/*************************************************************************/ /* godot_body_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 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. */ /*************************************************************************/ #ifndef GODOT_BODY_2D_H #define GODOT_BODY_2D_H #include "godot_area_2d.h" #include "godot_collision_object_2d.h" #include "core/templates/list.h" #include "core/templates/pair.h" #include "core/templates/vset.h" class GodotConstraint2D; class GodotPhysicsDirectBodyState2D; class GodotBody2D : public GodotCollisionObject2D { PhysicsServer2D::BodyMode mode = PhysicsServer2D::BODY_MODE_RIGID; Vector2 biased_linear_velocity; real_t biased_angular_velocity = 0.0; Vector2 linear_velocity; real_t angular_velocity = 0.0; Vector2 prev_linear_velocity; real_t prev_angular_velocity = 0.0; Vector2 constant_linear_velocity; real_t constant_angular_velocity = 0.0; PhysicsServer2D::BodyDampMode linear_damp_mode = PhysicsServer2D::BODY_DAMP_MODE_COMBINE; PhysicsServer2D::BodyDampMode angular_damp_mode = PhysicsServer2D::BODY_DAMP_MODE_COMBINE; real_t linear_damp = 0.0; real_t angular_damp = 0.0; real_t total_linear_damp = 0.0; real_t total_angular_damp = 0.0; real_t gravity_scale = 1.0; real_t bounce = 0.0; real_t friction = 1.0; real_t mass = 1.0; real_t _inv_mass = 1.0; real_t inertia = 0.0; real_t _inv_inertia = 0.0; Vector2 center_of_mass_local; Vector2 center_of_mass; bool calculate_inertia = true; bool calculate_center_of_mass = true; Vector2 gravity; real_t still_time = 0.0; Vector2 applied_force; real_t applied_torque = 0.0; Vector2 constant_force; real_t constant_torque = 0.0; SelfList<GodotBody2D> active_list; SelfList<GodotBody2D> mass_properties_update_list; SelfList<GodotBody2D> direct_state_query_list; VSet<RID> exceptions; PhysicsServer2D::CCDMode continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED; bool omit_force_integration = false; bool active = true; bool can_sleep = true; bool first_time_kinematic = false; void _mass_properties_changed(); virtual void _shapes_changed() override; Transform2D new_transform; List<Pair<GodotConstraint2D *, int>> constraint_list; struct AreaCMP { GodotArea2D *area = nullptr; int refCount = 0; _FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); } _FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); } _FORCE_INLINE_ AreaCMP() {} _FORCE_INLINE_ AreaCMP(GodotArea2D *p_area) { area = p_area; refCount = 1; } }; Vector<AreaCMP> areas; struct Contact { Vector2 local_pos; Vector2 local_normal; real_t depth = 0.0; int local_shape = 0; Vector2 collider_pos; int collider_shape = 0; ObjectID collider_instance_id; RID collider; Vector2 collider_velocity_at_pos; }; Vector<Contact> contacts; //no contacts by default int contact_count = 0; void *body_state_callback_instance = nullptr; PhysicsServer2D::BodyStateCallback body_state_callback = nullptr; struct ForceIntegrationCallbackData { Callable callable; Variant udata; }; ForceIntegrationCallbackData *fi_callback_data = nullptr; GodotPhysicsDirectBodyState2D *direct_state = nullptr; uint64_t island_step = 0; void _update_transform_dependent(); friend class GodotPhysicsDirectBodyState2D; // i give up, too many functions to expose public: void set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback); void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant()); GodotPhysicsDirectBodyState2D *get_direct_state(); _FORCE_INLINE_ void add_area(GodotArea2D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount += 1; } else { areas.ordered_insert(AreaCMP(p_area)); } } _FORCE_INLINE_ void remove_area(GodotArea2D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount -= 1; if (areas[index].refCount < 1) { areas.remove_at(index); } } } _FORCE_INLINE_ void set_max_contacts_reported(int p_size) { contacts.resize(p_size); contact_count = 0; if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC && p_size) { set_active(true); } } _FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); } _FORCE_INLINE_ bool can_report_contacts() const { return !contacts.is_empty(); } _FORCE_INLINE_ void add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos); _FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); } _FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); } _FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); } _FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; } _FORCE_INLINE_ uint64_t get_island_step() const { return island_step; } _FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; } _FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); } _FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); } const List<Pair<GodotConstraint2D *, int>> &get_constraint_list() const { return constraint_list; } _FORCE_INLINE_ void clear_constraint_list() { constraint_list.clear(); } _FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; } _FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; } _FORCE_INLINE_ void set_linear_velocity(const Vector2 &p_velocity) { linear_velocity = p_velocity; } _FORCE_INLINE_ Vector2 get_linear_velocity() const { return linear_velocity; } _FORCE_INLINE_ void set_angular_velocity(real_t p_velocity) { angular_velocity = p_velocity; } _FORCE_INLINE_ real_t get_angular_velocity() const { return angular_velocity; } _FORCE_INLINE_ Vector2 get_prev_linear_velocity() const { return prev_linear_velocity; } _FORCE_INLINE_ real_t get_prev_angular_velocity() const { return prev_angular_velocity; } _FORCE_INLINE_ void set_biased_linear_velocity(const Vector2 &p_velocity) { biased_linear_velocity = p_velocity; } _FORCE_INLINE_ Vector2 get_biased_linear_velocity() const { return biased_linear_velocity; } _FORCE_INLINE_ void set_biased_angular_velocity(real_t p_velocity) { biased_angular_velocity = p_velocity; } _FORCE_INLINE_ real_t get_biased_angular_velocity() const { return biased_angular_velocity; } _FORCE_INLINE_ void apply_central_impulse(const Vector2 &p_impulse) { linear_velocity += p_impulse * _inv_mass; } _FORCE_INLINE_ void apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2()) { linear_velocity += p_impulse * _inv_mass; angular_velocity += _inv_inertia * (p_position - center_of_mass).cross(p_impulse); } _FORCE_INLINE_ void apply_torque_impulse(real_t p_torque) { angular_velocity += _inv_inertia * p_torque; } _FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_impulse, const Vector2 &p_position = Vector2(), real_t p_max_delta_av = -1.0) { biased_linear_velocity += p_impulse * _inv_mass; if (p_max_delta_av != 0.0) { real_t delta_av = _inv_inertia * (p_position - center_of_mass).cross(p_impulse); if (p_max_delta_av > 0 && delta_av > p_max_delta_av) { delta_av = p_max_delta_av; } biased_angular_velocity += delta_av; } } _FORCE_INLINE_ void apply_central_force(const Vector2 &p_force) { applied_force += p_force; } _FORCE_INLINE_ void apply_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { applied_force += p_force; applied_torque += (p_position - center_of_mass).cross(p_force); } _FORCE_INLINE_ void apply_torque(real_t p_torque) { applied_torque += p_torque; } _FORCE_INLINE_ void add_constant_central_force(const Vector2 &p_force) { constant_force += p_force; } _FORCE_INLINE_ void add_constant_force(const Vector2 &p_force, const Vector2 &p_position = Vector2()) { constant_force += p_force; constant_torque += (p_position - center_of_mass).cross(p_force); } _FORCE_INLINE_ void add_constant_torque(real_t p_torque) { constant_torque += p_torque; } void set_constant_force(const Vector2 &p_force) { constant_force = p_force; } Vector2 get_constant_force() const { return constant_force; } void set_constant_torque(real_t p_torque) { constant_torque = p_torque; } real_t get_constant_torque() const { return constant_torque; } void set_active(bool p_active); _FORCE_INLINE_ bool is_active() const { return active; } _FORCE_INLINE_ void wakeup() { if ((!get_space()) || mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { return; } set_active(true); } void set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value); Variant get_param(PhysicsServer2D::BodyParameter p_param) const; void set_mode(PhysicsServer2D::BodyMode p_mode); PhysicsServer2D::BodyMode get_mode() const; void set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant); Variant get_state(PhysicsServer2D::BodyState p_state) const; _FORCE_INLINE_ void set_continuous_collision_detection_mode(PhysicsServer2D::CCDMode p_mode) { continuous_cd_mode = p_mode; } _FORCE_INLINE_ PhysicsServer2D::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; } void set_space(GodotSpace2D *p_space) override; void update_mass_properties(); void reset_mass_properties(); _FORCE_INLINE_ const Vector2 &get_center_of_mass() const { return center_of_mass; } _FORCE_INLINE_ const Vector2 &get_center_of_mass_local() const { return center_of_mass_local; } _FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; } _FORCE_INLINE_ real_t get_inv_inertia() const { return _inv_inertia; } _FORCE_INLINE_ real_t get_friction() const { return friction; } _FORCE_INLINE_ real_t get_bounce() const { return bounce; } void integrate_forces(real_t p_step); void integrate_velocities(real_t p_step); _FORCE_INLINE_ Vector2 get_velocity_in_local_point(const Vector2 &rel_pos) const { return linear_velocity + Vector2(-angular_velocity * rel_pos.y, angular_velocity * rel_pos.x); } _FORCE_INLINE_ Vector2 get_motion() const { if (mode > PhysicsServer2D::BODY_MODE_KINEMATIC) { return new_transform.get_origin() - get_transform().get_origin(); } else if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { return get_transform().get_origin() - new_transform.get_origin(); //kinematic simulates forward } return Vector2(); } void call_queries(); void wakeup_neighbours(); bool sleep_test(real_t p_step); GodotBody2D(); ~GodotBody2D(); }; //add contact inline void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos) { int c_max = contacts.size(); if (c_max == 0) { return; } Contact *c = contacts.ptrw(); int idx = -1; if (contact_count < c_max) { idx = contact_count++; } else { real_t least_depth = 1e20; int least_deep = -1; for (int i = 0; i < c_max; i++) { if (i == 0 || c[i].depth < least_depth) { least_deep = i; least_depth = c[i].depth; } } if (least_deep >= 0 && least_depth < p_depth) { idx = least_deep; } if (idx == -1) { return; //none least deepe than this } } c[idx].local_pos = p_local_pos; c[idx].local_normal = p_local_normal; c[idx].depth = p_depth; c[idx].local_shape = p_local_shape; c[idx].collider_pos = p_collider_pos; c[idx].collider_shape = p_collider_shape; c[idx].collider_instance_id = p_collider_instance_id; c[idx].collider = p_collider; c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; } #endif // GODOT_BODY_2D_H