1a2cb755e2
-=-=-=-=-=-=-=-=-=-=-=-=-= -New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too. -A lot of fixes to the 3D physics engine -Added KinematicBody with demo -Fixed the space query API for 2D (demo will come soon). 3D is WIP. -Fixed long-standing bug with body_enter/body_exit for Area and Area2D -Performance variables now includes physics (active bodies, collision pairs and islands) -Ability to see what's inside of instanced scenes! -Fixed Blend Shapes (no bs+skeleton yet) -Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
1166 lines
28 KiB
C++
1166 lines
28 KiB
C++
/*************************************************************************/
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/* physics_2d_server_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "physics_2d_server_sw.h"
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#include "broad_phase_2d_basic.h"
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#include "broad_phase_2d_hash_grid.h"
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#include "collision_solver_2d_sw.h"
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RID Physics2DServerSW::shape_create(ShapeType p_shape) {
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Shape2DSW *shape=NULL;
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switch(p_shape) {
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case SHAPE_LINE: {
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shape=memnew( LineShape2DSW );
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} break;
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case SHAPE_RAY: {
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shape=memnew( RayShape2DSW );
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} break;
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case SHAPE_SEGMENT: {
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shape=memnew( SegmentShape2DSW);
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} break;
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case SHAPE_CIRCLE: {
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shape=memnew( CircleShape2DSW);
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} break;
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case SHAPE_RECTANGLE: {
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shape=memnew( RectangleShape2DSW);
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} break;
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case SHAPE_CAPSULE: {
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shape=memnew( CapsuleShape2DSW );
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} break;
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case SHAPE_CONVEX_POLYGON: {
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shape=memnew( ConvexPolygonShape2DSW );
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} break;
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case SHAPE_CONCAVE_POLYGON: {
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shape=memnew( ConcavePolygonShape2DSW );
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} break;
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case SHAPE_CUSTOM: {
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ERR_FAIL_V(RID());
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} break;
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}
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RID id = shape_owner.make_rid(shape);
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shape->set_self(id);
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return id;
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};
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void Physics2DServerSW::shape_set_data(RID p_shape, const Variant& p_data) {
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Shape2DSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_data(p_data);
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};
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void Physics2DServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
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Shape2DSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_custom_bias(p_bias);
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}
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Physics2DServer::ShapeType Physics2DServerSW::shape_get_type(RID p_shape) const {
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const Shape2DSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,SHAPE_CUSTOM);
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return shape->get_type();
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};
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Variant Physics2DServerSW::shape_get_data(RID p_shape) const {
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const Shape2DSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,Variant());
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ERR_FAIL_COND_V(!shape->is_configured(),Variant());
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return shape->get_data();
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};
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real_t Physics2DServerSW::shape_get_custom_solver_bias(RID p_shape) const {
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const Shape2DSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,0);
