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godot/servers/physics_2d/physics_2d_server_sw.cpp

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/*************************************************************************/
/* physics_2d_server_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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. */
/*************************************************************************/
#include "physics_2d_server_sw.h"
#include "broad_phase_2d_basic.h"
#include "broad_phase_2d_bvh.h"
#include "broad_phase_2d_hash_grid.h"
#include "collision_solver_2d_sw.h"
#include "core/os/os.h"
#include "core/project_settings.h"
#include "core/script_language.h"
#define FLUSH_QUERY_CHECK(m_object) \
ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
RID Physics2DServerSW::_shape_create(ShapeType p_shape) {
Shape2DSW *shape = nullptr;
switch (p_shape) {
case SHAPE_LINE: {
shape = memnew(LineShape2DSW);
} break;
case SHAPE_RAY: {
shape = memnew(RayShape2DSW);
} break;
case SHAPE_SEGMENT: {
shape = memnew(SegmentShape2DSW);
} break;
case SHAPE_CIRCLE: {
shape = memnew(CircleShape2DSW);
} break;
case SHAPE_RECTANGLE: {
shape = memnew(RectangleShape2DSW);
} break;
case SHAPE_CAPSULE: {
shape = memnew(CapsuleShape2DSW);
} break;
case SHAPE_CONVEX_POLYGON: {
shape = memnew(ConvexPolygonShape2DSW);
} break;
case SHAPE_CONCAVE_POLYGON: {
shape = memnew(ConcavePolygonShape2DSW);
} break;
case SHAPE_CUSTOM: {
ERR_FAIL_V(RID());
} break;
}
RID id = shape_owner.make_rid(shape);
shape->set_self(id);
return id;
}
RID Physics2DServerSW::line_shape_create() {
return _shape_create(SHAPE_LINE);
}
RID Physics2DServerSW::ray_shape_create() {
return _shape_create(SHAPE_RAY);
}
RID Physics2DServerSW::segment_shape_create() {
return _shape_create(SHAPE_SEGMENT);
}
RID Physics2DServerSW::circle_shape_create() {
return _shape_create(SHAPE_CIRCLE);
}
RID Physics2DServerSW::rectangle_shape_create() {
return _shape_create(SHAPE_RECTANGLE);
}
RID Physics2DServerSW::capsule_shape_create() {
return _shape_create(SHAPE_CAPSULE);
}
RID Physics2DServerSW::convex_polygon_shape_create() {
return _shape_create(SHAPE_CONVEX_POLYGON);
}
RID Physics2DServerSW::concave_polygon_shape_create() {
return _shape_create(SHAPE_CONCAVE_POLYGON);
}
void Physics2DServerSW::shape_set_data(RID p_shape, const Variant &p_data) {
Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
shape->set_data(p_data);
};
void Physics2DServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
shape->set_custom_bias(p_bias);
}
Physics2DServer::ShapeType Physics2DServerSW::shape_get_type(RID p_shape) const {
const Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
return shape->get_type();
};
Variant Physics2DServerSW::shape_get_data(RID p_shape) const {
const Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, Variant());
ERR_FAIL_COND_V(!shape->is_configured(), Variant());
return shape->get_data();
};
real_t Physics2DServerSW::shape_get_custom_solver_bias(RID p_shape) const {
const Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape, 0);
return shape->get_custom_bias();
}
void Physics2DServerSW::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
CollCbkData *cbk = (CollCbkData *)p_userdata;
if (cbk->max == 0)
return;
Vector2 rel_dir = (p_point_A - p_point_B);
real_t rel_length2 = rel_dir.length_squared();
if (cbk->valid_dir != Vector2()) {
if (cbk->valid_depth < 10e20) {
if (rel_length2 > cbk->valid_depth * cbk->valid_depth ||
(rel_length2 > CMP_EPSILON && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON)) {
cbk->invalid_by_dir++;
return;
}
} else {
if (rel_length2 > 0 && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON) {
return;
}
}
}
if (cbk->amount == cbk->max) {
//find least deep
real_t min_depth = 1e20;
int min_depth_idx = 0;
for (int i = 0; i < cbk->amount; i++) {
real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]);
if (d < min_depth) {
min_depth = d;
min_depth_idx = i;
}
}
if (rel_length2 < min_depth)
return;
cbk->ptr[min_depth_idx * 2 + 0] = p_point_A;
cbk->ptr[min_depth_idx * 2 + 1] = p_point_B;
cbk->passed++;
} else {
cbk->ptr[cbk->amount * 2 + 0] = p_point_A;
cbk->ptr[cbk->amount * 2 + 1] = p_point_B;
cbk->amount++;
cbk->passed++;
}
}
bool Physics2DServerSW::shape_collide(RID p_shape_A, const Transform2D &p_xform_A, const Vector2 &p_motion_A, RID p_shape_B, const Transform2D &p_xform_B, const Vector2 &p_motion_B, Vector2 *r_results, int p_result_max, int &r_result_count) {
Shape2DSW *shape_A = shape_owner.get(p_shape_A);
ERR_FAIL_COND_V(!shape_A, false);
Shape2DSW *shape_B = shape_owner.get(p_shape_B);
ERR_FAIL_COND_V(!shape_B, false);
if (p_result_max == 0) {
return CollisionSolver2DSW::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, nullptr, nullptr);
