DOFJoint3DSW::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
void GodotGeneric6DOFJoint3D::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
ERR_FAIL_INDEX(p_axis, 3);
switch (p_flag) {
@ -642,7 +641,7 @@ void Generic6DOFJoint3DSW::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOF
}
}
bool Generic6DOFJoint3DSW::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
bool GodotGeneric6DOFJoint3D::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
ERR_FAIL_INDEX_V(p_axis, 3, 0);
switch (p_flag) {
case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: {

111
servers/physics_3d/joints/generic_6dof_joint_3d_sw.h → servers/physics_3d/joints/godot_generic_6dof_joint_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* generic_6dof_joint_3d_sw.h */
/* godot_generic_6dof_joint_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -32,11 +32,11 @@
Adapted to Godot from the Bullet library.
*/
#ifndef GENERIC_6DOF_JOINT_SW_H
#define GENERIC_6DOF_JOINT_SW_H
#ifndef GODOT_GENERIC_6DOF_JOINT_3D_H
#define GODOT_GENERIC_6DOF_JOINT_3D_H
#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
#include "servers/physics_3d/joints_3d_sw.h"
#include "servers/physics_3d/godot_joint_3d.h"
#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
/*
Bullet Continuous Collision Detection and Physics Library
@ -55,13 +55,13 @@ subject to the following restrictions:
/*
2007-09-09
Generic6DOFJointSW Refactored by Francisco Le?n
GodotGeneric6DOFJoint3D Refactored by Francisco Le?n
email: projectileman@yahoo.com
http://gimpact.sf.net
*/
//! Rotation Limit structure for generic joints
class G6DOFRotationalLimitMotor3DSW {
class GodotG6DOFRotationalLimitMotor3D {
public:
//! limit_parameters
//!@{
@ -86,29 +86,25 @@ public:
real_t m_accumulatedImpulse = 0.0;
//!@}
G6DOFRotationalLimitMotor3DSW() {}
GodotG6DOFRotationalLimitMotor3D() {}
//! Is limited
bool isLimited() {
return (m_loLimit < m_hiLimit);
}
//! Need apply correction
// Need apply correction.
bool needApplyTorques() {
return (m_enableMotor || m_currentLimit != 0);
}
//! calculates error
/*!
calculates m_currentLimit and m_currentLimitError.
*/
// Calculates m_currentLimit and m_currentLimitError.
int testLimitValue(real_t test_value);
//! apply the correction impulses for two bodies
real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic);
// Apply the correction impulses for two bodies.
real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic);
};
class G6DOFTranslationalLimitMotor3DSW {
class GodotG6DOFTranslationalLimitMotor3D {
public:
Vector3 m_lowerLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint lower limits
Vector3 m_upperLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint upper limits
@ -135,23 +131,23 @@ public:
real_t solveLinearAxis(
real_t timeStep,
real_t jacDiagABInv,
Body3DSW *body1, const Vector3 &pointInA,
Body3DSW *body2, const Vector3 &pointInB,
GodotBody3D *body1, const Vector3 &pointInA,
GodotBody3D *body2, const Vector3 &pointInB,
bool p_body1_dynamic, bool p_body2_dynamic,
int limit_index,
const Vector3 &axis_normal_on_a,
const Vector3 &anchorPos);
};
class Generic6DOFJoint3DSW : public Joint3DSW {
class GodotGeneric6DOFJoint3D : public GodotJoint3D {
protected:
union {
struct {
Body3DSW *A;
Body3DSW *B;
GodotBody3D *A;
GodotBody3D *B;
};
Body3DSW *_arr[2] = { nullptr, nullptr };
GodotBody3D *_arr[2] = { nullptr, nullptr };
};
//! relative_frames
@ -162,18 +158,18 @@ protected:
//! Jacobians
//!@{
JacobianEntry3DSW m_jacLinear[3]; //!< 3 orthogonal linear constraints
JacobianEntry3DSW m_jacAng[3]; //!< 3 orthogonal angular constraints
GodotJacobianEntry3D m_jacLinear[3]; //!< 3 orthogonal linear constraints
GodotJacobianEntry3D m_jacAng[3]; //!< 3 orthogonal angular constraints
//!@}
//! Linear_Limit_parameters
//!@{
G6DOFTranslationalLimitMotor3DSW m_linearLimits;
GodotG6DOFTranslationalLimitMotor3D m_linearLimits;
//!@}
//! hinge_parameters
//!@{
G6DOFRotationalLimitMotor3DSW m_angularLimits[3];
GodotG6DOFRotationalLimitMotor3D m_angularLimits[3];
//!@}
protected:
@ -191,45 +187,35 @@ protected:
