d8223ffa75
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!
(cherry picked from commit c7bc44d5ad)
1645 lines
40 KiB
C++
1645 lines
40 KiB
C++
/*************************************************************************/
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/* physics_server_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 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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#include "physics_server_sw.h"
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#include "broad_phase_basic.h"
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#include "broad_phase_octree.h"
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#include "joints/pin_joint_sw.h"
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#include "joints/hinge_joint_sw.h"
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#include "joints/slider_joint_sw.h"
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#include "joints/cone_twist_joint_sw.h"
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#include "joints/generic_6dof_joint_sw.h"
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#include "script_language.h"
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#include "os/os.h"
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RID PhysicsServerSW::shape_create(ShapeType p_shape) {
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ShapeSW *shape=NULL;
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switch(p_shape) {
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case SHAPE_PLANE: {
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shape=memnew( PlaneShapeSW );
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} break;
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case SHAPE_RAY: {
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shape=memnew( RayShapeSW );
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} break;
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case SHAPE_SPHERE: {
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shape=memnew( SphereShapeSW);
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} break;
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case SHAPE_BOX: {
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shape=memnew( BoxShapeSW);
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} break;
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case SHAPE_CAPSULE: {
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shape=memnew( CapsuleShapeSW );
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} break;
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case SHAPE_CONVEX_POLYGON: {
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shape=memnew( ConvexPolygonShapeSW );
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} break;
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case SHAPE_CONCAVE_POLYGON: {
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shape=memnew( ConcavePolygonShapeSW );
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} break;
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case SHAPE_HEIGHTMAP: {
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shape=memnew( HeightMapShapeSW );
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} break;
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case SHAPE_CUSTOM: {
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ERR_FAIL_V(RID());
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} break;
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}
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RID id = shape_owner.make_rid(shape);
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shape->set_self(id);
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return id;
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};
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void PhysicsServerSW::shape_set_data(RID p_shape, const Variant& p_data) {
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ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_data(p_data);
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};
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void PhysicsServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
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ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_custom_bias(p_bias);
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}
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PhysicsServer::ShapeType PhysicsServerSW::shape_get_type(RID p_shape) const {
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const ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,SHAPE_CUSTOM);
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return shape->get_type();
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};
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Variant PhysicsServerSW::shape_get_data(RID p_shape) const {
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const ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,Variant());
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ERR_FAIL_COND_V(!shape->is_configured(),Variant());
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return shape->get_data();
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};
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real_t PhysicsServerSW::shape_get_custom_solver_bias(RID p_shape) const {
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const ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,0);
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return shape->get_custom_bias();
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}
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RID PhysicsServerSW::space_create() {
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SpaceSW *space = memnew( SpaceSW );
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RID id = space_owner.make_rid(space);
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space->set_self(id);
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RID area_id = area_create();
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AreaSW *area = area_owner.get(area_id);
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ERR_FAIL_COND_V(!area,RID());
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space->set_default_area(area);
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area->set_space(space);
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area->set_priority(-1);
