348 lines
13 KiB
C++
348 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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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2014 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 BODY_2D_SW_H
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#define BODY_2D_SW_H
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#include "collision_object_2d_sw.h"
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#include "vset.h"
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#include "area_2d_sw.h"
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class Constraint2DSW;
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class Body2DSW : public CollisionObject2DSW {
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Physics2DServer::BodyMode mode;
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Vector2 biased_linear_velocity;
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real_t biased_angular_velocity;
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Vector2 linear_velocity;
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real_t angular_velocity;
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real_t mass;
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real_t bounce;
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real_t friction;
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real_t _inv_mass;
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real_t _inv_inertia;
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Vector2 gravity;
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real_t density;
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real_t still_time;
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Vector2 applied_force;
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real_t applied_torque;
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SelfList<Body2DSW> active_list;
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SelfList<Body2DSW> inertia_update_list;
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SelfList<Body2DSW> direct_state_query_list;
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VSet<RID> exceptions;
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Physics2DServer::CCDMode continuous_cd_mode;
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bool omit_force_integration;
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bool active;
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bool can_sleep;
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void _update_inertia();
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virtual void _shapes_changed();
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Matrix32 new_transform;
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Map<Constraint2DSW*,int> constraint_map;
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struct AreaCMP {
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Area2DSW *area;
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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_ AreaCMP() {}
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_FORCE_INLINE_ AreaCMP(Area2DSW *p_area) { area=p_area;}
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};
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VSet<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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float 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;
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struct ForceIntegrationCallback {
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ObjectID id;
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StringName method;
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Variant callback_udata;
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};
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ForceIntegrationCallback *fi_callback;
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uint64_t island_step;
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Body2DSW *island_next;
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Body2DSW *island_list_next;
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_FORCE_INLINE_ void _compute_area_gravity(const Area2DSW *p_area);
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friend class Physics2DDirectBodyStateSW; // i give up, too many functions to expose
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public:
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void set_force_integration_callback(ObjectID p_id, const StringName& p_method, const Variant &p_udata=Variant());
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_FORCE_INLINE_ void add_area(Area2DSW *p_area) { areas.insert(AreaCMP(p_area)); }
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_FORCE_INLINE_ void remove_area(Area2DSW *p_area) { areas.erase(AreaCMP(p_area)); }
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_FORCE_INLINE_ void set_max_contacts_reported(int p_size) { contacts.resize(p_size); contact_count=0; }
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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.empty(); }
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_FORCE_INLINE_ void add_contact(const Vector2& p_local_pos,const Vector2& p_local_normal, float 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_ Body2DSW* get_island_next() const { return island_next; }
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_FORCE_INLINE_ void set_island_next(Body2DSW* p_next) { island_next=p_next; }
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_FORCE_INLINE_ Body2DSW* get_island_list_next() const { return island_list_next; }
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_FORCE_INLINE_ void set_island_list_next(Body2DSW* p_next) { island_list_next=p_next; }
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_FORCE_INLINE_ void add_constraint(Constraint2DSW* p_constraint, int p_pos) { constraint_map[p_constraint]=p_pos; }
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_FORCE_INLINE_ void remove_constraint(Constraint2DSW* p_constraint) { constraint_map.erase(p_constraint); }
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const Map<Constraint2DSW*,int>& get_constraint_map() const { return constraint_map; }
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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_impulse(const Vector2& p_pos, const Vector2& p_j) {
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linear_velocity += p_j * _inv_mass;
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angular_velocity += _inv_inertia * p_pos.cross(p_j);
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}
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_FORCE_INLINE_ void apply_bias_impulse(const Vector2& p_pos, const Vector2& p_j) {
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biased_linear_velocity += p_j * _inv_mass;
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biased_angular_velocity += _inv_inertia * p_pos.cross(p_j);
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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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void set_param(Physics2DServer::BodyParameter p_param, float);
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float get_param(Physics2DServer::BodyParameter p_param) const;
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void set_mode(Physics2DServer::BodyMode p_mode);
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Physics2DServer::BodyMode get_mode() const;
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void set_state(Physics2DServer::BodyState p_state, const Variant& p_variant);
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Variant get_state(Physics2DServer::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 set_continuous_collision_detection_mode(Physics2DServer::CCDMode p_mode) { continuous_cd_mode=p_mode; }
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_FORCE_INLINE_ Physics2DServer::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_inertias();
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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_density() const { return density; }
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_FORCE_INLINE_ real_t get_bounce() const { return bounce; }
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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_motion() const {
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if (mode>Physics2DServer::BODY_MODE_KINEMATIC) {
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return new_transform.get_origin() - get_transform().get_origin();
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} else if (mode==Physics2DServer::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, float 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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Contact *c = &contacts[0];
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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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float 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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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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class Physics2DDirectBodyStateSW : public Physics2DDirectBodyState {
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OBJ_TYPE( Physics2DDirectBodyStateSW, Physics2DDirectBodyState );
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public:
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static Physics2DDirectBodyStateSW *singleton;
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Body2DSW *body;
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real_t step;
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virtual Vector2 get_total_gravity() const { return body->get_gravity(); } // get gravity vector working on this body space/area
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virtual float get_total_density() const { return body->get_density(); } // get density of this body space/area
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virtual float get_inverse_mass() const { return body->get_inv_mass(); } // get the mass
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virtual real_t get_inverse_inertia() const { return body->get_inv_inertia(); } // get density of this body space
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virtual void set_linear_velocity(const Vector2& p_velocity) { body->set_linear_velocity(p_velocity); }
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virtual Vector2 get_linear_velocity() const { return body->get_linear_velocity(); }
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virtual void set_angular_velocity(real_t p_velocity) { body->set_angular_velocity(p_velocity); }
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virtual real_t get_angular_velocity() const { return body->get_angular_velocity(); }
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virtual void set_transform(const Matrix32& p_transform) { body->set_state(Physics2DServer::BODY_STATE_TRANSFORM,p_transform); }
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virtual Matrix32 get_transform() const { return body->get_transform(); }
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virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
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virtual bool is_sleeping() const { return !body->is_active(); }
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virtual int get_contact_count() const { return body->contact_count; }
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virtual Vector2 get_contact_local_pos(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector2());
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return body->contacts[p_contact_idx].local_pos;
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}
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virtual Vector2 get_contact_local_normal(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector2()); return body->contacts[p_contact_idx].local_normal; }
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virtual int get_contact_local_shape(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,-1); return body->contacts[p_contact_idx].local_shape; }
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virtual RID get_contact_collider(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,RID()); return body->contacts[p_contact_idx].collider; }
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virtual Vector2 get_contact_collider_pos(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector2()); return body->contacts[p_contact_idx].collider_pos; }
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virtual ObjectID get_contact_collider_id(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,0); return body->contacts[p_contact_idx].collider_instance_id; }
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virtual int get_contact_collider_shape(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,0); return body->contacts[p_contact_idx].collider_shape; }
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virtual Vector2 get_contact_collider_velocity_at_pos(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector2()); return body->contacts[p_contact_idx].collider_velocity_at_pos; }
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virtual Physics2DDirectSpaceState* get_space_state();
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virtual real_t get_step() const { return step; }
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Physics2DDirectBodyStateSW() { singleton=this; body=NULL; }
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};
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#endif // BODY_2D_SW_H
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