//!@}
Generic6DOFJoint3DSW(Generic6DOFJoint3DSW const &) = delete;
void operator=(Generic6DOFJoint3DSW const &) = delete;
GodotGeneric6DOFJoint3D(GodotGeneric6DOFJoint3D const &) = delete;
void operator=(GodotGeneric6DOFJoint3D const &) = delete;
void buildLinearJacobian(
JacobianEntry3DSW &jacLinear, const Vector3 &normalWorld,
GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld,
const Vector3 &pivotAInW, const Vector3 &pivotBInW);
void buildAngularJacobian(JacobianEntry3DSW &jacAngular, const Vector3 &jointAxisW);
void buildAngularJacobian(GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW);
//! calcs the euler angles between the two bodies.
void calculateAngleInfo();
public:
Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA);
GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA);
virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_6DOF; }
virtual bool setup(real_t p_step) override;
virtual void solve(real_t p_step) override;
//! Calcs global transform of the offsets
/*!
Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
\sa Generic6DOFJointSW.getCalculatedTransformA , Generic6DOFJointSW.getCalculatedTransformB, Generic6DOFJointSW.calculateAngleInfo
*/
// Calcs the global transform for the joint offset for body A an B, and also calcs the angle differences between the bodies.
void calculateTransforms();
//! Gets the global transform of the offset for body A
/*!
\sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo.
*/
// Gets the global transform of the offset for body A.
const Transform3D &getCalculatedTransformA() const {
return m_calculatedTransformA;
}
//! Gets the global transform of the offset for body B
/*!
\sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo.
*/
// Gets the global transform of the offset for body B.
const Transform3D &getCalculatedTransformB() const {
return m_calculatedTransformB;
}
@ -250,27 +236,16 @@ public:
return m_frameInB;
}
//! performs Jacobian calculation, and also calculates angle differences and axis
// Performs Jacobian calculation, and also calculates angle differences and axis.
void updateRHS(real_t timeStep);
//! Get the rotation axis in global coordinates
/*!
\pre Generic6DOFJointSW.buildJacobian must be called previously.
*/
// Get the rotation axis in global coordinates.
Vector3 getAxis(int axis_index) const;
//! Get the relative Euler angle
/*!
\pre Generic6DOFJointSW.buildJacobian must be called previously.
*/
// Get the relative Euler angle.
real_t getAngle(int axis_index) const;
//! Test angular limit.
/*!
Calculates angular correction and returns true if limit needs to be corrected.
\pre Generic6DOFJointSW.buildJacobian must be called previously.
*/
// Calculates angular correction and returns true if limit needs to be corrected.
bool testAngularLimitMotor(int axis_index);
void setLinearLowerLimit(const Vector3 &linearLower) {
@ -293,17 +268,17 @@ public:
m_angularLimits[2].m_hiLimit = angularUpper.z;
}
//! Retrieves the angular limit information.
G6DOFRotationalLimitMotor3DSW *getRotationalLimitMotor(int index) {
// Retrieves the angular limit information.
GodotG6DOFRotationalLimitMotor3D *getRotationalLimitMotor(int index) {
return &m_angularLimits[index];
}
//! Retrieves the limit information.
G6DOFTranslationalLimitMotor3DSW *getTranslationalLimitMotor() {
// Retrieves the limit information.
GodotG6DOFTranslationalLimitMotor3D *getTranslationalLimitMotor() {
return &m_linearLimits;
}
//first 3 are linear, next 3 are angular
// First 3 are linear, next 3 are angular.
void setLimit(int axis, real_t lo, real_t hi) {
if (axis < 3) {
m_linearLimits.m_lowerLimit[axis] = lo;
@ -328,10 +303,10 @@ public:
return m_angularLimits[limitIndex - 3].isLimited();
}
const Body3DSW *getRigidBodyA() const {
const GodotBody3D *getRigidBodyA() const {
return A;
}
const Body3DSW *getRigidBodyB() const {
const GodotBody3D *getRigidBodyB() const {
return B;
}
@ -344,4 +319,4 @@ public:
bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const;
};
#endif // GENERIC_6DOF_JOINT_SW_H
#endif // GODOT_GENERIC_6DOF_JOINT_3D_H

