/**************************************************************************/ /* godot_physics_server_2d.cpp */ /**************************************************************************/ /* 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. */ /**************************************************************************/ #include "godot_physics_server_2d.h" #include "godot_body_direct_state_2d.h" #include "godot_broad_phase_2d_bvh.h" #include "godot_collision_solver_2d.h" #include "core/config/project_settings.h" #include "core/debugger/engine_debugger.h" #include "core/os/os.h" #define FLUSH_QUERY_CHECK(m_object) \ ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead."); RID GodotPhysicsServer2D::_shape_create(ShapeType p_shape) { GodotShape2D *shape = nullptr; switch (p_shape) { case SHAPE_WORLD_BOUNDARY: { shape = memnew(GodotWorldBoundaryShape2D); } break; case SHAPE_SEPARATION_RAY: { shape = memnew(GodotSeparationRayShape2D); } break; case SHAPE_SEGMENT: { shape = memnew(GodotSegmentShape2D); } break; case SHAPE_CIRCLE: { shape = memnew(GodotCircleShape2D); } break; case SHAPE_RECTANGLE: { shape = memnew(GodotRectangleShape2D); } break; case SHAPE_CAPSULE: { shape = memnew(GodotCapsuleShape2D); } break; case SHAPE_CONVEX_POLYGON: { shape = memnew(GodotConvexPolygonShape2D); } break; case SHAPE_CONCAVE_POLYGON: { shape = memnew(GodotConcavePolygonShape2D); } break; case SHAPE_CUSTOM: { ERR_FAIL_V(RID()); } break; } RID id = shape_owner.make_rid(shape); shape->set_self(id); return id; } RID GodotPhysicsServer2D::world_boundary_shape_create() { return _shape_create(SHAPE_WORLD_BOUNDARY); } RID GodotPhysicsServer2D::separation_ray_shape_create() { return _shape_create(SHAPE_SEPARATION_RAY); } RID GodotPhysicsServer2D::segment_shape_create() { return _shape_create(SHAPE_SEGMENT); } RID GodotPhysicsServer2D::circle_shape_create() { return _shape_create(SHAPE_CIRCLE); } RID GodotPhysicsServer2D::rectangle_shape_create() { return _shape_create(SHAPE_RECTANGLE); } RID GodotPhysicsServer2D::capsule_shape_create() { return _shape_create(SHAPE_CAPSULE); } RID GodotPhysicsServer2D::convex_polygon_shape_create() { return _shape_create(SHAPE_CONVEX_POLYGON); } RID GodotPhysicsServer2D::concave_polygon_shape_create() { return _shape_create(SHAPE_CONCAVE_POLYGON); } void GodotPhysicsServer2D::shape_set_data(RID p_shape, const Variant &p_data) { GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND(!shape); shape->set_data(p_data); }; void GodotPhysicsServer2D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND(!shape); shape->set_custom_bias(p_bias); } PhysicsServer2D::ShapeType GodotPhysicsServer2D::shape_get_type(RID p_shape) const { const GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM); return shape->get_type(); }; Variant GodotPhysicsServer2D::shape_get_data(RID p_shape) const { const GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, Variant()); ERR_FAIL_COND_V(!shape->is_configured(), Variant()); return shape->get_data(); }; real_t GodotPhysicsServer2D::shape_get_custom_solver_bias(RID p_shape) const { const GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, 0); return shape->get_custom_bias(); } void GodotPhysicsServer2D::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { CollCbkData *cbk = static_cast<CollCbkData *>(p_userdata); if (cbk->max == 0) { return; } Vector2 rel_dir = (p_point_A - p_point_B); real_t rel_length2 = rel_dir.length_squared(); if (cbk->valid_dir != Vector2()) { if (cbk->valid_depth < 10e20) { if (rel_length2 > cbk->valid_depth * cbk->valid_depth || (rel_length2 > CMP_EPSILON && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON)) { cbk->invalid_by_dir++; return; } } else { if (rel_length2 > 0 && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON) { return; } } } if (cbk->amount == cbk->max) { //find least deep real_t min_depth = 1e20; int min_depth_idx = 0; for (int i = 0; i < cbk->amount; i++) { real_t 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; } } if (rel_length2 < min_depth) { return; } cbk->ptr[min_depth_idx * 2 + 0] = p_point_A; cbk->ptr[min_depth_idx * 2 + 1] = p_point_B; cbk->passed++; } else { cbk->ptr[cbk->amount * 2 + 0] = p_point_A; cbk->ptr[cbk->amount * 2 + 1] = p_point_B; cbk->amount++; cbk->passed++; } } bool GodotPhysicsServer2D::shape_collide(RID p_shape_A, const Transform2D &p_xform_A, const Vector2 &p_motion_A, RID p_shape_B, const Transform2D &p_xform_B, const Vector2 &p_motion_B, Vector2 *r_results, int p_result_max, int &r_result_count) { GodotShape2D *shape_A = shape_owner.get_or_null(p_shape_A); ERR_FAIL_COND_V(!shape_A, false); GodotShape2D *shape_B = shape_owner.get_or_null(p_shape_B); ERR_FAIL_COND_V(!shape_B, false); if (p_result_max == 0) { return GodotCollisionSolver2D::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, nullptr, nullptr); } CollCbkData cbk; cbk.max = p_result_max; cbk.amount = 0; cbk.passed = 0; cbk.ptr = r_results; bool res = GodotCollisionSolver2D::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, _shape_col_cbk, &cbk); r_result_count = cbk.amount; return res; } RID GodotPhysicsServer2D::space_create() { GodotSpace2D *space = memnew(GodotSpace2D); RID id = space_owner.make_rid(space); space->set_self(id); RID area_id = area_create(); GodotArea2D *area = area_owner.get_or_null(area_id); ERR_FAIL_COND_V(!area, RID()); space->set_default_area(area); area->set_space(space); area->set_priority(-1); return id; }; void GodotPhysicsServer2D::space_set_active(RID p_space, bool p_active) { GodotSpace2D *space = space_owner.get_or_null(p_space); ERR_FAIL_COND(!space); if (p_active) { active_spaces.insert(space); } else { active_spaces.erase(space); } } bool GodotPhysicsServer2D::space_is_active(RID p_space) const { const GodotSpace2D *space = space_owner.get_or_null(p_space); ERR_FAIL_COND_V(!space, false); return active_spaces.has(space); } void GodotPhysicsServer2D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { GodotSpace2D *space = space_owner.get_or_null(p_space); ERR_FAIL_COND(!space); space->set_param(p_param, p_value); } real_t GodotPhysicsServer2D::space_get_param(RID p_space, SpaceParameter p_param) const { const GodotSpace2D *space = space_owner.get_or_null(p_space); ERR_FAIL_COND_V(!space, 0); return space->get_param(p_param); } void GodotPhysicsServer2D::space_set_debug_contacts(RID p_space, int p_max_contacts) { GodotSpace2D *space = space_owner.get_or_null(p_space); ERR_FAIL_COND(!space); space->set_debug_contacts(p_max_contacts); } Vector<Vector2> GodotPhysicsServer2D::space_get_contacts(RID p_space) const { GodotSpace2D *space = space_owner.get_or_null(p_space); ERR_FAIL_COND_V(!space, Vector<Vector2>()); return space->get_debug_contacts(); } int GodotPhysicsServer2D::space_get_contact_count(RID p_space) const { GodotSpace2D *space = space_owner.get_or_null(p_space); ERR_FAIL_COND_V(!space, 0); return space->get_debug_contact_count(); } PhysicsDirectSpaceState2D *GodotPhysicsServer2D::space_get_direct_state(RID p_space) { GodotSpace2D *space = space_owner.get_or_null(p_space); ERR_FAIL_COND_V(!space, nullptr); ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification."); return space->get_direct_state(); } RID GodotPhysicsServer2D::area_create() { GodotArea2D *area = memnew(GodotArea2D); RID rid = area_owner.make_rid(area); area->set_self(rid); return rid; } void GodotPhysicsServer2D::area_set_space(RID p_area, RID p_space) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); GodotSpace2D *space = nullptr; if (p_space.is_valid()) { space = space_owner.get_or_null(p_space); ERR_FAIL_COND(!space); } if (area->get_space() == space) { return; //pointless } area->clear_constraints(); area->set_space(space); } RID GodotPhysicsServer2D::area_get_space(RID p_area) const { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, RID()); GodotSpace2D *space = area->get_space(); if (!space) { return RID(); } return space->get_self(); } void GodotPhysicsServer2D::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform, bool p_disabled) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND(!shape); area->add_shape(shape, p_transform, p_disabled); } void GodotPhysicsServer2D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND(!shape); ERR_FAIL_COND(!shape->is_configured()); area->set_shape(p_shape_idx, shape); } void