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RID sgb = body_create();
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body_set_space(sgb,id);
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body_set_mode(sgb,BODY_MODE_STATIC);
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space->set_static_global_body(sgb);
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return id;
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};
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void PhysicsServerSW::space_set_active(RID p_space,bool p_active) {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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if (p_active)
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active_spaces.insert(space);
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else
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active_spaces.erase(space);
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}
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bool PhysicsServerSW::space_is_active(RID p_space) const {
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const SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space,false);
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return active_spaces.has(space);
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}
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void PhysicsServerSW::space_set_param(RID p_space,SpaceParameter p_param, real_t p_value) {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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space->set_param(p_param,p_value);
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}
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real_t PhysicsServerSW::space_get_param(RID p_space,SpaceParameter p_param) const {
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const SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space,0);
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return space->get_param(p_param);
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}
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PhysicsDirectSpaceState* PhysicsServerSW::space_get_direct_state(RID p_space) {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space,NULL);
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if (!doing_sync || space->is_locked()) {
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ERR_EXPLAIN("Space state is inaccesible right now, wait for iteration or fixed process notification.");
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ERR_FAIL_V(NULL);
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}
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return space->get_direct_state();
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}
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void PhysicsServerSW::space_set_debug_contacts(RID p_space,int p_max_contacts) {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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space->set_debug_contacts(p_max_contacts);
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}
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Vector<Vector3> PhysicsServerSW::space_get_contacts(RID p_space) const {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space,Vector<Vector3>());
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return space->get_debug_contacts();
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}
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int PhysicsServerSW::space_get_contact_count(RID p_space) const {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space,0);
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return space->get_debug_contact_count();
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}
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RID PhysicsServerSW::area_create() {
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AreaSW *area = memnew( AreaSW );
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RID rid = area_owner.make_rid(area);
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area->set_self(rid);
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return rid;
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};
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void PhysicsServerSW::area_set_space(RID p_area, RID p_space) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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SpaceSW *space=NULL;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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area->set_space(space);
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};
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RID PhysicsServerSW::area_get_space(RID p_area) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,RID());
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SpaceSW *space = area->get_space();
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if (!space)
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return RID();
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return space->get_self();
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};
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void PhysicsServerSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_space_override_mode(p_mode);
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}
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PhysicsServer::AreaSpaceOverrideMode PhysicsServerSW::area_get_space_override_mode(RID p_area) const {
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const AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,AREA_SPACE_OVERRIDE_DISABLED);
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return area->get_space_override_mode();
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}
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void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform& p_transform) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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area->add_shape(shape,p_transform);
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}
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void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx,RID p_shape) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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ERR_FAIL_COND(!shape->is_configured());
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area->set_shape(p_shape_idx,shape);