34
servers/physics_3d/joints/hinge_joint_3d_sw.cpp → servers/physics_3d/joints/godot_hinge_joint_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* hinge_joint_3d_sw.cpp */
/* godot_hinge_joint_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -47,7 +47,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "hinge_joint_3d_sw.h"
#include "godot_hinge_joint_3d.h"
static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
if (Math::abs(n.z) > Math_SQRT12) {
@ -67,8 +67,8 @@ static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
}
}
HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB) :
Joint3DSW(_arr, 2) {
GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameA, const Transform3D &frameB) :
GodotJoint3D(_arr, 2) {
A = rbA;
B = rbB;
@ -83,9 +83,9 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &
B->add_constraint(this, 1);
}
HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB,
GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB,
const Vector3 &axisInA, const Vector3 &axisInB) :
Joint3DSW(_arr, 2) {
GodotJoint3D(_arr, 2) {
A = rbA;
B = rbB;
@ -124,7 +124,7 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo
B->add_constraint(this, 1);
}
bool HingeJoint3DSW::setup(real_t p_step) {
bool GodotHingeJoint3D::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
@ -149,7 +149,7 @@ bool HingeJoint3DSW::setup(real_t p_step) {
plane_space(normal[0], normal[1], normal[2]);
for (int i = 0; i < 3; i++) {
memnew_placement(&m_jac[i], JacobianEntry3DSW(
memnew_placement(&m_jac[i], GodotJacobianEntry3D(
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@ -175,19 +175,19 @@ bool HingeJoint3DSW::setup(real_t p_step) {
Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local);
Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
memnew_placement(&m_jacAng[0], JacobianEntry3DSW(jointAxis0,
memnew_placement(&m_jacAng[0], GodotJacobianEntry3D(jointAxis0,
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
B->get_inv_inertia()));
memnew_placement(&m_jacAng[1], JacobianEntry3DSW(jointAxis1,
memnew_placement(&m_jacAng[1], GodotJacobianEntry3D(jointAxis1,
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
B->get_inv_inertia()));
memnew_placement(&m_jacAng[2], JacobianEntry3DSW(hingeAxisWorld,
memnew_placement(&m_jacAng[2], GodotJacobianEntry3D(hingeAxisWorld,
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
A->get_inv_inertia(),
@ -226,7 +226,7 @@ bool HingeJoint3DSW::setup(real_t p_step) {
return true;
}
void HingeJoint3DSW::solve(real_t p_step) {
void GodotHingeJoint3D::solve(real_t p_step) {
Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
@ -377,7 +377,7 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
return (y < 0.0f) ? -angle : angle;
}
real_t HingeJoint3DSW::get_hinge_angle() {
real_t GodotHingeJoint3D::get_hinge_angle() {
const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(0));
const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(1));
const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(1));
@ -385,7 +385,7 @@ real_t HingeJoint3DSW::get_hinge_angle() {
return atan2fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
}
void HingeJoint3DSW::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
void GodotHingeJoint3D::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer3D::HINGE_JOINT_BIAS:
tau = p_value;
@ -416,7 +416,7 @@ void HingeJoint3DSW::set_param(PhysicsServer3D::HingeJointParam p_param, real_t
}
}
real_t HingeJoint3DSW::get_param(PhysicsServer3D::HingeJointParam p_param) const {
real_t GodotHingeJoint3D::get_param(PhysicsServer3D::HingeJointParam p_param) const {
switch (p_param) {
case PhysicsServer3D::HINGE_JOINT_BIAS:
return tau;
@ -441,7 +441,7 @@ real_t HingeJoint3DSW::get_param(PhysicsServer3D::HingeJointParam p_param) const
return 0;
}
void HingeJoint3DSW::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
void GodotHingeJoint3D::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
switch (p_flag) {
case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
m_useLimit = p_value;
@ -454,7 +454,7 @@ void HingeJoint3DSW::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_val
}
}
bool HingeJoint3DSW::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
bool GodotHingeJoint3D::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
switch (p_flag) {
case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
return m_useLimit;