GodotPhysicsServer2D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_shape_transform(p_shape_idx, p_transform); } void GodotPhysicsServer2D::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); ERR_FAIL_INDEX(p_shape, area->get_shape_count()); FLUSH_QUERY_CHECK(area); area->set_shape_disabled(p_shape, p_disabled); } int GodotPhysicsServer2D::area_get_shape_count(RID p_area) const { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, -1); return area->get_shape_count(); } RID GodotPhysicsServer2D::area_get_shape(RID p_area, int p_shape_idx) const { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, RID()); GodotShape2D *shape = area->get_shape(p_shape_idx); ERR_FAIL_COND_V(!shape, RID()); return shape->get_self(); } Transform2D GodotPhysicsServer2D::area_get_shape_transform(RID p_area, int p_shape_idx) const { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, Transform2D()); return area->get_shape_transform(p_shape_idx); } void GodotPhysicsServer2D::area_remove_shape(RID p_area, int p_shape_idx) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->remove_shape(p_shape_idx); } void GodotPhysicsServer2D::area_clear_shapes(RID p_area) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); while (area->get_shape_count()) { area->remove_shape(0); } } void GodotPhysicsServer2D::area_attach_object_instance_id(RID p_area, ObjectID p_id) { if (space_owner.owns(p_area)) { GodotSpace2D *space = space_owner.get_or_null(p_area); p_area = space->get_default_area()->get_self(); } GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_instance_id(p_id); } ObjectID GodotPhysicsServer2D::area_get_object_instance_id(RID p_area) const { if (space_owner.owns(p_area)) { GodotSpace2D *space = space_owner.get_or_null(p_area); p_area = space->get_default_area()->get_self(); } GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, ObjectID()); return area->get_instance_id(); } void GodotPhysicsServer2D::area_attach_canvas_instance_id(RID p_area, ObjectID p_id) { if (space_owner.owns(p_area)) { GodotSpace2D *space = space_owner.get_or_null(p_area); p_area = space->get_default_area()->get_self(); } GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_canvas_instance_id(p_id); } ObjectID GodotPhysicsServer2D::area_get_canvas_instance_id(RID p_area) const { if (space_owner.owns(p_area)) { GodotSpace2D *space = space_owner.get_or_null(p_area); p_area = space->get_default_area()->get_self(); } GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, ObjectID()); return area->get_canvas_instance_id(); } void GodotPhysicsServer2D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { if (space_owner.owns(p_area)) { GodotSpace2D *space = space_owner.get_or_null(p_area); p_area = space->get_default_area()->get_self(); } GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_param(p_param, p_value); }; void GodotPhysicsServer2D::area_set_transform(RID p_area, const Transform2D &p_transform) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_transform(p_transform); }; Variant GodotPhysicsServer2D::area_get_param(RID p_area, AreaParameter p_param) const { if (space_owner.owns(p_area)) { GodotSpace2D *space = space_owner.get_or_null(p_area); p_area = space->get_default_area()->get_self(); } GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, Variant()); return area->get_param(p_param); }; Transform2D GodotPhysicsServer2D::area_get_transform(RID p_area) const { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, Transform2D()); return area->get_transform(); }; void GodotPhysicsServer2D::area_set_pickable(RID p_area, bool p_pickable) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_pickable(p_pickable); } void GodotPhysicsServer2D::area_set_monitorable(RID p_area, bool p_monitorable) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); FLUSH_QUERY_CHECK(area); area->set_monitorable(p_monitorable); } void GodotPhysicsServer2D::area_set_collision_layer(RID p_area, uint32_t p_layer) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_collision_layer(p_layer); } uint32_t GodotPhysicsServer2D::area_get_collision_layer(RID p_area) const { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, 0); return