}
CollCbkData cbk;
cbk.max = p_result_max;
cbk.amount = 0;
cbk.passed = 0;
cbk.ptr = r_results;
bool res = CollisionSolver2DSW::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, _shape_col_cbk, &cbk);
r_result_count = cbk.amount;
return res;
}
RID Physics2DServerSW::space_create() {
Space2DSW *space = memnew(Space2DSW);
RID id = space_owner.make_rid(space);
space->set_self(id);
RID area_id = area_create();
Area2DSW *area = area_owner.get(area_id);
ERR_FAIL_COND_V(!area, RID());
space->set_default_area(area);
area->set_space(space);
area->set_priority(-1);
return id;
};
void Physics2DServerSW::space_set_active(RID p_space, bool p_active) {
Space2DSW *space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
if (p_active)
active_spaces.insert(space);
else
active_spaces.erase(space);
}
bool Physics2DServerSW::space_is_active(RID p_space) const {
const Space2DSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space, false);
return active_spaces.has(space);
}
void Physics2DServerSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
Space2DSW *space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
space->set_param(p_param, p_value);
}
real_t Physics2DServerSW::space_get_param(RID p_space, SpaceParameter p_param) const {
const Space2DSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space, 0);
return space->get_param(p_param);
}
void Physics2DServerSW::space_set_debug_contacts(RID p_space, int p_max_contacts) {
Space2DSW *space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
space->set_debug_contacts(p_max_contacts);
}
Vector<Vector2> Physics2DServerSW::space_get_contacts(RID p_space) const {
Space2DSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space, Vector<Vector2>());
return space->get_debug_contacts();
}
int Physics2DServerSW::space_get_contact_count(RID p_space) const {
Space2DSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space, 0);
return space->get_debug_contact_count();
}
Physics2DDirectSpaceState *Physics2DServerSW::space_get_direct_state(RID p_space) {
Space2DSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space, nullptr);
ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
return space->get_direct_state();
}
RID Physics2DServerSW::area_create() {
Area2DSW *area = memnew(Area2DSW);
RID rid = area_owner.make_rid(area);
area->set_self(rid);
return rid;
};
void Physics2DServerSW::area_set_space(RID p_area, RID p_space) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
Space2DSW *space = nullptr;
if (p_space.is_valid()) {
space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
}
if (area->get_space() == space)
return; //pointless
area->clear_constraints();
area->set_space(space);
};
RID Physics2DServerSW::area_get_space(RID p_area) const {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, RID());
Space2DSW *space = area->get_space();
if (!space)
return RID();
return space->get_self();
};
void Physics2DServerSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_space_override_mode(p_mode);
}
Physics2DServer::AreaSpaceOverrideMode Physics2DServerSW::area_get_space_override_mode(RID p_area) const {
const Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);
return area->get_space_override_mode();
}
void Physics2DServerSW::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform, bool p_disabled) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
area->add_shape(shape, p_transform, p_disabled);
}
void Physics2DServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
ERR_FAIL_COND(!shape->is_configured());
area->set_shape(p_shape_idx, shape);
}
void Physics2DServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_shape_transform(p_shape_idx, p_transform);
}
void Physics2DServerSW::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
ERR_FAIL_INDEX(p_shape, area->get_shape_count());
FLUSH_QUERY_CHECK(area);
area->set_shape_as_disabled(p_shape, p_disabled);
}
int Physics2DServerSW::area_get_shape_count(RID p_area) const {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, -1);
return area->get_shape_count();
}
RID Physics2DServerSW::area_get_shape(RID p_area, int p_shape_idx) const {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, RID());
Shape2DSW *shape = area->get_shape(p_shape_idx);
ERR_FAIL_COND_V(!shape, RID());
return shape->get_self();
}
Transform2D Physics2DServerSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, Transform2D());
return area->get_shape_transform(p_shape_idx);
}
void Physics2DServerSW::area_remove_shape(RID p_area, int p_shape_idx) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->remove_shape(p_shape_idx);
}
void Physics2DServerSW::area_clear_shapes(RID p_area) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
