/**************************************************************************/ /* godot_space_3d.h */ /**************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /**************************************************************************/ /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /**************************************************************************/ #ifndef GODOT_SPACE_3D_H #define GODOT_SPACE_3D_H #include "godot_area_3d.h" #include "godot_area_pair_3d.h" #include "godot_body_3d.h" #include "godot_body_pair_3d.h" #include "godot_broad_phase_3d.h" #include "godot_collision_object_3d.h" #include "godot_soft_body_3d.h" #include "core/config/project_settings.h" #include "core/templates/hash_map.h" #include "core/typedefs.h" class GodotPhysicsDirectSpaceState3D : public PhysicsDirectSpaceState3D { GDCLASS(GodotPhysicsDirectSpaceState3D, PhysicsDirectSpaceState3D); public: GodotSpace3D *space = nullptr; virtual int intersect_point(const PointParameters &p_parameters, ShapeResult *r_results, int p_result_max) override; virtual bool intersect_ray(const RayParameters &p_parameters, RayResult &r_result) override; virtual int intersect_shape(const ShapeParameters &p_parameters, ShapeResult *r_results, int p_result_max) override; virtual bool cast_motion(const ShapeParameters &p_parameters, real_t &p_closest_safe, real_t &p_closest_unsafe, ShapeRestInfo *r_info = nullptr) override; virtual bool collide_shape(const ShapeParameters &p_parameters, Vector3 *r_results, int p_result_max, int &r_result_count) override; virtual bool rest_info(const ShapeParameters &p_parameters, ShapeRestInfo *r_info) override; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override; GodotPhysicsDirectSpaceState3D(); }; class GodotSpace3D { 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] = {}; GodotPhysicsDirectSpaceState3D *direct_access = nullptr; RID self; GodotBroadPhase3D *broadphase = nullptr; SelfList<GodotBody3D>::List active_list; SelfList<GodotBody3D>::List mass_properties_update_list; SelfList<GodotBody3D>::List state_query_list; SelfList<GodotArea3D>::List monitor_query_list; SelfList<GodotArea3D>::List area_moved_list; SelfList<GodotSoftBody3D>::List active_soft_body_list; static void *_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self); static void _broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self); HashSet<GodotCollisionObject3D *> objects; GodotArea3D *area = nullptr; int solver_iterations = 0; real_t contact_recycle_radius = 0.0; real_t contact_max_separation = 0.0; real_t contact_max_allowed_penetration = 0.0; real_t contact_bias = 0.0; enum { INTERSECTION_QUERY_MAX = 2048 }; GodotCollisionObject3D *intersection_query_results[INTERSECTION_QUERY_MAX]; int intersection_query_subindex_results[INTERSECTION_QUERY_MAX]; real_t body_linear_velocity_sleep_threshold = 0.0; real_t body_angular_velocity_sleep_threshold = 0.0; real_t body_time_to_sleep = 0.0; bool locked = false; real_t last_step = 0.001; int island_count = 0; int active_objects = 0; int collision_pairs = 0; RID static_global_body; Vector<Vector3> contact_debug; int contact_debug_count = 0; friend class GodotPhysicsDirectSpaceState3D; int _cull_aabb_for_body(GodotBody3D *p_body, const AABB &p_aabb); 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(GodotArea3D *p_area) { area = p_area; } GodotArea3D *get_default_area() const { return area; } const SelfList<GodotBody3D>::List &get_active_body_list() const; void body_add_to_active_list(SelfList<GodotBody3D> *p_body); void body_remove_from_active_list(SelfList<GodotBody3D> *p_body); void body_add_to_mass_properties_update_list(SelfList<GodotBody3D> *p_body); void body_remove_from_mass_properties_update_list(SelfList<GodotBody3D> *p_body); void body_add_to_state_query_list(SelfList<GodotBody3D> *p_body); void body_remove_from_state_query_list(SelfList<GodotBody3D> *p_body); void area_add_to_monitor_query_list(SelfList<GodotArea3D> *p_area); void area_remove_from_monitor_query_list(SelfList<GodotArea3D> *p_area); void area_add_to_moved_list(SelfList<GodotArea3D> *p_area); void area_remove_from_moved_list(SelfList<GodotArea3D> *p_area); const SelfList<GodotArea3D>::List &get_moved_area_list() const; const SelfList<GodotSoftBody3D>::List &get_active_soft_body_list() const; void soft_body_add_to_active_list(SelfList<GodotSoftBody3D> *p_soft_body); void soft_body_remove_from_active_list(SelfList<GodotSoftBody3D> *p_soft_body); GodotBroadPhase3D *get_broadphase(); void add_object(GodotCollisionObject3D *p_object); void remove_object(GodotCollisionObject3D *p_object); const HashSet<GodotCollisionObject3D *> &get_objects() const; _FORCE_INLINE_ int get_solver_iterations() const { return solver_iterations; } _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_contact_bias() const { return contact_bias; } _FORCE_INLINE_ real_t get_body_linear_velocity_sleep_threshold() const { return body_linear_velocity_sleep_threshold; } _FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() const { return body_angular_velocity_sleep_threshold; } _FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; } void update(); void setup(); void call_queries(); bool is_locked() const; void lock(); void unlock(); real_t get_last_step() const { return last_step; } void set_last_step(real_t p_step) { last_step = p_step; } void set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value); real_t get_param(PhysicsServer3D::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; } GodotPhysicsDirectSpaceState3D *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.is_empty(); } _FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) { if (contact_debug_count < contact_debug.size()) { contact_debug.write[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]; } bool test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result); GodotSpace3D(); ~GodotSpace3D(); }; #endif // GODOT_SPACE_3D_H