eae94ba1c8
This is a continuation of an on-going work for 64-bit floating point builds, started in PR #7528. Covers physics, physics/joints and physics_2d code. Also removed matrixToEulerXYZ function in favor of Basis::get_euler.
298 lines
13 KiB
C++
298 lines
13 KiB
C++
/*************************************************************************/
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/* physics_server_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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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 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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#ifndef PHYSICS_SERVER_SW
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#define PHYSICS_SERVER_SW
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#include "servers/physics_server.h"
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#include "shape_sw.h"
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#include "space_sw.h"
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#include "step_sw.h"
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#include "joints_sw.h"
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class PhysicsServerSW : public PhysicsServer {
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GDCLASS( PhysicsServerSW, PhysicsServer );
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friend class PhysicsDirectSpaceStateSW;
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bool active;
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int iterations;
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bool doing_sync;
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real_t last_step;
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int island_count;
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int active_objects;
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int collision_pairs;
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StepSW *stepper;
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Set<const SpaceSW*> active_spaces;
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PhysicsDirectBodyStateSW *direct_state;
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mutable RID_Owner<ShapeSW> shape_owner;
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mutable RID_Owner<SpaceSW> space_owner;
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mutable RID_Owner<AreaSW> area_owner;
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mutable RID_Owner<BodySW> body_owner;
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mutable RID_Owner<JointSW> joint_owner;
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//void _clear_query(QuerySW *p_query);
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public:
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struct CollCbkData {
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int max;
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int amount;
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Vector3 *ptr;
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};
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static void _shape_col_cbk(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata);
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virtual RID shape_create(ShapeType p_shape);
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virtual void shape_set_data(RID p_shape, const Variant& p_data);
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virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
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virtual ShapeType shape_get_type(RID p_shape) const;
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virtual Variant shape_get_data(RID p_shape) const;
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virtual real_t shape_get_custom_solver_bias(RID p_shape) const;
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/* SPACE API */
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virtual RID space_create();
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virtual void space_set_active(RID p_space,bool p_active);
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virtual bool space_is_active(RID p_space) const;
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virtual void space_set_param(RID p_space,SpaceParameter p_param, real_t p_value);
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virtual real_t space_get_param(RID p_space,SpaceParameter p_param) const;
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// this function only works on fixed process, errors and returns null otherwise
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virtual PhysicsDirectSpaceState* space_get_direct_state(RID p_space);
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virtual void space_set_debug_contacts(RID p_space,int p_max_contacts);
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virtual Vector<Vector3> space_get_contacts(RID p_space) const;
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virtual int space_get_contact_count(RID p_space) const;
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/* AREA API */
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virtual RID area_create();
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virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
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virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;
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virtual void area_set_space(RID p_area, RID p_space);
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virtual RID area_get_space(RID p_area) const;
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virtual void area_add_shape(RID p_area, RID p_shape, const Transform& p_transform=Transform());
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virtual void area_set_shape(RID p_area, int p_shape_idx,RID p_shape);
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virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform& p_transform);
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virtual int area_get_shape_count(RID p_area) const;
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virtual RID area_get_shape(RID p_area, int p_shape_idx) const;
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virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const;
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virtual void area_remove_shape(RID p_area, int p_shape_idx);
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virtual void area_clear_shapes(RID p_area);
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virtual void area_attach_object_instance_ID(RID p_area,ObjectID p_ID);
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virtual ObjectID area_get_object_instance_ID(RID p_area) const;
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virtual void area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value);
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virtual void area_set_transform(RID p_area, const Transform& p_transform);
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virtual Variant area_get_param(RID p_parea,AreaParameter p_param) const;
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virtual Transform area_get_transform(RID p_area) const;
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virtual void area_set_ray_pickable(RID p_area,bool p_enable);
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virtual bool area_is_ray_pickable(RID p_area) const;
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virtual void area_set_collision_mask(RID p_area,uint32_t p_mask);
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virtual void area_set_layer_mask(RID p_area,uint32_t p_mask);
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virtual void area_set_monitorable(RID p_area,bool p_monitorable);
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virtual void area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method);
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virtual void area_set_area_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method);
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/* BODY API */
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// create a body of a given type
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virtual RID body_create(BodyMode p_mode=BODY_MODE_RIGID,bool p_init_sleeping=false);
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virtual void body_set_space(RID p_body, RID p_space);
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virtual RID body_get_space(RID p_body) const;
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virtual void body_set_mode(RID p_body, BodyMode p_mode);
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virtual BodyMode body_get_mode(RID p_body) const;
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virtual void body_add_shape(RID p_body, RID p_shape, const Transform& p_transform=Transform());
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virtual void body_set_shape(RID p_body, int p_shape_idx,RID p_shape);
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virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform& p_transform);
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virtual int body_get_shape_count(RID p_body) const;
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virtual RID body_get_shape(RID p_body, int p_shape_idx) const;
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virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const;
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virtual void body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable);
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virtual bool body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const;
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virtual void body_remove_shape(RID p_body, int p_shape_idx);
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virtual void body_clear_shapes(RID p_body);
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virtual void body_attach_object_instance_ID(RID p_body,uint32_t p_ID);