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return shape->get_custom_bias();
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}
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void Physics2DServerSW::_shape_col_cbk(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) {
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CollCbkData *cbk=(CollCbkData *)p_userdata;
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if (cbk->max==0)
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return;
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if (cbk->amount == cbk->max) {
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//find least deep
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float min_depth=1e20;
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int min_depth_idx=0;
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for(int i=0;i<cbk->amount;i++) {
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float d = cbk->ptr[i*2+0].distance_squared_to(cbk->ptr[i*2+1]);
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if (d<min_depth) {
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min_depth=d;
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min_depth_idx=i;
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}
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}
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float d = p_point_A.distance_squared_to(p_point_B);
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if (d<min_depth)
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return;
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cbk->ptr[min_depth_idx*2+0]=p_point_A;
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cbk->ptr[min_depth_idx*2+1]=p_point_B;
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} else {
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cbk->ptr[cbk->amount*2+0]=p_point_A;
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cbk->ptr[cbk->amount*2+1]=p_point_B;
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cbk->amount++;
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}
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}
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bool Physics2DServerSW::shape_collide(RID p_shape_A, const Matrix32& p_xform_A,const Vector2& p_motion_A,RID p_shape_B, const Matrix32& p_xform_B, const Vector2& p_motion_B,Vector2 *r_results,int p_result_max,int &r_result_count) {
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Shape2DSW *shape_A = shape_owner.get(p_shape_A);
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ERR_FAIL_COND_V(!shape_A,false);
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Shape2DSW *shape_B = shape_owner.get(p_shape_B);
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ERR_FAIL_COND_V(!shape_B,false);
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if (p_result_max==0) {
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return CollisionSolver2DSW::solve(shape_A,p_xform_A,p_motion_A,shape_B,p_xform_B,p_motion_B,NULL,NULL);
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}
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CollCbkData cbk;
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cbk.max=p_result_max;
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cbk.amount=0;
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cbk.ptr=r_results;
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bool res= CollisionSolver2DSW::solve(shape_A,p_xform_A,p_motion_A,shape_B,p_xform_B,p_motion_B,_shape_col_cbk,&cbk);
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r_result_count=cbk.amount;
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return res;
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}
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RID Physics2DServerSW::space_create() {
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Space2DSW *space = memnew( Space2DSW );
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RID id = space_owner.make_rid(space);
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space->set_self(id);
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RID area_id = area_create();
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Area2DSW *area = area_owner.get(area_id);
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ERR_FAIL_COND_V(!area,RID());
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space->set_default_area(area);
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area->set_space(space);
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area->set_priority(-1);
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return id;
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};
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void Physics2DServerSW::space_set_active(RID p_space,bool p_active) {
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Space2DSW *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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if (p_active)
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active_spaces.insert(space);
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else
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active_spaces.erase(space);
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}
