godotengine/godot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
b324ff7ea5
godot/servers/physics/body_sw.h
Juan Linietsky b324ff7ea5 A bit of everything: 
-IMA-ADPCM support for samples, this means that sound effects can be compressed and use 4 timess less RAM.
-New 3D import workflow based on Wavefront OBJ. Import single objects as mesh resources instead of full scenes. Many people prefers to work this way. Just like the rest of the imported resources, these are updated in realtime if modified externally.
-Mesh resources now support naming surfaces. This helps reimporting to identify which user-created materials must be kept.
-Several fixes and improvements to SurfaceTool.
-Anti Aliasing added to WorldEnvironment effects (using FXAA)
-2D Physics bodies (RigidBody, KinematicBody, etc), Raycasts, Tilemap, etc support collision layers. This makes easy to group which objects collide against which.
-2D Trigger shapes can now also trigger collision reporting in other 2D bodies (it used to be in Area2D before)
-Viewport render target textures can now be filtered.
-Few fixes in GDscript make it easier to work with static functions and class members.
-Several and many bugfixes.
2014-05-14 01:22:15 -03:00

354 lines
14 KiB
C++
Raw Blame History

/*************************************************************************/
/* body_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BODY_SW_H
#define BODY_SW_H
#include "collision_object_sw.h"
#include "vset.h"
#include "area_sw.h"
class ConstraintSW;
class BodySW : public CollisionObjectSW {
PhysicsServer::BodyMode mode;
Vector3 linear_velocity;
Vector3 angular_velocity;
Vector3 biased_linear_velocity;
Vector3 biased_angular_velocity;
real_t mass;
real_t bounce;
real_t friction;
PhysicsServer::BodyAxisLock axis_lock;
real_t _inv_mass;
Vector3 _inv_inertia;
Matrix3 _inv_inertia_tensor;
Vector3 gravity;
real_t density;
real_t still_time;
Vector3 applied_force;
Vector3 applied_torque;
SelfList<BodySW> active_list;
SelfList<BodySW> inertia_update_list;
SelfList<BodySW> direct_state_query_list;
VSet<RID> exceptions;
bool omit_force_integration;
bool active;
bool simulated_motion;
bool continuous_cd;
bool can_sleep;
void _update_inertia();
virtual void _shapes_changed();
Map<ConstraintSW*,int> constraint_map;
struct AreaCMP {
AreaSW *area;
_FORCE_INLINE_ bool operator<(const AreaCMP& p_cmp) const { return area->get_self() < p_cmp.area->get_self() ; }
_FORCE_INLINE_ AreaCMP() {}
_FORCE_INLINE_ AreaCMP(AreaSW *p_area) { area=p_area;}
};
VSet<AreaCMP> areas;
struct Contact {
Vector3 local_pos;
Vector3 local_normal;
float depth;
int local_shape;
Vector3 collider_pos;
int collider_shape;
ObjectID collider_instance_id;
RID collider;
Vector3 collider_velocity_at_pos;
};
Vector<Contact> contacts; //no contacts by default
int contact_count;
struct ForceIntegrationCallback {
ObjectID id;
StringName method;
Variant udata;
};
ForceIntegrationCallback *fi_callback;
uint64_t island_step;
BodySW *island_next;
BodySW *island_list_next;
_FORCE_INLINE_ void _compute_area_gravity(const AreaSW *p_area);
_FORCE_INLINE_ void _update_inertia_tensor();
friend class PhysicsDirectBodyStateSW; // i give up, too many functions to expose
public:
void set_force_integration_callback(ObjectID p_id,const StringName& p_method,const Variant& p_udata=Variant());
_FORCE_INLINE_ void add_area(AreaSW *p_area) { areas.insert(AreaCMP(p_area)); }
_FORCE_INLINE_ void remove_area(AreaSW *p_area) { areas.erase(AreaCMP(p_area)); }
_FORCE_INLINE_ void set_max_contacts_reported(int p_size) { contacts.resize(p_size); contact_count=0; }
_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.empty(); }
_FORCE_INLINE_ void add_contact(const Vector3& p_local_pos,const Vector3& p_local_normal, float p_depth, int p_local_shape, const Vector3& p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID& p_collider,const Vector3& p_collider_velocity_at_pos);
