354 lines
13 KiB
C++
354 lines
13 KiB
C++
/*************************************************************************/
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/* body_2d_sw.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef BODY_2D_SW_H
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#define BODY_2D_SW_H
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#include "area_2d_sw.h"
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#include "collision_object_2d_sw.h"
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#include "core/templates/list.h"
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#include "core/templates/pair.h"
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#include "core/templates/vset.h"
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class Constraint2DSW;
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class PhysicsDirectBodyState2DSW;
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class Body2DSW : public CollisionObject2DSW {
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PhysicsServer2D::BodyMode mode = PhysicsServer2D::BODY_MODE_DYNAMIC;
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Vector2 biased_linear_velocity;
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real_t biased_angular_velocity = 0.0;
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Vector2 linear_velocity;
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real_t angular_velocity = 0.0;
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Vector2 constant_linear_velocity;
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real_t constant_angular_velocity = 0.0;
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real_t linear_damp = -1.0;
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real_t angular_damp = -1.0;
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real_t gravity_scale = 1.0;
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real_t bounce = 0.0;
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real_t friction = 1.0;
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real_t mass = 1.0;
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real_t _inv_mass = 1.0;
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real_t inertia = 0.0;
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real_t _inv_inertia = 0.0;
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Vector2 center_of_mass;
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bool calculate_inertia = true;
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bool calculate_center_of_mass = true;
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Vector2 gravity;
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real_t area_linear_damp = 0.0;
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real_t area_angular_damp = 0.0;
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real_t still_time = 0.0;
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Vector2 applied_force;
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real_t applied_torque = 0.0;
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SelfList<Body2DSW> active_list;
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SelfList<Body2DSW> mass_properties_update_list;
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SelfList<Body2DSW> direct_state_query_list;
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VSet<RID> exceptions;
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PhysicsServer2D::CCDMode continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED;
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bool omit_force_integration = false;
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bool active = true;
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bool can_sleep = true;
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bool first_time_kinematic = false;
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void _mass_properties_changed();
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virtual void _shapes_changed();
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Transform2D new_transform;
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List<Pair<Constraint2DSW *, int>> constraint_list;
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struct AreaCMP {
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Area2DSW *area;
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int refCount;
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_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
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_FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
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_FORCE_INLINE_ AreaCMP() {}
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_FORCE_INLINE_ AreaCMP(Area2DSW *p_area) {
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area = p_area;
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refCount = 1;
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}
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};
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Vector<AreaCMP> areas;
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struct Contact {
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Vector2 local_pos;
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Vector2 local_normal;
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real_t depth;
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int local_shape;
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Vector2 collider_pos;
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int collider_shape;
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ObjectID collider_instance_id;
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RID collider;
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Vector2 collider_velocity_at_pos;
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};
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Vector<Contact> contacts; //no contacts by default
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int contact_count = 0;
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void *body_state_callback_instance = nullptr;
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PhysicsServer2D::BodyStateCallback body_state_callback = nullptr;
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struct ForceIntegrationCallbackData {
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Callable callable;
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Variant udata;
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};
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ForceIntegrationCallbackData *fi_callback_data = nullptr;
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PhysicsDirectBodyState2DSW *direct_state = nullptr;
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uint64_t island_step = 0;
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_FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area2DSW *p_area);
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friend class PhysicsDirectBodyState2DSW; // i give up, too many functions to expose
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public:
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void set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback);
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void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
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PhysicsDirectBodyState2DSW *get_direct_state();
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_FORCE_INLINE_ void add_area(Area2DSW *p_area) {
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int index = areas.find(AreaCMP(p_area));
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if (index > -1) {
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areas.write[index].refCount += 1;
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} else {
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areas.ordered_insert(AreaCMP(p_area));
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}
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}
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_FORCE_INLINE_ void remove_area(Area2DSW *p_area) {
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int index = areas.find(AreaCMP(p_area));
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if (index > -1) {
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areas.write[index].refCount -= 1;
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if (areas[index].refCount < 1) {
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areas.remove(index);
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}
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}
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}
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_FORCE_INLINE_ void set_max_contacts_reported(int p_size) {
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contacts.resize(p_size);
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contact_count = 0;
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if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC && p_size) {
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set_active(true);
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}
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}
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_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
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_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); }
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_FORCE_INLINE_ void 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);
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_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
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_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
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_FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); }
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_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
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_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
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_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
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_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); }
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_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); }
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const List<Pair<Constraint2DSW *, int>> &get_constraint_list() const { return constraint_list; }
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_FORCE_INLINE_ void clear_constraint_list() { constraint_list.clear(); }
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_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
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_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }
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_FORCE_INLINE_ void set_linear_velocity(const Vector2 &p_velocity) { linear_velocity = p_velocity; }
