747 lines
21 KiB
C++
747 lines
21 KiB
C++
/*************************************************************************/
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/* space_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur. */
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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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#include "globals.h"
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#include "space_sw.h"
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#include "collision_solver_sw.h"
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#include "physics_server_sw.h"
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_FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) {
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if (p_object->get_type()==CollisionObjectSW::TYPE_AREA)
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return p_type_mask&PhysicsDirectSpaceState::TYPE_MASK_AREA;
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if ((p_object->get_layer_mask()&p_layer_mask)==0)
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return false;
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BodySW *body = static_cast<BodySW*>(p_object);
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return (1<<body->get_mode())&p_type_mask;
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}
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bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
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ERR_FAIL_COND_V(space->locked,false);
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Vector3 begin,end;
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Vector3 normal;
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begin=p_from;
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end=p_to;
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normal=(end-begin).normalized();
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int amount = space->broadphase->cull_segment(begin,end,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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//todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
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bool collided=false;
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Vector3 res_point,res_normal;
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int res_shape;
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const CollisionObjectSW *res_obj;
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real_t min_d=1e10;
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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if (!(static_cast<CollisionObjectSW*>(space->intersection_query_results[i])->is_ray_pickable()))
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continue;
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObjectSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
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Vector3 local_from = inv_xform.xform(begin);
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Vector3 local_to = inv_xform.xform(end);
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const ShapeSW *shape = col_obj->get_shape(shape_idx);
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Vector3 shape_point,shape_normal;
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if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) {
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Transform xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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shape_point=xform.xform(shape_point);
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real_t ld = normal.dot(shape_point);
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if (ld<min_d) {
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min_d=ld;
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res_point=shape_point;
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res_normal=inv_xform.basis.xform_inv(shape_normal).normalized();
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res_shape=shape_idx;
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res_obj=col_obj;
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collided=true;
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}
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}
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}
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if (!collided)
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return false;
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r_result.collider_id=res_obj->get_instance_id();
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if (r_result.collider_id!=0)
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r_result.collider=ObjectDB::get_instance(r_result.collider_id);
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else
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r_result.collider=NULL;
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r_result.normal=res_normal;
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r_result.position=res_point;
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r_result.rid=res_obj->get_self();
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r_result.shape=res_shape;
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return true;
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}
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int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
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if (p_result_max<=0)
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return 0;
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ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,0);
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AABB aabb = p_xform.xform(shape->get_aabb());
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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bool collided=false;
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int cc=0;
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//Transform ai = p_xform.affine_inverse();
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for(int i=0;i<amount;i++) {
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if (cc>=p_result_max)
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break;
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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//area cant be picked by ray (default)
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObjectSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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if (!CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL,NULL,NULL,p_margin,0))
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continue;
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r_results[cc].collider_id=col_obj->get_instance_id();
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if (r_results[cc].collider_id!=0)
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r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
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else
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r_results[cc].collider=NULL;
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r_results[cc].rid=col_obj->get_self();
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r_results[cc].shape=shape_idx;
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cc++;
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}
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return cc;
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}
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bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,ShapeRestInfo *r_info) {
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ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,false);
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AABB aabb = p_xform.xform(shape->get_aabb());
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aabb=aabb.merge(AABB(aabb.pos+p_motion,aabb.size)); //motion
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aabb=aabb.grow(p_margin);
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//if (p_motion!=Vector3())
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// print_line(p_motion);
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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float best_safe=1;
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float best_unsafe=1;
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Transform xform_inv = p_xform.affine_inverse();
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MotionShapeSW mshape;
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mshape.shape=shape;
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mshape.motion=xform_inv.basis.xform(p_motion);
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bool best_first=true;
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Vector3 closest_A,closest_B;
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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continue; //ignore excluded
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const CollisionObjectSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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Vector3 point_A,point_B;
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Vector3 sep_axis=p_motion.normalized();
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Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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//test initial overlap, does it collide if going all the way?
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if (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
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//print_line("failed motion cast (no collision)");
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continue;
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}
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//test initial overlap
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#if 0
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if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) {
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print_line("failed initial cast (collision at begining)");
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return false;
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}
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#else
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sep_axis=p_motion.normalized();
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if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
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//print_line("failed motion cast (no collision)");
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return false;
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}
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#endif
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//just do kinematic solving
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float low=0;
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float hi=1;
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Vector3 mnormal=p_motion.normalized();
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for(int i=0;i<8;i++) { //steps should be customizable..