while (area->get_shape_count())
area->remove_shape(0);
}
void Physics2DServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
if (space_owner.owns(p_area)) {
Space2DSW *space = space_owner.get(p_area);
p_area = space->get_default_area()->get_self();
}
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_instance_id(p_id);
}
ObjectID Physics2DServerSW::area_get_object_instance_id(RID p_area) const {
if (space_owner.owns(p_area)) {
Space2DSW *space = space_owner.get(p_area);
p_area = space->get_default_area()->get_self();
}
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, 0);
return area->get_instance_id();
}
void Physics2DServerSW::area_attach_canvas_instance_id(RID p_area, ObjectID p_id) {
if (space_owner.owns(p_area)) {
Space2DSW *space = space_owner.get(p_area);
p_area = space->get_default_area()->get_self();
}
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_canvas_instance_id(p_id);
}
ObjectID Physics2DServerSW::area_get_canvas_instance_id(RID p_area) const {
if (space_owner.owns(p_area)) {
Space2DSW *space = space_owner.get(p_area);
p_area = space->get_default_area()->get_self();
}
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, 0);
return area->get_canvas_instance_id();
}
void Physics2DServerSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
if (space_owner.owns(p_area)) {
Space2DSW *space = space_owner.get(p_area);
p_area = space->get_default_area()->get_self();
}
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_param(p_param, p_value);
};
void Physics2DServerSW::area_set_transform(RID p_area, const Transform2D &p_transform) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_transform(p_transform);
};
Variant Physics2DServerSW::area_get_param(RID p_area, AreaParameter p_param) const {
if (space_owner.owns(p_area)) {
Space2DSW *space = space_owner.get(p_area);
p_area = space->get_default_area()->get_self();
}
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, Variant());
return area->get_param(p_param);
};
Transform2D Physics2DServerSW::area_get_transform(RID p_area) const {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area, Transform2D());
return area->get_transform();
};
void Physics2DServerSW::area_set_pickable(RID p_area, bool p_pickable) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_pickable(p_pickable);
}
void Physics2DServerSW::area_set_monitorable(RID p_area, bool p_monitorable) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
FLUSH_QUERY_CHECK(area);
area->set_monitorable(p_monitorable);
}
void Physics2DServerSW::area_set_collision_mask(RID p_area, uint32_t p_mask) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_collision_mask(p_mask);
}
void Physics2DServerSW::area_set_collision_layer(RID p_area, uint32_t p_layer) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_collision_layer(p_layer);
}
void Physics2DServerSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : 0, p_method);
}
void Physics2DServerSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
Area2DSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : 0, p_method);
}
/* BODY API */
RID Physics2DServerSW::body_create() {
Body2DSW *body = memnew(Body2DSW);
RID rid = body_owner.make_rid(body);
body->set_self(rid);
return rid;
}
void Physics2DServerSW::body_set_space(RID p_body, RID p_space) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
Space2DSW *space = nullptr;
if (p_space.is_valid()) {
space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
}
if (body->get_space() == space)
return; //pointless
body->clear_constraint_map();
body->set_space(space);
};
RID Physics2DServerSW::body_get_space(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, RID());
Space2DSW *space = body->get_space();
if (!space)
return RID();
return space->get_self();
};
void Physics2DServerSW::body_set_mode(RID p_body, BodyMode p_mode) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
FLUSH_QUERY_CHECK(body);
body->set_mode(p_mode);
};
Physics2DServer::BodyMode Physics2DServerSW::body_get_mode(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
return body->get_mode();
};
void Physics2DServerSW::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform, bool p_disabled) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
body->add_shape(shape, p_transform, p_disabled);
}
void Physics2DServerSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
Shape2DSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
ERR_FAIL_COND(!shape->is_configured());
body->set_shape(p_shape_idx, shape);
}
void Physics2DServerSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_shape_transform(p_shape_idx, p_transform);
}
void Physics2DServerSW::body_set_shape_metadata(RID p_body, int p_shape_idx, const Variant &p_metadata) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_shape_metadata(p_shape_idx, p_metadata);