area->get_collision_layer(); } void GodotPhysicsServer2D::area_set_collision_mask(RID p_area, uint32_t p_mask) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_collision_mask(p_mask); } uint32_t GodotPhysicsServer2D::area_get_collision_mask(RID p_area) const { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND_V(!area, 0); return area->get_collision_mask(); } void GodotPhysicsServer2D::area_set_monitor_callback(RID p_area, const Callable &p_callback) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_monitor_callback(p_callback.is_valid() ? p_callback : Callable()); } void GodotPhysicsServer2D::area_set_area_monitor_callback(RID p_area, const Callable &p_callback) { GodotArea2D *area = area_owner.get_or_null(p_area); ERR_FAIL_COND(!area); area->set_area_monitor_callback(p_callback.is_valid() ? p_callback : Callable()); } /* BODY API */ RID GodotPhysicsServer2D::body_create() { GodotBody2D *body = memnew(GodotBody2D); RID rid = body_owner.make_rid(body); body->set_self(rid); return rid; } void GodotPhysicsServer2D::body_set_space(RID p_body, RID p_space) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); GodotSpace2D *space = nullptr; if (p_space.is_valid()) { space = space_owner.get_or_null(p_space); ERR_FAIL_COND(!space); } if (body->get_space() == space) { return; //pointless } body->clear_constraint_list(); body->set_space(space); }; RID GodotPhysicsServer2D::body_get_space(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, RID()); GodotSpace2D *space = body->get_space(); if (!space) { return RID(); } return space->get_self(); }; void GodotPhysicsServer2D::body_set_mode(RID p_body, BodyMode p_mode) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); FLUSH_QUERY_CHECK(body); body->set_mode(p_mode); }; PhysicsServer2D::BodyMode GodotPhysicsServer2D::body_get_mode(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); return body->get_mode(); }; void GodotPhysicsServer2D::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform, bool p_disabled) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND(!shape); body->add_shape(shape, p_transform, p_disabled); } void GodotPhysicsServer2D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); GodotShape2D *shape = shape_owner.get_or_null(p_shape); ERR_FAIL_COND(!shape); ERR_FAIL_COND(!shape->is_configured()); body->set_shape(p_shape_idx, shape); } void GodotPhysicsServer2D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_shape_transform(p_shape_idx, p_transform); } int GodotPhysicsServer2D::body_get_shape_count(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, -1); return body->get_shape_count(); } RID GodotPhysicsServer2D::body_get_shape(RID p_body, int p_shape_idx) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, RID()); GodotShape2D *shape = body->get_shape(p_shape_idx); ERR_FAIL_COND_V(!shape, RID()); return shape->get_self(); } Transform2D GodotPhysicsServer2D::body_get_shape_transform(RID p_body, int p_shape_idx) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, Transform2D()); return body->get_shape_transform(p_shape_idx); } void GodotPhysicsServer2D::body_remove_shape(RID p_body, int p_shape_idx) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->remove_shape(p_shape_idx); } void GodotPhysicsServer2D::body_clear_shapes(RID p_body) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); while (body->get_shape_count()) { body->remove_shape(0); } } void GodotPhysicsServer2D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); FLUSH_QUERY_CHECK(body); body->set_shape_disabled(p_shape_idx, p_disabled); } void GodotPhysicsServer2D::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); FLUSH_QUERY_CHECK(body); body->set_shape_as_one_way_collision(p_shape_idx, p_enable, p_margin); } void GodotPhysicsServer2D::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_continuous_collision_detection_mode(p_mode); } GodotPhysicsServer2D::CCDMode GodotPhysicsServer2D::body_get_continuous_collision_detection_mode(RID p_body) const { const GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED); return body->get_continuous_collision_detection_mode(); } void GodotPhysicsServer2D::body_attach_object_instance_id(RID