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Transform xfa = p_xform;
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float ofs = (low+hi)*0.5;
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Vector3 sep=mnormal; //important optimization for this to work fast enough
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mshape.motion=xform_inv.basis.xform(p_motion*ofs);
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Vector3 lA,lB;
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bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep);
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if (collided) {
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//print_line(itos(i)+": "+rtos(ofs));
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hi=ofs;
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} else {
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point_A=lA;
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point_B=lB;
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low=ofs;
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}
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}
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if (low<best_safe) {
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best_first=true; //force reset
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best_safe=low;
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best_unsafe=hi;
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}
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if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low<=best_safe))) {
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closest_A=point_A;
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closest_B=point_B;
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r_info->collider_id=col_obj->get_instance_id();
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r_info->rid=col_obj->get_self();
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r_info->shape=shape_idx;
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r_info->point=closest_B;
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r_info->normal=(closest_A-closest_B).normalized();
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best_first=false;
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if (col_obj->get_type()==CollisionObjectSW::TYPE_BODY) {
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const BodySW *body=static_cast<const BodySW*>(col_obj);
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r_info->linear_velocity= body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
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}
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}
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}
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p_closest_safe=best_safe;
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p_closest_unsafe=best_unsafe;
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return true;
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}
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bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask){
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if (p_result_max<=0)
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return 0;
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ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,0);
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AABB aabb = p_shape_xform.xform(shape->get_aabb());
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aabb=aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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bool collided=false;
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int cc=0;
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r_result_count=0;
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PhysicsServerSW::CollCbkData cbk;
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cbk.max=p_result_max;
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cbk.amount=0;
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cbk.ptr=r_results;
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CollisionSolverSW::CallbackResult cbkres=NULL;
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PhysicsServerSW::CollCbkData *cbkptr=NULL;
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if (p_result_max>0) {
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cbkptr=&cbk;
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cbkres=PhysicsServerSW::_shape_col_cbk;
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}
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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const CollisionObjectSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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if (p_exclude.has( col_obj->get_self() )) {
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continue;
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}
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//print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx));
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//print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb()));
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if (CollisionSolverSW::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,NULL,p_margin)) {
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collided=true;
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}
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}
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r_result_count=cbk.amount;
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return collided;
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}
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struct _RestCallbackData {
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const CollisionObjectSW *object;
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const CollisionObjectSW *best_object;
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int shape;
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int best_shape;
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Vector3 best_contact;
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Vector3 best_normal;
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float best_len;
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};
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static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
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_RestCallbackData *rd=(_RestCallbackData*)p_userdata;
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Vector3 contact_rel = p_point_B - p_point_A;
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float len = contact_rel.length();
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if (len <= rd->best_len)
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return;
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rd->best_len=len;
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rd->best_contact=p_point_B;
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rd->best_normal=contact_rel/len;
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rd->best_object=rd->object;
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rd->best_shape=rd->shape;
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}
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bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
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ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,0);
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AABB aabb = p_shape_xform.xform(shape->get_aabb());
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aabb=aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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_RestCallbackData rcd;
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rcd.best_len=0;
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rcd.best_object=NULL;
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rcd.best_shape=0;
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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const CollisionObjectSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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if (p_exclude.has( col_obj->get_self() ))
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continue;
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rcd.object=col_obj;
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rcd.shape=shape_idx;
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bool sc = CollisionSolverSW::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,NULL,p_margin);
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if (!sc)
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continue;
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}
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if (rcd.best_len==0)
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return false;
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r_info->collider_id=rcd.best_object->get_instance_id();
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r_info->shape=rcd.best_shape;
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r_info->normal=rcd.best_normal;
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r_info->point=rcd.best_contact;
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r_info->rid=rcd.best_object->get_self();
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if (rcd.best_object->get_type()==CollisionObjectSW::TYPE_BODY) {
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const BodySW *body = static_cast<const BodySW*>(rcd.best_object);
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Vector3 rel_vec = r_info->point-body->get_transform().get_origin();
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r_info->linear_velocity = body->get_linear_velocity() +
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(body->get_angular_velocity()).cross(body->get_transform().origin-rcd.best_contact);// * mPos);
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} else {
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r_info->linear_velocity=Vector3();
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}
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return true;
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}
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PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() {
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space=NULL;
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}
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////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void* SpaceSW::_broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self) {
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CollisionObjectSW::Type type_A=A->get_type();
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CollisionObjectSW::Type type_B=B->get_type();
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if (type_A>type_B) {
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SWAP(A,B);
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SWAP(p_subindex_A,p_subindex_B);
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SWAP(type_A,type_B);
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}
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SpaceSW *self = (SpaceSW*)p_self;
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self->collision_pairs++;
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if (type_A==CollisionObjectSW::TYPE_AREA) {
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AreaSW *area=static_cast<AreaSW*>(A);
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if (type_B==CollisionObjectSW::TYPE_AREA) {