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}
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void PhysicsServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform& p_transform) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_shape_transform(p_shape_idx,p_transform);
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}
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int PhysicsServerSW::area_get_shape_count(RID p_area) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,-1);
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return area->get_shape_count();
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}
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RID PhysicsServerSW::area_get_shape(RID p_area, int p_shape_idx) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,RID());
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ShapeSW *shape = area->get_shape(p_shape_idx);
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ERR_FAIL_COND_V(!shape,RID());
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return shape->get_self();
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}
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Transform PhysicsServerSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,Transform());
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return area->get_shape_transform(p_shape_idx);
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}
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void PhysicsServerSW::area_remove_shape(RID p_area, int p_shape_idx) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->remove_shape(p_shape_idx);
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}
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void PhysicsServerSW::area_clear_shapes(RID p_area) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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while(area->get_shape_count())
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area->remove_shape(0);
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}
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void PhysicsServerSW::area_attach_object_instance_ID(RID p_area,ObjectID p_ID) {
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if (space_owner.owns(p_area)) {
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SpaceSW *space=space_owner.get(p_area);
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p_area=space->get_default_area()->get_self();
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}
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_instance_id(p_ID);
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}
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ObjectID PhysicsServerSW::area_get_object_instance_ID(RID p_area) const {
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if (space_owner.owns(p_area)) {
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SpaceSW *space=space_owner.get(p_area);
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p_area=space->get_default_area()->get_self();
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}
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,0);
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return area->get_instance_id();
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}
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void PhysicsServerSW::area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value) {
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if (space_owner.owns(p_area)) {
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SpaceSW *space=space_owner.get(p_area);
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p_area=space->get_default_area()->get_self();
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}
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_param(p_param,p_value);
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};
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void PhysicsServerSW::area_set_transform(RID p_area, const Transform& p_transform) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_transform(p_transform);
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};
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Variant PhysicsServerSW::area_get_param(RID p_area,AreaParameter p_param) const {
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if (space_owner.owns(p_area)) {
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SpaceSW *space=space_owner.get(p_area);
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p_area=space->get_default_area()->get_self();
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}
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,Variant());
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return area->get_param(p_param);
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};
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Transform PhysicsServerSW::area_get_transform(RID p_area) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,Transform());
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return area->get_transform();
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};
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void PhysicsServerSW::area_set_layer_mask(RID p_area,uint32_t p_mask) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_layer_mask(p_mask);
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}
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void PhysicsServerSW::area_set_collision_mask(RID p_area,uint32_t p_mask) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_collision_mask(p_mask);
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}
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void PhysicsServerSW::area_set_monitorable(RID p_area,bool p_monitorable) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_monitorable(p_monitorable);
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}
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void PhysicsServerSW::area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_monitor_callback(p_receiver?p_receiver->get_instance_ID():0,p_method);
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}
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void PhysicsServerSW::area_set_ray_pickable(RID p_area,bool p_enable) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_ray_pickable(p_enable);
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}