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bool Physics2DServerSW::space_is_active(RID p_space) const {
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const Space2DSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space,false);
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return active_spaces.has(space);
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}
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void Physics2DServerSW::space_set_param(RID p_space,SpaceParameter p_param, real_t p_value) {
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Space2DSW *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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space->set_param(p_param,p_value);
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}
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real_t Physics2DServerSW::space_get_param(RID p_space,SpaceParameter p_param) const {
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const Space2DSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space,0);
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return space->get_param(p_param);
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}
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Physics2DDirectSpaceState* Physics2DServerSW::space_get_direct_state(RID p_space) {
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Space2DSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space,NULL);
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if (/*doing_sync ||*/ space->is_locked()) {
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ERR_EXPLAIN("Space state is inaccesible right now, wait for iteration or fixed process notification.");
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ERR_FAIL_V(NULL);
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}
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return space->get_direct_state();
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}
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RID Physics2DServerSW::area_create() {
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Area2DSW *area = memnew( Area2DSW );
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RID rid = area_owner.make_rid(area);
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area->set_self(rid);
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return rid;
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};
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void Physics2DServerSW::area_set_space(RID p_area, RID p_space) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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Space2DSW *space=NULL;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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area->set_space(space);
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};
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RID Physics2DServerSW::area_get_space(RID p_area) const {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,RID());
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Space2DSW *space = area->get_space();
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if (!space)
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return RID();
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return space->get_self();
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};
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void Physics2DServerSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_space_override_mode(p_mode);
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}
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Physics2DServer::AreaSpaceOverrideMode Physics2DServerSW::area_get_space_override_mode(RID p_area) const {
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const Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,AREA_SPACE_OVERRIDE_DISABLED);
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return area->get_space_override_mode();
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}
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void Physics2DServerSW::area_add_shape(RID p_area, RID p_shape, const Matrix32& p_transform) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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Shape2DSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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area->add_shape(shape,p_transform);
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}
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void Physics2DServerSW::area_set_shape(RID p_area, int p_shape_idx,RID p_shape) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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Shape2DSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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ERR_FAIL_COND(!shape->is_configured());
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area->set_shape(p_shape_idx,shape);
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}
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void Physics2DServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Matrix32& p_transform) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_shape_transform(p_shape_idx,p_transform);
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}
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int Physics2DServerSW::area_get_shape_count(RID p_area) const {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,-1);