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AreaSW *area_b=static_cast<AreaSW*>(B);
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Area2PairSW *area2_pair = memnew(Area2PairSW(area_b,p_subindex_B,area,p_subindex_A) );
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return area2_pair;
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} else {
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BodySW *body=static_cast<BodySW*>(B);
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AreaPairSW *area_pair = memnew(AreaPairSW(body,p_subindex_B,area,p_subindex_A) );
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return area_pair;
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}
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} else {
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BodyPairSW *b = memnew( BodyPairSW((BodySW*)A,p_subindex_A,(BodySW*)B,p_subindex_B) );
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return b;
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}
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return NULL;
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}
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void SpaceSW::_broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self) {
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SpaceSW *self = (SpaceSW*)p_self;
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self->collision_pairs--;
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ConstraintSW *c = (ConstraintSW*)p_data;
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memdelete(c);
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}
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const SelfList<BodySW>::List& SpaceSW::get_active_body_list() const {
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return active_list;
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}
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void SpaceSW::body_add_to_active_list(SelfList<BodySW>* p_body) {
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active_list.add(p_body);
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}
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void SpaceSW::body_remove_from_active_list(SelfList<BodySW>* p_body) {
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active_list.remove(p_body);
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}
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void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW>* p_body) {
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inertia_update_list.add(p_body);
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}
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void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW>* p_body) {
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inertia_update_list.remove(p_body);
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}
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BroadPhaseSW *SpaceSW::get_broadphase() {
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return broadphase;
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}
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void SpaceSW::add_object(CollisionObjectSW *p_object) {
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ERR_FAIL_COND( objects.has(p_object) );
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objects.insert(p_object);
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}
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void SpaceSW::remove_object(CollisionObjectSW *p_object) {
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ERR_FAIL_COND( !objects.has(p_object) );
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objects.erase(p_object);
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}
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const Set<CollisionObjectSW*> &SpaceSW::get_objects() const {
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return objects;
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}
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void SpaceSW::body_add_to_state_query_list(SelfList<BodySW>* p_body) {
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state_query_list.add(p_body);
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}
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void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW>* p_body) {
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state_query_list.remove(p_body);
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}
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void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW>* p_area) {
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monitor_query_list.add(p_area);
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}
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void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area) {
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monitor_query_list.remove(p_area);
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}
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void SpaceSW::area_add_to_moved_list(SelfList<AreaSW>* p_area) {
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area_moved_list.add(p_area);
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}
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void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW>* p_area) {
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area_moved_list.remove(p_area);
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}
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const SelfList<AreaSW>::List& SpaceSW::get_moved_area_list() const {
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return area_moved_list;
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}
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void SpaceSW::call_queries() {
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while(state_query_list.first()) {
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BodySW * b = state_query_list.first()->self();
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b->call_queries();
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state_query_list.remove(state_query_list.first());
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}
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while(monitor_query_list.first()) {
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AreaSW * a = monitor_query_list.first()->self();
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a->call_queries();
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monitor_query_list.remove(monitor_query_list.first());
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}
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}
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void SpaceSW::setup() {
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contact_debug_count=0;
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while(inertia_update_list.first()) {
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inertia_update_list.first()->self()->update_inertias();
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inertia_update_list.remove(inertia_update_list.first());
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}
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}
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void SpaceSW::update() {
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broadphase->update();
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}
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void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
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switch(p_param) {
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case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
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case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
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case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
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case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_threshold=p_value; break;
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case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold=p_value; break;
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case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
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case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
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case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
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}
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}
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real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
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switch(p_param) {
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case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
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case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
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case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
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case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_threshold;
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case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_threshold;
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case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
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|
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
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|
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
|
|
}
|
|
return 0;
|
|
}
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|
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void SpaceSW::lock() {
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|
|
locked=true;
|
|
}
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void SpaceSW::unlock() {
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|
|
locked=false;
|
|
}
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bool SpaceSW::is_locked() const {
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|
|
return locked;
|
|
}
|
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PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() {
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|
|
return direct_access;
|
|
}
|
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SpaceSW::SpaceSW() {
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|
|
collision_pairs=0;
|
|
active_objects=0;
|
|
island_count=0;
|
|
contact_debug_count=0;
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|
|
locked=false;
|
|
contact_recycle_radius=0.01;
|
|
contact_max_separation=0.05;
|
|
contact_max_allowed_penetration= 0.01;
|
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|
|
constraint_bias = 0.01;
|
|
body_linear_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_linear",0.1);
|
|
body_angular_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_angular", (8.0 / 180.0 * Math_PI) );
|
|
body_time_to_sleep=0.5;
|
|
body_angular_velocity_damp_ratio=10;
|
|
|
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|
|
broadphase = BroadPhaseSW::create_func();
|
|
broadphase->set_pair_callback(_broadphase_pair,this);
|
|
broadphase->set_unpair_callback(_broadphase_unpair,this);
|
|
area=NULL;
|
|
|
|
direct_access = memnew( PhysicsDirectSpaceStateSW );
|
|
direct_access->space=this;
|
|
}
|
|
|
|
SpaceSW::~SpaceSW() {
|
|
|
|
memdelete(broadphase);
|
|
memdelete( direct_access );
|
|
}
|
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