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bool PhysicsServerSW::area_is_ray_pickable(RID p_area) const{
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,false);
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return area->is_ray_pickable();
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}
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void PhysicsServerSW::area_set_area_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_area_monitor_callback(p_receiver?p_receiver->get_instance_ID():0,p_method);
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}
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/* BODY API */
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RID PhysicsServerSW::body_create(BodyMode p_mode,bool p_init_sleeping) {
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BodySW *body = memnew( BodySW );
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if (p_mode!=BODY_MODE_RIGID)
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body->set_mode(p_mode);
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if (p_init_sleeping)
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body->set_state(BODY_STATE_SLEEPING,p_init_sleeping);
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RID rid = body_owner.make_rid(body);
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body->set_self(rid);
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return rid;
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};
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void PhysicsServerSW::body_set_space(RID p_body, RID p_space) {
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BodySW *body = body_owner.get(p_body);
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ERR_FAIL_COND(!body);
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SpaceSW *space=NULL;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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if (body->get_space()==space)
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return; //pointles
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body->set_space(space);
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};
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RID PhysicsServerSW::body_get_space(RID p_body) const {
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BodySW *body = body_owner.get(p_body);
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ERR_FAIL_COND_V(!body,RID());
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SpaceSW *space = body->get_space();
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if (!space)
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return RID();
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return space->get_self();
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};
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void PhysicsServerSW::body_set_mode(RID p_body, BodyMode p_mode) {
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|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_mode(p_mode);
|
|
};
|
|
|
|
PhysicsServer::BodyMode PhysicsServerSW::body_get_mode(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,BODY_MODE_STATIC);
|
|
|
|
return body->get_mode();
|
|
};
|
|
|
|
void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform& p_transform) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ShapeSW *shape = shape_owner.get(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->add_shape(shape,p_transform);
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::body_set_shape(RID p_body, int p_shape_idx,RID p_shape) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ShapeSW *shape = shape_owner.get(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
ERR_FAIL_COND(!shape->is_configured());
|
|
|
|
body->set_shape(p_shape_idx,shape);
|
|
|
|
}
|
|
void PhysicsServerSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform& p_transform) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_transform(p_shape_idx,p_transform);
|
|
}
|
|
|
|
int PhysicsServerSW::body_get_shape_count(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,-1);
|
|
|
|
return body->get_shape_count();
|
|
|
|
}
|
|
RID PhysicsServerSW::body_get_shape(RID p_body, int p_shape_idx) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,RID());
|
|
|
|
ShapeSW *shape = body->get_shape(p_shape_idx);
|
|
ERR_FAIL_COND_V(!shape,RID());
|
|
|
|
return shape->get_self();
|
|
}
|
|
|
|
void PhysicsServerSW::body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
ERR_FAIL_INDEX(p_shape_idx,body->get_shape_count());
|
|
body->set_shape_as_trigger(p_shape_idx,p_enable);
|
|
|
|
}
|
|
|
|
bool PhysicsServerSW::body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const{
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,false);
|
|
ERR_FAIL_INDEX_V(p_shape_idx,body->get_shape_count(),false);
|
|
|
|
return body->is_shape_set_as_trigger(p_shape_idx);
|
|
}
|
|
|
|
|
|
Transform PhysicsServerSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,Transform());
|
|
|
|
return body->get_shape_transform(p_shape_idx);
|
|
}
|
|
|
|
void PhysicsServerSW::body_remove_shape(RID p_body, int p_shape_idx) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_shape(p_shape_idx);
|
|
}
|
|
|
|
void PhysicsServerSW::body_clear_shapes(RID p_body) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
while(body->get_shape_count())
|
|
body->remove_shape(0);
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::body_set_enable_continuous_collision_detection(RID p_body,bool p_enable) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_continuous_collision_detection(p_enable);
|
|
|
|
}
|
|
|
|
bool PhysicsServerSW::body_is_continuous_collision_detection_enabled(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,false);
|
|
|
|
return body->is_continuous_collision_detection_enabled();
|
|
}
|
|
|
|
void PhysicsServerSW::body_set_layer_mask(RID p_body, uint32_t p_mask) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_layer_mask(p_mask);
|
|
body->wakeup();
|
|
|
|
}
|
|
|
|
uint32_t PhysicsServerSW::body_get_layer_mask(RID p_body, uint32_t p_mask) const{
|
|
|
|
const BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_layer_mask();
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
body->wakeup();
|
|
|
|
}
|
|
|
|
uint32_t PhysicsServerSW::body_get_collision_mask(RID p_body, uint32_t p_mask) const{
|
|
|
|
const BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_collision_mask();
|
|
|
|
}
|
|
|
|
|
|
void PhysicsServerSW::body_attach_object_instance_ID(RID p_body,uint32_t p_ID) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_instance_id(p_ID);
