virtualx-engine/servers/physics/space_sw.h

/*************************************************************************/
/*  space_sw.h                                                           */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
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#ifndef SPACE_SW_H
#define SPACE_SW_H

#include "typedefs.h"
#include "hash_map.h"
#include "body_sw.h"
#include "area_sw.h"
#include "body_pair_sw.h"
#include "area_pair_sw.h"
#include "broad_phase_sw.h"
#include "collision_object_sw.h"
#include "globals.h"


class PhysicsDirectSpaceStateSW : public PhysicsDirectSpaceState {

	GDCLASS( PhysicsDirectSpaceStateSW, PhysicsDirectSpaceState );
public:

	SpaceSW *space;

	virtual bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,bool p_pick_ray=false);
	virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
	virtual bool cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,ShapeRestInfo *r_info=NULL);
	virtual bool collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
	virtual bool rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);

	PhysicsDirectSpaceStateSW();
};



class SpaceSW : public RID_Data {

public:

	enum ElapsedTime {
		ELAPSED_TIME_INTEGRATE_FORCES,
		ELAPSED_TIME_GENERATE_ISLANDS,
		ELAPSED_TIME_SETUP_CONSTRAINTS,
		ELAPSED_TIME_SOLVE_CONSTRAINTS,
		ELAPSED_TIME_INTEGRATE_VELOCITIES,
		ELAPSED_TIME_MAX

	};
private:

	uint64_t elapsed_time[ELAPSED_TIME_MAX];

	PhysicsDirectSpaceStateSW *direct_access;
	RID self;

	BroadPhaseSW *broadphase;
	SelfList<BodySW>::List active_list;
	SelfList<BodySW>::List inertia_update_list;
	SelfList<BodySW>::List state_query_list;
	SelfList<AreaSW>::List monitor_query_list;
	SelfList<AreaSW>::List area_moved_list;

	static void* _broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self);
	static void _broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self);

	Set<CollisionObjectSW*> objects;

	AreaSW *area;

	real_t contact_recycle_radius;
	real_t contact_max_separation;
	real_t contact_max_allowed_penetration;
	real_t constraint_bias;

	enum {

		INTERSECTION_QUERY_MAX=2048
	};

	CollisionObjectSW *intersection_query_results[INTERSECTION_QUERY_MAX];
	int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];

	float body_linear_velocity_sleep_threshold;
	float body_angular_velocity_sleep_threshold;
	float body_time_to_sleep;
	float body_angular_velocity_damp_ratio;

	bool locked;

	int island_count;
	int active_objects;
	int collision_pairs;

	RID static_global_body;

	Vector<Vector3> contact_debug;
	int contact_debug_count;

friend class PhysicsDirectSpaceStateSW;

public:

	_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
	_FORCE_INLINE_ RID get_self() const { return self; }

	void set_default_area(AreaSW *p_area) { area=p_area; }
	AreaSW *get_default_area() const { return area; }

	const SelfList<BodySW>::List& get_active_body_list() const;
	void body_add_to_active_list(SelfList<BodySW>* p_body);
	void body_remove_from_active_list(SelfList<BodySW>* p_body);
	void body_add_to_inertia_update_list(SelfList<BodySW>* p_body);
	void body_remove_from_inertia_update_list(SelfList<BodySW>* p_body);

	void body_add_to_state_query_list(SelfList<BodySW>* p_body);
	void body_remove_from_state_query_list(SelfList<BodySW>* p_body);

	void area_add_to_monitor_query_list(SelfList<AreaSW>* p_area);
	void area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area);
	void area_add_to_moved_list(SelfList<AreaSW>* p_area);
	void area_remove_from_moved_list(SelfList<AreaSW>* p_area);
	const SelfList<AreaSW>::List& get_moved_area_list() const;

	BroadPhaseSW *get_broadphase();

	void add_object(CollisionObjectSW *p_object);
	void remove_object(CollisionObjectSW *p_object);
	const Set<CollisionObjectSW*> &get_objects() const;

	_FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; }
	_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
	_FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; }
	_FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; }
	_FORCE_INLINE_ real_t get_body_linear_velocity_sleep_treshold() const { return body_linear_velocity_sleep_threshold; }
	_FORCE_INLINE_ real_t get_body_angular_velocity_sleep_treshold() const { return body_angular_velocity_sleep_threshold; }
	_FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; }
	_FORCE_INLINE_ real_t get_body_angular_velocity_damp_ratio() const { return body_angular_velocity_damp_ratio; }


	void update();
	void setup();
	void call_queries();


	bool is_locked() const;
	void lock();
	void unlock();

	void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value);
	real_t get_param(PhysicsServer::SpaceParameter p_param) const;

	void set_island_count(int p_island_count) { island_count=p_island_count; }
	int get_island_count() const { return island_count; }

	void set_active_objects(int p_active_objects) { active_objects=p_active_objects; }
	int get_active_objects() const { return active_objects; }

	int get_collision_pairs() const { return collision_pairs; }

	PhysicsDirectSpaceStateSW *get_direct_state();

	void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
	_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.empty(); }
	_FORCE_INLINE_ void add_debug_contact(const Vector3& p_contact) { if (contact_debug_count<contact_debug.size()) contact_debug[contact_debug_count++]=p_contact; }
	_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contact_debug; }
	_FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; }

	void set_static_global_body(RID p_body) { static_global_body=p_body; }
	RID get_static_global_body() { return static_global_body; }

	void set_elapsed_time(ElapsedTime p_time,uint64_t p_msec) { elapsed_time[p_time]=p_msec; }
	uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }

	SpaceSW();
	~SpaceSW();
};


#endif // SPACE__SW_H