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virtual uint32_t body_get_object_instance_ID(RID p_body) const;
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virtual void body_set_enable_continuous_collision_detection(RID p_body,bool p_enable);
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virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const;
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virtual void body_set_layer_mask(RID p_body, uint32_t p_mask);
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virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const;
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virtual void body_set_collision_mask(RID p_body, uint32_t p_mask);
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virtual uint32_t body_get_collision_mask(RID p_body, uint32_t p_mask) const;
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virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
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virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const;
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virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value);
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virtual real_t body_get_param(RID p_body, BodyParameter p_param) const;
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virtual void body_set_state(RID p_body, BodyState p_state, const Variant& p_variant);
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virtual Variant body_get_state(RID p_body, BodyState p_state) const;
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virtual void body_set_applied_force(RID p_body, const Vector3& p_force);
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virtual Vector3 body_get_applied_force(RID p_body) const;
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virtual void body_set_applied_torque(RID p_body, const Vector3& p_torque);
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virtual Vector3 body_get_applied_torque(RID p_body) const;
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virtual void body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse);
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virtual void body_apply_torque_impulse(RID p_body, const Vector3& p_impulse);
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virtual void body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity);
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virtual void body_set_axis_lock(RID p_body,BodyAxisLock p_lock);
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virtual BodyAxisLock body_get_axis_lock(RID p_body) const;
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virtual void body_add_collision_exception(RID p_body, RID p_body_b);
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virtual void body_remove_collision_exception(RID p_body, RID p_body_b);
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virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);
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virtual void body_set_contacts_reported_depth_treshold(RID p_body, real_t p_treshold);
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virtual real_t body_get_contacts_reported_depth_treshold(RID p_body) const;
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virtual void body_set_omit_force_integration(RID p_body,bool p_omit);
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virtual bool body_is_omitting_force_integration(RID p_body) const;
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virtual void body_set_max_contacts_reported(RID p_body, int p_contacts);
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virtual int body_get_max_contacts_reported(RID p_body) const;
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virtual void body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata=Variant());
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virtual void body_set_ray_pickable(RID p_body,bool p_enable);
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virtual bool body_is_ray_pickable(RID p_body) const;
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/* JOINT API */
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virtual RID joint_create_pin(RID p_body_A,const Vector3& p_local_A,RID p_body_B,const Vector3& p_local_B);
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virtual void pin_joint_set_param(RID p_joint,PinJointParam p_param, real_t p_value);
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virtual real_t pin_joint_get_param(RID p_joint,PinJointParam p_param) const;
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virtual void pin_joint_set_local_A(RID p_joint, const Vector3& p_A);
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virtual Vector3 pin_joint_get_local_A(RID p_joint) const;
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virtual void pin_joint_set_local_B(RID p_joint, const Vector3& p_B);
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virtual Vector3 pin_joint_get_local_B(RID p_joint) const;
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virtual RID joint_create_hinge(RID p_body_A,const Transform& p_frame_A,RID p_body_B,const Transform& p_frame_B);
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virtual RID joint_create_hinge_simple(RID p_body_A,const Vector3& p_pivot_A,const Vector3& p_axis_A,RID p_body_B,const Vector3& p_pivot_B,const Vector3& p_axis_B);
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virtual void hinge_joint_set_param(RID p_joint,HingeJointParam p_param, real_t p_value);
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virtual real_t hinge_joint_get_param(RID p_joint,HingeJointParam p_param) const;
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virtual void hinge_joint_set_flag(RID p_joint,HingeJointFlag p_flag, bool p_value);
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virtual bool hinge_joint_get_flag(RID p_joint,HingeJointFlag p_flag) const;
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virtual RID joint_create_slider(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A
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virtual void slider_joint_set_param(RID p_joint,SliderJointParam p_param, real_t p_value);
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virtual real_t slider_joint_get_param(RID p_joint,SliderJointParam p_param) const;
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virtual RID joint_create_cone_twist(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A
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virtual void cone_twist_joint_set_param(RID p_joint,ConeTwistJointParam p_param, real_t p_value);
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virtual real_t cone_twist_joint_get_param(RID p_joint,ConeTwistJointParam p_param) const;
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virtual RID joint_create_generic_6dof(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A
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virtual void generic_6dof_joint_set_param(RID p_joint,Vector3::Axis,G6DOFJointAxisParam p_param, real_t p_value);
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virtual real_t generic_6dof_joint_get_param(RID p_joint,Vector3::Axis,G6DOFJointAxisParam p_param);
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virtual void generic_6dof_joint_set_flag(RID p_joint,Vector3::Axis,G6DOFJointAxisFlag p_flag, bool p_enable);
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virtual bool generic_6dof_joint_get_flag(RID p_joint,Vector3::Axis,G6DOFJointAxisFlag p_flag);
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virtual JointType joint_get_type(RID p_joint) const;
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virtual void joint_set_solver_priority(RID p_joint,int p_priority);
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virtual int joint_get_solver_priority(RID p_joint) const;
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#if 0
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virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value);
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virtual real_t joint_get_param(RID p_joint,JointParam p_param) const;
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virtual RID pin_joint_create(const Vector3& p_pos,RID p_body_a,RID p_body_b=RID());
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virtual RID groove_joint_create(const Vector3& p_a_groove1,const Vector3& p_a_groove2, const Vector3& p_b_anchor, RID p_body_a,RID p_body_b);
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virtual RID damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b=RID());
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virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value);
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virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const;
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virtual JointType joint_get_type(RID p_joint) const;
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#endif
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/* MISC */
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virtual void free(RID p_rid);
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virtual void set_active(bool p_active);
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virtual void init();
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virtual void step(real_t p_step);
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virtual void sync();
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virtual void flush_queries();
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virtual void finish();
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int get_process_info(ProcessInfo p_info);
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PhysicsServerSW();
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~PhysicsServerSW();
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};
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#endif
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