}
Variant Physics2DServerSW::body_get_shape_metadata(RID p_body, int p_shape_idx) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, Variant());
return body->get_shape_metadata(p_shape_idx);
}
int Physics2DServerSW::body_get_shape_count(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, -1);
return body->get_shape_count();
}
RID Physics2DServerSW::body_get_shape(RID p_body, int p_shape_idx) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, RID());
Shape2DSW *shape = body->get_shape(p_shape_idx);
ERR_FAIL_COND_V(!shape, RID());
return shape->get_self();
}
Transform2D Physics2DServerSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, Transform2D());
return body->get_shape_transform(p_shape_idx);
}
void Physics2DServerSW::body_remove_shape(RID p_body, int p_shape_idx) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->remove_shape(p_shape_idx);
}
void Physics2DServerSW::body_clear_shapes(RID p_body) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
while (body->get_shape_count())
body->remove_shape(0);
}
void Physics2DServerSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
FLUSH_QUERY_CHECK(body);
body->set_shape_as_disabled(p_shape_idx, p_disabled);
}
void Physics2DServerSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, float p_margin) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
FLUSH_QUERY_CHECK(body);
body->set_shape_as_one_way_collision(p_shape_idx, p_enable, p_margin);
}
void Physics2DServerSW::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_continuous_collision_detection_mode(p_mode);
}
Physics2DServerSW::CCDMode Physics2DServerSW::body_get_continuous_collision_detection_mode(RID p_body) const {
const Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED);
return body->get_continuous_collision_detection_mode();
}
void Physics2DServerSW::body_attach_object_instance_id(RID p_body, uint32_t p_id) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_instance_id(p_id);
};
uint32_t Physics2DServerSW::body_get_object_instance_id(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_instance_id();
};
void Physics2DServerSW::body_attach_canvas_instance_id(RID p_body, uint32_t p_id) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_canvas_instance_id(p_id);
};
uint32_t Physics2DServerSW::body_get_canvas_instance_id(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_canvas_instance_id();
};
void Physics2DServerSW::body_set_collision_layer(RID p_body, uint32_t p_layer) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_collision_layer(p_layer);
};
uint32_t Physics2DServerSW::body_get_collision_layer(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_layer();
};
void Physics2DServerSW::body_set_collision_mask(RID p_body, uint32_t p_mask) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_collision_mask(p_mask);
};
uint32_t Physics2DServerSW::body_get_collision_mask(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_collision_mask();
};
void Physics2DServerSW::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_param(p_param, p_value);
};
real_t Physics2DServerSW::body_get_param(RID p_body, BodyParameter p_param) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_param(p_param);
};
void Physics2DServerSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_state(p_state, p_variant);
};
Variant Physics2DServerSW::body_get_state(RID p_body, BodyState p_state) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, Variant());
return body->get_state(p_state);
};
void Physics2DServerSW::body_set_applied_force(RID p_body, const Vector2 &p_force) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_applied_force(p_force);
body->wakeup();
};
Vector2 Physics2DServerSW::body_get_applied_force(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, Vector2());
return body->get_applied_force();
};
void Physics2DServerSW::body_set_applied_torque(RID p_body, real_t p_torque) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_applied_torque(p_torque);
body->wakeup();
};
real_t Physics2DServerSW::body_get_applied_torque(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0);
return body->get_applied_torque();
};
void Physics2DServerSW::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->apply_central_impulse(p_impulse);
body->wakeup();
}
void Physics2DServerSW::body_apply_torque_impulse(RID p_body, real_t p_torque) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
_update_shapes();
body->apply_torque_impulse(p_torque);
body->wakeup();
}
void Physics2DServerSW::body_apply_impulse(RID p_body, const Vector2 &p_pos, const Vector2 &p_impulse) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