p_body, ObjectID p_id) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_instance_id(p_id); } ObjectID GodotPhysicsServer2D::body_get_object_instance_id(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, ObjectID()); return body->get_instance_id(); } void GodotPhysicsServer2D::body_attach_canvas_instance_id(RID p_body, ObjectID p_id) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_canvas_instance_id(p_id); } ObjectID GodotPhysicsServer2D::body_get_canvas_instance_id(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, ObjectID()); return body->get_canvas_instance_id(); } void GodotPhysicsServer2D::body_set_collision_layer(RID p_body, uint32_t p_layer) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_collision_layer(p_layer); } uint32_t GodotPhysicsServer2D::body_get_collision_layer(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_collision_layer(); } void GodotPhysicsServer2D::body_set_collision_mask(RID p_body, uint32_t p_mask) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_collision_mask(p_mask); } uint32_t GodotPhysicsServer2D::body_get_collision_mask(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_collision_mask(); } void GodotPhysicsServer2D::body_set_collision_priority(RID p_body, real_t p_priority) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_collision_priority(p_priority); } real_t GodotPhysicsServer2D::body_get_collision_priority(RID p_body) const { const GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_collision_priority(); } void GodotPhysicsServer2D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_param(p_param, p_value); } Variant GodotPhysicsServer2D::body_get_param(RID p_body, BodyParameter p_param) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_param(p_param); } void GodotPhysicsServer2D::body_reset_mass_properties(RID p_body) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); return body->reset_mass_properties(); } void GodotPhysicsServer2D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_state(p_state, p_variant); } Variant GodotPhysicsServer2D::body_get_state(RID p_body, BodyState p_state) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, Variant()); return body->get_state(p_state); } void GodotPhysicsServer2D::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->apply_central_impulse(p_impulse); body->wakeup(); } void GodotPhysicsServer2D::body_apply_torque_impulse(RID p_body, real_t p_torque) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); _update_shapes(); body->apply_torque_impulse(p_torque); body->wakeup(); } void GodotPhysicsServer2D::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); _update_shapes(); body->apply_impulse(p_impulse, p_position); body->wakeup(); } void GodotPhysicsServer2D::body_apply_central_force(RID p_body, const Vector2 &p_force) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->apply_central_force(p_force); body->wakeup(); } void GodotPhysicsServer2D::body_apply_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->apply_force(p_force, p_position); body->wakeup(); } void GodotPhysicsServer2D::body_apply_torque(RID p_body, real_t p_torque) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->apply_torque(p_torque); body->wakeup(); } void GodotPhysicsServer2D::body_add_constant_central_force(RID p_body, const Vector2 &p_force) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->add_constant_central_force(p_force); body->wakeup(); } void GodotPhysicsServer2D::body_add_constant_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->add_constant_force(p_force, p_position); body->wakeup(); } void GodotPhysicsServer2D::body_add_constant_torque(RID p_body, real_t p_torque) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->add_constant_torque(p_torque); body->wakeup(); } void GodotPhysicsServer2D::body_set_constant_force(RID p_body, const Vector2 &p_force) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_constant_force(p_force); if (!p_force.is_zero_approx()) { body->wakeup(); } } Vector2 GodotPhysicsServer2D::body_get_constant_force(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, Vector2()); return body->get_constant_force(); } void