_FORCE_INLINE_ void add_exception(const RID& p_exception) { exceptions.insert(p_exception);}
_FORCE_INLINE_ void remove_exception(const RID& p_exception) { exceptions.erase(p_exception);}
_FORCE_INLINE_ bool has_exception(const RID& p_exception) const { return exceptions.has(p_exception);}
_FORCE_INLINE_ const VSet<RID>& get_exceptions() const { return exceptions;}
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step=p_step; }
_FORCE_INLINE_ BodySW* get_island_next() const { return island_next; }
_FORCE_INLINE_ void set_island_next(BodySW* p_next) { island_next=p_next; }
_FORCE_INLINE_ BodySW* get_island_list_next() const { return island_list_next; }
_FORCE_INLINE_ void set_island_list_next(BodySW* p_next) { island_list_next=p_next; }
_FORCE_INLINE_ void add_constraint(ConstraintSW* p_constraint, int p_pos) { constraint_map[p_constraint]=p_pos; }
_FORCE_INLINE_ void remove_constraint(ConstraintSW* p_constraint) { constraint_map.erase(p_constraint); }
const Map<ConstraintSW*,int>& get_constraint_map() const { return constraint_map; }
_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration=p_omit_force_integration; }
_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }
_FORCE_INLINE_ void set_linear_velocity(const Vector3& p_velocity) {linear_velocity=p_velocity; }
_FORCE_INLINE_ Vector3 get_linear_velocity() const { return linear_velocity; }
_FORCE_INLINE_ void set_angular_velocity(const Vector3& p_velocity) { angular_velocity=p_velocity; }
_FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; }
_FORCE_INLINE_ const Vector3& get_biased_linear_velocity() const { return biased_linear_velocity; }
_FORCE_INLINE_ const Vector3& get_biased_angular_velocity() const { return biased_angular_velocity; }
_FORCE_INLINE_ void apply_impulse(const Vector3& p_pos, const Vector3& p_j) {
linear_velocity += p_j * _inv_mass;
angular_velocity += _inv_inertia_tensor.xform( p_pos.cross(p_j) );
}
_FORCE_INLINE_ void apply_bias_impulse(const Vector3& p_pos, const Vector3& p_j) {
biased_linear_velocity += p_j * _inv_mass;
biased_angular_velocity += _inv_inertia_tensor.xform( p_pos.cross(p_j) );
}
_FORCE_INLINE_ void apply_torque_impulse(const Vector3& p_j) {
angular_velocity += _inv_inertia_tensor.xform(p_j);
}
_FORCE_INLINE_ void add_force(const Vector3& p_force, const Vector3& p_pos) {
applied_force += p_force;
applied_torque += p_pos.cross(p_force);
}
void set_active(bool p_active);
_FORCE_INLINE_ bool is_active() const { return active; }
void set_param(PhysicsServer::BodyParameter p_param, float);
float get_param(PhysicsServer::BodyParameter p_param) const;
void set_mode(PhysicsServer::BodyMode p_mode);
PhysicsServer::BodyMode get_mode() const;
void set_state(PhysicsServer::BodyState p_state, const Variant& p_variant);
Variant get_state(PhysicsServer::BodyState p_state) const;
void set_applied_force(const Vector3& p_force) { applied_force=p_force; }
Vector3 get_applied_force() const { return applied_force; }
void set_applied_torque(const Vector3& p_torque) { applied_torque=p_torque; }
Vector3 get_applied_torque() const { return applied_torque; }
_FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd=p_enable; }
_FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; }
void set_space(SpaceSW *p_space);
void update_inertias();
_FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; }
_FORCE_INLINE_ Vector3 get_inv_inertia() const { return _inv_inertia; }
_FORCE_INLINE_ Matrix3 get_inv_inertia_tensor() const { return _inv_inertia_tensor; }
_FORCE_INLINE_ real_t get_friction() const { return friction; }
_FORCE_INLINE_ Vector3 get_gravity() const { return gravity; }
_FORCE_INLINE_ real_t get_density() const { return density; }
_FORCE_INLINE_ real_t get_bounce() const { return bounce; }
_FORCE_INLINE_ void set_axis_lock(PhysicsServer::BodyAxisLock p_lock) { axis_lock=p_lock; }
_FORCE_INLINE_ PhysicsServer::BodyAxisLock get_axis_lock() const { return axis_lock; }
void integrate_forces(real_t p_step);
void integrate_velocities(real_t p_step);
