virtualx-engine/servers/physics/physics_server_sw.h

/*************************************************************************/
/*  physics_server_sw.h                                                  */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
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/*************************************************************************/
#ifndef PHYSICS_SERVER_SW
#define PHYSICS_SERVER_SW


#include "servers/physics_server.h"
#include "shape_sw.h"
#include "space_sw.h"
#include "step_sw.h"
#include "joints_sw.h"


class PhysicsServerSW : public PhysicsServer {

	OBJ_TYPE( PhysicsServerSW, PhysicsServer );

friend class PhysicsDirectSpaceStateSW;
	bool active;
	int iterations;
	bool doing_sync;
	real_t last_step;

	int island_count;
	int active_objects;
	int collision_pairs;

	StepSW *stepper;
	Set<const SpaceSW*> active_spaces;

	PhysicsDirectBodyStateSW *direct_state;

	mutable RID_Owner<ShapeSW> shape_owner;
	mutable RID_Owner<SpaceSW> space_owner;
	mutable RID_Owner<AreaSW> area_owner;
	mutable RID_Owner<BodySW> body_owner;
	mutable RID_Owner<JointSW> joint_owner;

//	void _clear_query(QuerySW *p_query);
public:

	struct CollCbkData {

		int max;
		int amount;
		Vector3 *ptr;
	};

	static void _shape_col_cbk(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata);

	virtual RID shape_create(ShapeType p_shape);
	virtual void shape_set_data(RID p_shape, const Variant& p_data);
	virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);

	virtual ShapeType shape_get_type(RID p_shape) const;
	virtual Variant shape_get_data(RID p_shape) const;
	virtual real_t shape_get_custom_solver_bias(RID p_shape) const;

	/* SPACE API */

	virtual RID space_create();
	virtual void space_set_active(RID p_space,bool p_active);
	virtual bool space_is_active(RID p_space) const;

	virtual void space_set_param(RID p_space,SpaceParameter p_param, real_t p_value);
	virtual real_t space_get_param(RID p_space,SpaceParameter p_param) const;

	// this function only works on fixed process, errors and returns null otherwise
	virtual PhysicsDirectSpaceState* space_get_direct_state(RID p_space);


	/* AREA API */

	virtual RID area_create();

	virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
	virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;

	virtual void area_set_space(RID p_area, RID p_space);
	virtual RID area_get_space(RID p_area) const;

	virtual void area_add_shape(RID p_area, RID p_shape, const Transform& p_transform=Transform());
	virtual void area_set_shape(RID p_area, int p_shape_idx,RID p_shape);
	virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform& p_transform);

	virtual int area_get_shape_count(RID p_area) const;
	virtual RID area_get_shape(RID p_area, int p_shape_idx) const;
	virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const;

	virtual void area_remove_shape(RID p_area, int p_shape_idx);
	virtual void area_clear_shapes(RID p_area);

	virtual void area_attach_object_instance_ID(RID p_area,ObjectID p_ID);
	virtual ObjectID area_get_object_instance_ID(RID p_area) const;

	virtual void area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value);
	virtual void area_set_transform(RID p_area, const Transform& p_transform);

	virtual Variant area_get_param(RID p_parea,AreaParameter p_param) const;
	virtual Transform area_get_transform(RID p_area) const;

	virtual void area_set_ray_pickable(RID p_area,bool p_enable);
	virtual bool area_is_ray_pickable(RID p_area) const;

	virtual void area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method);


	/* BODY API */

	// create a body of a given type
	virtual RID body_create(BodyMode p_mode=BODY_MODE_RIGID,bool p_init_sleeping=false);

	virtual void body_set_space(RID p_body, RID p_space);
	virtual RID body_get_space(RID p_body) const;

	virtual void body_set_mode(RID p_body, BodyMode p_mode);
	virtual BodyMode body_get_mode(RID p_body, BodyMode p_mode) const;

	virtual void body_add_shape(RID p_body, RID p_shape, const Transform& p_transform=Transform());
	virtual void body_set_shape(RID p_body, int p_shape_idx,RID p_shape);
	virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform& p_transform);

	virtual int body_get_shape_count(RID p_body) const;
	virtual RID body_get_shape(RID p_body, int p_shape_idx) const;
	virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const;

	virtual void body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable);
	virtual bool body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const;

	virtual void body_remove_shape(RID p_body, int p_shape_idx);
	virtual void body_clear_shapes(RID p_body);

	virtual void body_attach_object_instance_ID(RID p_body,uint32_t p_ID);
	virtual uint32_t body_get_object_instance_ID(RID p_body) const;

	virtual void body_set_enable_continuous_collision_detection(RID p_body,bool p_enable);
	virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const;