|
|
|
|
};
|
|
|
|
uint32_t PhysicsServerSW::body_get_object_instance_ID(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_instance_id();
|
|
};
|
|
|
|
|
|
void PhysicsServerSW::body_set_user_flags(RID p_body, uint32_t p_flags) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
};
|
|
|
|
uint32_t PhysicsServerSW::body_get_user_flags(RID p_body, uint32_t p_flags) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return 0;
|
|
};
|
|
|
|
void PhysicsServerSW::body_set_param(RID p_body, BodyParameter p_param, float p_value) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_param(p_param,p_value);
|
|
};
|
|
|
|
float PhysicsServerSW::body_get_param(RID p_body, BodyParameter p_param) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_param(p_param);
|
|
};
|
|
|
|
|
|
|
|
void PhysicsServerSW::body_set_state(RID p_body, BodyState p_state, const Variant& p_variant) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_state(p_state,p_variant);
|
|
|
|
};
|
|
|
|
Variant PhysicsServerSW::body_get_state(RID p_body, BodyState p_state) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,Variant());
|
|
|
|
return body->get_state(p_state);
|
|
};
|
|
|
|
|
|
void PhysicsServerSW::body_set_applied_force(RID p_body, const Vector3& p_force) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_force(p_force);
|
|
body->wakeup();
|
|
};
|
|
|
|
Vector3 PhysicsServerSW::body_get_applied_force(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,Vector3());
|
|
return body->get_applied_force();
|
|
};
|
|
|
|
void PhysicsServerSW::body_set_applied_torque(RID p_body, const Vector3& p_torque) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_torque(p_torque);
|
|
body->wakeup();
|
|
};
|
|
|
|
Vector3 PhysicsServerSW::body_get_applied_torque(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,Vector3());
|
|
|
|
return body->get_applied_torque();
|
|
};
|
|
|
|
void PhysicsServerSW::body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_impulse(p_pos,p_impulse);
|
|
body->wakeup();
|
|
};
|
|
|
|
void PhysicsServerSW::body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
Vector3 v = body->get_linear_velocity();
|
|
Vector3 axis = p_axis_velocity.normalized();
|
|
v-=axis*axis.dot(v);
|
|
v+=p_axis_velocity;
|
|
body->set_linear_velocity(v);
|
|
body->wakeup();
|
|
|
|
};
|
|
|
|
|
|
void PhysicsServerSW::body_set_axis_lock(RID p_body,BodyAxisLock p_lock) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_axis_lock(p_lock);
|
|
body->wakeup();
|
|
|
|
}
|
|
|
|
PhysicsServerSW::BodyAxisLock PhysicsServerSW::body_get_axis_lock(RID p_body) const{
|
|
|
|
const BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,BODY_AXIS_LOCK_DISABLED);
|
|
return body->get_axis_lock();
|
|
|
|
}
|
|
|
|
|
|
|
|
void PhysicsServerSW::body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_exception(p_body_b);
|
|
body->wakeup();
|
|
|
|
};
|
|
|
|
void PhysicsServerSW::body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_exception(p_body_b);
|
|
body->wakeup();
|
|
|
|
};
|
|
|
|
void PhysicsServerSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
|
|
BodySW *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 PhysicsServerSW::body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
};
|
|
|
|
float PhysicsServerSW::body_get_contacts_reported_depth_treshold(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
return 0;
|
|
};
|
|
|
|
void PhysicsServerSW::body_set_omit_force_integration(RID p_body,bool p_omit) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_omit_force_integration(p_omit);
|
|
};
|
|
|
|
bool PhysicsServerSW::body_is_omitting_force_integration(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,false);
|
|
return body->get_omit_force_integration();
|
|
};
|
|
|
|
void PhysicsServerSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_max_contacts_reported(p_contacts);
|
|
}
|
|
|
|
int PhysicsServerSW::body_get_max_contacts_reported(RID p_body) const {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,-1);
|
|
return body->get_max_contacts_reported();
|
|
}
|
|
|
|
void PhysicsServerSW::body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata) {
|
|
|
|
|
|
BodySW *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);
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::body_set_ray_pickable(RID p_body,bool p_enable) {
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_ray_pickable(p_enable);
|
|
|
|
}
|
|
|
|
bool PhysicsServerSW::body_is_ray_pickable(RID p_body) const{
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,false);
|
|
return body->is_ray_pickable();
|
|
|
|
}
|
|
|
|
|
|
/* JOINT API */
|
|
|
|
RID PhysicsServerSW::joint_create_pin(RID p_body_A,const Vector3& p_local_A,RID p_body_B,const Vector3& p_local_B) {
|
|
|
|
BodySW *body_A = body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A,RID());
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND_V(!body_A->get_space(),RID());
|
|
p_body_B=body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
BodySW *body_B = body_owner.get(p_body_B);
|
|
ERR_FAIL_COND_V(!body_B,RID());
|
|
|
|
ERR_FAIL_COND_V(body_A==body_B,RID());
|
|
|
|
JointSW *joint = memnew( PinJointSW(body_A,p_local_A,body_B,p_local_B) );
|
|
RID rid = joint_owner.make_rid(joint);
|
|
joint->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
void PhysicsServerSW::pin_joint_set_param(RID p_joint,PinJointParam p_param, float p_value){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_PIN);
|
|
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
|
|
pin_joint->set_param(p_param,p_value);
|
|
|
|
}
|
|
float PhysicsServerSW::pin_joint_get_param(RID p_joint,PinJointParam p_param) const{
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,0);
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,0);
|
|
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
|
|
return pin_joint->get_param(p_param);
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::pin_joint_set_local_A(RID p_joint, const Vector3& p_A){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_PIN);
|
|
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
|
|
pin_joint->set_pos_A(p_A);
|
|
|
|
}
|
|
Vector3 PhysicsServerSW::pin_joint_get_local_A(RID p_joint) const{
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,Vector3());
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,Vector3());
|
|
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
|
|
return pin_joint->get_pos_A();