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_FORCE_INLINE_ Vector2 get_linear_velocity() const { return linear_velocity; }
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_FORCE_INLINE_ void set_angular_velocity(real_t p_velocity) { angular_velocity = p_velocity; }
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_FORCE_INLINE_ real_t get_angular_velocity() const { return angular_velocity; }
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_FORCE_INLINE_ void set_biased_linear_velocity(const Vector2 &p_velocity) { biased_linear_velocity = p_velocity; }
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_FORCE_INLINE_ Vector2 get_biased_linear_velocity() const { return biased_linear_velocity; }
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_FORCE_INLINE_ void set_biased_angular_velocity(real_t p_velocity) { biased_angular_velocity = p_velocity; }
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_FORCE_INLINE_ real_t get_biased_angular_velocity() const { return biased_angular_velocity; }
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_FORCE_INLINE_ void apply_central_impulse(const Vector2 &p_impulse) {
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linear_velocity += p_impulse * _inv_mass;
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}
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_FORCE_INLINE_ void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) {
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linear_velocity += p_impulse * _inv_mass;
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angular_velocity += _inv_inertia * (p_position - center_of_mass).cross(p_impulse);
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}
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_FORCE_INLINE_ void apply_torque_impulse(real_t p_torque) {
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angular_velocity += _inv_inertia * p_torque;
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}
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_FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) {
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biased_linear_velocity += p_impulse * _inv_mass;
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biased_angular_velocity += _inv_inertia * (p_position - center_of_mass).cross(p_impulse);
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}
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void set_active(bool p_active);
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_FORCE_INLINE_ bool is_active() const { return active; }
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_FORCE_INLINE_ void wakeup() {
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if ((!get_space()) || mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
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return;
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}
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set_active(true);
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}
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void set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value);
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Variant get_param(PhysicsServer2D::BodyParameter p_param) const;
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void set_mode(PhysicsServer2D::BodyMode p_mode);
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PhysicsServer2D::BodyMode get_mode() const;
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void set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant);
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Variant get_state(PhysicsServer2D::BodyState p_state) const;
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void set_applied_force(const Vector2 &p_force) { applied_force = p_force; }
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Vector2 get_applied_force() const { return applied_force; }
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void set_applied_torque(real_t p_torque) { applied_torque = p_torque; }
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real_t get_applied_torque() const { return applied_torque; }
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_FORCE_INLINE_ void add_central_force(const Vector2 &p_force) {
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applied_force += p_force;
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}
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_FORCE_INLINE_ void add_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) {
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applied_force += p_force;
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applied_torque += (p_position - center_of_mass).cross(p_force);
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}
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_FORCE_INLINE_ void add_torque(real_t p_torque) {
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applied_torque += p_torque;
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}
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_FORCE_INLINE_ void set_continuous_collision_detection_mode(PhysicsServer2D::CCDMode p_mode) { continuous_cd_mode = p_mode; }
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_FORCE_INLINE_ PhysicsServer2D::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; }
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void set_space(Space2DSW *p_space);
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void update_mass_properties();
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void reset_mass_properties();
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_FORCE_INLINE_ Vector2 get_center_of_mass() const { return center_of_mass; }
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_FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; }
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_FORCE_INLINE_ real_t get_inv_inertia() const { return _inv_inertia; }
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_FORCE_INLINE_ real_t get_friction() const { return friction; }
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_FORCE_INLINE_ Vector2 get_gravity() const { return gravity; }
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_FORCE_INLINE_ real_t get_bounce() const { return bounce; }
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_FORCE_INLINE_ real_t get_linear_damp() const { return linear_damp; }
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_FORCE_INLINE_ real_t get_angular_damp() const { return angular_damp; }
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void integrate_forces(real_t p_step);
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void integrate_velocities(real_t p_step);
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_FORCE_INLINE_ Vector2 get_velocity_in_local_point(const Vector2 &rel_pos) const {
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return linear_velocity + Vector2(-angular_velocity * rel_pos.y, angular_velocity * rel_pos.x);
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}
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_FORCE_INLINE_ Vector2 get_motion() const {
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if (mode > PhysicsServer2D::BODY_MODE_KINEMATIC) {
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return new_transform.get_origin() - get_transform().get_origin();
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} else if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
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return get_transform().get_origin() - new_transform.get_origin(); //kinematic simulates forward
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}
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return Vector2();
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}
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void call_queries();
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void wakeup_neighbours();
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bool sleep_test(real_t p_step);
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Body2DSW();
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~Body2DSW();
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};
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//add contact inline
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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) {
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int c_max = contacts.size();
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if (c_max == 0) {
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return;
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}
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Contact *c = contacts.ptrw();
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int idx = -1;
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if (contact_count < c_max) {
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idx = contact_count++;
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} else {
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real_t least_depth = 1e20;
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int least_deep = -1;
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for (int i = 0; i < c_max; i++) {
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if (i == 0 || c[i].depth < least_depth) {
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least_deep = i;
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least_depth = c[i].depth;
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}
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}
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if (least_deep >= 0 && least_depth < p_depth) {
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idx = least_deep;
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}
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if (idx == -1) {
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return; //none least deepe than this
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}
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}
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c[idx].local_pos = p_local_pos;
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c[idx].local_normal = p_local_normal;
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c[idx].depth = p_depth;
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c[idx].local_shape = p_local_shape;
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c[idx].collider_pos = p_collider_pos;
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c[idx].collider_shape = p_collider_shape;
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c[idx].collider_instance_id = p_collider_instance_id;
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c[idx].collider = p_collider;
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c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
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}
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#endif // BODY_2D_SW_H
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