	virtual void body_set_layer_mask(RID p_body, uint32_t p_mask);
	virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const;

	virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
	virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const;

	virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value);
	virtual float body_get_param(RID p_body, BodyParameter p_param) const;

	virtual void body_set_state(RID p_body, BodyState p_state, const Variant& p_variant);
	virtual Variant body_get_state(RID p_body, BodyState p_state) const;

	virtual void body_set_applied_force(RID p_body, const Vector3& p_force);
	virtual Vector3 body_get_applied_force(RID p_body) const;

	virtual void body_set_applied_torque(RID p_body, const Vector3& p_torque);
	virtual Vector3 body_get_applied_torque(RID p_body) const;

	virtual void body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse);
	virtual void body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity);

	virtual void body_set_axis_lock(RID p_body,BodyAxisLock p_lock);
	virtual BodyAxisLock body_get_axis_lock(RID p_body) const;

	virtual void body_add_collision_exception(RID p_body, RID p_body_b);
	virtual void body_remove_collision_exception(RID p_body, RID p_body_b);
	virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);

	virtual void body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold);
	virtual float body_get_contacts_reported_depth_treshold(RID p_body) const;

	virtual void body_set_omit_force_integration(RID p_body,bool p_omit);
	virtual bool body_is_omitting_force_integration(RID p_body) const;

	virtual void body_set_max_contacts_reported(RID p_body, int p_contacts);
	virtual int body_get_max_contacts_reported(RID p_body) const;

	virtual void body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata=Variant());

	/* JOINT API */

	virtual RID joint_create_pin(RID p_body_A,const Vector3& p_local_A,RID p_body_B,const Vector3& p_local_B);

	virtual void pin_joint_set_param(RID p_joint,PinJointParam p_param, float p_value);
	virtual float pin_joint_get_param(RID p_joint,PinJointParam p_param) const;

	virtual void pin_joint_set_local_A(RID p_joint, const Vector3& p_A);
	virtual Vector3 pin_joint_get_local_A(RID p_joint) const;

	virtual void pin_joint_set_local_B(RID p_joint, const Vector3& p_B);
	virtual Vector3 pin_joint_get_local_B(RID p_joint) const;

	virtual RID joint_create_hinge(RID p_body_A,const Transform& p_frame_A,RID p_body_B,const Transform& p_frame_B);
	virtual RID 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);

	virtual void hinge_joint_set_param(RID p_joint,HingeJointParam p_param, float p_value);
	virtual float hinge_joint_get_param(RID p_joint,HingeJointParam p_param) const;

	virtual void hinge_joint_set_flag(RID p_joint,HingeJointFlag p_flag, bool p_value);
	virtual bool hinge_joint_get_flag(RID p_joint,HingeJointFlag p_flag) const;


	virtual RID joint_create_slider(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A

	virtual void slider_joint_set_param(RID p_joint,SliderJointParam p_param, float p_value);
	virtual float slider_joint_get_param(RID p_joint,SliderJointParam p_param) const;

	virtual RID joint_create_cone_twist(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A

	virtual void cone_twist_joint_set_param(RID p_joint,ConeTwistJointParam p_param, float p_value);
	virtual float cone_twist_joint_get_param(RID p_joint,ConeTwistJointParam p_param) const;

	virtual RID joint_create_generic_6dof(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A

	virtual void generic_6dof_joint_set_param(RID p_joint,Vector3::Axis,G6DOFJointAxisParam p_param, float p_value);
	virtual float generic_6dof_joint_get_param(RID p_joint,Vector3::Axis,G6DOFJointAxisParam p_param);

	virtual void generic_6dof_joint_set_flag(RID p_joint,Vector3::Axis,G6DOFJointAxisFlag p_flag, bool p_enable);
	virtual bool generic_6dof_joint_get_flag(RID p_joint,Vector3::Axis,G6DOFJointAxisFlag p_flag);

	virtual JointType joint_get_type(RID p_joint) const;

#if 0
	virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value);
	virtual real_t joint_get_param(RID p_joint,JointParam p_param) const;

	virtual RID pin_joint_create(const Vector3& p_pos,RID p_body_a,RID p_body_b=RID());
	virtual RID 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);
	virtual RID damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b=RID());
	virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value);
	virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const;

	virtual JointType joint_get_type(RID p_joint) const;
#endif
	/* MISC */

	virtual void free(RID p_rid);

	virtual void set_active(bool p_active);
	virtual void init();
	virtual void step(float p_step);
	virtual void sync();
	virtual void flush_queries();
	virtual void finish();

	int get_process_info(ProcessInfo p_info);

	PhysicsServerSW();
	~PhysicsServerSW();

};

#endif