_update_shapes();
body->apply_impulse(p_pos, p_impulse);
body->wakeup();
};
void Physics2DServerSW::body_add_central_force(RID p_body, const Vector2 &p_force) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->add_central_force(p_force);
body->wakeup();
};
void Physics2DServerSW::body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->add_force(p_offset, p_force);
body->wakeup();
};
void Physics2DServerSW::body_add_torque(RID p_body, real_t p_torque) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->add_torque(p_torque);
body->wakeup();
};
void Physics2DServerSW::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
_update_shapes();
Vector2 v = body->get_linear_velocity();
Vector2 axis = p_axis_velocity.normalized();
v -= axis * axis.dot(v);
v += p_axis_velocity;
body->set_linear_velocity(v);
body->wakeup();
};
void Physics2DServerSW::body_add_collision_exception(RID p_body, RID p_body_b) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->add_exception(p_body_b);
body->wakeup();
};
void Physics2DServerSW::body_remove_collision_exception(RID p_body, RID p_body_b) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->remove_exception(p_body_b);
body->wakeup();
};
void Physics2DServerSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
for (int i = 0; i < body->get_exceptions().size(); i++) {
p_exceptions->push_back(body->get_exceptions()[i]);
}
};
void Physics2DServerSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
};
real_t Physics2DServerSW::body_get_contacts_reported_depth_threshold(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, 0);
return 0;
};
void Physics2DServerSW::body_set_omit_force_integration(RID p_body, bool p_omit) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_omit_force_integration(p_omit);
};
bool Physics2DServerSW::body_is_omitting_force_integration(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
return body->get_omit_force_integration();
};
void Physics2DServerSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_max_contacts_reported(p_contacts);
}
int Physics2DServerSW::body_get_max_contacts_reported(RID p_body) const {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, -1);
return body->get_max_contacts_reported();
}
void Physics2DServerSW::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_force_integration_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(0), p_method, p_udata);
}
bool Physics2DServerSW::body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_INDEX_V(p_body_shape, body->get_shape_count(), false);
return shape_collide(body->get_shape(p_body_shape)->get_self(), body->get_transform() * body->get_shape_transform(p_body_shape), Vector2(), p_shape, p_shape_xform, p_motion, r_results, p_result_max, r_result_count);
}
void Physics2DServerSW::body_set_pickable(RID p_body, bool p_pickable) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_pickable(p_pickable);
}
bool Physics2DServerSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
_update_shapes();
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
}
int Physics2DServerSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, false);
ERR_FAIL_COND_V(!body->get_space(), false);
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
}
Physics2DDirectBodyState *Physics2DServerSW::body_get_direct_state(RID p_body) {
ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
if (!body_owner.owns(p_body))
return nullptr;
Body2DSW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body, nullptr);
ERR_FAIL_COND_V(!body->get_space(), nullptr);
ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
direct_state->body = body;
return direct_state;
}
/* JOINT API */
void Physics2DServerSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) {
Joint2DSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
switch (p_param) {
case JOINT_PARAM_BIAS:
joint->set_bias(p_value);
break;
case JOINT_PARAM_MAX_BIAS:
joint->set_max_bias(p_value);
break;
case JOINT_PARAM_MAX_FORCE:
joint->set_max_force(p_value);
break;
}
}
real_t Physics2DServerSW::joint_get_param(RID p_joint, JointParam p_param) const {
const Joint2DSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint, -1);
switch (p_param) {
case JOINT_PARAM_BIAS:
return joint->get_bias();
break;
case JOINT_PARAM_MAX_BIAS:
return joint->get_max_bias();
break;
case JOINT_PARAM_MAX_FORCE:
return joint->get_max_force();
break;
}
return 0;
}
void Physics2DServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
Joint2DSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
joint->disable_collisions_between_bodies(p_disable);
if (2 == joint->get_body_count()) {
Body2DSW *body_a = *joint->get_body_ptr();
Body2DSW *body_b = *(joint->get_body_ptr() + 1);
if (p_disable) {