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::pin_joint_set_local_B(RID p_joint, const Vector3& p_B){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_PIN);
|
|
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
|
|
pin_joint->set_pos_B(p_B);
|
|
|
|
}
|
|
Vector3 PhysicsServerSW::pin_joint_get_local_B(RID p_joint) const{
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,Vector3());
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,Vector3());
|
|
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
|
|
return pin_joint->get_pos_B();
|
|
|
|
}
|
|
|
|
|
|
RID PhysicsServerSW::joint_create_hinge(RID p_body_A,const Transform& p_frame_A,RID p_body_B,const Transform& p_frame_B) {
|
|
|
|
BodySW *body_A = body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A,RID());
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND_V(!body_A->get_space(),RID());
|
|
p_body_B=body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
BodySW *body_B = body_owner.get(p_body_B);
|
|
ERR_FAIL_COND_V(!body_B,RID());
|
|
|
|
ERR_FAIL_COND_V(body_A==body_B,RID());
|
|
|
|
JointSW *joint = memnew( HingeJointSW(body_A,body_B,p_frame_A,p_frame_B) );
|
|
RID rid = joint_owner.make_rid(joint);
|
|
joint->set_self(rid);
|
|
return rid;
|
|
|
|
}
|
|
|
|
|
|
RID PhysicsServerSW::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) {
|
|
|
|
BodySW *body_A = body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A,RID());
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND_V(!body_A->get_space(),RID());
|
|
p_body_B=body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
BodySW *body_B = body_owner.get(p_body_B);
|
|
ERR_FAIL_COND_V(!body_B,RID());
|
|
|
|
ERR_FAIL_COND_V(body_A==body_B,RID());
|
|
|
|
JointSW *joint = memnew( HingeJointSW(body_A,body_B,p_pivot_A,p_pivot_B,p_axis_A,p_axis_B) );
|
|
RID rid = joint_owner.make_rid(joint);
|
|
joint->set_self(rid);
|
|
return rid;
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::hinge_joint_set_param(RID p_joint,HingeJointParam p_param, float p_value){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_HINGE);
|
|
HingeJointSW *hinge_joint = static_cast<HingeJointSW*>(joint);
|
|
hinge_joint->set_param(p_param,p_value);
|
|
|
|
}
|
|
float PhysicsServerSW::hinge_joint_get_param(RID p_joint,HingeJointParam p_param) const{
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,0);
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_HINGE,0);
|
|
HingeJointSW *hinge_joint = static_cast<HingeJointSW*>(joint);
|
|
return hinge_joint->get_param(p_param);
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::hinge_joint_set_flag(RID p_joint,HingeJointFlag p_flag, bool p_value){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_HINGE);
|
|
HingeJointSW *hinge_joint = static_cast<HingeJointSW*>(joint);
|
|
hinge_joint->set_flag(p_flag,p_value);
|
|
|
|
}
|
|
bool PhysicsServerSW::hinge_joint_get_flag(RID p_joint,HingeJointFlag p_flag) const{
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,false);
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_HINGE,false);
|
|
HingeJointSW *hinge_joint = static_cast<HingeJointSW*>(joint);
|
|
return hinge_joint->get_flag(p_flag);
|
|
}
|
|
|
|
void PhysicsServerSW::joint_set_solver_priority(RID p_joint,int p_priority) {
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
joint->set_priority(p_priority);
|
|
}
|
|
|
|
int PhysicsServerSW::joint_get_solver_priority(RID p_joint) const{
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,0);
|
|
return joint->get_priority();
|
|
|
|
}
|
|
|
|
PhysicsServerSW::JointType PhysicsServerSW::joint_get_type(RID p_joint) const {
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,JOINT_PIN);
|
|
return joint->get_type();
|
|
}
|
|
|
|
RID PhysicsServerSW::joint_create_slider(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) {
|
|
|
|
BodySW *body_A = body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A,RID());
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND_V(!body_A->get_space(),RID());
|
|
p_body_B=body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
BodySW *body_B = body_owner.get(p_body_B);
|
|
ERR_FAIL_COND_V(!body_B,RID());
|
|
|
|
ERR_FAIL_COND_V(body_A==body_B,RID());
|
|
|
|
JointSW *joint = memnew( SliderJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B) );
|
|
RID rid = joint_owner.make_rid(joint);
|
|
joint->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
void PhysicsServerSW::slider_joint_set_param(RID p_joint,SliderJointParam p_param, float p_value){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_SLIDER);
|
|
SliderJointSW *slider_joint = static_cast<SliderJointSW*>(joint);
|
|
slider_joint->set_param(p_param,p_value);
|
|
}
|
|
float PhysicsServerSW::slider_joint_get_param(RID p_joint,SliderJointParam p_param) const{
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,0);
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_CONE_TWIST,0);
|
|
SliderJointSW *slider_joint = static_cast<SliderJointSW*>(joint);
|
|
return slider_joint->get_param(p_param);
|
|
}
|
|
|
|
|
|
RID PhysicsServerSW::joint_create_cone_twist(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) {
|
|
|
|
BodySW *body_A = body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A,RID());
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND_V(!body_A->get_space(),RID());
|
|
p_body_B=body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
BodySW *body_B = body_owner.get(p_body_B);
|
|
ERR_FAIL_COND_V(!body_B,RID());
|
|
|
|
ERR_FAIL_COND_V(body_A==body_B,RID());
|
|
|
|
JointSW *joint = memnew( ConeTwistJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B) );
|
|
RID rid = joint_owner.make_rid(joint);
|
|
joint->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
void PhysicsServerSW::cone_twist_joint_set_param(RID p_joint,ConeTwistJointParam p_param, float p_value) {
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_CONE_TWIST);
|
|
ConeTwistJointSW *cone_twist_joint = static_cast<ConeTwistJointSW*>(joint);
|
|
cone_twist_joint->set_param(p_param,p_value);
|
|
}
|
|
float PhysicsServerSW::cone_twist_joint_get_param(RID p_joint,ConeTwistJointParam p_param) const {
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,0);
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_CONE_TWIST,0);
|
|
ConeTwistJointSW *cone_twist_joint = static_cast<ConeTwistJointSW*>(joint);
|
|
return cone_twist_joint->get_param(p_param);
|
|
}
|
|
|
|
|
|
RID PhysicsServerSW::joint_create_generic_6dof(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) {
|
|
|
|
BodySW *body_A = body_owner.get(p_body_A);