28
servers/physics_3d/joints/hinge_joint_3d_sw.h → servers/physics_3d/joints/godot_hinge_joint_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* hinge_joint_3d_sw.h */
/* godot_hinge_joint_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -32,11 +32,11 @@
Adapted to Godot from the Bullet library.
*/
#ifndef HINGE_JOINT_SW_H
#define HINGE_JOINT_SW_H
#ifndef GODOT_HINGE_JOINT_3D_H
#define GODOT_HINGE_JOINT_3D_H
#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
#include "servers/physics_3d/joints_3d_sw.h"
#include "servers/physics_3d/godot_joint_3d.h"
#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
/*
Bullet Continuous Collision Detection and Physics Library
@ -53,18 +53,18 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
class HingeJoint3DSW : public Joint3DSW {
class GodotHingeJoint3D : public GodotJoint3D {
union {
struct {
Body3DSW *A;
Body3DSW *B;
GodotBody3D *A;
GodotBody3D *B;
};
Body3DSW *_arr[2] = {};
GodotBody3D *_arr[2] = {};
};
JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
JacobianEntry3DSW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
GodotJacobianEntry3D m_jac[3]; //3 orthogonal linear constraints
GodotJacobianEntry3D m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis.
Transform3D m_rbBFrame;
@ -109,8 +109,8 @@ public:
void set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value);
bool get_flag(PhysicsServer3D::HingeJointFlag p_flag) const;
HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB);
HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB);
GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameA, const Transform3D &frameB);
GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB);
};
#endif // HINGE_JOINT_SW_H
#endif // GODOT_HINGE_JOINT_3D_H

28
servers/physics_3d/joints/jacobian_entry_3d_sw.h → servers/physics_3d/joints/godot_jacobian_entry_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* jacobian_entry_3d_sw.h */
/* godot_jacobian_entry_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -32,8 +32,8 @@
Adapted to Godot from the Bullet library.
*/
#ifndef JACOBIAN_ENTRY_SW_H
#define JACOBIAN_ENTRY_SW_H
#ifndef GODOT_JACOBIAN_ENTRY_3D_H
#define GODOT_JACOBIAN_ENTRY_3D_H
/*
Bullet Continuous Collision Detection and Physics Library
@ -52,11 +52,11 @@ subject to the following restrictions:
#include "core/math/transform_3d.h"
class JacobianEntry3DSW {
class GodotJacobianEntry3D {
public:
JacobianEntry3DSW() {}
GodotJacobianEntry3D() {}
//constraint between two different rigidbodies
JacobianEntry3DSW(
GodotJacobianEntry3D(
const Basis &world2A,
const Basis &world2B,
const Vector3 &rel_pos1, const Vector3 &rel_pos2,
@ -76,7 +76,7 @@ public:
}
//angular constraint between two different rigidbodies
JacobianEntry3DSW(const Vector3 &jointAxis,
GodotJacobianEntry3D(const Vector3 &jointAxis,
const Basis &world2A,
const Basis &world2B,
const Vector3 &inertiaInvA,
@ -92,7 +92,7 @@ public:
}
//angular constraint between two different rigidbodies
JacobianEntry3DSW(const Vector3 &axisInA,
GodotJacobianEntry3D(const Vector3 &axisInA,
const Vector3 &axisInB,
const Vector3 &inertiaInvA,
const Vector3 &inertiaInvB) :
@ -107,7 +107,7 @@ public:
}
//constraint on one rigidbody
JacobianEntry3DSW(
GodotJacobianEntry3D(
const Basis &world2A,
const Vector3 &rel_pos1, const Vector3 &rel_pos2,
const Vector3 &jointAxis,
@ -126,16 +126,16 @@ public:
real_t getDiagonal() const { return m_Adiag; }
// for two constraints on the same rigidbody (for example vehicle friction)
real_t getNonDiagonal(const JacobianEntry3DSW &jacB, const real_t massInvA) const {
const JacobianEntry3DSW &jacA = *this;
real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA) const {
const GodotJacobianEntry3D &jacA = *this;
real_t lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
real_t ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
return lin + ang;
}
// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
real_t getNonDiagonal(const JacobianEntry3DSW &jacB, const real_t massInvA, const real_t massInvB) const {
const JacobianEntry3DSW &jacA = *this;
real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA, const real_t massInvB) const {
const GodotJacobianEntry3D &jacA = *this;
Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
@ -166,4 +166,4 @@ public:
real_t m_Adiag = 1.0;
};
#endif // JACOBIAN_ENTRY_SW_H
#endif // GODOT_JACOBIAN_ENTRY_3D_H