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return area->get_shape_count();
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}
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RID Physics2DServerSW::area_get_shape(RID p_area, int p_shape_idx) const {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,RID());
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Shape2DSW *shape = area->get_shape(p_shape_idx);
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ERR_FAIL_COND_V(!shape,RID());
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return shape->get_self();
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}
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Matrix32 Physics2DServerSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,Matrix32());
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return area->get_shape_transform(p_shape_idx);
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}
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void Physics2DServerSW::area_remove_shape(RID p_area, int p_shape_idx) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->remove_shape(p_shape_idx);
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}
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void Physics2DServerSW::area_clear_shapes(RID p_area) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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while(area->get_shape_count())
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area->remove_shape(0);
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}
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void Physics2DServerSW::area_attach_object_instance_ID(RID p_area,ObjectID p_ID) {
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if (space_owner.owns(p_area)) {
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Space2DSW *space=space_owner.get(p_area);
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p_area=space->get_default_area()->get_self();
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}
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_instance_id(p_ID);
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}
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ObjectID Physics2DServerSW::area_get_object_instance_ID(RID p_area) const {
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if (space_owner.owns(p_area)) {
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Space2DSW *space=space_owner.get(p_area);
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p_area=space->get_default_area()->get_self();
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}
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,0);
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return area->get_instance_id();
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}
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void Physics2DServerSW::area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value) {
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if (space_owner.owns(p_area)) {
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Space2DSW *space=space_owner.get(p_area);
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p_area=space->get_default_area()->get_self();
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}
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_param(p_param,p_value);
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};
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void Physics2DServerSW::area_set_transform(RID p_area, const Matrix32& p_transform) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_transform(p_transform);
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};
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Variant Physics2DServerSW::area_get_param(RID p_area,AreaParameter p_param) const {
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if (space_owner.owns(p_area)) {
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Space2DSW *space=space_owner.get(p_area);
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p_area=space->get_default_area()->get_self();
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}
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,Variant());
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return area->get_param(p_param);
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};
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Matrix32 Physics2DServerSW::area_get_transform(RID p_area) const {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area,Matrix32());
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return area->get_transform();
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};
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void Physics2DServerSW::area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method) {
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Area2DSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_monitor_callback(p_receiver?p_receiver->get_instance_ID():0,p_method);
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}
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/* BODY API */
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RID Physics2DServerSW::body_create(BodyMode p_mode,bool p_init_sleeping) {