|
|
ERR_FAIL_COND_V(!body_A,RID());
|
|
|
|
if (!p_body_B.is_valid()) {
|
|
ERR_FAIL_COND_V(!body_A->get_space(),RID());
|
|
p_body_B=body_A->get_space()->get_static_global_body();
|
|
}
|
|
|
|
BodySW *body_B = body_owner.get(p_body_B);
|
|
ERR_FAIL_COND_V(!body_B,RID());
|
|
|
|
ERR_FAIL_COND_V(body_A==body_B,RID());
|
|
|
|
JointSW *joint = memnew( Generic6DOFJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B,true) );
|
|
RID rid = joint_owner.make_rid(joint);
|
|
joint->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
void PhysicsServerSW::generic_6dof_joint_set_param(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisParam p_param, float p_value){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_6DOF);
|
|
Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW*>(joint);
|
|
generic_6dof_joint->set_param(p_axis,p_param,p_value);
|
|
}
|
|
float PhysicsServerSW::generic_6dof_joint_get_param(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisParam p_param){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,0);
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_6DOF,0);
|
|
Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW*>(joint);
|
|
return generic_6dof_joint->get_param(p_axis,p_param);
|
|
}
|
|
|
|
void PhysicsServerSW::generic_6dof_joint_set_flag(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisFlag p_flag, bool p_enable){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
ERR_FAIL_COND(joint->get_type()!=JOINT_6DOF);
|
|
Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW*>(joint);
|
|
generic_6dof_joint->set_flag(p_axis,p_flag,p_enable);
|
|
}
|
|
bool PhysicsServerSW::generic_6dof_joint_get_flag(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisFlag p_flag){
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,false);
|
|
ERR_FAIL_COND_V(joint->get_type()!=JOINT_6DOF,false);
|
|
Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW*>(joint);
|
|
return generic_6dof_joint->get_flag(p_axis,p_flag);
|
|
}
|
|
|
|
|
|
#if 0
|
|
void PhysicsServerSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) {
|
|
|
|
JointSW *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 PhysicsServerSW::joint_get_param(RID p_joint,JointParam p_param) const {
|
|
|
|
const JointSW *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;
|
|
}
|
|
|
|
|
|
RID PhysicsServerSW::pin_joint_create(const Vector3& p_pos,RID p_body_a,RID p_body_b) {
|
|
|
|
BodySW *A=body_owner.get(p_body_a);
|
|
ERR_FAIL_COND_V(!A,RID());
|
|
BodySW *B=NULL;
|
|
if (body_owner.owns(p_body_b)) {
|
|
B=body_owner.get(p_body_b);
|
|
ERR_FAIL_COND_V(!B,RID());
|
|
}
|
|
|
|
JointSW *joint = memnew( PinJointSW(p_pos,A,B) );
|
|
RID self = joint_owner.make_rid(joint);
|
|
joint->set_self(self);
|
|
|
|
return self;
|
|
}
|
|
|
|
RID PhysicsServerSW::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) {
|
|
|
|
|
|
BodySW *A=body_owner.get(p_body_a);
|
|
ERR_FAIL_COND_V(!A,RID());
|
|
|
|
BodySW *B=body_owner.get(p_body_b);
|
|
ERR_FAIL_COND_V(!B,RID());
|
|
|
|
JointSW *joint = memnew( GrooveJointSW(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 PhysicsServerSW::damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b) {
|
|
|
|
BodySW *A=body_owner.get(p_body_a);
|
|
ERR_FAIL_COND_V(!A,RID());
|
|
|
|
BodySW *B=body_owner.get(p_body_b);
|
|
ERR_FAIL_COND_V(!B,RID());
|
|
|
|
JointSW *joint = memnew( DampedSpringJointSW(p_anchor_a,p_anchor_b,A,B) );
|
|
RID self = joint_owner.make_rid(joint);
|
|
joint->set_self(self);
|
|
return self;
|
|
|
|
}
|
|
|
|
void PhysicsServerSW::damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value) {
|
|
|
|
|
|
JointSW *j = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!j);
|
|
ERR_FAIL_COND(j->get_type()!=JOINT_DAMPED_SPRING);
|
|
|
|
DampedSpringJointSW *dsj = static_cast<DampedSpringJointSW*>(j);
|
|
dsj->set_param(p_param,p_value);
|
|
}
|
|
|
|
real_t PhysicsServerSW::damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const {
|
|
|
|
JointSW *j = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!j,0);
|
|
ERR_FAIL_COND_V(j->get_type()!=JOINT_DAMPED_SPRING,0);
|
|
|
|
DampedSpringJointSW *dsj = static_cast<DampedSpringJointSW*>(j);
|
|
return dsj->get_param(p_param);
|
|
}
|
|
|
|
PhysicsServer::JointType PhysicsServerSW::joint_get_type(RID p_joint) const {
|
|
|
|
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,JOINT_PIN);
|
|
|
|
return joint->get_type();
|
|
}
|
|
|
|
#endif
|
|
|
|
void PhysicsServerSW::free(RID p_rid) {
|
|
|
|
if (shape_owner.owns(p_rid)) {
|
|
|
|
ShapeSW *shape = shape_owner.get(p_rid);
|
|
|
|
while(shape->get_owners().size()) {
|
|
ShapeOwnerSW *so=shape->get_owners().front()->key();
|
|
so->remove_shape(shape);
|
|
}
|
|
|
|
shape_owner.free(p_rid);
|
|
memdelete(shape);
|
|
} else if (body_owner.owns(p_rid)) {
|
|
|
|
BodySW *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(NULL);
|
|
|
|
|
|
while( body->get_shape_count() ) {
|
|
|
|
body->remove_shape(0);
|
|
}
|
|
|
|
while (body->get_constraint_map().size()) {
|
|
RID self = body->get_constraint_map().front()->key()->get_self();
|
|
ERR_FAIL_COND(!self.is_valid());
|
|
free(self);
|
|
}
|
|
|
|
body_owner.free(p_rid);
|
|
memdelete(body);
|
|
|
|
} else if (area_owner.owns(p_rid)) {
|
|
|
|
AreaSW *area = area_owner.get(p_rid);
|
|
|
|
// if (area->get_monitor_query())
|
|
// _clear_query(area->get_monitor_query());
|
|
|
|
area->set_space(NULL);
|
|
|
|
while( area->get_shape_count() ) {
|
|
|
|
area->remove_shape(0);
|
|
}
|
|
|
|
area_owner.free(p_rid);
|
|
memdelete(area);
|
|
} else if (space_owner.owns(p_rid)) {
|
|
|
|
SpaceSW *space = space_owner.get(p_rid);
|
|
|
|
while(space->get_objects().size()) {
|
|
CollisionObjectSW *co = (CollisionObjectSW *)space->get_objects().front()->get();
|
|
co->set_space(NULL);
|
|
}
|
|
|
|
active_spaces.erase(space);
|
|
free(space->get_default_area()->get_self());
|
|
free(space->get_static_global_body());
|
|
|
|
space_owner.free(p_rid);
|
|
memdelete(space);
|
|
} else if (joint_owner.owns(p_rid)) {
|
|
|
|
JointSW *joint = joint_owner.get(p_rid);
|
|
|
|
for(int i=0;i<joint->get_body_count();i++) {
|
|
|
|
joint->get_body_ptr()[i]->remove_constraint(joint);
|
|
}
|
|
joint_owner.free(p_rid);
|
|
memdelete(joint);
|
|
|
|
} else {
|
|
|
|
ERR_EXPLAIN("Invalid ID");
|
|
ERR_FAIL();
|
|
}
|
|
|
|
|
|
};
|
|
|
|
void PhysicsServerSW::set_active(bool p_active) {
|
|
|
|
active=p_active;
|
|
};
|
|
|
|
void PhysicsServerSW::init() {
|
|
|
|
doing_sync=true;
|
|
last_step=0.001;
|
|
iterations=8;// 8?