20
servers/physics_3d/joints/pin_joint_3d_sw.cpp → servers/physics_3d/joints/godot_pin_joint_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* pin_joint_3d_sw.cpp */
/* godot_pin_joint_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -47,9 +47,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "pin_joint_3d_sw.h"
#include "godot_pin_joint_3d.h"
bool PinJoint3DSW::setup(real_t p_step) {
bool GodotPinJoint3D::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
@ -63,7 +63,7 @@ bool PinJoint3DSW::setup(real_t p_step) {
for (int i = 0; i < 3; i++) {
normal[i] = 1;
memnew_placement(&m_jac[i], JacobianEntry3DSW(
memnew_placement(&m_jac[i], GodotJacobianEntry3D(
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
A->get_transform().xform(m_pivotInA) - A->get_transform().origin - A->get_center_of_mass(),
@ -79,7 +79,7 @@ bool PinJoint3DSW::setup(real_t p_step) {
return true;
}
void PinJoint3DSW::solve(real_t p_step) {
void GodotPinJoint3D::solve(real_t p_step) {
Vector3 pivotAInW = A->get_transform().xform(m_pivotInA);
Vector3 pivotBInW = B->get_transform().xform(m_pivotInB);
@ -137,7 +137,7 @@ void PinJoint3DSW::solve(real_t p_step) {
}
}
void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
void GodotPinJoint3D::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer3D::PIN_JOINT_BIAS:
m_tau = p_value;
@ -151,7 +151,7 @@ void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_va
}
}
real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const {
real_t GodotPinJoint3D::get_param(PhysicsServer3D::PinJointParam p_param) const {
switch (p_param) {
case PhysicsServer3D::PIN_JOINT_BIAS:
return m_tau;
@ -164,8 +164,8 @@ real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const {
return 0;
}
PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b) :
Joint3DSW(_arr, 2) {
GodotPinJoint3D::GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b) :
GodotJoint3D(_arr, 2) {
A = p_body_a;
B = p_body_b;
m_pivotInA = p_pos_a;
@ -175,5 +175,5 @@ PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW
B->add_constraint(this, 1);
}
PinJoint3DSW::~PinJoint3DSW() {
GodotPinJoint3D::~GodotPinJoint3D() {
}

26
servers/physics_3d/joints/pin_joint_3d_sw.h → servers/physics_3d/joints/godot_pin_joint_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* pin_joint_3d_sw.h */
/* godot_pin_joint_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -32,11 +32,11 @@
Adapted to Godot from the Bullet library.
*/
#ifndef PIN_JOINT_SW_H
#define PIN_JOINT_SW_H
#ifndef GODOT_PIN_JOINT_3D_H
#define GODOT_PIN_JOINT_3D_H
#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
#include "servers/physics_3d/joints_3d_sw.h"
#include "servers/physics_3d/godot_joint_3d.h"
#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
/*
Bullet Continuous Collision Detection and Physics Library
@ -53,14 +53,14 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
class PinJoint3DSW : public Joint3DSW {
class GodotPinJoint3D : public GodotJoint3D {
union {
struct {
Body3DSW *A;
Body3DSW *B;
GodotBody3D *A;
GodotBody3D *B;
};
Body3DSW *_arr[2] = {};
GodotBody3D *_arr[2] = {};
};
real_t m_tau = 0.3; //bias
@ -68,7 +68,7 @@ class PinJoint3DSW : public Joint3DSW {
real_t m_impulseClamp = 0.0;
real_t m_appliedImpulse = 0.0;
JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints
Vector3 m_pivotInA;
Vector3 m_pivotInB;
@ -88,8 +88,8 @@ public:
Vector3 get_position_a() { return m_pivotInA; }
Vector3 get_position_b() { return m_pivotInB; }
PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b);
~PinJoint3DSW();
GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b);
~GodotPinJoint3D();
};
#endif // PIN_JOINT_SW_H
#endif // GODOT_PIN_JOINT_3D_H