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Body2DSW *body = memnew( Body2DSW );
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if (p_mode!=BODY_MODE_RIGID)
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body->set_mode(p_mode);
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if (p_init_sleeping)
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body->set_state(BODY_STATE_SLEEPING,p_init_sleeping);
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RID rid = body_owner.make_rid(body);
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body->set_self(rid);
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return rid;
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};
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void Physics2DServerSW::body_set_space(RID p_body, RID p_space) {
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Body2DSW *body = body_owner.get(p_body);
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ERR_FAIL_COND(!body);
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Space2DSW *space=NULL;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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body->set_space(space);
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};
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RID Physics2DServerSW::body_get_space(RID p_body) const {
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Body2DSW *body = body_owner.get(p_body);
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ERR_FAIL_COND_V(!body,RID());
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Space2DSW *space = body->get_space();
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if (!space)
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return RID();
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return space->get_self();
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};
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void Physics2DServerSW::body_set_mode(RID p_body, BodyMode p_mode) {
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|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_mode(p_mode);
|
|
};
|
|
|
|
Physics2DServer::BodyMode Physics2DServerSW::body_get_mode(RID p_body) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,BODY_MODE_STATIC);
|
|
|
|
return body->get_mode();
|
|
};
|
|
|
|
void Physics2DServerSW::body_add_shape(RID p_body, RID p_shape, const Matrix32& p_transform) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
Shape2DSW *shape = shape_owner.get(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
|
|
body->add_shape(shape,p_transform);
|
|
|
|
}
|
|
|
|
void Physics2DServerSW::body_set_shape(RID p_body, int p_shape_idx,RID p_shape) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
Shape2DSW *shape = shape_owner.get(p_shape);
|
|
ERR_FAIL_COND(!shape);
|
|
ERR_FAIL_COND(!shape->is_configured());
|
|
|
|
body->set_shape(p_shape_idx,shape);
|
|
|
|
}
|
|
void Physics2DServerSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Matrix32& p_transform) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_shape_transform(p_shape_idx,p_transform);
|
|
}
|
|
|
|
int Physics2DServerSW::body_get_shape_count(RID p_body) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,-1);
|
|
|
|
return body->get_shape_count();
|
|
|
|
}
|
|
RID Physics2DServerSW::body_get_shape(RID p_body, int p_shape_idx) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,RID());
|
|
|
|
Shape2DSW *shape = body->get_shape(p_shape_idx);
|
|
ERR_FAIL_COND_V(!shape,RID());
|
|
|
|
return shape->get_self();
|
|
}
|
|
Matrix32 Physics2DServerSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,Matrix32());
|
|
|
|
return body->get_shape_transform(p_shape_idx);
|
|
}
|
|
|
|
void Physics2DServerSW::body_remove_shape(RID p_body, int p_shape_idx) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_shape(p_shape_idx);
|
|
}
|
|
|
|
void Physics2DServerSW::body_clear_shapes(RID p_body) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
while(body->get_shape_count())
|
|
body->remove_shape(0);
|
|
|
|
}
|
|
|
|
|
|
void Physics2DServerSW::body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
ERR_FAIL_INDEX(p_shape_idx,body->get_shape_count());
|
|
|
|
body->set_shape_as_trigger(p_shape_idx,p_enable);
|
|
|
|
}
|
|
|
|
bool Physics2DServerSW::body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const {
|
|
|
|
const Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,false);
|
|
|
|
ERR_FAIL_INDEX_V(p_shape_idx,body->get_shape_count(),false);
|
|
|
|
return body->is_shape_set_as_trigger(p_shape_idx);
|
|
|
|
}
|
|
|
|
|
|
void Physics2DServerSW::body_set_continuous_collision_detection_mode(RID p_body,CCDMode p_mode) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_continuous_collision_detection_mode(p_mode);
|
|
|
|
}
|
|
|
|
Physics2DServerSW::CCDMode Physics2DServerSW::body_get_continuous_collision_detection_mode(RID p_body) const{
|
|
|
|
const Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,CCD_MODE_DISABLED);
|
|
|
|
return body->get_continuous_collision_detection_mode();
|
|
|
|
}
|
|
|
|
|
|
|
|
void Physics2DServerSW::body_attach_object_instance_ID(RID p_body,uint32_t p_ID) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_instance_id(p_ID);
|
|
|
|
};
|
|
|
|
uint32_t Physics2DServerSW::body_get_object_instance_ID(RID p_body) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_instance_id();
|
|
};
|
|
|
|