void simulate_motion(const Transform& p_xform,real_t p_step);
void call_queries();
void wakeup_neighbours();
bool sleep_test(real_t p_step);
BodySW();
~BodySW();
};
//add contact inline
void BodySW::add_contact(const Vector3& p_local_pos,const Vector3& p_local_normal, float p_depth, int p_local_shape, const Vector3& p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID& p_collider,const Vector3& p_collider_velocity_at_pos) {
int c_max=contacts.size();
if (c_max==0)
return;
Contact *c = &contacts[0];
int idx=-1;
if (contact_count<c_max) {
idx=contact_count++;
} else {
float least_depth=1e20;
int least_deep=-1;
for(int i=0;i<c_max;i++) {
if (i==0 || c[i].depth<least_depth) {
least_deep=i;
least_depth=c[i].depth;
}
}
if (least_deep>=0 && least_depth<p_depth) {
idx=least_deep;
}
if (idx==-1)
return; //none least deepe than this
}
c[idx].local_pos=p_local_pos;
c[idx].local_normal=p_local_normal;
c[idx].depth=p_depth;
c[idx].local_shape=p_local_shape;
c[idx].collider_pos=p_collider_pos;
c[idx].collider_shape=p_collider_shape;
c[idx].collider_instance_id=p_collider_instance_id;
c[idx].collider=p_collider;
c[idx].collider_velocity_at_pos=p_collider_velocity_at_pos;
}
class PhysicsDirectBodyStateSW : public PhysicsDirectBodyState {
OBJ_TYPE( PhysicsDirectBodyStateSW, PhysicsDirectBodyState );
public:
static PhysicsDirectBodyStateSW *singleton;
BodySW *body;
real_t step;
virtual Vector3 get_total_gravity() const { return body->get_gravity(); } // get gravity vector working on this body space/area
virtual float get_total_density() const { return body->get_density(); } // get density of this body space/area
virtual float get_inverse_mass() const { return body->get_inv_mass(); } // get the mass
virtual Vector3 get_inverse_inertia() const { return body->get_inv_inertia(); } // get density of this body space
virtual Matrix3 get_inverse_inertia_tensor() const { return body->get_inv_inertia_tensor(); } // get density of this body space
virtual void set_linear_velocity(const Vector3& p_velocity) { body->set_linear_velocity(p_velocity); }
virtual Vector3 get_linear_velocity() const { return body->get_linear_velocity(); }
virtual void set_angular_velocity(const Vector3& p_velocity) { body->set_angular_velocity(p_velocity); }
virtual Vector3 get_angular_velocity() const { return body->get_angular_velocity(); }
virtual void set_transform(const Transform& p_transform) { body->set_state(PhysicsServer::BODY_STATE_TRANSFORM,p_transform); }
virtual Transform get_transform() const { return body->get_transform(); }
virtual void add_force(const Vector3& p_force, const Vector3& p_pos) { body->add_force(p_force,p_pos); }
virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
virtual bool is_sleeping() const { return !body->is_active(); }
virtual int get_contact_count() const { return body->contact_count; }
virtual Vector3 get_contact_local_pos(int p_contact_idx) const {
ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3());
return body->contacts[p_contact_idx].local_pos;
}
virtual Vector3 get_contact_local_normal(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3()); return body->contacts[p_contact_idx].local_normal; }
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; }
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; }
virtual Vector3 get_contact_collider_pos(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3()); return body->contacts[p_contact_idx].collider_pos; }
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; }
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; }
virtual Vector3 get_contact_collider_velocity_at_pos(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3()); return body->contacts[p_contact_idx].collider_velocity_at_pos; }
virtual PhysicsDirectSpaceState* get_space_state();
virtual real_t get_step() const { return step; }
PhysicsDirectBodyStateSW() { singleton=this; body=NULL; }
};
#endif // BODY__SW_H
Reference in New Issue View Git Blame Copy Permalink