48
servers/physics_3d/joints/slider_joint_3d_sw.cpp → servers/physics_3d/joints/godot_slider_joint_3d.cpp
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* slider_joint_3d_sw.cpp */
/* godot_slider_joint_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -53,7 +53,7 @@ April 04, 2008
*/
#include "slider_joint_3d_sw.h"
#include "godot_slider_joint_3d.h"
//-----------------------------------------------------------------------------
@ -76,8 +76,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
//-----------------------------------------------------------------------------
SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
Joint3DSW(_arr, 2),
GodotSliderJoint3D::GodotSliderJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
GodotJoint3D(_arr, 2),
m_frameInA(frameInA),
m_frameInB(frameInB) {
A = rbA;
@ -85,11 +85,11 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D
A->add_constraint(this, 0);
B->add_constraint(this, 1);
} // SliderJointSW::SliderJointSW()
}
//-----------------------------------------------------------------------------
bool SliderJoint3DSW::setup(real_t p_step) {
bool GodotSliderJoint3D::setup(real_t p_step) {
dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
@ -112,7 +112,7 @@ bool SliderJoint3DSW::setup(real_t p_step) {
//linear part
for (i = 0; i < 3; i++) {
normalWorld = m_calculatedTransformA.basis.get_axis(i);
memnew_placement(&m_jacLin[i], JacobianEntry3DSW(
memnew_placement(&m_jacLin[i], GodotJacobianEntry3D(
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
m_relPosA - A->get_center_of_mass(),
@ -129,7 +129,7 @@ bool SliderJoint3DSW::setup(real_t p_step) {
// angular part
for (i = 0; i < 3; i++) {
normalWorld = m_calculatedTransformA.basis.get_axis(i);
memnew_placement(&m_jacAng[i], JacobianEntry3DSW(
memnew_placement(&m_jacAng[i], GodotJacobianEntry3D(
normalWorld,
A->get_principal_inertia_axes().transposed(),
B->get_principal_inertia_axes().transposed(),
@ -144,11 +144,11 @@ bool SliderJoint3DSW::setup(real_t p_step) {
m_accumulatedAngMotorImpulse = real_t(0.0);
return true;
} // SliderJointSW::buildJacobianInt()
}
//-----------------------------------------------------------------------------
void SliderJoint3DSW::solve(real_t p_step) {
void GodotSliderJoint3D::solve(real_t p_step) {
int i;
// linear
Vector3 velA = A->get_velocity_in_local_point(m_relPosA);
@ -284,13 +284,11 @@ void SliderJoint3DSW::solve(real_t p_step) {
}
}
}
} // SliderJointSW::solveConstraint()
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
void SliderJoint3DSW::calculateTransforms() {
void GodotSliderJoint3D::calculateTransforms() {
m_calculatedTransformA = A->get_transform() * m_frameInA;
m_calculatedTransformB = B->get_transform() * m_frameInB;
m_realPivotAInW = m_calculatedTransformA.origin;
@ -305,11 +303,11 @@ void SliderJoint3DSW::calculateTransforms() {
normalWorld = m_calculatedTransformA.basis.get_axis(i);
m_depth[i] = m_delta.dot(normalWorld);
}
} // SliderJointSW::calculateTransforms()
}
//-----------------------------------------------------------------------------
void SliderJoint3DSW::testLinLimits() {
void GodotSliderJoint3D::testLinLimits() {
m_solveLinLim = false;
m_linPos = m_depth[0];
if (m_lowerLinLimit <= m_upperLinLimit) {
@ -325,11 +323,11 @@ void SliderJoint3DSW::testLinLimits() {
} else {
m_depth[0] = real_t(0.);
}
} // SliderJointSW::testLinLimits()
}
//-----------------------------------------------------------------------------
void SliderJoint3DSW::testAngLimits() {
void GodotSliderJoint3D::testAngLimits() {
m_angDepth = real_t(0.);
m_solveAngLim = false;
if (m_lowerAngLimit <= m_upperAngLimit) {
@ -345,26 +343,26 @@ void SliderJoint3DSW::testAngLimits() {
m_solveAngLim = true;
}
}
} // SliderJointSW::testAngLimits()
}
//-----------------------------------------------------------------------------
Vector3 SliderJoint3DSW::getAncorInA() {
Vector3 GodotSliderJoint3D::getAncorInA() {
Vector3 ancorInA;
ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * real_t(0.5) * m_sliderAxis;
ancorInA = A->get_transform().inverse().xform(ancorInA);
return ancorInA;
} // SliderJointSW::getAncorInA()
}
//-----------------------------------------------------------------------------
Vector3 SliderJoint3DSW::getAncorInB() {
Vector3 GodotSliderJoint3D::getAncorInB() {
Vector3 ancorInB;
ancorInB = m_frameInB.origin;
return ancorInB;
} // SliderJointSW::getAncorInB();
}
void SliderJoint3DSW::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) {
void GodotSliderJoint3D::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) {
switch (p_param) {
case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
m_upperLinLimit = p_value;
@ -439,7 +437,7 @@ void SliderJoint3DSW::set_param(PhysicsServer3D::SliderJointParam p_param, real_
}
}
real_t SliderJoint3DSW::get_param(PhysicsServer3D::SliderJointParam p_param) const {
real_t GodotSliderJoint3D::get_param(PhysicsServer3D::SliderJointParam p_param) const {
switch (p_param) {
case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
return m_upperLinLimit;