body_add_collision_exception(body_a->get_self(), body_b->get_self());
body_add_collision_exception(body_b->get_self(), body_a->get_self());
} else {
body_remove_collision_exception(body_a->get_self(), body_b->get_self());
body_remove_collision_exception(body_b->get_self(), body_a->get_self());
}
}
}
bool Physics2DServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
const Joint2DSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint, true);
return joint->is_disabled_collisions_between_bodies();
}
RID Physics2DServerSW::pin_joint_create(const Vector2 &p_pos, RID p_body_a, RID p_body_b) {
Body2DSW *A = body_owner.get(p_body_a);
ERR_FAIL_COND_V(!A, RID());
Body2DSW *B = nullptr;
if (body_owner.owns(p_body_b)) {
B = body_owner.get(p_body_b);
ERR_FAIL_COND_V(!B, RID());
}
Joint2DSW *joint = memnew(PinJoint2DSW(p_pos, A, B));
RID self = joint_owner.make_rid(joint);
joint->set_self(self);
return self;
}
RID Physics2DServerSW::groove_joint_create(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) {
Body2DSW *A = body_owner.get(p_body_a);
ERR_FAIL_COND_V(!A, RID());
Body2DSW *B = body_owner.get(p_body_b);
ERR_FAIL_COND_V(!B, RID());
Joint2DSW *joint = memnew(GrooveJoint2DSW(p_a_groove1, p_a_groove2, p_b_anchor, A, B));
RID self = joint_owner.make_rid(joint);
joint->set_self(self);
return self;
}
RID Physics2DServerSW::damped_spring_joint_create(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) {
Body2DSW *A = body_owner.get(p_body_a);
ERR_FAIL_COND_V(!A, RID());
Body2DSW *B = body_owner.get(p_body_b);
ERR_FAIL_COND_V(!B, RID());
Joint2DSW *joint = memnew(DampedSpringJoint2DSW(p_anchor_a, p_anchor_b, A, B));
RID self = joint_owner.make_rid(joint);
joint->set_self(self);
return self;
}
void Physics2DServerSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
Joint2DSW *j = joint_owner.get(p_joint);
ERR_FAIL_COND(!j);
ERR_FAIL_COND(j->get_type() != JOINT_PIN);
PinJoint2DSW *pin_joint = static_cast<PinJoint2DSW *>(j);
pin_joint->set_param(p_param, p_value);
}
real_t Physics2DServerSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
Joint2DSW *j = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!j, 0);
ERR_FAIL_COND_V(j->get_type() != JOINT_PIN, 0);
PinJoint2DSW *pin_joint = static_cast<PinJoint2DSW *>(j);
return pin_joint->get_param(p_param);
}
void Physics2DServerSW::damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value) {
Joint2DSW *j = joint_owner.get(p_joint);
ERR_FAIL_COND(!j);
ERR_FAIL_COND(j->get_type() != JOINT_DAMPED_SPRING);
DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW *>(j);
dsj->set_param(p_param, p_value);
}
real_t Physics2DServerSW::damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const {
Joint2DSW *j = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!j, 0);
ERR_FAIL_COND_V(j->get_type() != JOINT_DAMPED_SPRING, 0);
DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW *>(j);
return dsj->get_param(p_param);
}
Physics2DServer::JointType Physics2DServerSW::joint_get_type(RID p_joint) const {
Joint2DSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint, JOINT_PIN);
return joint->get_type();
}
void Physics2DServerSW::free(RID p_rid) {
_update_shapes(); // just in case
if (shape_owner.owns(p_rid)) {
Shape2DSW *shape = shape_owner.get(p_rid);
while (shape->get_owners().size()) {
ShapeOwner2DSW *so = shape->get_owners().front()->key();
so->remove_shape(shape);
}
shape_owner.free(p_rid);
memdelete(shape);
} else if (body_owner.owns(p_rid)) {
Body2DSW *body = body_owner.get(p_rid);
/*
if (body->get_state_query())
_clear_query(body->get_state_query());
if (body->get_direct_state_query())
_clear_query(body->get_direct_state_query());
*/
body_set_space(p_rid, RID());
while (body->get_shape_count()) {
body->remove_shape(0);
}
body_owner.free(p_rid);
memdelete(body);
} else if (area_owner.owns(p_rid)) {
Area2DSW *area = area_owner.get(p_rid);
/*
if (area->get_monitor_query())
_clear_query(area->get_monitor_query());
*/
area->set_space(nullptr);
while (area->get_shape_count()) {
area->remove_shape(0);
}
area_owner.free(p_rid);
memdelete(area);
} else if (space_owner.owns(p_rid)) {
Space2DSW *space = space_owner.get(p_rid);
while (space->get_objects().size()) {
CollisionObject2DSW *co = (CollisionObject2DSW *)space->get_objects().front()->get();
co->set_space(nullptr);
}
active_spaces.erase(space);
free(space->get_default_area()->get_self());
space_owner.free(p_rid);
memdelete(space);
} else if (joint_owner.owns(p_rid)) {
Joint2DSW *joint = joint_owner.get(p_rid);
joint_owner.free(p_rid);
memdelete(joint);
} else {
ERR_FAIL_MSG("Invalid ID.");
}
};
void Physics2DServerSW::set_active(bool p_active) {
active = p_active;
};
void Physics2DServerSW::init() {
doing_sync = false;
last_step = 0.001;
iterations = 8; // 8?