void Physics2DServerSW::body_set_layer_mask(RID p_body, uint32_t p_flags) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_layer_mask(p_flags);
|
|
|
|
};
|
|
|
|
uint32_t Physics2DServerSW::body_get_layer_mask(RID p_body, uint32_t p_flags) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_layer_mask();
|
|
};
|
|
|
|
|
|
void Physics2DServerSW::body_set_user_mask(RID p_body, uint32_t p_flags) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_user_mask(p_flags);
|
|
|
|
};
|
|
|
|
uint32_t Physics2DServerSW::body_get_user_mask(RID p_body, uint32_t p_flags) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_user_mask();
|
|
};
|
|
|
|
void Physics2DServerSW::body_set_param(RID p_body, BodyParameter p_param, float p_value) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_param(p_param,p_value);
|
|
};
|
|
|
|
float Physics2DServerSW::body_get_param(RID p_body, BodyParameter p_param) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_param(p_param);
|
|
};
|
|
|
|
|
|
|
|
void Physics2DServerSW::body_set_state(RID p_body, BodyState p_state, const Variant& p_variant) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_state(p_state,p_variant);
|
|
};
|
|
|
|
Variant Physics2DServerSW::body_get_state(RID p_body, BodyState p_state) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,Variant());
|
|
|
|
return body->get_state(p_state);
|
|
};
|
|
|
|
|
|
void Physics2DServerSW::body_set_applied_force(RID p_body, const Vector2& p_force) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_force(p_force);
|
|
};
|
|
|
|
Vector2 Physics2DServerSW::body_get_applied_force(RID p_body) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,Vector2());
|
|
return body->get_applied_force();
|
|
};
|
|
|
|
void Physics2DServerSW::body_set_applied_torque(RID p_body, float p_torque) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_applied_torque(p_torque);
|
|
};
|
|
|
|
float Physics2DServerSW::body_get_applied_torque(RID p_body) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
|
|
return body->get_applied_torque();
|
|
};
|
|
|
|
void Physics2DServerSW::body_apply_impulse(RID p_body, const Vector2& p_pos, const Vector2& p_impulse) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->apply_impulse(p_pos,p_impulse);
|
|
};
|
|
|
|
void Physics2DServerSW::body_set_axis_velocity(RID p_body, const Vector2& p_axis_velocity) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
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);
|
|
|
|
};
|
|
|
|
void Physics2DServerSW::body_add_collision_exception(RID p_body, RID p_body_b) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_exception(p_body_b);
|
|
|
|
};
|
|
|
|
void Physics2DServerSW::body_remove_collision_exception(RID p_body, RID p_body_b) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->remove_exception(p_body_b);
|
|
|
|
};
|
|
|
|
void Physics2DServerSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
|
|
|
|
Body2DSW *body = body_owner.get(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 Physics2DServerSW::body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
};
|
|
|
|
float Physics2DServerSW::body_get_contacts_reported_depth_treshold(RID p_body) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,0);
|
|
return 0;
|
|
};
|
|
|
|
void Physics2DServerSW::body_set_omit_force_integration(RID p_body,bool p_omit) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_omit_force_integration(p_omit);
|
|
};
|
|
|
|
bool Physics2DServerSW::body_is_omitting_force_integration(RID p_body) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,false);
|
|
return body->get_omit_force_integration();
|
|
};
|
|
|
|
void Physics2DServerSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_max_contacts_reported(p_contacts);
|
|
}
|
|
|
|
int Physics2DServerSW::body_get_max_contacts_reported(RID p_body) const {
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body,-1);
|
|
return body->get_max_contacts_reported();
|
|
}
|
|
|
|
void Physics2DServerSW::body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata) {
|
|
|
|
|
|
Body2DSW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_force_integration_callback(p_receiver?p_receiver->get_instance_ID():ObjectID(0),p_method,p_udata);
|
|
|
|
}
|
|
|
|
bool Physics2DServerSW::body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,Vector2 *r_results,int p_result_max,int &r_result_count) {
|
|
|
|
Body2DSW *body = body_owner.get(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);
|
|
|
|
}
|
|
|
|
|
|
/* JOINT API */
|
|
|
|
void Physics2DServerSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) {
|
|
|
|
Joint2DSW *joint = joint_owner.get(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 Physics2DServerSW::joint_get_param(RID p_joint,JointParam p_param) const {
|
|
|
|
const Joint2DSW *joint = joint_owner.get(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;
|
|
}
|
|
|
|
|
|
RID Physics2DServerSW::pin_joint_create(const Vector2& p_pos,RID p_body_a,RID p_body_b) {
|
|
|
|
Body2DSW *A=body_owner.get(p_body_a);
|
|
ERR_FAIL_COND_V(!A,RID());
|
|
Body2DSW *B=NULL;
|
|
if (body_owner.owns(p_body_b)) {
|
|
B=body_owner.get(p_body_b);
|
|
ERR_FAIL_COND_V(!B,RID());
|
|
}
|
|
|
|
Joint2DSW *joint = memnew( PinJoint2DSW(p_pos,A,B) );
|
|
RID self = joint_owner.make_rid(joint);
|
|
joint->set_self(self);
|
|
|
|
return self;
|
|
}
|
|
|
|
RID Physics2DServerSW::groove_joint_create(const Vector2& p_a_groove1,const Vector2& p_a_groove2, const Vector2& p_b_anchor, RID p_body_a,RID p_body_b) {