30
servers/physics_3d/joints/slider_joint_3d_sw.h → servers/physics_3d/joints/godot_slider_joint_3d.h
View File

@ -1,5 +1,5 @@
/*************************************************************************/
/* slider_joint_3d_sw.h */
/* godot_slider_joint_3d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@ -32,11 +32,11 @@
Adapted to Godot from the Bullet library.
*/
#ifndef SLIDER_JOINT_SW_H
#define SLIDER_JOINT_SW_H
#ifndef GODOT_SLIDER_JOINT_3D_H
#define GODOT_SLIDER_JOINT_3D_H
#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
#include "servers/physics_3d/joints_3d_sw.h"
#include "servers/physics_3d/godot_joint_3d.h"
#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
/*
Bullet Continuous Collision Detection and Physics Library
@ -65,15 +65,15 @@ April 04, 2008
//-----------------------------------------------------------------------------
class SliderJoint3DSW : public Joint3DSW {
class GodotSliderJoint3D : public GodotJoint3D {
protected:
union {
struct {
Body3DSW *A;
Body3DSW *B;
GodotBody3D *A;
GodotBody3D *B;
};
Body3DSW *_arr[2] = { nullptr, nullptr };
GodotBody3D *_arr[2] = { nullptr, nullptr };
};
Transform3D m_frameInA;
@ -114,10 +114,10 @@ protected:
bool m_solveLinLim = false;
bool m_solveAngLim = false;
JacobianEntry3DSW m_jacLin[3] = {};
GodotJacobianEntry3D m_jacLin[3] = {};
real_t m_jacLinDiagABInv[3] = {};
JacobianEntry3DSW m_jacAng[3] = {};
GodotJacobianEntry3D m_jacAng[3] = {};
real_t m_timeStep = 0.0;
Transform3D m_calculatedTransformA;
@ -149,13 +149,13 @@ protected:
public:
// constructors
SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
GodotSliderJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
//SliderJointSW();
// overrides
// access
const Body3DSW *getRigidBodyA() const { return A; }
const Body3DSW *getRigidBodyB() const { return B; }
const GodotBody3D *getRigidBodyA() const { return A; }
const GodotBody3D *getRigidBodyB() const { return B; }
const Transform3D &getCalculatedTransformA() const { return m_calculatedTransformA; }
const Transform3D &getCalculatedTransformB() const { return m_calculatedTransformB; }
const Transform3D &getFrameOffsetA() const { return m_frameInA; }
@ -243,4 +243,4 @@ public:
virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_SLIDER; }
};
#endif // SLIDER_JOINT_SW_H
#endif // GODOT_SLIDER_JOINT_3D_H

1748
servers/physics_3d/physics_server_3d_sw.cpp
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File diff suppressed because it is too large Load Diff

6
servers/physics_server_2d.h
View File

@ -28,8 +28,8 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS_2D_SERVER_H
#define PHYSICS_2D_SERVER_H
#ifndef PHYSICS_SERVER_2D_H
#define PHYSICS_SERVER_2D_H
#include "core/io/resource.h"
#include "core/object/class_db.h"
@ -701,4 +701,4 @@ VARIANT_ENUM_CAST(PhysicsServer2D::DampedSpringParam);
VARIANT_ENUM_CAST(PhysicsServer2D::AreaBodyStatus);
VARIANT_ENUM_CAST(PhysicsServer2D::ProcessInfo);
#endif
#endif // PHYSICS_SERVER_2D_H