stepper = memnew(Step2DSW);
direct_state = memnew(Physics2DDirectBodyStateSW);
};
void Physics2DServerSW::step(real_t p_step) {
if (!active)
return;
_update_shapes();
last_step = p_step;
Physics2DDirectBodyStateSW::singleton->step = p_step;
island_count = 0;
active_objects = 0;
collision_pairs = 0;
for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
stepper->step((Space2DSW *)E->get(), p_step, iterations);
island_count += E->get()->get_island_count();
active_objects += E->get()->get_active_objects();
collision_pairs += E->get()->get_collision_pairs();
}
};
void Physics2DServerSW::sync() {
doing_sync = true;
};
void Physics2DServerSW::flush_queries() {
if (!active)
return;
flushing_queries = true;
uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
Space2DSW *space = (Space2DSW *)E->get();
space->call_queries();
}
flushing_queries = false;
if (ScriptDebugger::get_singleton() && ScriptDebugger::get_singleton()->is_profiling()) {
uint64_t total_time[Space2DSW::ELAPSED_TIME_MAX];
static const char *time_name[Space2DSW::ELAPSED_TIME_MAX] = {
"integrate_forces",
"generate_islands",
"setup_constraints",
"solve_constraints",
"integrate_velocities"
};
for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) {
total_time[i] = 0;
}
for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) {
total_time[i] += E->get()->get_elapsed_time(Space2DSW::ElapsedTime(i));
}
}
Array values;
values.resize(Space2DSW::ELAPSED_TIME_MAX * 2);
for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) {
values[i * 2 + 0] = time_name[i];
values[i * 2 + 1] = USEC_TO_SEC(total_time[i]);
}
values.push_back("flush_queries");
values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg));
ScriptDebugger::get_singleton()->add_profiling_frame_data("physics_2d", values);
}
}
void Physics2DServerSW::end_sync() {
doing_sync = false;
}
void Physics2DServerSW::finish() {
memdelete(stepper);
memdelete(direct_state);
};
void Physics2DServerSW::_update_shapes() {
while (pending_shape_update_list.first()) {
pending_shape_update_list.first()->self()->_shape_changed();
pending_shape_update_list.remove(pending_shape_update_list.first());
}
}
int Physics2DServerSW::get_process_info(ProcessInfo p_info) {
switch (p_info) {
case INFO_ACTIVE_OBJECTS: {
return active_objects;
} break;
case INFO_COLLISION_PAIRS: {
return collision_pairs;
} break;
case INFO_ISLAND_COUNT: {
return island_count;
} break;
}
return 0;
}
Physics2DServerSW *Physics2DServerSW::singletonsw = nullptr;
Physics2DServerSW::Physics2DServerSW() {
singletonsw = this;
GLOBAL_DEF("physics/2d/use_bvh", true);
GLOBAL_DEF("physics/2d/bp_hash_table_size", 4096);
GLOBAL_DEF("physics/2d/cell_size", 128);
GLOBAL_DEF("physics/2d/large_object_surface_threshold_in_cells", 512);
bool use_bvh = GLOBAL_GET("physics/2d/use_bvh");
if (use_bvh) {
BroadPhase2DSW::create_func = BroadPhase2DBVH::_create;
} else {
BroadPhase2DSW::create_func = BroadPhase2DHashGrid::_create;
}
active = true;
island_count = 0;
active_objects = 0;
collision_pairs = 0;
#ifdef NO_THREADS
using_threads = false;
#else
using_threads = int(GLOBAL_GET("physics/2d/thread_model")) == 2;
#endif
flushing_queries = false;
};
Physics2DServerSW::~Physics2DServerSW(){
};
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