|
|
stepper = memnew( StepSW );
|
|
direct_state = memnew( PhysicsDirectBodyStateSW );
|
|
};
|
|
|
|
|
|
void PhysicsServerSW::step(float p_step) {
|
|
|
|
|
|
if (!active)
|
|
return;
|
|
|
|
|
|
doing_sync=false;
|
|
|
|
last_step=p_step;
|
|
PhysicsDirectBodyStateSW::singleton->step=p_step;
|
|
|
|
island_count=0;
|
|
active_objects=0;
|
|
collision_pairs=0;
|
|
for( Set<const SpaceSW*>::Element *E=active_spaces.front();E;E=E->next()) {
|
|
|
|
stepper->step((SpaceSW*)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 PhysicsServerSW::sync() {
|
|
|
|
};
|
|
|
|
void PhysicsServerSW::flush_queries() {
|
|
|
|
if (!active)
|
|
return;
|
|
|
|
doing_sync=true;
|
|
|
|
uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
|
|
|
|
for( Set<const SpaceSW*>::Element *E=active_spaces.front();E;E=E->next()) {
|
|
|
|
SpaceSW *space=(SpaceSW *)E->get();
|
|
space->call_queries();
|
|
}
|
|
|
|
|
|
if (ScriptDebugger::get_singleton() && ScriptDebugger::get_singleton()->is_profiling()) {
|
|
|
|
uint64_t total_time[SpaceSW::ELAPSED_TIME_MAX];
|
|
static const char* time_name[SpaceSW::ELAPSED_TIME_MAX]={
|
|
"integrate_forces",
|
|
"generate_islands",
|
|
"setup_constraints",
|
|
"solve_constraints",
|
|
"integrate_velocities"
|
|
};
|
|
|
|
for(int i=0;i<SpaceSW::ELAPSED_TIME_MAX;i++) {
|
|
total_time[i]=0;
|
|
}
|
|
|
|
for( Set<const SpaceSW*>::Element *E=active_spaces.front();E;E=E->next()) {
|
|
|
|
for(int i=0;i<SpaceSW::ELAPSED_TIME_MAX;i++) {
|
|
total_time[i]+=E->get()->get_elapsed_time(SpaceSW::ElapsedTime(i));
|
|
}
|
|
|
|
}
|
|
|
|
Array values;
|
|
values.resize(SpaceSW::ELAPSED_TIME_MAX*2);
|
|
for(int i=0;i<SpaceSW::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",values);
|
|
|
|
}
|
|
};
|
|
|
|
|
|
|
|
void PhysicsServerSW::finish() {
|
|
|
|
memdelete(stepper);
|
|
memdelete(direct_state);
|
|
};
|
|
|
|
|
|
int PhysicsServerSW::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;
|
|
}
|
|
|
|
|
|
void PhysicsServerSW::_shape_col_cbk(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
|
|
|
|
|
|
CollCbkData *cbk=(CollCbkData *)p_userdata;
|
|
|
|
if (cbk->max==0)
|
|
return;
|
|
|
|
if (cbk->amount == cbk->max) {
|
|
//find least deep
|
|
float min_depth=1e20;
|
|
int min_depth_idx=0;
|
|
for(int i=0;i<cbk->amount;i++) {
|
|
|
|
float 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;
|
|
}
|
|
|
|
}
|
|
|
|
float d = p_point_A.distance_squared_to(p_point_B);
|
|
if (d<min_depth)
|
|
return;
|
|
cbk->ptr[min_depth_idx*2+0]=p_point_A;
|
|
cbk->ptr[min_depth_idx*2+1]=p_point_B;
|
|
|
|
|
|
} else {
|
|
|
|
cbk->ptr[cbk->amount*2+0]=p_point_A;
|
|
cbk->ptr[cbk->amount*2+1]=p_point_B;
|
|
cbk->amount++;
|
|
}
|
|
}
|
|
|
|
|
|
PhysicsServerSW::PhysicsServerSW() {
|
|
|
|
BroadPhaseSW::create_func=BroadPhaseOctree::_create;
|
|
island_count=0;
|
|
active_objects=0;
|
|
collision_pairs=0;
|
|
|
|
active=true;
|
|
|
|
};
|
|
|
|
PhysicsServerSW::~PhysicsServerSW() {
|
|
|
|
};
|
|
|
|
|