|
|
|
|
|
|
Body2DSW *A=body_owner.get(p_body_a);
|
|
ERR_FAIL_COND_V(!A,RID());
|
|
|
|
Body2DSW *B=body_owner.get(p_body_b);
|
|
ERR_FAIL_COND_V(!B,RID());
|
|
|
|
Joint2DSW *joint = memnew( GrooveJoint2DSW(p_a_groove1,p_a_groove2,p_b_anchor,A,B) );
|
|
RID self = joint_owner.make_rid(joint);
|
|
joint->set_self(self);
|
|
return self;
|
|
|
|
|
|
}
|
|
|
|
RID Physics2DServerSW::damped_spring_joint_create(const Vector2& p_anchor_a,const Vector2& p_anchor_b,RID p_body_a,RID p_body_b) {
|
|
|
|
Body2DSW *A=body_owner.get(p_body_a);
|
|
ERR_FAIL_COND_V(!A,RID());
|
|
|
|
Body2DSW *B=body_owner.get(p_body_b);
|
|
ERR_FAIL_COND_V(!B,RID());
|
|
|
|
Joint2DSW *joint = memnew( DampedSpringJoint2DSW(p_anchor_a,p_anchor_b,A,B) );
|
|
RID self = joint_owner.make_rid(joint);
|
|
joint->set_self(self);
|
|
return self;
|
|
|
|
}
|
|
|
|
void Physics2DServerSW::damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value) {
|
|
|
|
|
|
Joint2DSW *j = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!j);
|
|
ERR_FAIL_COND(j->get_type()!=JOINT_DAMPED_SPRING);
|
|
|
|
DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW*>(j);
|
|
dsj->set_param(p_param,p_value);
|
|
}
|
|
|
|
real_t Physics2DServerSW::damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const {
|
|
|
|
Joint2DSW *j = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!j,0);
|
|
ERR_FAIL_COND_V(j->get_type()!=JOINT_DAMPED_SPRING,0);
|
|
|
|
DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW*>(j);
|
|
return dsj->get_param(p_param);
|
|
}
|
|
|
|
Physics2DServer::JointType Physics2DServerSW::joint_get_type(RID p_joint) const {
|
|
|
|
|
|
Joint2DSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint,JOINT_PIN);
|
|
|
|
return joint->get_type();
|
|
}
|
|
|
|
|
|
|
|
void Physics2DServerSW::free(RID p_rid) {
|
|
|
|
if (shape_owner.owns(p_rid)) {
|
|
|
|
Shape2DSW *shape = shape_owner.get(p_rid);
|
|
|
|
while(shape->get_owners().size()) {
|
|
ShapeOwner2DSW *so=shape->get_owners().front()->key();
|
|
so->remove_shape(shape);
|
|
}
|
|
|
|
shape_owner.free(p_rid);
|
|
memdelete(shape);
|
|
} else if (body_owner.owns(p_rid)) {
|
|
|
|
Body2DSW *body = body_owner.get(p_rid);
|
|
|
|
// if (body->get_state_query())
|
|
// _clear_query(body->get_state_query());
|
|
|
|
// if (body->get_direct_state_query())
|
|
// _clear_query(body->get_direct_state_query());
|
|
|
|
body->set_space(NULL);
|
|
|
|
|
|
while( body->get_shape_count() ) {
|
|
|
|
body->remove_shape(0);
|
|
}
|
|
|
|
while (body->get_constraint_map().size()) {
|
|
RID self = body->get_constraint_map().front()->key()->get_self();
|
|
ERR_FAIL_COND(!self.is_valid());
|
|
free(self);
|
|
}
|
|
|
|
body_owner.free(p_rid);
|
|
memdelete(body);
|
|
|
|
} else if (area_owner.owns(p_rid)) {
|
|
|
|
Area2DSW *area = area_owner.get(p_rid);
|
|
|
|
// if (area->get_monitor_query())
|
|
// _clear_query(area->get_monitor_query());
|
|
|
|
area->set_space(NULL);
|
|
|
|
while( area->get_shape_count() ) {
|
|
|
|
area->remove_shape(0);
|
|
}
|
|
|
|
area_owner.free(p_rid);
|
|
memdelete(area);
|
|
} else if (space_owner.owns(p_rid)) {
|
|
|
|
Space2DSW *space = space_owner.get(p_rid);
|
|
|
|
while(space->get_objects().size()) {
|
|
CollisionObject2DSW *co = (CollisionObject2DSW *)space->get_objects().front()->get();
|
|
co->set_space(NULL);
|
|
}
|
|
|
|
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)) {
|
|
|
|
Joint2DSW *joint = joint_owner.get(p_rid);
|
|
|
|
joint_owner.free(p_rid);
|
|
memdelete(joint);
|
|
|
|
} else {
|
|
|
|
ERR_EXPLAIN("Invalid ID");
|
|
ERR_FAIL();
|
|
}
|
|
|
|
|
|
};
|
|
|
|
void Physics2DServerSW::set_active(bool p_active) {
|
|
|
|
active=p_active;
|
|
};
|
|
|
|
void Physics2DServerSW::init() {
|
|
|
|
doing_sync=true;
|
|
last_step=0.001;
|
|
iterations=8;// 8?
|
|
stepper = memnew( Step2DSW );
|
|
direct_state = memnew( Physics2DDirectBodyStateSW );
|
|
};
|
|
|
|
|
|
void Physics2DServerSW::step(float p_step) {
|
|
|
|
|
|
if (!active)
|
|
return;
|
|
|
|
doing_sync=false;
|
|
|
|
last_step=p_step;
|
|
Physics2DDirectBodyStateSW::singleton->step=p_step;
|
|
island_count=0;
|
|
active_objects=0;
|
|
collision_pairs=0;
|
|
for( Set<const Space2DSW*>::Element *E=active_spaces.front();E;E=E->next()) {
|
|
|
|
stepper->step((Space2DSW*)E->get(),p_step,iterations);
|
|
island_count+=E->get()->get_island_count();
|
|
active_objects+=E->get()->get_active_objects();
|
|
collision_pairs+=E->get()->get_collision_pairs();
|
|
}
|
|
};
|
|
|
|
void Physics2DServerSW::sync() {
|
|
|
|
};
|
|
|
|
void Physics2DServerSW::flush_queries() {
|
|
|
|
if (!active)
|
|
return;
|
|
|
|
doing_sync=true;
|
|
for( Set<const Space2DSW*>::Element *E=active_spaces.front();E;E=E->next()) {
|
|
|
|
Space2DSW *space=(Space2DSW *)E->get();
|
|
space->call_queries();
|
|
}
|
|
|
|
};
|
|
|
|
|
|
|
|
void Physics2DServerSW::finish() {
|
|
|
|
memdelete(stepper);
|
|
memdelete(direct_state);
|
|
};
|
|
|
|
int Physics2DServerSW::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;
|
|
}
|
|
|
|
|
|
Physics2DServerSW::Physics2DServerSW() {
|
|
|
|
BroadPhase2DSW::create_func=BroadPhase2DHashGrid::_create;
|
|
// BroadPhase2DSW::create_func=BroadPhase2DBasic::_create;
|
|
|
|
active=true;
|
|
island_count=0;
|
|
active_objects=0;
|
|
collision_pairs=0;
|
|
|
|
};
|
|
|
|
|
|
Physics2DServerSW::~Physics2DServerSW() {
|
|
|
|
};
|
|
|
|
|