GodotPhysicsServer2D::body_set_constant_torque(RID p_body, real_t p_torque) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_constant_torque(p_torque); if (!Math::is_zero_approx(p_torque)) { body->wakeup(); } } real_t GodotPhysicsServer2D::body_get_constant_torque(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, 0); return body->get_constant_torque(); } void GodotPhysicsServer2D::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); _update_shapes(); Vector2 v = body->get_linear_velocity(); Vector2 axis = p_axis_velocity.normalized(); v -= axis * axis.dot(v); v += p_axis_velocity; body->set_linear_velocity(v); body->wakeup(); }; void GodotPhysicsServer2D::body_add_collision_exception(RID p_body, RID p_body_b) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->add_exception(p_body_b); body->wakeup(); }; void GodotPhysicsServer2D::body_remove_collision_exception(RID p_body, RID p_body_b) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->remove_exception(p_body_b); body->wakeup(); }; void GodotPhysicsServer2D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { GodotBody2D *body = body_owner.get_or_null(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 GodotPhysicsServer2D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); }; real_t GodotPhysicsServer2D::body_get_contacts_reported_depth_threshold(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, 0); return 0; }; void GodotPhysicsServer2D::body_set_omit_force_integration(RID p_body, bool p_omit) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_omit_force_integration(p_omit); }; bool GodotPhysicsServer2D::body_is_omitting_force_integration(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, false); return body->get_omit_force_integration(); }; void GodotPhysicsServer2D::body_set_max_contacts_reported(RID p_body, int p_contacts) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_max_contacts_reported(p_contacts); } int GodotPhysicsServer2D::body_get_max_contacts_reported(RID p_body) const { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, -1); return body->get_max_contacts_reported(); } void GodotPhysicsServer2D::body_set_state_sync_callback(RID p_body, const Callable &p_callable) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_state_sync_callback(p_callable); } void GodotPhysicsServer2D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_force_integration_callback(p_callable, p_udata); } bool GodotPhysicsServer2D::body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_INDEX_V(p_body_shape, body->get_shape_count(), false); return shape_collide(body->get_shape(p_body_shape)->get_self(), body->get_transform() * body->get_shape_transform(p_body_shape), Vector2(), p_shape, p_shape_xform, p_motion, r_results, p_result_max, r_result_count); } void GodotPhysicsServer2D::body_set_pickable(RID p_body, bool p_pickable) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND(!body); body->set_pickable(p_pickable); } bool GodotPhysicsServer2D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) { GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, false); ERR_FAIL_COND_V(!body->get_space(), false); ERR_FAIL_COND_V(body->get_space()->is_locked(), false); _update_shapes(); return body->get_space()->test_body_motion(body, p_parameters, r_result); } PhysicsDirectBodyState2D *GodotPhysicsServer2D::body_get_direct_state(RID p_body) { ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); if (!body_owner.owns(p_body)) { return nullptr; } GodotBody2D *body = body_owner.get_or_null(p_body); ERR_FAIL_COND_V(!body, nullptr); if (!body->get_space()) { return nullptr; } ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); return body->get_direct_state(); } /* JOINT API */ RID GodotPhysicsServer2D::joint_create() { GodotJoint2D *joint = memnew(GodotJoint2D); RID joint_rid = joint_owner.make_rid(joint); joint->set_self(joint_rid); return joint_rid; } void GodotPhysicsServer2D::joint_clear(RID p_joint) { GodotJoint2D *joint = joint_owner.get_or_null(p_joint); ERR_FAIL_NULL(joint); if (joint->get_type() != JOINT_TYPE_MAX) { GodotJoint2D *empty_joint = memnew(GodotJoint2D); empty_joint->copy_settings_from(joint); joint_owner.replace(p_joint, empty_joint); memdelete(joint); } } void GodotPhysicsServer2D::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) { GodotJoint2D *joint = joint_owner.get_or_null(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 GodotPhysicsServer2D::joint_get_param(RID p_joint, JointParam p_param) const { const GodotJoint2D *joint = joint_owner.get_or_null(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; } void GodotPhysicsServer2D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { GodotJoint2D *joint = joint_owner.get_or_null(p_joint); ERR_FAIL_COND(!joint); joint->disable_collisions_between_bodies(p_disable); if (2 == joint->get_body_count()) { GodotBody2D *body_a = *joint->get_body_ptr(); GodotBody2D *body_b = *(joint->get_body_ptr() + 1); if (p_disable) { body_add_collision_exception(body_a->get_self(), body_b->get_self()); body_add_collision_exception(body_b->get_self(), body_a->get_self()); } else { body_remove_collision_exception(body_a->get_self(), body_b->get_self()); body_remove_collision_exception(body_b->get_self(), body_a->get_self()); } } } bool GodotPhysicsServer2D::joint_is_disabled_collisions_between_bodies(RID p_joint) const { const GodotJoint2D *joint = joint_owner.get_or_null(p_joint); ERR_FAIL_COND_V(!joint, true); return joint->is_disabled_collisions_between_bodies(); } void GodotPhysicsServer2D::joint_make_pin(RID p_joint, const Vector2 &p_pos, RID p_body_a, RID p_body_b) { GodotBody2D *A = body_owner.get_or_null(p_body_a); ERR_FAIL_COND(!A); GodotBody2D *B = nullptr; if (body_owner.owns(p_body_b)) { B = body_owner.get_or_null(p_body_b); ERR_FAIL_COND(!B); } GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); ERR_FAIL_COND(prev_joint == nullptr); GodotJoint2D *joint = memnew(GodotPinJoint2D(p_pos, A, B)); joint_owner.replace(p_joint, joint); joint->copy_settings_from(prev_joint); memdelete(prev_joint); } void GodotPhysicsServer2D::joint_make_groove(RID p_joint, const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) { GodotBody2D *A = body_owner.get_or_null(p_body_a); ERR_FAIL_COND(!A); GodotBody2D *B = body_owner.get_or_null(p_body_b); ERR_FAIL_COND(!B); GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); ERR_FAIL_COND(prev_joint == nullptr); GodotJoint2D *joint = memnew(GodotGrooveJoint2D(p_a_groove1, p_a_groove2, p_b_anchor, A, B)); joint_owner.replace(p_joint, joint); joint->copy_settings_from(prev_joint); memdelete(prev_joint); } void GodotPhysicsServer2D::joint_make_damped_spring(RID p_joint, const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) { GodotBody2D *A = body_owner.get_or_null(p_body_a); ERR_FAIL_COND(!A); GodotBody2D *B = body_owner.get_or_null(p_body_b); ERR_FAIL_COND(!B); GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); ERR_FAIL_COND(prev_joint == nullptr); GodotJoint2D *joint = memnew(GodotDampedSpringJoint2D(p_anchor_a, p_anchor_b, A, B)); joint_owner.replace(p_joint, joint); joint->copy_settings_from(prev_joint); memdelete(prev_joint); } void GodotPhysicsServer2D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { GodotJoint2D *joint = joint_owner.get_or_null(p_joint); ERR_FAIL_NULL(joint); ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN); GodotPinJoint2D *pin_joint = static_cast<GodotPinJoint2D *>(joint); pin_joint->set_param(p_param, p_value); } real_t GodotPhysicsServer2D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { GodotJoint2D *joint = joint_owner.get_or_null(p_joint); ERR_FAIL_NULL_V(joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0); GodotPinJoint2D *pin_joint = static_cast<GodotPinJoint2D *>(joint); return pin_joint->get_param(p_param); } void GodotPhysicsServer2D::damped_spring_joint_set_param(RID p_joint, DampedSpringParam p_param, real_t p_value) { GodotJoint2D *joint = joint_owner.get_or_null(p_joint); ERR_FAIL_NULL(joint); ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_DAMPED_SPRING); GodotDampedSpringJoint2D *dsj = static_cast<GodotDampedSpringJoint2D *>(joint); dsj->set_param(p_param, p_value); } real_t GodotPhysicsServer2D::damped_spring_joint_get_param(RID p_joint, DampedSpringParam p_param) const { GodotJoint2D *joint = joint_owner.get_or_null(p_joint); ERR_FAIL_NULL_V(joint, 0); ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_DAMPED_SPRING, 0); GodotDampedSpringJoint2D *dsj = static_cast<GodotDampedSpringJoint2D *>(joint); return dsj->get_param(p_param); } PhysicsServer2D::JointType GodotPhysicsServer2D::joint_get_type(RID p_joint) const { GodotJoint2D *joint = joint_owner.get_or_null(p_joint); ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN); return joint->get_type(); } void GodotPhysicsServer2D::free(RID p_rid) { _update_shapes(); // just in case if (shape_owner.owns(p_rid)) { GodotShape2D *shape = shape_owner.get_or_null(p_rid); while (shape->get_owners().size()) { GodotShapeOwner2D *so = shape->get_owners().begin()->key; so->remove_shape(shape); } shape_owner.free(p_rid); memdelete(shape); } else if (body_owner.owns(p_rid)) { GodotBody2D *body = body_owner.get_or_null(p_rid); body_set_space(p_rid, RID()); while (body->get_shape_count()) { body->remove_shape(0); } body_owner.free(p_rid); memdelete(body); } else if (area_owner.owns(p_rid)) { GodotArea2D *area = area_owner.get_or_null(p_rid); area->set_space(nullptr); while (area->get_shape_count()) { area->remove_shape(0); } area_owner.free(p_rid); memdelete(area); } else if (space_owner.owns(p_rid)) { GodotSpace2D *space = space_owner.get_or_null(p_rid); while (space->get_objects().size()) { GodotCollisionObject2D *co = static_cast<GodotCollisionObject2D *>(*space->get_objects().begin()); co->set_space(nullptr); } active_spaces.erase(space); free(space->get_default_area()->get_self()); space_owner.free(p_rid); memdelete(space); } else if (joint_owner.owns(p_rid)) { GodotJoint2D *joint = joint_owner.get_or_null(p_rid); joint_owner.free(p_rid); memdelete(joint); } else { ERR_FAIL_MSG("Invalid ID."); } } void GodotPhysicsServer2D::set_active(bool p_active) { active = p_active; } void GodotPhysicsServer2D::init() { doing_sync = false; stepper = memnew(GodotStep2D); } void GodotPhysicsServer2D::step(real_t p_step) { if (!active) { return; } _update_shapes(); island_count = 0; active_objects = 0; collision_pairs = 0; for (const GodotSpace2D *E : active_spaces) { stepper->step(const_cast<GodotSpace2D *>(E), p_step); island_count += E->get_island_count(); active_objects += E->get_active_objects(); collision_pairs += E->get_collision_pairs(); } } void GodotPhysicsServer2D::sync() { doing_sync = true; } void GodotPhysicsServer2D::flush_queries() { if (!active) { return; } flushing_queries = true; uint64_t time_beg = OS::get_singleton()->get_ticks_usec(); for (const GodotSpace2D *E : active_spaces) { GodotSpace2D *space = const_cast<GodotSpace2D *>(E); space->call_queries(); } flushing_queries = false; if (EngineDebugger::is_profiling("servers")) { uint64_t total_time[GodotSpace2D::ELAPSED_TIME_MAX]; static const char *time_name[GodotSpace2D::ELAPSED_TIME_MAX] = { "integrate_forces", "generate_islands", "setup_constraints", "solve_constraints", "integrate_velocities" }; for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) { total_time[i] = 0; } for (const GodotSpace2D *E : active_spaces) { for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) { total_time[i] += E->get_elapsed_time(GodotSpace2D::ElapsedTime(i)); } } Array values; values.resize(GodotSpace2D::ELAPSED_TIME_MAX * 2); for (int i = 0; i < GodotSpace2D::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)); values.push_front("physics_2d"); EngineDebugger::profiler_add_frame_data("servers", values); } } void GodotPhysicsServer2D::end_sync() { doing_sync = false; } void GodotPhysicsServer2D::finish() { memdelete(stepper); } void GodotPhysicsServer2D::_update_shapes() { while (pending_shape_update_list.first()) { pending_shape_update_list.first()->self()->_shape_changed(); pending_shape_update_list.remove(pending_shape_update_list.first()); } } int GodotPhysicsServer2D::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; } GodotPhysicsServer2D *GodotPhysicsServer2D::godot_singleton = nullptr; GodotPhysicsServer2D::GodotPhysicsServer2D(bool p_using_threads) { godot_singleton = this; GodotBroadPhase2D::create_func = GodotBroadPhase2DBVH::_create; using_threads = p_using_threads; }