0
servers/physics_2d/physics_server_2d_wrap_mt.cpp → servers/physics_server_2d_wrap_mt.cpp
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6
servers/physics_2d/physics_server_2d_wrap_mt.h → servers/physics_server_2d_wrap_mt.h
View File

@ -28,8 +28,8 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS2DSERVERWRAPMT_H
#define PHYSICS2DSERVERWRAPMT_H
#ifndef PHYSICS_SERVER_2D_WRAP_MT_H
#define PHYSICS_SERVER_2D_WRAP_MT_H
#include "core/config/project_settings.h"
#include "core/os/thread.h"
@ -330,4 +330,4 @@ public:
#endif
#undef SYNC_DEBUG
#endif // PHYSICS2DSERVERWRAPMT_H
#endif // PHYSICS_SERVER_2D_WRAP_MT_H

6
servers/physics_server_3d.h
View File

@ -28,8 +28,8 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS_SERVER_H
#define PHYSICS_SERVER_H
#ifndef PHYSICS_SERVER_3D_H
#define PHYSICS_SERVER_3D_H
#include "core/io/resource.h"
#include "core/object/class_db.h"
@ -903,4 +903,4 @@ VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisFlag);
VARIANT_ENUM_CAST(PhysicsServer3D::AreaBodyStatus);
VARIANT_ENUM_CAST(PhysicsServer3D::ProcessInfo);
#endif
#endif // PHYSICS_SERVER_3D_H

0
servers/physics_3d/physics_server_3d_wrap_mt.cpp → servers/physics_server_3d_wrap_mt.cpp
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6
servers/physics_3d/physics_server_3d_wrap_mt.h → servers/physics_server_3d_wrap_mt.h
View File

@ -28,8 +28,8 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS3DSERVERWRAPMT_H
#define PHYSICS3DSERVERWRAPMT_H
#ifndef PHYSICS_SERVER_3D_WRAP_MT_H
#define PHYSICS_SERVER_3D_WRAP_MT_H
#include "core/config/project_settings.h"
#include "core/os/thread.h"
@ -406,4 +406,4 @@ public:
#endif
#undef SYNC_DEBUG
#endif // PHYSICS3DSERVERWRAPMT_H
#endif // PHYSICS_SERVER_3D_WRAP_MT_H

12
servers/register_server_types.cpp
View File

@ -59,12 +59,12 @@
#include "display_server.h"
#include "navigation_server_2d.h"
#include "navigation_server_3d.h"
#include "physics_2d/physics_server_2d_sw.h"
#include "physics_2d/physics_server_2d_wrap_mt.h"
#include "physics_3d/physics_server_3d_sw.h"
#include "physics_3d/physics_server_3d_wrap_mt.h"
#include "physics_2d/godot_physics_server_2d.h"
#include "physics_3d/godot_physics_server_3d.h"
#include "physics_server_2d.h"
#include "physics_server_2d_wrap_mt.h"
#include "physics_server_3d.h"
#include "physics_server_3d_wrap_mt.h"
#include "rendering/renderer_compositor.h"
#include "rendering/rendering_device.h"
#include "rendering/rendering_device_binds.h"
@ -82,7 +82,7 @@ ShaderTypes *shader_types = nullptr;
PhysicsServer3D *_createGodotPhysics3DCallback() {
bool using_threads = GLOBAL_GET("physics/3d/run_on_thread");
PhysicsServer3D *physics_server = memnew(PhysicsServer3DSW(using_threads));
PhysicsServer3D *physics_server = memnew(GodotPhysicsServer3D(using_threads));
return memnew(PhysicsServer3DWrapMT(physics_server, using_threads));
}
@ -90,7 +90,7 @@ PhysicsServer3D *_createGodotPhysics3DCallback() {
PhysicsServer2D *_createGodotPhysics2DCallback() {
bool using_threads = GLOBAL_GET("physics/2d/run_on_thread");
PhysicsServer2D *physics_server = memnew(PhysicsServer2DSW(using_threads));
PhysicsServer2D *physics_server = memnew(GodotPhysicsServer2D(using_threads));
return memnew(PhysicsServer2DWrapMT(physics_server, using_threads));
}